From f10257b47baf2d7992acb4af3821aa889786b537 Mon Sep 17 00:00:00 2001 From: zhanli <719901725@qq.com> Date: Sun, 14 Jan 2024 19:28:00 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E5=88=9D=E7=89=88=E5=B7=A5?= =?UTF-8?q?=E7=A8=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 30 +- .../.vscode/settings.json | 5 + .../MiniBalance/CONTROL/control.c | 220 + .../MiniBalance/CONTROL/control.h | 16 + .../MiniBalance/DMP/dmpKey.h | 494 + .../MiniBalance/DMP/dmpmap.h | 264 + .../MiniBalance/DMP/inv_mpu.c | 2858 ++++++ .../MiniBalance/DMP/inv_mpu.h | 122 + .../DMP/inv_mpu_dmp_motion_driver.c | 1361 +++ .../DMP/inv_mpu_dmp_motion_driver.h | 92 + .../MiniBalance/DataScope_DP/DataScope_DP.C | 90 + .../MiniBalance/DataScope_DP/DataScope_DP.h | 21 + .../MiniBalance/MPU6050/MPU6050.c | 692 ++ .../MiniBalance/MPU6050/mpu6050.h | 375 + .../MiniBalance/filter/filter.c | 93 + .../MiniBalance/filter/filter.h | 25 + 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.../Project/JLinkSettings.ini | 17 + .../Project/Project.plg | 50 + .../Project/Project.uvgui.Administrator | 2711 ++++++ .../Project/Project.uvgui_Administrator.bak | 2684 ++++++ .../Project/Project.uvguix.Administrator | 1771 ++++ .../Project/Project.uvguix.admin | 1807 ++++ .../Project/Project.uvguix.li324 | 2754 ++++++ .../Project/Project.uvopt | 926 ++ .../Project/Project.uvoptx | 900 ++ .../Project/Project.uvproj.saved_uv4 | 621 ++ .../Project/Project.uvprojx | 658 ++ .../Project/Project_uvopt.bak | 3513 +++++++ .../Project/Project_uvproj.bak | 582 ++ GeBalanceBot_Firmware v1.0/System/sys/sys.c | 240 + GeBalanceBot_Firmware v1.0/System/sys/sys.h | 139 + GeBalanceBot_Firmware v1.0/User/main.c | 74 + .../User/stm32f10x_conf.h | 76 + .../User/stm32f10x_it.c | 162 + .../User/stm32f10x_it.h | 54 + 252 files changed, 150567 insertions(+), 25 deletions(-) create mode 100644 4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/.vscode/settings.json create mode 100644 4.WHEELTEC B570 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GeBalanceBot_Firmware v1.0/User/stm32f10x_it.h diff --git a/.gitignore b/.gitignore index e257658..a38edb7 100644 --- a/.gitignore +++ b/.gitignore @@ -1,34 +1,14 @@ # ---> C++ # Prerequisites *.d - -# Compiled Object files -*.slo -*.lo *.o *.obj - -# Precompiled Headers -*.gch -*.pch - -# Compiled Dynamic libraries -*.so -*.dylib -*.dll - -# Fortran module files -*.mod -*.smod - -# Compiled Static libraries -*.lai -*.la +*.crf +*.sct +*.axf +*.htm +*.dep *.a *.lib -# Executables -*.exe -*.out -*.app diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/.vscode/settings.json b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/.vscode/settings.json new file mode 100644 index 0000000..5e1fe8f --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/.vscode/settings.json @@ -0,0 +1,5 @@ +{ + "files.associations": { + "limits": "c" + } +} \ No newline at end of file diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/CONTROL/control.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/CONTROL/control.c new file mode 100644 index 0000000..a45367c --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/CONTROL/control.c @@ -0,0 +1,220 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** + * File Name : control.c + * Current Version : V1.0 & ST 3.5.0 + * Author : zhanli 719901725@qq.com + * Date of Issued : 2024.01.06 zhanli: Create + * Comments : 平衡车控制代码 + ********************************************************************************/ +#include "control.h" + +/**---------------------------------------------------------------------- +* Function : EXTI15_10_IRQHandler +* Description : 所有的控制代码都在这里面, 5ms定时中断由MPU6050的INT引脚触发 + 严格保证采样和数据处理的时间同步 +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +int EXTI15_10_IRQHandler(void) +{ + static u8 Flag_Target; // 控制函数相关变量，提供10ms基准 + int Balance_Pwm, Velocity_Pwm; // 平衡环PWM变量，速度环PWM变量 + int Motor_Left, Motor_Right; // 电机PWM变量 应是Motor的 向Moto致敬 + if (INT == 0) + { + EXTI->PR = 1 << 12; // 清除中断标志位 + Flag_Target = !Flag_Target; + IMU_GetAngle(); // 更新姿态 5ms读取一次 + Encoder_Left = -Read_Encoder(2); // 读取左轮编码器的值，前进为正，后退为负 + Encoder_Right = -Read_Encoder(4); // 读取右轮编码器的值，前进为正，后退为负 + // 左轮A相接TIM2_CH1,右轮A相接TIM4_CH2,故这里两个编码器的极性相同 + if (Flag_Target == 1) // 实际上10ms控制一次 + return 0; + + // 扫描按键状态 单击可启停电机 + Key(); + + // 平衡PID控制,Gyro_Balance平衡角速度极性：前倾为正，后倾为负 + Balance_Pwm = Balance(Angle_Balance, Gyro_Balance); + // 速度环PID控制,记住，速度反馈是正反馈，就是小车快的时候要慢下来就需要再跑快一点 + Velocity_Pwm = Velocity(Encoder_Left, Encoder_Right); + + Motor_Left = Balance_Pwm + Velocity_Pwm; // 计算左轮电机最终PWM + Motor_Right = Balance_Pwm + Velocity_Pwm; // 计算右轮电机最终PWM + + Motor_Left = Motor_PWMLimit(Motor_Left, 6900, -6900); + Motor_Right = Motor_PWMLimit(Motor_Right, 6900, -6900); // PWM限幅 + + if (Turn_Off(Angle_Balance) == 0) // 如果不存在异常 + Motor_PWMSet(Motor_Left, Motor_Right); // 赋值给PWM寄存器 + } + return 0; +} + +/**---------------------------------------------------------------------- +* Function : Balance +* Description : 直立PD控制 +* Input : Angle:角度, Gyro:角速度 +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +int Balance(float Angle, float Gyro) +{ + // 直立环PD参数 + float Balance_Kp = 225, Balance_Kd = 1.08; + float Angle_bias, Gyro_bias; + int balance; + // 求出平衡的角度中值 和机械相关 + Angle_bias = Middle_angle - Angle; + Gyro_bias = 0 - Gyro; + // 计算平衡控制的电机PWM PD控制 kp是P系数 kd是D系数 + balance = -Balance_Kp * Angle_bias - Gyro_bias * Balance_Kd; + return balance; +} + +/************************************************************************** +Function: Speed PI control +Input : encoder_left：Left wheel encoder reading；encoder_right：Right wheel encoder reading +Output : Speed control PWM +函数功能：速度控制PWM +入口参数：encoder_left：左轮编码器读数；encoder_right：右轮编码器读数 +返回 值：速度控制PWM +**************************************************************************/ +int Velocity(int encoder_left, int encoder_right) +{ + float Velocity_Kp = 160, Velocity_Ki = 0.8; // 速度环PI参数 + static float velocity, Encoder_Least, Encoder_bias; + static float Encoder_Integral; + // 速度PI控制器 + Encoder_Least = 0 - (encoder_left + encoder_right); // 获取最新速度偏差==测量速度（左右编码器之和）-目标速度（此处为零） + Encoder_bias *= 0.8; // 一阶低通滤波器 + Encoder_bias += Encoder_Least * 0.2; // 一阶低通滤波器 + // 相当于上次偏差的0.8 + 本次偏差的0.2，减缓速度差值，减少对直立的干扰 + Encoder_Integral += Encoder_bias; // 积分出位移 积分时间：10ms + if (Encoder_Integral > 10000) + Encoder_Integral = 10000; // 积分限幅 + if (Encoder_Integral < -10000) + Encoder_Integral = -10000; // 积分限幅 + + // 速度控制 + velocity = -Encoder_bias * Velocity_Kp - Encoder_Integral * Velocity_Ki; + + // 电机关闭后清除积分 + if (Turn_Off(Angle_Balance) == 1 || Flag_Stop == 1) + Encoder_Integral = 0; + return velocity; +} + +/************************************************************************** +Function: Assign to PWM register +Input : motor_left：Left wheel PWM；motor_right：Right wheel PWM +Output : none +函数功能：赋值给PWM寄存器 +入口参数：左轮PWM、右轮PWM +返回 值：无 +**************************************************************************/ +void Motor_PWMSet(int motor_left, int motor_right) +{ + if (motor_left > 0) + BIN1 = 1, BIN2 = 0; // 前进 + else + BIN1 = 0, BIN2 = 1; // 后退 + PWMB = myabs(motor_left); + if (motor_right > 0) + AIN2 = 1, AIN1 = 0; // 前进 + else + AIN2 = 0, AIN1 = 1; // 后退 + PWMA = myabs(motor_right); +} + +/************************************************************************** +Function: PWM limiting range +Input : IN：Input max：Maximum value min：Minimum value +Output : Output +函数功能：限制PWM赋值 +入口参数：IN：输入参数 max：限幅最大值 min：限幅最小值 +返回 值：限幅后的值 +**************************************************************************/ +int Motor_PWMLimit(int IN, int max, int min) +{ + int OUT = IN; + if (OUT > max){ + OUT = max; + } + if (OUT < min){ + OUT = min; + } + return OUT; +} +/************************************************************************** +Function: Press the key to modify the car running state +Input : none +Output : none +函数功能：按键修改小车运行状态 +入口参数：无 +返回 值：无 +**************************************************************************/ +void Key(void) +{ + u8 tmp; + tmp = click(); + if (tmp == 1){ + Flag_Stop = !Flag_Stop; // 单击控制小车的启停 + } +} + +/************************************************************************** +Function: If abnormal, turn off the motor +Input : angle：Car inclination；voltage：Voltage +Output : 1：abnormal；0：normal +函数功能：异常关闭电机 +入口参数：angle：小车倾角 +返回 值：1：异常 0：正常 +**************************************************************************/ +u8 Turn_Off(float angle) +{ + u8 temp; + if (angle < -40 || angle > 40 || 1 == Flag_Stop) // 倾角大于40度关闭电机 + { // Flag_Stop置1关闭电机 + temp = 1; + AIN1 = 0; + AIN2 = 0; + BIN1 = 0; + BIN2 = 0; + } + else + temp = 0; + return temp; +} + +/************************************************************************** +Function: Get angle +Input : way：The algorithm of getting angle 1：DMP 2：kalman 3：Complementary filtering +Output : none +函数功能：获取角度 +入口参数：无 +返回 值：无 +**************************************************************************/ +void IMU_GetAngle(void) +{ + Read_DMP(); // 读取加速度、角速度、倾角 + Angle_Balance = Pitch; // 更新平衡倾角,前倾为正，后倾为负 + Gyro_Balance = gyro[0]; // 更新平衡角速度,前倾为正，后倾为负 +} + +/************************************************************************** +Function: Absolute value function +Input : a：Number to be converted +Output : unsigned int +函数功能：绝对值函数 +入口参数：a：需要计算绝对值的数 +返回 值：无符号整型 +**************************************************************************/ +int myabs(int a) +{ + int temp; + if (a < 0) + temp = -a; + else + temp = a; + return temp; +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/CONTROL/control.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/CONTROL/control.h new file mode 100644 index 0000000..e08a25b --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/CONTROL/control.h @@ -0,0 +1,16 @@ +#ifndef __CONTROL_H__ +#define __CONTROL_H__ +#include "sys.h" + +#define Middle_angle 0 // 定义平衡角度为0 + +int EXTI15_10_IRQHandler(void); +int Balance(float angle,float gyro); +int Velocity(int encoder_left,int encoder_right); +void Motor_PWMSet(int motor_left,int motor_right); +int Motor_PWMLimit(int IN,int max,int min); +void Key(void); +u8 Turn_Off(float angle); +void IMU_GetAngle(void); +int myabs(int a); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/dmpKey.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/dmpKey.h new file mode 100644 index 0000000..c8f62a2 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/dmpKey.h @@ -0,0 +1,494 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPKEY_H__ +#define DMPKEY_H__ + +#define KEY_CFG_25 (0) +#define KEY_CFG_24 (KEY_CFG_25 + 1) +#define KEY_CFG_26 (KEY_CFG_24 + 1) +#define KEY_CFG_27 (KEY_CFG_26 + 1) +#define KEY_CFG_21 (KEY_CFG_27 + 1) +#define KEY_CFG_20 (KEY_CFG_21 + 1) +#define KEY_CFG_TAP4 (KEY_CFG_20 + 1) +#define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1) +#define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1) +#define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1) +#define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1) +#define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1) +#define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1) +#define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1) +#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1) +#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1) +#define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1) +#define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1) +#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1) +#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1) +#define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1) +#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1) +#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1) +#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1) +#define KEY_FCFG_1 (KEY_CFG_23 + 1) +#define KEY_FCFG_3 (KEY_FCFG_1 + 1) +#define KEY_FCFG_2 (KEY_FCFG_3 + 1) +#define KEY_CFG_3D (KEY_FCFG_2 + 1) +#define KEY_CFG_3B (KEY_CFG_3D + 1) +#define KEY_CFG_3C (KEY_CFG_3B + 1) +#define KEY_FCFG_5 (KEY_CFG_3C + 1) +#define KEY_FCFG_4 (KEY_FCFG_5 + 1) +#define KEY_FCFG_7 (KEY_FCFG_4 + 1) +#define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1) +#define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1) +#define KEY_FCFG_6 (KEY_FCFG_AZ + 1) +#define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1) +#define KEY_CFG_12 (KEY_FCFG_LSB4 + 1) +#define KEY_CFG_14 (KEY_CFG_12 + 1) +#define KEY_CFG_15 (KEY_CFG_14 + 1) +#define KEY_CFG_16 (KEY_CFG_15 + 1) +#define KEY_CFG_18 (KEY_CFG_16 + 1) +#define KEY_CFG_6 (KEY_CFG_18 + 1) +#define KEY_CFG_7 (KEY_CFG_6 + 1) +#define KEY_CFG_4 (KEY_CFG_7 + 1) +#define KEY_CFG_5 (KEY_CFG_4 + 1) +#define KEY_CFG_2 (KEY_CFG_5 + 1) +#define KEY_CFG_3 (KEY_CFG_2 + 1) +#define KEY_CFG_1 (KEY_CFG_3 + 1) +#define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1) +#define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1) +#define KEY_CFG_9 (KEY_CFG_8 + 1) +#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) +#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) +#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) +#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) +#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) +#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) +#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) +#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) +#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) +#define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1) + +/* MPU6050 keys */ +#define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1) +#define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1) +#define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1) + +#define KEY_D_0_22 (KEY_TEMPLABEL + 1) +#define KEY_D_0_24 (KEY_D_0_22 + 1) +#define KEY_D_0_36 (KEY_D_0_24 + 1) +#define KEY_D_0_52 (KEY_D_0_36 + 1) +#define KEY_D_0_96 (KEY_D_0_52 + 1) +#define KEY_D_0_104 (KEY_D_0_96 + 1) +#define KEY_D_0_108 (KEY_D_0_104 + 1) +#define KEY_D_0_163 (KEY_D_0_108 + 1) +#define KEY_D_0_188 (KEY_D_0_163 + 1) +#define KEY_D_0_192 (KEY_D_0_188 + 1) +#define KEY_D_0_224 (KEY_D_0_192 + 1) +#define KEY_D_0_228 (KEY_D_0_224 + 1) +#define KEY_D_0_232 (KEY_D_0_228 + 1) +#define KEY_D_0_236 (KEY_D_0_232 + 1) + +#define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1) +#define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1) +#define KEY_D_1_4 (KEY_D_1_2 + 1) +#define KEY_D_1_8 (KEY_D_1_4 + 1) +#define KEY_D_1_10 (KEY_D_1_8 + 1) +#define KEY_D_1_24 (KEY_D_1_10 + 1) +#define KEY_D_1_28 (KEY_D_1_24 + 1) +#define KEY_D_1_36 (KEY_D_1_28 + 1) +#define KEY_D_1_40 (KEY_D_1_36 + 1) +#define KEY_D_1_44 (KEY_D_1_40 + 1) +#define KEY_D_1_72 (KEY_D_1_44 + 1) +#define KEY_D_1_74 (KEY_D_1_72 + 1) +#define KEY_D_1_79 (KEY_D_1_74 + 1) +#define KEY_D_1_88 (KEY_D_1_79 + 1) +#define KEY_D_1_90 (KEY_D_1_88 + 1) +#define KEY_D_1_92 (KEY_D_1_90 + 1) +#define KEY_D_1_96 (KEY_D_1_92 + 1) +#define KEY_D_1_98 (KEY_D_1_96 + 1) +#define KEY_D_1_100 (KEY_D_1_98 + 1) +#define KEY_D_1_106 (KEY_D_1_100 + 1) +#define KEY_D_1_108 (KEY_D_1_106 + 1) +#define KEY_D_1_112 (KEY_D_1_108 + 1) +#define KEY_D_1_128 (KEY_D_1_112 + 1) +#define KEY_D_1_152 (KEY_D_1_128 + 1) +#define KEY_D_1_160 (KEY_D_1_152 + 1) +#define KEY_D_1_168 (KEY_D_1_160 + 1) +#define KEY_D_1_175 (KEY_D_1_168 + 1) +#define KEY_D_1_176 (KEY_D_1_175 + 1) +#define KEY_D_1_178 (KEY_D_1_176 + 1) +#define KEY_D_1_179 (KEY_D_1_178 + 1) +#define KEY_D_1_218 (KEY_D_1_179 + 1) +#define KEY_D_1_232 (KEY_D_1_218 + 1) +#define KEY_D_1_236 (KEY_D_1_232 + 1) +#define KEY_D_1_240 (KEY_D_1_236 + 1) +#define KEY_D_1_244 (KEY_D_1_240 + 1) +#define KEY_D_1_250 (KEY_D_1_244 + 1) +#define KEY_D_1_252 (KEY_D_1_250 + 1) +#define KEY_D_2_12 (KEY_D_1_252 + 1) +#define KEY_D_2_96 (KEY_D_2_12 + 1) +#define KEY_D_2_108 (KEY_D_2_96 + 1) +#define KEY_D_2_208 (KEY_D_2_108 + 1) +#define KEY_FLICK_MSG (KEY_D_2_208 + 1) +#define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1) +#define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1) +#define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1) +#define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1) +#define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1) +#define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1) +#define KEY_D_2_244 (KEY_D_2_224 + 1) +#define KEY_D_2_248 (KEY_D_2_244 + 1) +#define KEY_D_2_252 (KEY_D_2_248 + 1) + +#define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1) +#define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1) +#define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1) +#define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1) +#define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1) +#define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1) +#define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1) +#define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1) +#define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1) +#define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1) +#define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1) +#define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1) +#define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1) +#define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1) +#define KEY_D_CS_TAY (KEY_D_CS_TAX + 1) +#define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1) +#define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1) +#define KEY_D_CS_TGY (KEY_D_CS_TGX + 1) +#define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1) +#define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1) +#define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1) +#define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1) +#define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1) + +/* Compass keys */ +#define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1) +#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1) +#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1) +#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1) +#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1) +#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1) +#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1) +#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1) +#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1) +#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1) +#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1) +#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1) + +/* Gesture Keys */ +#define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1) +#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1) +#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1) +#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1) +#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1) +#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1) +#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1) +#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1) +#define KEY_D_ACT0 (KEY_DMP_ORIENT + 1) +#define KEY_D_ACSX (KEY_D_ACT0 + 1) +#define KEY_D_ACSY (KEY_D_ACSX + 1) +#define KEY_D_ACSZ (KEY_D_ACSY + 1) + +#define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1) +#define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1) +#define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1) +#define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1) +#define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1) +#define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1) +#define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1) +#define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1) +#define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1) +#define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1) +#define KEY_X_GRT_Y (KEY_END_ORIENT + 1) +#define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1) +#define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1) +#define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1) + +/* Authenticate Keys */ +#define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1) +#define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1) +#define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1) +#define KEY_D_AUTH_B (KEY_D_AUTH_A + 1) + +/* Pedometer standalone only keys */ +#define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1) +#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1) +#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1) +#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1) +#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1) +#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1) +#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1) +#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1) +#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1) +#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1) +#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1) +#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1) +#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1) +#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1) +#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1) +#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1) +#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1) +#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1) +#define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1) + +/*Host Based No Motion*/ +#define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1) + +/* EIS keys */ +#define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1) +#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1) +#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1) +#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1) +#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1) +#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1) +#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1) +#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1) +#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1) +#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1) +#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1) +#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1) +#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1) +#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1) +#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1) +#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1) +#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1) +#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1) +#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1) +#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1) +#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1) +#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1) +#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1) +#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1) +#define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1) +#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1) +//#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1) +//#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1) +//#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1) + +/* Stream keys */ +#define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1) +#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1) +#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1) +#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1) +#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1) +#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1) +#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1) +#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1) +#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1) +#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1) +#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1) + +#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1) + +typedef struct { + unsigned short key; + unsigned short addr; +} tKeyLabel; + +#define DINA0A 0x0a +#define DINA22 0x22 +#define DINA42 0x42 +#define DINA5A 0x5a + +#define DINA06 0x06 +#define DINA0E 0x0e +#define DINA16 0x16 +#define DINA1E 0x1e +#define DINA26 0x26 +#define DINA2E 0x2e +#define DINA36 0x36 +#define DINA3E 0x3e +#define DINA46 0x46 +#define DINA4E 0x4e +#define DINA56 0x56 +#define DINA5E 0x5e +#define DINA66 0x66 +#define DINA6E 0x6e +#define DINA76 0x76 +#define DINA7E 0x7e + +#define DINA00 0x00 +#define DINA08 0x08 +#define DINA10 0x10 +#define DINA18 0x18 +#define DINA20 0x20 +#define DINA28 0x28 +#define DINA30 0x30 +#define DINA38 0x38 +#define DINA40 0x40 +#define DINA48 0x48 +#define DINA50 0x50 +#define DINA58 0x58 +#define DINA60 0x60 +#define DINA68 0x68 +#define DINA70 0x70 +#define DINA78 0x78 + +#define DINA04 0x04 +#define DINA0C 0x0c +#define DINA14 0x14 +#define DINA1C 0x1C +#define DINA24 0x24 +#define DINA2C 0x2c +#define DINA34 0x34 +#define DINA3C 0x3c +#define DINA44 0x44 +#define DINA4C 0x4c +#define DINA54 0x54 +#define DINA5C 0x5c +#define DINA64 0x64 +#define DINA6C 0x6c +#define DINA74 0x74 +#define DINA7C 0x7c + +#define DINA01 0x01 +#define DINA09 0x09 +#define DINA11 0x11 +#define DINA19 0x19 +#define DINA21 0x21 +#define DINA29 0x29 +#define DINA31 0x31 +#define DINA39 0x39 +#define DINA41 0x41 +#define DINA49 0x49 +#define DINA51 0x51 +#define DINA59 0x59 +#define DINA61 0x61 +#define DINA69 0x69 +#define DINA71 0x71 +#define DINA79 0x79 + +#define DINA25 0x25 +#define DINA2D 0x2d +#define DINA35 0x35 +#define DINA3D 0x3d +#define DINA4D 0x4d +#define DINA55 0x55 +#define DINA5D 0x5D +#define DINA6D 0x6d +#define DINA75 0x75 +#define DINA7D 0x7d + +#define DINADC 0xdc +#define DINAF2 0xf2 +#define DINAAB 0xab +#define DINAAA 0xaa +#define DINAF1 0xf1 +#define DINADF 0xdf +#define DINADA 0xda +#define DINAB1 0xb1 +#define DINAB9 0xb9 +#define DINAF3 0xf3 +#define DINA8B 0x8b +#define DINAA3 0xa3 +#define DINA91 0x91 +#define DINAB6 0xb6 +#define DINAB4 0xb4 + + +#define DINC00 0x00 +#define DINC01 0x01 +#define DINC02 0x02 +#define DINC03 0x03 +#define DINC08 0x08 +#define DINC09 0x09 +#define DINC0A 0x0a +#define DINC0B 0x0b +#define DINC10 0x10 +#define DINC11 0x11 +#define DINC12 0x12 +#define DINC13 0x13 +#define DINC18 0x18 +#define DINC19 0x19 +#define DINC1A 0x1a +#define DINC1B 0x1b + +#define DINC20 0x20 +#define DINC21 0x21 +#define DINC22 0x22 +#define DINC23 0x23 +#define DINC28 0x28 +#define DINC29 0x29 +#define DINC2A 0x2a +#define DINC2B 0x2b +#define DINC30 0x30 +#define DINC31 0x31 +#define DINC32 0x32 +#define DINC33 0x33 +#define DINC38 0x38 +#define DINC39 0x39 +#define DINC3A 0x3a +#define DINC3B 0x3b + +#define DINC40 0x40 +#define DINC41 0x41 +#define DINC42 0x42 +#define DINC43 0x43 +#define DINC48 0x48 +#define DINC49 0x49 +#define DINC4A 0x4a +#define DINC4B 0x4b +#define DINC50 0x50 +#define DINC51 0x51 +#define DINC52 0x52 +#define DINC53 0x53 +#define DINC58 0x58 +#define DINC59 0x59 +#define DINC5A 0x5a +#define DINC5B 0x5b + +#define DINC60 0x60 +#define DINC61 0x61 +#define DINC62 0x62 +#define DINC63 0x63 +#define DINC68 0x68 +#define DINC69 0x69 +#define DINC6A 0x6a +#define DINC6B 0x6b +#define DINC70 0x70 +#define DINC71 0x71 +#define DINC72 0x72 +#define DINC73 0x73 +#define DINC78 0x78 +#define DINC79 0x79 +#define DINC7A 0x7a +#define DINC7B 0x7b + +#define DIND40 0x40 + + +#define DINA80 0x80 +#define DINA90 0x90 +#define DINAA0 0xa0 +#define DINAC9 0xc9 +#define DINACB 0xcb +#define DINACD 0xcd +#define DINACF 0xcf +#define DINAC8 0xc8 +#define DINACA 0xca +#define DINACC 0xcc +#define DINACE 0xce +#define DINAD8 0xd8 +#define DINADD 0xdd +#define DINAF8 0xf0 +#define DINAFE 0xfe + +#define DINBF8 0xf8 +#define DINAC0 0xb0 +#define DINAC1 0xb1 +#define DINAC2 0xb4 +#define DINAC3 0xb5 +#define DINAC4 0xb8 +#define DINAC5 0xb9 +#define DINBC0 0xc0 +#define DINBC2 0xc2 +#define DINBC4 0xc4 +#define DINBC6 0xc6 + + + +#endif // DMPKEY_H__ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/dmpmap.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/dmpmap.h new file mode 100644 index 0000000..391ba14 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/dmpmap.h @@ -0,0 +1,264 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPMAP_H +#define DMPMAP_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define DMP_PTAT 0 +#define DMP_XGYR 2 +#define DMP_YGYR 4 +#define DMP_ZGYR 6 +#define DMP_XACC 8 +#define DMP_YACC 10 +#define DMP_ZACC 12 +#define DMP_ADC1 14 +#define DMP_ADC2 16 +#define DMP_ADC3 18 +#define DMP_BIASUNC 20 +#define DMP_FIFORT 22 +#define DMP_INVGSFH 24 +#define DMP_INVGSFL 26 +#define DMP_1H 28 +#define DMP_1L 30 +#define DMP_BLPFSTCH 32 +#define DMP_BLPFSTCL 34 +#define DMP_BLPFSXH 36 +#define DMP_BLPFSXL 38 +#define DMP_BLPFSYH 40 +#define DMP_BLPFSYL 42 +#define DMP_BLPFSZH 44 +#define DMP_BLPFSZL 46 +#define DMP_BLPFMTC 48 +#define DMP_SMC 50 +#define DMP_BLPFMXH 52 +#define DMP_BLPFMXL 54 +#define DMP_BLPFMYH 56 +#define DMP_BLPFMYL 58 +#define DMP_BLPFMZH 60 +#define DMP_BLPFMZL 62 +#define DMP_BLPFC 64 +#define DMP_SMCTH 66 +#define DMP_0H2 68 +#define DMP_0L2 70 +#define DMP_BERR2H 72 +#define DMP_BERR2L 74 +#define DMP_BERR2NH 76 +#define DMP_SMCINC 78 +#define DMP_ANGVBXH 80 +#define DMP_ANGVBXL 82 +#define DMP_ANGVBYH 84 +#define DMP_ANGVBYL 86 +#define DMP_ANGVBZH 88 +#define DMP_ANGVBZL 90 +#define DMP_BERR1H 92 +#define DMP_BERR1L 94 +#define DMP_ATCH 96 +#define DMP_BIASUNCSF 98 +#define DMP_ACT2H 100 +#define DMP_ACT2L 102 +#define DMP_GSFH 104 +#define DMP_GSFL 106 +#define DMP_GH 108 +#define DMP_GL 110 +#define DMP_0_5H 112 +#define DMP_0_5L 114 +#define DMP_0_0H 116 +#define DMP_0_0L 118 +#define DMP_1_0H 120 +#define DMP_1_0L 122 +#define DMP_1_5H 124 +#define DMP_1_5L 126 +#define DMP_TMP1AH 128 +#define DMP_TMP1AL 130 +#define DMP_TMP2AH 132 +#define DMP_TMP2AL 134 +#define DMP_TMP3AH 136 +#define DMP_TMP3AL 138 +#define DMP_TMP4AH 140 +#define DMP_TMP4AL 142 +#define DMP_XACCW 144 +#define DMP_TMP5 146 +#define DMP_XACCB 148 +#define DMP_TMP8 150 +#define DMP_YACCB 152 +#define DMP_TMP9 154 +#define DMP_ZACCB 156 +#define DMP_TMP10 158 +#define DMP_DZH 160 +#define DMP_DZL 162 +#define DMP_XGCH 164 +#define DMP_XGCL 166 +#define DMP_YGCH 168 +#define DMP_YGCL 170 +#define DMP_ZGCH 172 +#define DMP_ZGCL 174 +#define DMP_YACCW 176 +#define DMP_TMP7 178 +#define DMP_AFB1H 180 +#define DMP_AFB1L 182 +#define DMP_AFB2H 184 +#define DMP_AFB2L 186 +#define DMP_MAGFBH 188 +#define DMP_MAGFBL 190 +#define DMP_QT1H 192 +#define DMP_QT1L 194 +#define DMP_QT2H 196 +#define DMP_QT2L 198 +#define DMP_QT3H 200 +#define DMP_QT3L 202 +#define DMP_QT4H 204 +#define DMP_QT4L 206 +#define DMP_CTRL1H 208 +#define DMP_CTRL1L 210 +#define DMP_CTRL2H 212 +#define DMP_CTRL2L 214 +#define DMP_CTRL3H 216 +#define DMP_CTRL3L 218 +#define DMP_CTRL4H 220 +#define DMP_CTRL4L 222 +#define DMP_CTRLS1 224 +#define DMP_CTRLSF1 226 +#define DMP_CTRLS2 228 +#define DMP_CTRLSF2 230 +#define DMP_CTRLS3 232 +#define DMP_CTRLSFNLL 234 +#define DMP_CTRLS4 236 +#define DMP_CTRLSFNL2 238 +#define DMP_CTRLSFNL 240 +#define DMP_TMP30 242 +#define DMP_CTRLSFJT 244 +#define DMP_TMP31 246 +#define DMP_TMP11 248 +#define DMP_CTRLSF2_2 250 +#define DMP_TMP12 252 +#define DMP_CTRLSF1_2 254 +#define DMP_PREVPTAT 256 +#define DMP_ACCZB 258 +#define DMP_ACCXB 264 +#define DMP_ACCYB 266 +#define DMP_1HB 272 +#define DMP_1LB 274 +#define DMP_0H 276 +#define DMP_0L 278 +#define DMP_ASR22H 280 +#define DMP_ASR22L 282 +#define DMP_ASR6H 284 +#define DMP_ASR6L 286 +#define DMP_TMP13 288 +#define DMP_TMP14 290 +#define DMP_FINTXH 292 +#define DMP_FINTXL 294 +#define DMP_FINTYH 296 +#define DMP_FINTYL 298 +#define DMP_FINTZH 300 +#define DMP_FINTZL 302 +#define DMP_TMP1BH 304 +#define DMP_TMP1BL 306 +#define DMP_TMP2BH 308 +#define DMP_TMP2BL 310 +#define DMP_TMP3BH 312 +#define DMP_TMP3BL 314 +#define DMP_TMP4BH 316 +#define DMP_TMP4BL 318 +#define DMP_STXG 320 +#define DMP_ZCTXG 322 +#define DMP_STYG 324 +#define DMP_ZCTYG 326 +#define DMP_STZG 328 +#define DMP_ZCTZG 330 +#define DMP_CTRLSFJT2 332 +#define DMP_CTRLSFJTCNT 334 +#define DMP_PVXG 336 +#define DMP_TMP15 338 +#define DMP_PVYG 340 +#define DMP_TMP16 342 +#define DMP_PVZG 344 +#define DMP_TMP17 346 +#define DMP_MNMFLAGH 352 +#define DMP_MNMFLAGL 354 +#define DMP_MNMTMH 356 +#define DMP_MNMTML 358 +#define DMP_MNMTMTHRH 360 +#define DMP_MNMTMTHRL 362 +#define DMP_MNMTHRH 364 +#define DMP_MNMTHRL 366 +#define DMP_ACCQD4H 368 +#define DMP_ACCQD4L 370 +#define DMP_ACCQD5H 372 +#define DMP_ACCQD5L 374 +#define DMP_ACCQD6H 376 +#define DMP_ACCQD6L 378 +#define DMP_ACCQD7H 380 +#define DMP_ACCQD7L 382 +#define DMP_ACCQD0H 384 +#define DMP_ACCQD0L 386 +#define DMP_ACCQD1H 388 +#define DMP_ACCQD1L 390 +#define DMP_ACCQD2H 392 +#define DMP_ACCQD2L 394 +#define DMP_ACCQD3H 396 +#define DMP_ACCQD3L 398 +#define DMP_XN2H 400 +#define DMP_XN2L 402 +#define DMP_XN1H 404 +#define DMP_XN1L 406 +#define DMP_YN2H 408 +#define DMP_YN2L 410 +#define DMP_YN1H 412 +#define DMP_YN1L 414 +#define DMP_YH 416 +#define DMP_YL 418 +#define DMP_B0H 420 +#define DMP_B0L 422 +#define DMP_A1H 424 +#define DMP_A1L 426 +#define DMP_A2H 428 +#define DMP_A2L 430 +#define DMP_SEM1 432 +#define DMP_FIFOCNT 434 +#define DMP_SH_TH_X 436 +#define DMP_PACKET 438 +#define DMP_SH_TH_Y 440 +#define DMP_FOOTER 442 +#define DMP_SH_TH_Z 444 +#define DMP_TEMP29 448 +#define DMP_TEMP30 450 +#define DMP_XACCB_PRE 452 +#define DMP_XACCB_PREL 454 +#define DMP_YACCB_PRE 456 +#define DMP_YACCB_PREL 458 +#define DMP_ZACCB_PRE 460 +#define DMP_ZACCB_PREL 462 +#define DMP_TMP22 464 +#define DMP_TAP_TIMER 466 +#define DMP_TAP_THX 468 +#define DMP_TAP_THY 472 +#define DMP_TAP_THZ 476 +#define DMP_TAPW_MIN 478 +#define DMP_TMP25 480 +#define DMP_TMP26 482 +#define DMP_TMP27 484 +#define DMP_TMP28 486 +#define DMP_ORIENT 488 +#define DMP_THRSH 490 +#define DMP_ENDIANH 492 +#define DMP_ENDIANL 494 +#define DMP_BLPFNMTCH 496 +#define DMP_BLPFNMTCL 498 +#define DMP_BLPFNMXH 500 +#define DMP_BLPFNMXL 502 +#define DMP_BLPFNMYH 504 +#define DMP_BLPFNMYL 506 +#define DMP_BLPFNMZH 508 +#define DMP_BLPFNMZL 510 +#ifdef __cplusplus +} +#endif +#endif // DMPMAP_H diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu.c new file mode 100644 index 0000000..3d48961 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu.c @@ -0,0 +1,2858 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.c + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ +#include +#include "delay.h" +#include "usart.h" +#include "ioi2c.h" + +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin) + * labs(long x) + * fabsf(float x) + * min(int a, int b) + */ +#define MPU6050 +#define MOTION_DRIVER_TARGET_MSP430 + +#if defined MOTION_DRIVER_TARGET_MSP430 +/*#include "msp430.h" +#include "msp430_i2c.h" +#include "msp430_clock.h" +#include "msp430_interrupt.h" */ + +#define i2c_write i2cWrite +#define i2c_read i2cRead +#define delay_ms delay_ms +#define get_ms myget_ms + +//static int reg_int_cb(struct int_param_s *int_param) +//{ +// /*return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, +// int_param->active_low);*/ +// return 0; +//} +//#define log_i(...) do {} while (0) +//#define log_e(...) do {} while (0) +#define log_e printf +#define log_i printf +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((acb, int_param->pin, int_param->lp_exit, + int_param->active_low); +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((apin, int_param->cb, int_param->arg); + return 0; +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* UC3 is a 32-bit processor, so abs and labs are equivalent. */ +#define labs abs +#define fabs(x) (((x)>0)?(x):-(x)) +#else +//#error Gyro driver is missing the system layer implementations. +#endif + +#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250 +//#error Which gyro are you using? Define MPUxxxx in your compiler options. +#endif + +/* Time for some messy macro work. =] + * #define MPU9150 + * is equivalent to.. + * #define MPU6050 + * #define AK8975_SECONDARY + * + * #define MPU9250 + * is equivalent to.. + * #define MPU6500 + * #define AK8963_SECONDARY + */ +#if defined MPU9150 +#ifndef MPU6050 +#define MPU6050 +#endif /* #ifndef MPU6050 */ +#if defined AK8963_SECONDARY +#error "MPU9150 and AK8963_SECONDARY cannot both be defined." +#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */ +#define AK8975_SECONDARY +#endif /* #if defined AK8963_SECONDARY */ +#elif defined MPU9250 /* #if defined MPU9150 */ +#ifndef MPU6500 +#define MPU6500 +#endif /* #ifndef MPU6500 */ +#if defined AK8975_SECONDARY +#error "MPU9250 and AK8975_SECONDARY cannot both be defined." +#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */ +#define AK8963_SECONDARY +#endif /* #if defined AK8975_SECONDARY */ +#endif /* #if defined MPU9150 */ + +#if defined AK8975_SECONDARY || defined AK8963_SECONDARY +#define AK89xx_SECONDARY +#else +/* #warning "No compass = less profit for Invensense. Lame." */ +#endif + +static int set_int_enable(unsigned char enable); + +/* Hardware registers needed by driver. */ +struct gyro_reg_s { + unsigned char who_am_i; + unsigned char rate_div; + unsigned char lpf; + unsigned char prod_id; + unsigned char user_ctrl; + unsigned char fifo_en; + unsigned char gyro_cfg; + unsigned char accel_cfg; + + //unsigned char accel_cfg2; + + //unsigned char lp_accel_odr; + + unsigned char motion_thr; + unsigned char motion_dur; + unsigned char fifo_count_h; + unsigned char fifo_r_w; + unsigned char raw_gyro; + unsigned char raw_accel; + unsigned char temp; + unsigned char int_enable; + unsigned char dmp_int_status; + unsigned char int_status; + + //unsigned char accel_intel; + + unsigned char pwr_mgmt_1; + unsigned char pwr_mgmt_2; + unsigned char int_pin_cfg; + unsigned char mem_r_w; + unsigned char accel_offs; + unsigned char i2c_mst; + unsigned char bank_sel; + unsigned char mem_start_addr; + unsigned char prgm_start_h; +#if defined AK89xx_SECONDARY + unsigned char s0_addr; + unsigned char s0_reg; + unsigned char s0_ctrl; + unsigned char s1_addr; + unsigned char s1_reg; + unsigned char s1_ctrl; + unsigned char s4_ctrl; + unsigned char s0_do; + unsigned char s1_do; + unsigned char i2c_delay_ctrl; + unsigned char raw_compass; + /* The I2C_MST_VDDIO bit is in this register. */ + unsigned char yg_offs_tc; +#endif +}; + +/* Information specific to a particular device. */ +struct hw_s { + unsigned char addr; + unsigned short max_fifo; + unsigned char num_reg; + unsigned short temp_sens; + short temp_offset; + unsigned short bank_size; +#if defined AK89xx_SECONDARY + unsigned short compass_fsr; +#endif +}; + +/* When entering motion interrupt mode, the driver keeps track of the + * previous state so that it can be restored at a later time. + * TODO: This is tacky. Fix it. + */ +struct motion_int_cache_s { + unsigned short gyro_fsr; + unsigned char accel_fsr; + unsigned short lpf; + unsigned short sample_rate; + unsigned char sensors_on; + unsigned char fifo_sensors; + unsigned char dmp_on; +}; + +/* Cached chip configuration data. + * TODO: A lot of these can be handled with a bitmask. + */ +struct chip_cfg_s { + /* Matches gyro_cfg >> 3 & 0x03 */ + unsigned char gyro_fsr; + /* Matches accel_cfg >> 3 & 0x03 */ + unsigned char accel_fsr; + /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */ + unsigned char sensors; + /* Matches config register. */ + unsigned char lpf; + unsigned char clk_src; + /* Sample rate, NOT rate divider. */ + unsigned short sample_rate; + /* Matches fifo_en register. */ + unsigned char fifo_enable; + /* Matches int enable register. */ + unsigned char int_enable; + /* 1 if devices on auxiliary I2C bus appear on the primary. */ + unsigned char bypass_mode; + /* 1 if half-sensitivity. + * NOTE: This doesn't belong here, but everything else in hw_s is const, + * and this allows us to save some precious RAM. + */ + unsigned char accel_half; + /* 1 if device in low-power accel-only mode. */ + unsigned char lp_accel_mode; + /* 1 if interrupts are only triggered on motion events. */ + unsigned char int_motion_only; + struct motion_int_cache_s cache; + /* 1 for active low interrupts. */ + unsigned char active_low_int; + /* 1 for latched interrupts. */ + unsigned char latched_int; + /* 1 if DMP is enabled. */ + unsigned char dmp_on; + /* Ensures that DMP will only be loaded once. */ + unsigned char dmp_loaded; + /* Sampling rate used when DMP is enabled. */ + unsigned short dmp_sample_rate; +#ifdef AK89xx_SECONDARY + /* Compass sample rate. */ + unsigned short compass_sample_rate; + unsigned char compass_addr; + short mag_sens_adj[3]; +#endif +}; + +/* Information for self-test. */ +struct test_s { + unsigned long gyro_sens; + unsigned long accel_sens; + unsigned char reg_rate_div; + unsigned char reg_lpf; + unsigned char reg_gyro_fsr; + unsigned char reg_accel_fsr; + unsigned short wait_ms; + unsigned char packet_thresh; + float min_dps; + float max_dps; + float max_gyro_var; + float min_g; + float max_g; + float max_accel_var; +}; + +/* Gyro driver state variables. */ +struct gyro_state_s { + const struct gyro_reg_s *reg; + const struct hw_s *hw; + struct chip_cfg_s chip_cfg; + const struct test_s *test; +}; + +/* Filter configurations. */ +enum lpf_e { + INV_FILTER_256HZ_NOLPF2 = 0, + INV_FILTER_188HZ, + INV_FILTER_98HZ, + INV_FILTER_42HZ, + INV_FILTER_20HZ, + INV_FILTER_10HZ, + INV_FILTER_5HZ, + INV_FILTER_2100HZ_NOLPF, + NUM_FILTER +}; + +/* Full scale ranges. */ +enum gyro_fsr_e { + INV_FSR_250DPS = 0, + INV_FSR_500DPS, + INV_FSR_1000DPS, + INV_FSR_2000DPS, + NUM_GYRO_FSR +}; + +/* Full scale ranges. */ +enum accel_fsr_e { + INV_FSR_2G = 0, + INV_FSR_4G, + INV_FSR_8G, + INV_FSR_16G, + NUM_ACCEL_FSR +}; + +/* Clock sources. */ +enum clock_sel_e { + INV_CLK_INTERNAL = 0, + INV_CLK_PLL, + NUM_CLK +}; + +/* Low-power accel wakeup rates. */ +enum lp_accel_rate_e { +#if defined MPU6050 + INV_LPA_1_25HZ, + INV_LPA_5HZ, + INV_LPA_20HZ, + INV_LPA_40HZ +#elif defined MPU6500 + INV_LPA_0_3125HZ, + INV_LPA_0_625HZ, + INV_LPA_1_25HZ, + INV_LPA_2_5HZ, + INV_LPA_5HZ, + INV_LPA_10HZ, + INV_LPA_20HZ, + INV_LPA_40HZ, + INV_LPA_80HZ, + INV_LPA_160HZ, + INV_LPA_320HZ, + INV_LPA_640HZ +#endif +}; + +#define BIT_I2C_MST_VDDIO (0x80) +#define BIT_FIFO_EN (0x40) +#define BIT_DMP_EN (0x80) +#define BIT_FIFO_RST (0x04) +#define BIT_DMP_RST (0x08) +#define BIT_FIFO_OVERFLOW (0x10) +#define BIT_DATA_RDY_EN (0x01) +#define BIT_DMP_INT_EN (0x02) +#define BIT_MOT_INT_EN (0x40) +#define BITS_FSR (0x18) +#define BITS_LPF (0x07) +#define BITS_HPF (0x07) +#define BITS_CLK (0x07) +#define BIT_FIFO_SIZE_1024 (0x40) +#define BIT_FIFO_SIZE_2048 (0x80) +#define BIT_FIFO_SIZE_4096 (0xC0) +#define BIT_RESET (0x80) +#define BIT_SLEEP (0x40) +#define BIT_S0_DELAY_EN (0x01) +#define BIT_S2_DELAY_EN (0x04) +#define BITS_SLAVE_LENGTH (0x0F) +#define BIT_SLAVE_BYTE_SW (0x40) +#define BIT_SLAVE_GROUP (0x10) +#define BIT_SLAVE_EN (0x80) +#define BIT_I2C_READ (0x80) +#define BITS_I2C_MASTER_DLY (0x1F) +#define BIT_AUX_IF_EN (0x20) +#define BIT_ACTL (0x80) +#define BIT_LATCH_EN (0x20) +#define BIT_ANY_RD_CLR (0x10) +#define BIT_BYPASS_EN (0x02) +#define BITS_WOM_EN (0xC0) +#define BIT_LPA_CYCLE (0x20) +#define BIT_STBY_XA (0x20) +#define BIT_STBY_YA (0x10) +#define BIT_STBY_ZA (0x08) +#define BIT_STBY_XG (0x04) +#define BIT_STBY_YG (0x02) +#define BIT_STBY_ZG (0x01) +#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA) +#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG) + +#if defined AK8975_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x00) +#define AK89xx_FSR (9830) +#elif defined AK8963_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x10) +#define AK89xx_FSR (4915) +#endif + +#ifdef AK89xx_SECONDARY +#define AKM_REG_WHOAMI (0x00) + +#define AKM_REG_ST1 (0x02) +#define AKM_REG_HXL (0x03) +#define AKM_REG_ST2 (0x09) + +#define AKM_REG_CNTL (0x0A) +#define AKM_REG_ASTC (0x0C) +#define AKM_REG_ASAX (0x10) +#define AKM_REG_ASAY (0x11) +#define AKM_REG_ASAZ (0x12) + +#define AKM_DATA_READY (0x01) +#define AKM_DATA_OVERRUN (0x02) +#define AKM_OVERFLOW (0x80) +#define AKM_DATA_ERROR (0x40) + +#define AKM_BIT_SELF_TEST (0x40) + +#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS) + +#define AKM_WHOAMI (0x48) +#endif + +#if defined MPU6050 +/* +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x06, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .yg_offs_tc = 0x01, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 118, + .temp_sens = 340, + .temp_offset = -521, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; +*/ +const struct hw_s hw={ + 0x68, //addr + 1024, //max_fifo + 118, //num_reg + 340, //temp_sens + -521, //temp_offset + 256 //bank_size +}; +const struct gyro_reg_s reg = { +0x75, //who_am_i +0x19, //rate_div +0x1A, //lpf +0x0C, //prod_id +0x6A, //user_ctrl +0x23, //fifo_en +0x1B, //gyro_cfg +0x1C, //accel_cfg +0x1F, // motion_thr +0x20, // motion_dur +0x72, // fifo_count_h +0x74, // fifo_r_w +0x43, // raw_gyro +0x3B, // raw_accel +0x41, // temp +0x38, // int_enable +0x39, // dmp_int_status +0x3A, // int_status +0x6B, // pwr_mgmt_1 +0x6C, // pwr_mgmt_2 +0x37, // int_pin_cfg +0x6F, // mem_r_w +0x06, // accel_offs +0x24, // i2c_mst +0x6D, // bank_sel +0x6E, // mem_start_addr +0x70 // prgm_start_h +}; + +//const struct test_s test = { +// .gyro_sens = 32768/250, +// .accel_sens = 32768/16, +// .reg_rate_div = 0, /* 1kHz. */ +// .reg_lpf = 1, /* 188Hz. */ +// .reg_gyro_fsr = 0, /* 250dps. */ +// .reg_accel_fsr = 0x18, /* 16g. */ +// .wait_ms = 50, +// .packet_thresh = 5, /* 5% */ +// .min_dps = 10.f, +// .max_dps = 105.f, +// .max_gyro_var = 0.14f, +// .min_g = 0.3f, +// .max_g = 0.95f, +// .max_accel_var = 0.14f +//}; +const struct test_s test={ +32768/250, //gyro_sens +32768/16, // accel_sens +0, // reg_rate_div +1, // reg_lpf +0, // reg_gyro_fsr +0x18, // reg_accel_fsr +50, // wait_ms +5, // packet_thresh +10.0f, // min_dps +105.0f, // max_dps +0.14f, // max_gyro_var +0.3f, // min_g +0.95f, // max_g +0.14f // max_accel_var +}; +/* +static struct gyro_state_s st = { + .reg = ®, + .hw = &hw, + .test = &test +}; */ +static struct gyro_state_s st={ + ®, + &hw, + {0}, + &test +}; +//st.chip_cfg.dmp_on = 1; +//st.dhip_cfg.fifo_enabel = 1; +/* +#elif defined MPU6500 +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .accel_cfg2 = 0x1D, + .lp_accel_odr = 0x1E, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .accel_intel = 0x69, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x77, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 128, + .temp_sens = 321, + .temp_offset = 0, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; +*/ +//const struct test_s test = { +// .gyro_sens = 32768/250, +// .accel_sens = 32768/16, +// .reg_rate_div = 0, /* 1kHz. */ +// .reg_lpf = 1, /* 188Hz. */ +// .reg_gyro_fsr = 0, /* 250dps. */ +// .reg_accel_fsr = 0x18, /* 16g. */ +// .wait_ms = 50, +// .packet_thresh = 5, /* 5% */ +// .min_dps = 10.f, +// .max_dps = 105.f, +// .max_gyro_var = 0.14f, +// .min_g = 0.3f, +// .max_g = 0.95f, +// .max_accel_var = 0.14f +//}; +// +//static struct gyro_state_s st = { +// .reg = ®, +// .hw = &hw, +// .test = &test +//}; +#endif + +#define MAX_PACKET_LENGTH (12) + +#ifdef AK89xx_SECONDARY +static int setup_compass(void); +#define MAX_COMPASS_SAMPLE_RATE (100) +#endif + +/** + * @brief Enable/disable data ready interrupt. + * If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready + * interrupt is used. + * @param[in] enable 1 to enable interrupt. + * @return 0 if successful. + */ +static int set_int_enable(unsigned char enable) +{ + unsigned char tmp; + + if (st.chip_cfg.dmp_on) { + if (enable) + tmp = BIT_DMP_INT_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } else { + if (!st.chip_cfg.sensors) + return -1; + if (enable && st.chip_cfg.int_enable) + return 0; + if (enable) + tmp = BIT_DATA_RDY_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } + return 0; +} + + +/** + * @brief Register dump for testing. + * @return 0 if successful. + */ +int mpu_reg_dump(void) +{ + unsigned char ii; + unsigned char data; + + for (ii = 0; ii < st.hw->num_reg; ii++) { + if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w) + continue; + if (i2c_read(st.hw->addr, ii, 1, &data)) + return -1; + //log_i("%#5x: %#5x\r\n", ii, data); + } + return 0; +} + +/** + * @brief Read from a single register. + * NOTE: The memory and FIFO read/write registers cannot be accessed. + * @param[in] reg Register address. + * @param[out] data Register data. + * @return 0 if successful. + */ +int mpu_read_reg(unsigned char reg, unsigned char *data) +{ + if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w) + return -1; + if (reg >= st.hw->num_reg) + return -1; + return i2c_read(st.hw->addr, reg, 1, data); +} + +/** + * @brief Initialize hardware. + * Initial configuration:\n + * Gyro FSR: +/- 2000DPS\n + * Accel FSR +/- 2G\n + * DLPF: 42Hz\n + * FIFO rate: 50Hz\n + * Clock source: Gyro PLL\n + * FIFO: Disabled.\n + * Data ready interrupt: Disabled, active low, unlatched. + * @param[in] int_param Platform-specific parameters to interrupt API. + * @return 0 if successful. + */ +int mpu_init(void) +{ + unsigned char data[6], rev; + + /* Reset device. */ + data[0] = 0x80;//BIT_RESET; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0]))) + return -1; + delay_ms(100); + + /* Wake up chip. */ + data[0] = 0x00; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0]))) + return -1; + +#if defined MPU6050 + /* Check product revision. */ + if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data)) + return -1; + rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) | + (data[1] & 0x01); + + if (rev) { + /* Congrats, these parts are better. */ + if (rev == 1) + st.chip_cfg.accel_half = 1; + else if (rev == 2) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\n",rev); + return -1; + } + } else { + if (i2c_read(st.hw->addr, st.reg->prod_id, 1, &(data[0]))) + return -1; + rev = data[0] & 0x0F; + if (!rev) { + log_e("Product ID read as 0 indicates device is either incompatible or an MPU3050.\r\n"); + return -1; + } else if (rev == 4) { + log_i("Half sensitivity part found.\r\n"); + st.chip_cfg.accel_half = 1; + } else + st.chip_cfg.accel_half = 0; + } +#elif defined MPU6500 +#define MPU6500_MEM_REV_ADDR (0x17) + if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev)) + return -1; + if (rev == 0x1) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\r\n", rev); + return -1; + } + + /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the + * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO. + */ + data[0] = BIT_FIFO_SIZE_1024 | 0x8; + if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data)) + return -1; +#endif + + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.bypass_mode = 0xFF; +#ifdef AK89xx_SECONDARY + st.chip_cfg.compass_sample_rate = 0xFFFF; +#endif + /* mpu_set_sensors always preserves this setting. */ + st.chip_cfg.clk_src = INV_CLK_PLL; + /* Handled in next call to mpu_set_bypass. */ + st.chip_cfg.active_low_int = 1; + st.chip_cfg.latched_int = 0; + st.chip_cfg.int_motion_only = 0; + st.chip_cfg.lp_accel_mode = 0; + memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache)); + st.chip_cfg.dmp_on = 0; + st.chip_cfg.dmp_loaded = 0; + st.chip_cfg.dmp_sample_rate = 0; + + if (mpu_set_gyro_fsr(2000)) + return -1; + if (mpu_set_accel_fsr(2)) + return -1; + if (mpu_set_lpf(42)) + return -1; + if (mpu_set_sample_rate(50)) + return -1; + if (mpu_configure_fifo(0)) + return -1; + + /*if (int_param) + reg_int_cb(int_param);*/ + +#ifdef AK89xx_SECONDARY + setup_compass(); + if (mpu_set_compass_sample_rate(10)) + return -1; +#else + /* Already disabled by setup_compass. */ + if (mpu_set_bypass(0)) + return -1; +#endif + + mpu_set_sensors(0); + return 0; +} + +/** + * @brief Enter low-power accel-only mode. + * In low-power accel mode, the chip goes to sleep and only wakes up to sample + * the accelerometer at one of the following frequencies: + * \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz + * \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * \n If the requested rate is not one listed above, the device will be set to + * the next highest rate. Requesting a rate above the maximum supported + * frequency will result in an error. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e rate. + * @param[in] rate Minimum sampling rate, or zero to disable LP + * accel mode. + * @return 0 if successful. + */ +int mpu_lp_accel_mode(unsigned char rate) +{ + unsigned char tmp[2]; + + if (rate > 40) + return -1; + + if (!rate) { + mpu_set_int_latched(0); + tmp[0] = 0; + tmp[1] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; + st.chip_cfg.lp_accel_mode = 0; + return 0; + } + /* For LP accel, we automatically configure the hardware to produce latched + * interrupts. In LP accel mode, the hardware cycles into sleep mode before + * it gets a chance to deassert the interrupt pin; therefore, we shift this + * responsibility over to the MCU. + * + * Any register read will clear the interrupt. + */ + mpu_set_int_latched(1); +#if defined MPU6050 + tmp[0] = BIT_LPA_CYCLE; + if (rate == 1) { + tmp[1] = INV_LPA_1_25HZ; + mpu_set_lpf(5); + } else if (rate <= 5) { + tmp[1] = INV_LPA_5HZ; + mpu_set_lpf(5); + } else if (rate <= 20) { + tmp[1] = INV_LPA_20HZ; + mpu_set_lpf(10); + } else { + tmp[1] = INV_LPA_40HZ; + mpu_set_lpf(20); + } + tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; +#elif defined MPU6500 + /* Set wake frequency. */ + if (rate == 1) + tmp[0] = INV_LPA_1_25HZ; + else if (rate == 2) + tmp[0] = INV_LPA_2_5HZ; + else if (rate <= 5) + tmp[0] = INV_LPA_5HZ; + else if (rate <= 10) + tmp[0] = INV_LPA_10HZ; + else if (rate <= 20) + tmp[0] = INV_LPA_20HZ; + else if (rate <= 40) + tmp[0] = INV_LPA_40HZ; + else if (rate <= 80) + tmp[0] = INV_LPA_80HZ; + else if (rate <= 160) + tmp[0] = INV_LPA_160HZ; + else if (rate <= 320) + tmp[0] = INV_LPA_320HZ; + else + tmp[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp)) + return -1; + tmp[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp)) + return -1; +#endif + st.chip_cfg.sensors = INV_XYZ_ACCEL; + st.chip_cfg.clk_src = 0; + st.chip_cfg.lp_accel_mode = 1; + mpu_configure_fifo(0); + + return 0; +} + +/** + * @brief Read raw gyro data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_GYRO)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read raw accel data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_accel_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read temperature data directly from the registers. + * @param[out] data Data in q16 format. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_temperature(long *data, unsigned long *timestamp) +{ + unsigned char tmp[2]; + short raw; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp)) + return -1; + raw = (tmp[0] << 8) | tmp[1]; + if (timestamp) + get_ms(timestamp); + + data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L); + return 0; +} + +/** + * @brief Push biases to the accel bias registers. + * This function expects biases relative to the current sensor output, and + * these biases will be added to the factory-supplied values. + * @param[in] accel_bias New biases. + * @return 0 if successful. + */ +int mpu_set_accel_bias(const long *accel_bias) +{ + unsigned char data[6]; + short accel_hw[3]; + short got_accel[3]; + short fg[3]; + + if (!accel_bias) + return -1; + if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2]) + return 0; + + if (i2c_read(st.hw->addr, 3, 3, data)) + return -1; + fg[0] = ((data[0] >> 4) + 8) & 0xf; + fg[1] = ((data[1] >> 4) + 8) & 0xf; + fg[2] = ((data[2] >> 4) + 8) & 0xf; + + accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0])); + accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1])); + accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2])); + + if (i2c_read(st.hw->addr, 0x06, 6, data)) + return -1; + + got_accel[0] = ((short)data[0] << 8) | data[1]; + got_accel[1] = ((short)data[2] << 8) | data[3]; + got_accel[2] = ((short)data[4] << 8) | data[5]; + + accel_hw[0] += got_accel[0]; + accel_hw[1] += got_accel[1]; + accel_hw[2] += got_accel[2]; + + data[0] = (accel_hw[0] >> 8) & 0xff; + data[1] = (accel_hw[0]) & 0xff; + data[2] = (accel_hw[1] >> 8) & 0xff; + data[3] = (accel_hw[1]) & 0xff; + data[4] = (accel_hw[2] >> 8) & 0xff; + data[5] = (accel_hw[2]) & 0xff; + + if (i2c_write(st.hw->addr, 0x06, 6, data)) + return -1; + return 0; +} + +/** + * @brief Reset FIFO read/write pointers. + * @return 0 if successful. + */ +int mpu_reset_fifo(void) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.dmp_on) { + data = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + data = BIT_DMP_EN | BIT_FIFO_EN; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + data |= BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.int_enable) + data = BIT_DMP_INT_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + data = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + } else { + data = BIT_FIFO_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + data = BIT_FIFO_EN; + else + data = BIT_FIFO_EN | BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.int_enable) + data = BIT_DATA_RDY_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable)) + return -1; + } + return 0; +} + +/** + * @brief Get the gyro full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_gyro_fsr(unsigned short *fsr) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + fsr[0] = 250; + break; + case INV_FSR_500DPS: + fsr[0] = 500; + break; + case INV_FSR_1000DPS: + fsr[0] = 1000; + break; + case INV_FSR_2000DPS: + fsr[0] = 2000; + break; + default: + fsr[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set the gyro full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_gyro_fsr(unsigned short fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 250: + data = INV_FSR_250DPS << 3; + break; + case 500: + data = INV_FSR_500DPS << 3; + break; + case 1000: + data = INV_FSR_1000DPS << 3; + break; + case 2000: + data = INV_FSR_2000DPS << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.gyro_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data)) + return -1; + st.chip_cfg.gyro_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the accel full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_accel_fsr(unsigned char *fsr) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + fsr[0] = 2; + break; + case INV_FSR_4G: + fsr[0] = 4; + break; + case INV_FSR_8G: + fsr[0] = 8; + break; + case INV_FSR_16G: + fsr[0] = 16; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + fsr[0] <<= 1; + return 0; +} + +/** + * @brief Set the accel full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_accel_fsr(unsigned char fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 2: + data = INV_FSR_2G << 3; + break; + case 4: + data = INV_FSR_4G << 3; + break; + case 8: + data = INV_FSR_8G << 3; + break; + case 16: + data = INV_FSR_16G << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.accel_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data)) + return -1; + st.chip_cfg.accel_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the current DLPF setting. + * @param[out] lpf Current LPF setting. + * 0 if successful. + */ +int mpu_get_lpf(unsigned short *lpf) +{ + switch (st.chip_cfg.lpf) { + case INV_FILTER_188HZ: + lpf[0] = 188; + break; + case INV_FILTER_98HZ: + lpf[0] = 98; + break; + case INV_FILTER_42HZ: + lpf[0] = 42; + break; + case INV_FILTER_20HZ: + lpf[0] = 20; + break; + case INV_FILTER_10HZ: + lpf[0] = 10; + break; + case INV_FILTER_5HZ: + lpf[0] = 5; + break; + case INV_FILTER_256HZ_NOLPF2: + case INV_FILTER_2100HZ_NOLPF: + default: + lpf[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set digital low pass filter. + * The following LPF settings are supported: 188, 98, 42, 20, 10, 5. + * @param[in] lpf Desired LPF setting. + * @return 0 if successful. + */ +int mpu_set_lpf(unsigned short lpf) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (lpf >= 188) + data = INV_FILTER_188HZ; + else if (lpf >= 98) + data = INV_FILTER_98HZ; + else if (lpf >= 42) + data = INV_FILTER_42HZ; + else if (lpf >= 20) + data = INV_FILTER_20HZ; + else if (lpf >= 10) + data = INV_FILTER_10HZ; + else + data = INV_FILTER_5HZ; + + if (st.chip_cfg.lpf == data) + return 0; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data)) + return -1; + st.chip_cfg.lpf = data; + return 0; +} + +/** + * @brief Get sampling rate. + * @param[out] rate Current sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_sample_rate(unsigned short *rate) +{ + if (st.chip_cfg.dmp_on) + return -1; + else + rate[0] = st.chip_cfg.sample_rate; + return 0; +} + +/** + * @brief Set sampling rate. + * Sampling rate must be between 4Hz and 1kHz. + * @param[in] rate Desired sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_sample_rate(unsigned short rate) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (st.chip_cfg.dmp_on) + return -1; + else { + if (st.chip_cfg.lp_accel_mode) { + if (rate && (rate <= 40)) { + /* Just stay in low-power accel mode. */ + mpu_lp_accel_mode(rate); + return 0; + } + /* Requested rate exceeds the allowed frequencies in LP accel mode, + * switch back to full-power mode. + */ + mpu_lp_accel_mode(0); + } + if (rate < 4) + rate = 4; + else if (rate > 1000) + rate = 1000; + + data = 1000 / rate - 1; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data)) + return -1; + + st.chip_cfg.sample_rate = 1000 / (1 + data); + +#ifdef AK89xx_SECONDARY + mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE)); +#endif + + /* Automatically set LPF to 1/2 sampling rate. */ + mpu_set_lpf(st.chip_cfg.sample_rate >> 1); + return 0; + } +} + +/** + * @brief Get compass sampling rate. + * @param[out] rate Current compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_compass_sample_rate(unsigned short *rate) +{ +#ifdef AK89xx_SECONDARY + rate[0] = st.chip_cfg.compass_sample_rate; + return 0; +#else + rate[0] = 0; + return -1; +#endif +} + +/** + * @brief Set compass sampling rate. + * The compass on the auxiliary I2C bus is read by the MPU hardware at a + * maximum of 100Hz. The actual rate can be set to a fraction of the gyro + * sampling rate. + * + * \n WARNING: The new rate may be different than what was requested. Call + * mpu_get_compass_sample_rate to check the actual setting. + * @param[in] rate Desired compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_compass_sample_rate(unsigned short rate) +{ +#ifdef AK89xx_SECONDARY + unsigned char div; + if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE) + return -1; + + div = st.chip_cfg.sample_rate / rate - 1; + if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div)) + return -1; + st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get gyro sensitivity scale factor. + * @param[out] sens Conversion from hardware units to dps. + * @return 0 if successful. + */ +int mpu_get_gyro_sens(float *sens) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + sens[0] = 131.f; + break; + case INV_FSR_500DPS: + sens[0] = 65.5f; + break; + case INV_FSR_1000DPS: + sens[0] = 32.8f; + break; + case INV_FSR_2000DPS: + sens[0] = 16.4f; + break; + default: + return -1; + } + return 0; +} + +/** + * @brief Get accel sensitivity scale factor. + * @param[out] sens Conversion from hardware units to g's. + * @return 0 if successful. + */ +int mpu_get_accel_sens(unsigned short *sens) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + sens[0] = 16384; + break; + case INV_FSR_4G: + sens[0] = 8092; + break; + case INV_FSR_8G: + sens[0] = 4096; + break; + case INV_FSR_16G: + sens[0] = 2048; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + sens[0] >>= 1; + return 0; +} + +/** + * @brief Get current FIFO configuration. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[out] sensors Mask of sensors in FIFO. + * @return 0 if successful. + */ +int mpu_get_fifo_config(unsigned char *sensors) +{ + sensors[0] = st.chip_cfg.fifo_enable; + return 0; +} + +/** + * @brief Select which sensors are pushed to FIFO. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[in] sensors Mask of sensors to push to FIFO. + * @return 0 if successful. + */ +int mpu_configure_fifo(unsigned char sensors) +{ + unsigned char prev; + int result = 0; + + /* Compass data isn't going into the FIFO. Stop trying. */ + sensors &= ~INV_XYZ_COMPASS; + + if (st.chip_cfg.dmp_on) + return 0; + else { + if (!(st.chip_cfg.sensors)) + return -1; + prev = st.chip_cfg.fifo_enable; + st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors; + if (st.chip_cfg.fifo_enable != sensors) + /* You're not getting what you asked for. Some sensors are + * asleep. + */ + result = -1; + else + result = 0; + if (sensors || st.chip_cfg.lp_accel_mode) + set_int_enable(1); + else + set_int_enable(0); + if (sensors) { + if (mpu_reset_fifo()) { + st.chip_cfg.fifo_enable = prev; + return -1; + } + } + } + + return result; +} + +/** + * @brief Get current power state. + * @param[in] power_on 1 if turned on, 0 if suspended. + * @return 0 if successful. + */ +int mpu_get_power_state(unsigned char *power_on) +{ + if (st.chip_cfg.sensors) + power_on[0] = 1; + else + power_on[0] = 0; + return 0; +} + +/** + * @brief Turn specific sensors on/off. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_XYZ_COMPASS + * @param[in] sensors Mask of sensors to wake. + * @return 0 if successful. + */ +int mpu_set_sensors(unsigned char sensors) +{ + unsigned char data; +#ifdef AK89xx_SECONDARY + unsigned char user_ctrl; +#endif + + if (sensors & INV_XYZ_GYRO) + data = INV_CLK_PLL; + else if (sensors) + data = 0; + else + data = BIT_SLEEP; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + st.chip_cfg.clk_src = data & ~BIT_SLEEP; + + data = 0; + if (!(sensors & INV_X_GYRO)) + data |= BIT_STBY_XG; + if (!(sensors & INV_Y_GYRO)) + data |= BIT_STBY_YG; + if (!(sensors & INV_Z_GYRO)) + data |= BIT_STBY_ZG; + if (!(sensors & INV_XYZ_ACCEL)) + data |= BIT_STBY_XYZA; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + + if (sensors && (sensors != INV_XYZ_ACCEL)) + /* Latched interrupts only used in LP accel mode. */ + mpu_set_int_latched(0); + +#ifdef AK89xx_SECONDARY +#ifdef AK89xx_BYPASS + if (sensors & INV_XYZ_COMPASS) + mpu_set_bypass(1); + else + mpu_set_bypass(0); +#else + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; + /* Handle AKM power management. */ + if (sensors & INV_XYZ_COMPASS) { + data = AKM_SINGLE_MEASUREMENT; + user_ctrl |= BIT_AUX_IF_EN; + } else { + data = AKM_POWER_DOWN; + user_ctrl &= ~BIT_AUX_IF_EN; + } + if (st.chip_cfg.dmp_on) + user_ctrl |= BIT_DMP_EN; + else + user_ctrl &= ~BIT_DMP_EN; + if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data)) + return -1; + /* Enable/disable I2C master mode. */ + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; +#endif +#endif + + st.chip_cfg.sensors = sensors; + st.chip_cfg.lp_accel_mode = 0; + delay_ms(50); + return 0; +} + +/** + * @brief Read the MPU interrupt status registers. + * @param[out] status Mask of interrupt bits. + * @return 0 if successful. + */ +int mpu_get_int_status(short *status) +{ + unsigned char tmp[2]; + if (!st.chip_cfg.sensors) + return -1; + if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp)) + return -1; + status[0] = (tmp[0] << 8) | tmp[1]; + return 0; +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more) +{ + /* Assumes maximum packet size is gyro (6) + accel (6). */ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_size = 0; + unsigned short fifo_count, index = 0; + + if (st.chip_cfg.dmp_on) + return -1; + + sensors[0] = 0; + if (!st.chip_cfg.sensors) + return -1; + if (!st.chip_cfg.fifo_enable) + return -1; + + if (st.chip_cfg.fifo_enable & INV_X_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Y_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Z_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) + packet_size += 6; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + fifo_count = (data[0] << 8) | data[1]; + if (fifo_count < packet_size) + return 0; +// log_i("FIFO count: %hd\n", fifo_count); + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, data)) + return -1; + if (data[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + get_ms((unsigned long*)timestamp); + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data)) + return -1; + more[0] = fifo_count / packet_size - 1; + sensors[0] = 0; + + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) { + accel[0] = (data[index+0] << 8) | data[index+1]; + accel[1] = (data[index+2] << 8) | data[index+3]; + accel[2] = (data[index+4] << 8) | data[index+5]; + sensors[0] |= INV_XYZ_ACCEL; + index += 6; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) { + gyro[0] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_X_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) { + gyro[1] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Y_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) { + gyro[2] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Z_GYRO; + index += 2; + } + + return 0; +} + +/** + * @brief Get one unparsed packet from the FIFO. + * This function should be used if the packet is to be parsed elsewhere. + * @param[in] length Length of one FIFO packet. + * @param[in] data FIFO packet. + * @param[in] more Number of remaining packets. + */ +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more) +{ + unsigned char tmp[2]; + unsigned short fifo_count; + if (!st.chip_cfg.dmp_on) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp)) + return -1; + fifo_count = (tmp[0] << 8) | tmp[1]; + if (fifo_count < length) { + more[0] = 0; + return -1; + } + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp)) + return -1; + if (tmp[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data)) + return -1; + more[0] = fifo_count / length - 1; + return 0; +} + +/** + * @brief Set device to bypass mode. + * @param[in] bypass_on 1 to enable bypass mode. + * @return 0 if successful. + */ +int mpu_set_bypass(unsigned char bypass_on) +{ + unsigned char tmp; + + if (st.chip_cfg.bypass_mode == bypass_on) + return 0; + + if (bypass_on) { + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + delay_ms(3); + tmp = BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } else { + /* Enable I2C master mode if compass is being used. */ + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + tmp |= BIT_AUX_IF_EN; + else + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + delay_ms(3); + if (st.chip_cfg.active_low_int) + tmp = BIT_ACTL; + else + tmp = 0; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } + st.chip_cfg.bypass_mode = bypass_on; + return 0; +} + +/** + * @brief Set interrupt level. + * @param[in] active_low 1 for active low, 0 for active high. + * @return 0 if successful. + */ +int mpu_set_int_level(unsigned char active_low) +{ + st.chip_cfg.active_low_int = active_low; + return 0; +} + +/** + * @brief Enable latched interrupts. + * Any MPU register will clear the interrupt. + * @param[in] enable 1 to enable, 0 to disable. + * @return 0 if successful. + */ +int mpu_set_int_latched(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.latched_int == enable) + return 0; + + if (enable) + tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR; + else + tmp = 0; + if (st.chip_cfg.bypass_mode) + tmp |= BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + st.chip_cfg.latched_int = enable; + return 0; +} + +#ifdef MPU6050 +static int get_accel_prod_shift(float *st_shift) +{ + unsigned char tmp[4], shift_code[3], ii; + + if (i2c_read(st.hw->addr, 0x0D, 4, tmp)) + return 0x07; + + shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4); + shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2); + shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03); + for (ii = 0; ii < 3; ii++) { + if (!shift_code[ii]) { + st_shift[ii] = 0.f; + continue; + } + /* Equivalent to.. + * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f) + */ + st_shift[ii] = 0.34f; + while (--shift_code[ii]) + st_shift[ii] *= 1.034f; + } + return 0; +} + +static int accel_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + float st_shift[3], st_shift_cust, st_shift_var; + + get_accel_prod_shift(st_shift); + for(jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (st_shift[jj]) { + st_shift_var = st_shift_cust / st_shift[jj] - 1.f; + if (fabs(st_shift_var) > test.max_accel_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_g) || + (st_shift_cust > test.max_g)) + result |= 1 << jj; + } + + return result; +} + +static int gyro_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + unsigned char tmp[3]; + float st_shift, st_shift_cust, st_shift_var; + + if (i2c_read(st.hw->addr, 0x0D, 3, tmp)) + return 0x07; + + tmp[0] &= 0x1F; + tmp[1] &= 0x1F; + tmp[2] &= 0x1F; + + for (jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (tmp[jj]) { + st_shift = 3275.f / test.gyro_sens; + while (--tmp[jj]) + st_shift *= 1.046f; + st_shift_var = st_shift_cust / st_shift - 1.f; + if (fabs(st_shift_var) > test.max_gyro_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_dps) || + (st_shift_cust > test.max_dps)) + result |= 1 << jj; + } + return result; +} + +#ifdef AK89xx_SECONDARY +static int compass_self_test(void) +{ + unsigned char tmp[6]; + unsigned char tries = 10; + int result = 0x07; + short data; + + mpu_set_bypass(1); + + tmp[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + return 0x07; + tmp[0] = AKM_BIT_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp)) + goto AKM_restore; + tmp[0] = AKM_MODE_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + goto AKM_restore; + + do { + delay_ms(10); + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp)) + goto AKM_restore; + if (tmp[0] & AKM_DATA_READY) + break; + } while (tries--); + if (!(tmp[0] & AKM_DATA_READY)) + goto AKM_restore; + + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp)) + goto AKM_restore; + + result = 0; + data = (short)(tmp[1] << 8) | tmp[0]; + if ((data > 100) || (data < -100)) + result |= 0x01; + data = (short)(tmp[3] << 8) | tmp[2]; + if ((data > 100) || (data < -100)) + result |= 0x02; + data = (short)(tmp[5] << 8) | tmp[4]; + if ((data > -300) || (data < -1000)) + result |= 0x04; + +AKM_restore: + tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp); + tmp[0] = SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp); + mpu_set_bypass(0); + return result; +} +#endif +#endif + +static int get_st_biases(long *gyro, long *accel, unsigned char hw_test) +{ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_count, ii; + unsigned short fifo_count; + + data[0] = 0x01; + data[1] = 0; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + return -1; + delay_ms(200); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + data[0] = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + delay_ms(15); + data[0] = st.test->reg_lpf; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + data[0] = st.test->reg_rate_div; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data)) + return -1; + if (hw_test) + data[0] = st.test->reg_gyro_fsr | 0xE0; + else + data[0] = st.test->reg_gyro_fsr; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data)) + return -1; + + if (hw_test) + data[0] = st.test->reg_accel_fsr | 0xE0; + else + data[0] = test.reg_accel_fsr; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + return -1; + if (hw_test) + delay_ms(200); + + /* Fill FIFO for test.wait_ms milliseconds. */ + data[0] = BIT_FIFO_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + + data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + delay_ms(test.wait_ms); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + + fifo_count = (data[0] << 8) | data[1]; + packet_count = fifo_count / MAX_PACKET_LENGTH; + gyro[0] = gyro[1] = gyro[2] = 0; + accel[0] = accel[1] = accel[2] = 0; + + for (ii = 0; ii < packet_count; ii++) { + short accel_cur[3], gyro_cur[3]; + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data)) + return -1; + accel_cur[0] = ((short)data[0] << 8) | data[1]; + accel_cur[1] = ((short)data[2] << 8) | data[3]; + accel_cur[2] = ((short)data[4] << 8) | data[5]; + accel[0] += (long)accel_cur[0]; + accel[1] += (long)accel_cur[1]; + accel[2] += (long)accel_cur[2]; + gyro_cur[0] = (((short)data[6] << 8) | data[7]); + gyro_cur[1] = (((short)data[8] << 8) | data[9]); + gyro_cur[2] = (((short)data[10] << 8) | data[11]); + gyro[0] += (long)gyro_cur[0]; + gyro[1] += (long)gyro_cur[1]; + gyro[2] += (long)gyro_cur[2]; + } +#ifdef EMPL_NO_64BIT + gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count); + gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count); + gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count); + if (has_accel) { + accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens / + packet_count); + accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens / + packet_count); + accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + accel[2] -= 65536L; + } +#else + gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count); + gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count); + gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count); + accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens / + packet_count); + accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens / + packet_count); + accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + if (accel[2] > 0L) + accel[2] -= 65536L; + else + accel[2] += 65536L; +#endif + + return 0; +} + +/** + * @brief Trigger gyro/accel/compass self-test. + * On success/error, the self-test returns a mask representing the sensor(s) + * that failed. For each bit, a one (1) represents a "pass" case; conversely, + * a zero (0) indicates a failure. + * + * \n The mask is defined as follows: + * \n Bit 0: Gyro. + * \n Bit 1: Accel. + * \n Bit 2: Compass. + * + * \n Currently, the hardware self-test is unsupported for MPU6500. However, + * this function can still be used to obtain the accel and gyro biases. + * + * \n This function must be called with the device either face-up or face-down + * (z-axis is parallel to gravity). + * @param[out] gyro Gyro biases in q16 format. + * @param[out] accel Accel biases (if applicable) in q16 format. + * @return Result mask (see above). + */ +int mpu_run_self_test(long *gyro, long *accel) +{ +#ifdef MPU6050 + const unsigned char tries = 2; + long gyro_st[3], accel_st[3]; + unsigned char accel_result, gyro_result; +#ifdef AK89xx_SECONDARY + unsigned char compass_result; +#endif + int ii; +#endif + int result; + unsigned char accel_fsr, fifo_sensors, sensors_on; + unsigned short gyro_fsr, sample_rate, lpf; + unsigned char dmp_was_on; + + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + dmp_was_on = 1; + } else + dmp_was_on = 0; + + /* Get initial settings. */ + mpu_get_gyro_fsr(&gyro_fsr); + mpu_get_accel_fsr(&accel_fsr); + mpu_get_lpf(&lpf); + mpu_get_sample_rate(&sample_rate); + sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&fifo_sensors); + + /* For older chips, the self-test will be different. */ +#if defined MPU6050 + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro, accel, 0)) + break; + if (ii == tries) { + /* If we reach this point, we most likely encountered an I2C error. + * We'll just report an error for all three sensors. + */ + result = 0; + goto restore; + } + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro_st, accel_st, 1)) + break; + if (ii == tries) { + /* Again, probably an I2C error. */ + result = 0; + goto restore; + } + accel_result = accel_self_test(accel, accel_st); + gyro_result = gyro_self_test(gyro, gyro_st); + + result = 0; + if (!gyro_result) + result |= 0x01; + if (!accel_result) + result |= 0x02; + +#ifdef AK89xx_SECONDARY + compass_result = compass_self_test(); + if (!compass_result) + result |= 0x04; +#endif +restore: +#elif defined MPU6500 + /* For now, this function will return a "pass" result for all three sensors + * for compatibility with current test applications. + */ + get_st_biases(gyro, accel, 0); + result = 0x7; +#endif + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_gyro_fsr(gyro_fsr); + mpu_set_accel_fsr(accel_fsr); + mpu_set_lpf(lpf); + mpu_set_sample_rate(sample_rate); + mpu_set_sensors(sensors_on); + mpu_configure_fifo(fifo_sensors); + + if (dmp_was_on) + mpu_set_dmp_state(1); + + return result; +} + +/** + * @brief Write to the DMP memory. + * This function prevents I2C writes past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to write. + * @param[in] data Bytes to write to memory. + * @return 0 if successful. + */ +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Read from the DMP memory. + * This function prevents I2C reads past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to read. + * @param[out] data Bytes read from memory. + * @return 0 if successful. + */ +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Load and verify DMP image. + * @param[in] length Length of DMP image. + * @param[in] firmware DMP code. + * @param[in] start_addr Starting address of DMP code memory. + * @param[in] sample_rate Fixed sampling rate used when DMP is enabled. + * @return 0 if successful. + */ +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate) +{ + unsigned short ii; + unsigned short this_write; + /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */ +#define LOAD_CHUNK (16) + unsigned char cur[LOAD_CHUNK], tmp[2]; + + if (st.chip_cfg.dmp_loaded) + /* DMP should only be loaded once. */ + return -1; + + if (!firmware) + return -1; + for (ii = 0; ii < length; ii += this_write) { + this_write = min(LOAD_CHUNK, length - ii); + if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii])) + return -1; + if (mpu_read_mem(ii, this_write, cur)) + return -1; + if (memcmp(firmware+ii, cur, this_write)) + return -2; + } + + /* Set program start address. */ + tmp[0] = start_addr >> 8; + tmp[1] = start_addr & 0xFF; + if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp)) + return -1; + + st.chip_cfg.dmp_loaded = 1; + st.chip_cfg.dmp_sample_rate = sample_rate; + return 0; +} + +/** + * @brief Enable/disable DMP support. + * @param[in] enable 1 to turn on the DMP. + * @return 0 if successful. + */ +int mpu_set_dmp_state(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.dmp_on == enable) + return 0; + + if (enable) { + if (!st.chip_cfg.dmp_loaded) + return -1; + /* Disable data ready interrupt. */ + set_int_enable(0); + /* Disable bypass mode. */ + mpu_set_bypass(0); + /* Keep constant sample rate, FIFO rate controlled by DMP. */ + mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate); + /* Remove FIFO elements. */ + tmp = 0; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 1; + /* Enable DMP interrupt. */ + set_int_enable(1); + mpu_reset_fifo(); + } else { + /* Disable DMP interrupt. */ + set_int_enable(0); + /* Restore FIFO settings. */ + tmp = st.chip_cfg.fifo_enable; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 0; + mpu_reset_fifo(); + } + return 0; +} + +/** + * @brief Get DMP state. + * @param[out] enabled 1 if enabled. + * @return 0 if successful. + */ +int mpu_get_dmp_state(unsigned char *enabled) +{ + enabled[0] = st.chip_cfg.dmp_on; + return 0; +} + + +/* This initialization is similar to the one in ak8975.c. */ +//static int setup_compass(void) +//{ +//#ifdef AK89xx_SECONDARY +// unsigned char data[4], akm_addr; +// +// mpu_set_bypass(1); +// +// /* Find compass. Possible addresses range from 0x0C to 0x0F. */ +// for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) { +// int result; +// result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data); +// if (!result && (data[0] == AKM_WHOAMI)) +// break; +// } +// +// if (akm_addr > 0x0F) { +// /* TODO: Handle this case in all compass-related functions. */ +// log_e("Compass not found.\n"); +// return -1; +// } +// +// st.chip_cfg.compass_addr = akm_addr; +// +// data[0] = AKM_POWER_DOWN; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// data[0] = AKM_FUSE_ROM_ACCESS; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// /* Get sensitivity adjustment data from fuse ROM. */ +// if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data)) +// return -1; +// st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128; +// st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128; +// st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128; +// +// data[0] = AKM_POWER_DOWN; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// mpu_set_bypass(0); +// +// /* Set up master mode, master clock, and ES bit. */ +// data[0] = 0x40; +// if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) +// return -1; +// +// /* Slave 0 reads from AKM data registers. */ +// data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr; +// if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data)) +// return -1; +// +// /* Compass reads start at this register. */ +// data[0] = AKM_REG_ST1; +// if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data)) +// return -1; +// +// /* Enable slave 0, 8-byte reads. */ +// data[0] = BIT_SLAVE_EN | 8; +// if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data)) +// return -1; +// +// /* Slave 1 changes AKM measurement mode. */ +// data[0] = st.chip_cfg.compass_addr; +// if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data)) +// return -1; +// +// /* AKM measurement mode register. */ +// data[0] = AKM_REG_CNTL; +// if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data)) +// return -1; +// +// /* Enable slave 1, 1-byte writes. */ +// data[0] = BIT_SLAVE_EN | 1; +// if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data)) +// return -1; +// +// /* Set slave 1 data. */ +// data[0] = AKM_SINGLE_MEASUREMENT; +// if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data)) +// return -1; +// +// /* Trigger slave 0 and slave 1 actions at each sample. */ +// data[0] = 0x03; +// if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data)) +// return -1; +// +//#ifdef MPU9150 +// /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */ +// data[0] = BIT_I2C_MST_VDDIO; +// if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data)) +// return -1; +//#endif +// +// return 0; +//#else +// return -1; +//#endif +//} + +/** + * @brief Read raw compass data. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_compass_reg(short *data, unsigned long *timestamp) +{ +#ifdef AK89xx_SECONDARY + unsigned char tmp[9]; + + if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + return -1; + +#ifdef AK89xx_BYPASS + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp)) + return -1; + tmp[8] = AKM_SINGLE_MEASUREMENT; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8)) + return -1; +#else + if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp)) + return -1; +#endif + +#if defined AK8975_SECONDARY + /* AK8975 doesn't have the overrun error bit. */ + if (!(tmp[0] & AKM_DATA_READY)) + return -2; + if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR)) + return -3; +#elif defined AK8963_SECONDARY + /* AK8963 doesn't have the data read error bit. */ + if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN)) + return -2; + if (tmp[7] & AKM_OVERFLOW) + return -3; +#endif + data[0] = (tmp[2] << 8) | tmp[1]; + data[1] = (tmp[4] << 8) | tmp[3]; + data[2] = (tmp[6] << 8) | tmp[5]; + + data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8; + data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8; + data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8; + + if (timestamp) + get_ms(timestamp); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get the compass full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_compass_fsr(unsigned short *fsr) +{ +#ifdef AK89xx_SECONDARY + fsr[0] = st.hw->compass_fsr; + return 0; +#else + return -1; +#endif +} + +/** + * @brief Enters LP accel motion interrupt mode. + * The behavior of this feature is very different between the MPU6050 and the + * MPU6500. Each chip's version of this feature is explained below. + * + * \n MPU6050: + * \n When this mode is first enabled, the hardware captures a single accel + * sample, and subsequent samples are compared with this one to determine if + * the device is in motion. Therefore, whenever this "locked" sample needs to + * be changed, this function must be called again. + * + * \n The hardware motion threshold can be between 32mg and 8160mg in 32mg + * increments. + * + * \n Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 5Hz, 20Hz, 40Hz + * + * \n MPU6500: + * \n Unlike the MPU6050 version, the hardware does not "lock in" a reference + * sample. The hardware monitors the accel data and detects any large change + * over a short period of time. + * + * \n The hardware motion threshold can be between 4mg and 1020mg in 4mg + * increments. + * + * \n MPU6500 Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * + * \n\n NOTES: + * \n The driver will round down @e thresh to the nearest supported value if + * an unsupported threshold is selected. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e lpa_freq. + * \n The MPU6500 does not support a delay parameter. If this function is used + * for the MPU6500, the value passed to @e time will be ignored. + * \n To disable this mode, set @e lpa_freq to zero. The driver will restore + * the previous configuration. + * + * @param[in] thresh Motion threshold in mg. + * @param[in] time Duration in milliseconds that the accel data must + * exceed @e thresh before motion is reported. + * @param[in] lpa_freq Minimum sampling rate, or zero to disable. + * @return 0 if successful. + */ +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq) +{ + unsigned char data[3]; + + if (lpa_freq) { + unsigned char thresh_hw; + +#if defined MPU6050 + /* TODO: Make these const/#defines. */ + /* 1LSb = 32mg. */ + if (thresh > 8160) + thresh_hw = 255; + else if (thresh < 32) + thresh_hw = 1; + else + thresh_hw = thresh >> 5; +#elif defined MPU6500 + /* 1LSb = 4mg. */ + if (thresh > 1020) + thresh_hw = 255; + else if (thresh < 4) + thresh_hw = 1; + else + thresh_hw = thresh >> 2; +#endif + + if (!time) + /* Minimum duration must be 1ms. */ + time = 1; + +#if defined MPU6050 + if (lpa_freq > 40) +#elif defined MPU6500 + if (lpa_freq > 640) +#endif + /* At this point, the chip has not been re-configured, so the + * function can safely exit. + */ + return -1; + + if (!st.chip_cfg.int_motion_only) { + /* Store current settings for later. */ + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + st.chip_cfg.cache.dmp_on = 1; + } else + st.chip_cfg.cache.dmp_on = 0; + mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr); + mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr); + mpu_get_lpf(&st.chip_cfg.cache.lpf); + mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate); + st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors); + } + +#ifdef MPU6050 + /* Disable hardware interrupts for now. */ + set_int_enable(0); + + /* Enter full-power accel-only mode. */ + mpu_lp_accel_mode(0); + + /* Override current LPF (and HPF) settings to obtain a valid accel + * reading. + */ + data[0] = INV_FILTER_256HZ_NOLPF2; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + + /* NOTE: Digital high pass filter should be configured here. Since this + * driver doesn't modify those bits anywhere, they should already be + * cleared by default. + */ + + /* Configure the device to send motion interrupts. */ + /* Enable motion interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + /* Set motion interrupt parameters. */ + data[0] = thresh_hw; + data[1] = time; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 2, data)) + goto lp_int_restore; + + /* Force hardware to "lock" current accel sample. */ + delay_ms(5); + data[0] = (st.chip_cfg.accel_fsr << 3) | BITS_HPF; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + goto lp_int_restore; + + /* Set up LP accel mode. */ + data[0] = BIT_LPA_CYCLE; + if (lpa_freq == 1) + data[1] = INV_LPA_1_25HZ; + else if (lpa_freq <= 5) + data[1] = INV_LPA_5HZ; + else if (lpa_freq <= 20) + data[1] = INV_LPA_20HZ; + else + data[1] = INV_LPA_40HZ; + data[1] = (data[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#elif defined MPU6500 + /* Disable hardware interrupts. */ + set_int_enable(0); + + /* Enter full-power accel-only mode, no FIFO/DMP. */ + data[0] = 0; + data[1] = 0; + data[2] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data)) + goto lp_int_restore; + + /* Set motion threshold. */ + data[0] = thresh_hw; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data)) + goto lp_int_restore; + + /* Set wake frequency. */ + if (lpa_freq == 1) + data[0] = INV_LPA_1_25HZ; + else if (lpa_freq == 2) + data[0] = INV_LPA_2_5HZ; + else if (lpa_freq <= 5) + data[0] = INV_LPA_5HZ; + else if (lpa_freq <= 10) + data[0] = INV_LPA_10HZ; + else if (lpa_freq <= 20) + data[0] = INV_LPA_20HZ; + else if (lpa_freq <= 40) + data[0] = INV_LPA_40HZ; + else if (lpa_freq <= 80) + data[0] = INV_LPA_80HZ; + else if (lpa_freq <= 160) + data[0] = INV_LPA_160HZ; + else if (lpa_freq <= 320) + data[0] = INV_LPA_320HZ; + else + data[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data)) + goto lp_int_restore; + + /* Enable motion interrupt (MPU6500 version). */ + data[0] = BITS_WOM_EN; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; + + /* Enable cycle mode. */ + data[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + goto lp_int_restore; + + /* Enable interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#endif + } else { + /* Don't "restore" the previous state if no state has been saved. */ + int ii; + char *cache_ptr = (char*)&st.chip_cfg.cache; + for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) { + if (cache_ptr[ii] != 0) + goto lp_int_restore; + } + /* If we reach this point, motion interrupt mode hasn't been used yet. */ + return -1; + } +lp_int_restore: + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_sensors(st.chip_cfg.cache.sensors_on); + mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr); + mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr); + mpu_set_lpf(st.chip_cfg.cache.lpf); + mpu_set_sample_rate(st.chip_cfg.cache.sample_rate); + mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors); + + if (st.chip_cfg.cache.dmp_on) + mpu_set_dmp_state(1); + +#ifdef MPU6500 + /* Disable motion interrupt (MPU6500 version). */ + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; +#endif + + st.chip_cfg.int_motion_only = 0; + return 0; +} +void myget_ms(unsigned long *time) +{ + +} +/** + * @} + */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu.h new file mode 100644 index 0000000..a67d924 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu.h @@ -0,0 +1,122 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.h + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ + +#ifndef _INV_MPU_H_ +#define _INV_MPU_H_ + +#define INV_X_GYRO (0x40) +#define INV_Y_GYRO (0x20) +#define INV_Z_GYRO (0x10) +#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) +#define INV_XYZ_ACCEL (0x08) +#define INV_XYZ_COMPASS (0x01) + +struct int_param_s { +//#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 + void (*cb)(void); + unsigned short pin; + unsigned char lp_exit; + unsigned char active_low; +/*#elif defined EMPL_TARGET_UC3L0 + unsigned long pin; + void (*cb)(volatile void*); + void *arg; +#endif */ +}; + +#define MPU_INT_STATUS_DATA_READY (0x0001) +#define MPU_INT_STATUS_DMP (0x0002) +#define MPU_INT_STATUS_PLL_READY (0x0004) +#define MPU_INT_STATUS_I2C_MST (0x0008) +#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) +#define MPU_INT_STATUS_ZMOT (0x0020) +#define MPU_INT_STATUS_MOT (0x0040) +#define MPU_INT_STATUS_FREE_FALL (0x0080) +#define MPU_INT_STATUS_DMP_0 (0x0100) +#define MPU_INT_STATUS_DMP_1 (0x0200) +#define MPU_INT_STATUS_DMP_2 (0x0400) +#define MPU_INT_STATUS_DMP_3 (0x0800) +#define MPU_INT_STATUS_DMP_4 (0x1000) +#define MPU_INT_STATUS_DMP_5 (0x2000) + +/* Set up APIs */ +int mpu_init(void); +int mpu_init_slave(void); +int mpu_set_bypass(unsigned char bypass_on); + +/* Configuration APIs */ +int mpu_lp_accel_mode(unsigned char rate); +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq); +int mpu_set_int_level(unsigned char active_low); +int mpu_set_int_latched(unsigned char enable); + +int mpu_set_dmp_state(unsigned char enable); +int mpu_get_dmp_state(unsigned char *enabled); + +int mpu_get_lpf(unsigned short *lpf); +int mpu_set_lpf(unsigned short lpf); + +int mpu_get_gyro_fsr(unsigned short *fsr); +int mpu_set_gyro_fsr(unsigned short fsr); + +int mpu_get_accel_fsr(unsigned char *fsr); +int mpu_set_accel_fsr(unsigned char fsr); + +int mpu_get_compass_fsr(unsigned short *fsr); + +int mpu_get_gyro_sens(float *sens); +int mpu_get_accel_sens(unsigned short *sens); + +int mpu_get_sample_rate(unsigned short *rate); +int mpu_set_sample_rate(unsigned short rate); +int mpu_get_compass_sample_rate(unsigned short *rate); +int mpu_set_compass_sample_rate(unsigned short rate); + +int mpu_get_fifo_config(unsigned char *sensors); +int mpu_configure_fifo(unsigned char sensors); + +int mpu_get_power_state(unsigned char *power_on); +int mpu_set_sensors(unsigned char sensors); + +int mpu_set_accel_bias(const long *accel_bias); + +/* Data getter/setter APIs */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp); +int mpu_get_accel_reg(short *data, unsigned long *timestamp); +int mpu_get_compass_reg(short *data, unsigned long *timestamp); +int mpu_get_temperature(long *data, unsigned long *timestamp); + +int mpu_get_int_status(short *status); +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more); +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more); +int mpu_reset_fifo(void); + +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate); + +int mpu_reg_dump(void); +int mpu_read_reg(unsigned char reg, unsigned char *data); +int mpu_run_self_test(long *gyro, long *accel); +int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); +void myget_ms(unsigned long *time); +#endif /* #ifndef _INV_MPU_H_ */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu_dmp_motion_driver.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu_dmp_motion_driver.c new file mode 100644 index 0000000..0ac2044 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu_dmp_motion_driver.c @@ -0,0 +1,1361 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.c + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#include "sys.h" + + +#define MOTION_DRIVER_TARGET_MSP430 +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + */ +#if defined MOTION_DRIVER_TARGET_MSP430 +//#include "msp430.h" +//#include "msp430_clock.h" +#define delay_ms delay_ms +#define get_ms get_ms +#define log_e printf +#define log_i printf + +#elif defined EMPL_TARGET_MSP430 +#include "msp430.h" +#include "msp430_clock.h" +#include "log.h" +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#elif defined EMPL_TARGET_UC3L0 +/* Instead of using the standard TWI driver from the ASF library, we're using + * a TWI driver that follows the slave address + register address convention. + */ +#include "delay.h" +#include "sysclk.h" +#include "log.h" +#include "uc3l0_clock.h" +/* delay_ms is a function already defined in ASF. */ +#define get_ms uc3l0_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#else +//#error Gyro driver is missing the system layer implementations. +#endif + +/* These defines are copied from dmpDefaultMPU6050.c in the general MPL + * releases. These defines may change for each DMP image, so be sure to modify + * these values when switching to a new image. + */ +#define CFG_LP_QUAT (2712) +#define END_ORIENT_TEMP (1866) +#define CFG_27 (2742) +#define CFG_20 (2224) +#define CFG_23 (2745) +#define CFG_FIFO_ON_EVENT (2690) +#define END_PREDICTION_UPDATE (1761) +#define CGNOTICE_INTR (2620) +#define X_GRT_Y_TMP (1358) +#define CFG_DR_INT (1029) +#define CFG_AUTH (1035) +#define UPDATE_PROP_ROT (1835) +#define END_COMPARE_Y_X_TMP2 (1455) +#define SKIP_X_GRT_Y_TMP (1359) +#define SKIP_END_COMPARE (1435) +#define FCFG_3 (1088) +#define FCFG_2 (1066) +#define FCFG_1 (1062) +#define END_COMPARE_Y_X_TMP3 (1434) +#define FCFG_7 (1073) +#define FCFG_6 (1106) +#define FLAT_STATE_END (1713) +#define SWING_END_4 (1616) +#define SWING_END_2 (1565) +#define SWING_END_3 (1587) +#define SWING_END_1 (1550) +#define CFG_8 (2718) +#define CFG_15 (2727) +#define CFG_16 (2746) +#define CFG_EXT_GYRO_BIAS (1189) +#define END_COMPARE_Y_X_TMP (1407) +#define DO_NOT_UPDATE_PROP_ROT (1839) +#define CFG_7 (1205) +#define FLAT_STATE_END_TEMP (1683) +#define END_COMPARE_Y_X (1484) +#define SKIP_SWING_END_1 (1551) +#define SKIP_SWING_END_3 (1588) +#define SKIP_SWING_END_2 (1566) +#define TILTG75_START (1672) +#define CFG_6 (2753) +#define TILTL75_END (1669) +#define END_ORIENT (1884) +#define CFG_FLICK_IN (2573) +#define TILTL75_START (1643) +#define CFG_MOTION_BIAS (1208) +#define X_GRT_Y (1408) +#define TEMPLABEL (2324) +#define CFG_ANDROID_ORIENT_INT (1853) +#define CFG_GYRO_RAW_DATA (2722) +#define X_GRT_Y_TMP2 (1379) + +#define D_0_22 (22+512) +#define D_0_24 (24+512) + +#define D_0_36 (36) +#define D_0_52 (52) +#define D_0_96 (96) +#define D_0_104 (104) +#define D_0_108 (108) +#define D_0_163 (163) +#define D_0_188 (188) +#define D_0_192 (192) +#define D_0_224 (224) +#define D_0_228 (228) +#define D_0_232 (232) +#define D_0_236 (236) + +#define D_1_2 (256 + 2) +#define D_1_4 (256 + 4) +#define D_1_8 (256 + 8) +#define D_1_10 (256 + 10) +#define D_1_24 (256 + 24) +#define D_1_28 (256 + 28) +#define D_1_36 (256 + 36) +#define D_1_40 (256 + 40) +#define D_1_44 (256 + 44) +#define D_1_72 (256 + 72) +#define D_1_74 (256 + 74) +#define D_1_79 (256 + 79) +#define D_1_88 (256 + 88) +#define D_1_90 (256 + 90) +#define D_1_92 (256 + 92) +#define D_1_96 (256 + 96) +#define D_1_98 (256 + 98) +#define D_1_106 (256 + 106) +#define D_1_108 (256 + 108) +#define D_1_112 (256 + 112) +#define D_1_128 (256 + 144) +#define D_1_152 (256 + 12) +#define D_1_160 (256 + 160) +#define D_1_176 (256 + 176) +#define D_1_178 (256 + 178) +#define D_1_218 (256 + 218) +#define D_1_232 (256 + 232) +#define D_1_236 (256 + 236) +#define D_1_240 (256 + 240) +#define D_1_244 (256 + 244) +#define D_1_250 (256 + 250) +#define D_1_252 (256 + 252) +#define D_2_12 (512 + 12) +#define D_2_96 (512 + 96) +#define D_2_108 (512 + 108) +#define D_2_208 (512 + 208) +#define D_2_224 (512 + 224) +#define D_2_236 (512 + 236) +#define D_2_244 (512 + 244) +#define D_2_248 (512 + 248) +#define D_2_252 (512 + 252) + +#define CPASS_BIAS_X (35 * 16 + 4) +#define CPASS_BIAS_Y (35 * 16 + 8) +#define CPASS_BIAS_Z (35 * 16 + 12) +#define CPASS_MTX_00 (36 * 16) +#define CPASS_MTX_01 (36 * 16 + 4) +#define CPASS_MTX_02 (36 * 16 + 8) +#define CPASS_MTX_10 (36 * 16 + 12) +#define CPASS_MTX_11 (37 * 16) +#define CPASS_MTX_12 (37 * 16 + 4) +#define CPASS_MTX_20 (37 * 16 + 8) +#define CPASS_MTX_21 (37 * 16 + 12) +#define CPASS_MTX_22 (43 * 16 + 12) +#define D_EXT_GYRO_BIAS_X (61 * 16) +#define D_EXT_GYRO_BIAS_Y (61 * 16) + 4 +#define D_EXT_GYRO_BIAS_Z (61 * 16) + 8 +#define D_ACT0 (40 * 16) +#define D_ACSX (40 * 16 + 4) +#define D_ACSY (40 * 16 + 8) +#define D_ACSZ (40 * 16 + 12) + +#define FLICK_MSG (45 * 16 + 4) +#define FLICK_COUNTER (45 * 16 + 8) +#define FLICK_LOWER (45 * 16 + 12) +#define FLICK_UPPER (46 * 16 + 12) + +#define D_AUTH_OUT (992) +#define D_AUTH_IN (996) +#define D_AUTH_A (1000) +#define D_AUTH_B (1004) + +#define D_PEDSTD_BP_B (768 + 0x1C) +#define D_PEDSTD_HP_A (768 + 0x78) +#define D_PEDSTD_HP_B (768 + 0x7C) +#define D_PEDSTD_BP_A4 (768 + 0x40) +#define D_PEDSTD_BP_A3 (768 + 0x44) +#define D_PEDSTD_BP_A2 (768 + 0x48) +#define D_PEDSTD_BP_A1 (768 + 0x4C) +#define D_PEDSTD_INT_THRSH (768 + 0x68) +#define D_PEDSTD_CLIP (768 + 0x6C) +#define D_PEDSTD_SB (768 + 0x28) +#define D_PEDSTD_SB_TIME (768 + 0x2C) +#define D_PEDSTD_PEAKTHRSH (768 + 0x98) +#define D_PEDSTD_TIML (768 + 0x2A) +#define D_PEDSTD_TIMH (768 + 0x2E) +#define D_PEDSTD_PEAK (768 + 0X94) +#define D_PEDSTD_STEPCTR (768 + 0x60) +#define D_PEDSTD_TIMECTR (964) +#define D_PEDSTD_DECI (768 + 0xA0) + +#define D_HOST_NO_MOT (976) +#define D_ACCEL_BIAS (660) + +#define D_ORIENT_GAP (76) + +#define D_TILT0_H (48) +#define D_TILT0_L (50) +#define D_TILT1_H (52) +#define D_TILT1_L (54) +#define D_TILT2_H (56) +#define D_TILT2_L (58) +#define D_TILT3_H (60) +#define D_TILT3_L (62) + +#define DMP_CODE_SIZE (3062) + +static const unsigned char dmp_memory[DMP_CODE_SIZE] = { + /* bank # 0 */ + 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, + 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01, + 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e, + 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, + 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1, + 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2, + 0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, + 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf, + 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00, + 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65, + 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, + 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 1 */ + 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, + 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, + 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00, + 0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00, + 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28, + 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00, + /* bank # 2 */ + 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, + 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e, + 0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c, + 0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64, + 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 3 */ + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, + 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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0xf2, 0xb4, 0x8c, 0x99, + 0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb, + 0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9, + 0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9, + 0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac, + 0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6, + 0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0, + 0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf, + /* bank # 8 */ + 0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30, + 0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9, + 0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 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0xc5, + 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8, + 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7, + 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8, + /* bank # 9 */ + 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0, + 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b, + 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab, + 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0, + 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0, + 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59, + 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31, + 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28, + 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0, + 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9, + 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c, + 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e, + 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0, + 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf, + 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2, + 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83, + /* bank # 10 */ + 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6, + 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, + 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb, + 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c, + 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8, + 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9, + 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2, + 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84, + 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0, + 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3, + 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9, + 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, + 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90, + 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, + /* bank # 11 */ + 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83, + 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19, + 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39, + 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7, + 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80, + 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9, + 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26, + 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89, + 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, + 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, + 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, + 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, + 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00, + 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10, + 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88, + 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff +}; + +static const unsigned short sStartAddress = 0x0400; + +/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */ + +#define INT_SRC_TAP (0x01) +#define INT_SRC_ANDROID_ORIENT (0x08) + +#define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \ + DMP_FEATURE_SEND_CAL_GYRO) + +#define MAX_PACKET_LENGTH (32) + +#define DMP_SAMPLE_RATE (200) +#define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) + +#define FIFO_CORRUPTION_CHECK +#ifdef FIFO_CORRUPTION_CHECK +#define QUAT_ERROR_THRESH (1L<<24) +#define QUAT_MAG_SQ_NORMALIZED (1L<<28) +#define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) +#define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) +#endif + +struct dmp_s { + void (*tap_cb)(unsigned char count, unsigned char direction); + void (*android_orient_cb)(unsigned char orientation); + unsigned short orient; + unsigned short feature_mask; + unsigned short fifo_rate; + unsigned char packet_length; +}; + +//static struct dmp_s dmp = { +// .tap_cb = NULL, +// .android_orient_cb = NULL, +// .orient = 0, +// .feature_mask = 0, +// .fifo_rate = 0, +// .packet_length = 0 +//}; +static struct dmp_s dmp={ + 0, + 0, + 0, + 0, + 0, + 0 +}; +/** + * @brief Load the DMP with this image. + * @return 0 if successful. + */ +int dmp_load_motion_driver_firmware(void) +{ + return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress, + DMP_SAMPLE_RATE); +} + +/** + * @brief Push gyro and accel orientation to the DMP. + * The orientation is represented here as the output of + * @e inv_orientation_matrix_to_scalar. + * @param[in] orient Gyro and accel orientation in body frame. + * @return 0 if successful. + */ +int dmp_set_orientation(unsigned short orient) +{ + unsigned char gyro_regs[3], accel_regs[3]; + const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C}; + const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C}; + const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76}; + const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66}; + + gyro_regs[0] = gyro_axes[orient & 3]; + gyro_regs[1] = gyro_axes[(orient >> 3) & 3]; + gyro_regs[2] = gyro_axes[(orient >> 6) & 3]; + accel_regs[0] = accel_axes[orient & 3]; + accel_regs[1] = accel_axes[(orient >> 3) & 3]; + accel_regs[2] = accel_axes[(orient >> 6) & 3]; + + /* Chip-to-body, axes only. */ + if (mpu_write_mem(FCFG_1, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_2, 3, accel_regs)) + return -1; + + memcpy(gyro_regs, gyro_sign, 3); + memcpy(accel_regs, accel_sign, 3); + if (orient & 4) { + gyro_regs[0] |= 1; + accel_regs[0] |= 1; + } + if (orient & 0x20) { + gyro_regs[1] |= 1; + accel_regs[1] |= 1; + } + if (orient & 0x100) { + gyro_regs[2] |= 1; + accel_regs[2] |= 1; + } + + /* Chip-to-body, sign only. */ + if (mpu_write_mem(FCFG_3, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_7, 3, accel_regs)) + return -1; + dmp.orient = orient; + return 0; +} + +/** + * @brief Push gyro biases to the DMP. + * Because the gyro integration is handled in the DMP, any gyro biases + * calculated by the MPL should be pushed down to DMP memory to remove + * 3-axis quaternion drift. + * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will + * overwrite the biases written to this location once a new one is computed. + * @param[in] bias Gyro biases in q16. + * @return 0 if successful. + */ +int dmp_set_gyro_bias(long *bias) +{ + long gyro_bias_body[3]; + unsigned char regs[4]; + + gyro_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + gyro_bias_body[0] *= -1; + gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + gyro_bias_body[1] *= -1; + gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + gyro_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f); + gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f); + gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f); +#else + gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30); + gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30); + gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30); +#endif + + regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF); + return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs); +} + +/** + * @brief Push accel biases to the DMP. + * These biases will be removed from the DMP 6-axis quaternion. + * @param[in] bias Accel biases in q16. + * @return 0 if successful. + */ +int dmp_set_accel_bias(long *bias) +{ + long accel_bias_body[3]; + unsigned char regs[12]; + long long accel_sf; + unsigned short accel_sens; + + mpu_get_accel_sens(&accel_sens); + accel_sf = (long long)accel_sens << 15; + //__no_operation(); + + accel_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + accel_bias_body[0] *= -1; + accel_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + accel_bias_body[1] *= -1; + accel_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + accel_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f); + accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f); + accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f); +#else + accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30); + accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30); + accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30); +#endif + + regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF); + regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF); + regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF); + regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF); + regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF); + regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF); + regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF); + regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF); + regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF); + return mpu_write_mem(D_ACCEL_BIAS, 12, regs); +} + +/** + * @brief Set DMP output rate. + * Only used when DMP is on. + * @param[in] rate Desired fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_set_fifo_rate(unsigned short rate) +{ + const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB, + 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF}; + unsigned short div; + unsigned char tmp[8]; + + if (rate > DMP_SAMPLE_RATE) + return -1; + div = DMP_SAMPLE_RATE / rate - 1; + tmp[0] = (unsigned char)((div >> 8) & 0xFF); + tmp[1] = (unsigned char)(div & 0xFF); + if (mpu_write_mem(D_0_22, 2, tmp)) + return -1; + if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end)) + return -1; + + dmp.fifo_rate = rate; + return 0; +} + +/** + * @brief Get DMP output rate. + * @param[out] rate Current fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_get_fifo_rate(unsigned short *rate) +{ + rate[0] = dmp.fifo_rate; + return 0; +} + +/** + * @brief Set tap threshold for a specific axis. + * @param[in] axis 1, 2, and 4 for XYZ accel, respectively. + * @param[in] thresh Tap threshold, in mg/ms. + * @return 0 if successful. + */ +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh) +{ + unsigned char tmp[4], accel_fsr; + float scaled_thresh; + unsigned short dmp_thresh, dmp_thresh_2; + if (!(axis & TAP_XYZ) || thresh > 1600) + return -1; + + scaled_thresh = (float)thresh / DMP_SAMPLE_RATE; + + mpu_get_accel_fsr(&accel_fsr); + switch (accel_fsr) { + case 2: + dmp_thresh = (unsigned short)(scaled_thresh * 16384); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288); + break; + case 4: + dmp_thresh = (unsigned short)(scaled_thresh * 8192); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144); + break; + case 8: + dmp_thresh = (unsigned short)(scaled_thresh * 4096); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072); + break; + case 16: + dmp_thresh = (unsigned short)(scaled_thresh * 2048); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536); + break; + default: + return -1; + } + tmp[0] = (unsigned char)(dmp_thresh >> 8); + tmp[1] = (unsigned char)(dmp_thresh & 0xFF); + tmp[2] = (unsigned char)(dmp_thresh_2 >> 8); + tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF); + + if (axis & TAP_X) { + if (mpu_write_mem(DMP_TAP_THX, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_36, 2, tmp+2)) + return -1; + } + if (axis & TAP_Y) { + if (mpu_write_mem(DMP_TAP_THY, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_40, 2, tmp+2)) + return -1; + } + if (axis & TAP_Z) { + if (mpu_write_mem(DMP_TAP_THZ, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_44, 2, tmp+2)) + return -1; + } + return 0; +} + +/** + * @brief Set which axes will register a tap. + * @param[in] axis 1, 2, and 4 for XYZ, respectively. + * @return 0 if successful. + */ +int dmp_set_tap_axes(unsigned char axis) +{ + unsigned char tmp = 0; + + if (axis & TAP_X) + tmp |= 0x30; + if (axis & TAP_Y) + tmp |= 0x0C; + if (axis & TAP_Z) + tmp |= 0x03; + return mpu_write_mem(D_1_72, 1, &tmp); +} + +/** + * @brief Set minimum number of taps needed for an interrupt. + * @param[in] min_taps Minimum consecutive taps (1-4). + * @return 0 if successful. + */ +int dmp_set_tap_count(unsigned char min_taps) +{ + unsigned char tmp; + + if (min_taps < 1) + min_taps = 1; + else if (min_taps > 4) + min_taps = 4; + + tmp = min_taps - 1; + return mpu_write_mem(D_1_79, 1, &tmp); +} + +/** + * @brief Set length between valid taps. + * @param[in] time Milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(DMP_TAPW_MIN, 2, tmp); +} + +/** + * @brief Set max time between taps to register as a multi-tap. + * @param[in] time Max milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time_multi(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(D_1_218, 2, tmp); +} + +/** + * @brief Set shake rejection threshold. + * If the DMP detects a gyro sample larger than @e thresh, taps are rejected. + * @param[in] sf Gyro scale factor. + * @param[in] thresh Gyro threshold in dps. + * @return 0 if successful. + */ +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh) +{ + unsigned char tmp[4]; + long thresh_scaled = sf / 1000 * thresh; + tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF); + tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF); + tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF); + tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF); + return mpu_write_mem(D_1_92, 4, tmp); +} + +/** + * @brief Set shake rejection time. + * Sets the length of time that the gyro must be outside of the threshold set + * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_time(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_90,2,tmp); +} + +/** + * @brief Set shake rejection timeout. + * Sets the length of time after a shake rejection that the gyro must stay + * inside of the threshold before taps can be detected again. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_timeout(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_88,2,tmp); +} + +/** + * @brief Get current step count. + * @param[out] count Number of steps detected. + * @return 0 if successful. + */ +int dmp_get_pedometer_step_count(unsigned long *count) +{ + unsigned char tmp[4]; + if (!count) + return -1; + + if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp)) + return -1; + + count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]; + return 0; +} + +/** + * @brief Overwrite current step count. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] count New step count. + * @return 0 if successful. + */ +int dmp_set_pedometer_step_count(unsigned long count) +{ + unsigned char tmp[4]; + + tmp[0] = (unsigned char)((count >> 24) & 0xFF); + tmp[1] = (unsigned char)((count >> 16) & 0xFF); + tmp[2] = (unsigned char)((count >> 8) & 0xFF); + tmp[3] = (unsigned char)(count & 0xFF); + return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp); +} + +/** + * @brief Get duration of walking time. + * @param[in] time Walk time in milliseconds. + * @return 0 if successful. + */ +int dmp_get_pedometer_walk_time(unsigned long *time) +{ + unsigned char tmp[4]; + if (!time) + return -1; + + if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp)) + return -1; + + time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]) * 20; + return 0; +} + +/** + * @brief Overwrite current walk time. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] time New walk time in milliseconds. + */ +int dmp_set_pedometer_walk_time(unsigned long time) +{ + unsigned char tmp[4]; + + time /= 20; + + tmp[0] = (unsigned char)((time >> 24) & 0xFF); + tmp[1] = (unsigned char)((time >> 16) & 0xFF); + tmp[2] = (unsigned char)((time >> 8) & 0xFF); + tmp[3] = (unsigned char)(time & 0xFF); + return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp); +} + +/** + * @brief Enable DMP features. + * The following \#define's are used in the input mask: + * \n DMP_FEATURE_TAP + * \n DMP_FEATURE_ANDROID_ORIENT + * \n DMP_FEATURE_LP_QUAT + * \n DMP_FEATURE_6X_LP_QUAT + * \n DMP_FEATURE_GYRO_CAL + * \n DMP_FEATURE_SEND_RAW_ACCEL + * \n DMP_FEATURE_SEND_RAW_GYRO + * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually + * exclusive. + * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also + * mutually exclusive. + * @param[in] mask Mask of features to enable. + * @return 0 if successful. + */ +int dmp_enable_feature(unsigned short mask) +{ + unsigned char tmp[10]; + + /* TODO: All of these settings can probably be integrated into the default + * DMP image. + */ + /* Set integration scale factor. */ + tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF); + tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF); + tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF); + tmp[3] = (unsigned char)(GYRO_SF & 0xFF); + mpu_write_mem(D_0_104, 4, tmp); + + /* Send sensor data to the FIFO. */ + tmp[0] = 0xA3; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) { + tmp[1] = 0xC0; + tmp[2] = 0xC8; + tmp[3] = 0xC2; + } else { + tmp[1] = 0xA3; + tmp[2] = 0xA3; + tmp[3] = 0xA3; + } + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + tmp[4] = 0xC4; + tmp[5] = 0xCC; + tmp[6] = 0xC6; + } else { + tmp[4] = 0xA3; + tmp[5] = 0xA3; + tmp[6] = 0xA3; + } + tmp[7] = 0xA3; + tmp[8] = 0xA3; + tmp[9] = 0xA3; + mpu_write_mem(CFG_15,10,tmp); + + /* Send gesture data to the FIFO. */ + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + tmp[0] = DINA20; + else + tmp[0] = 0xD8; + mpu_write_mem(CFG_27,1,tmp); + + if (mask & DMP_FEATURE_GYRO_CAL) + dmp_enable_gyro_cal(1); + else + dmp_enable_gyro_cal(0); + + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + if (mask & DMP_FEATURE_SEND_CAL_GYRO) { + tmp[0] = 0xB2; + tmp[1] = 0x8B; + tmp[2] = 0xB6; + tmp[3] = 0x9B; + } else { + tmp[0] = DINAC0; + tmp[1] = DINA80; + tmp[2] = DINAC2; + tmp[3] = DINA90; + } + mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp); + } + + if (mask & DMP_FEATURE_TAP) { + /* Enable tap. */ + tmp[0] = 0xF8; + mpu_write_mem(CFG_20, 1, tmp); + dmp_set_tap_thresh(TAP_XYZ, 250); + dmp_set_tap_axes(TAP_XYZ); + dmp_set_tap_count(1); + dmp_set_tap_time(100); + dmp_set_tap_time_multi(500); + + dmp_set_shake_reject_thresh(GYRO_SF, 200); + dmp_set_shake_reject_time(40); + dmp_set_shake_reject_timeout(10); + } else { + tmp[0] = 0xD8; + mpu_write_mem(CFG_20, 1, tmp); + } + + if (mask & DMP_FEATURE_ANDROID_ORIENT) { + tmp[0] = 0xD9; + } else + tmp[0] = 0xD8; + mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp); + + if (mask & DMP_FEATURE_LP_QUAT) + dmp_enable_lp_quat(1); + else + dmp_enable_lp_quat(0); + + if (mask & DMP_FEATURE_6X_LP_QUAT) + dmp_enable_6x_lp_quat(1); + else + dmp_enable_6x_lp_quat(0); + + /* Pedometer is always enabled. */ + dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER; + mpu_reset_fifo(); + + dmp.packet_length = 0; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) + dmp.packet_length += 6; + if (mask & DMP_FEATURE_SEND_ANY_GYRO) + dmp.packet_length += 6; + if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) + dmp.packet_length += 16; + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + dmp.packet_length += 4; + + return 0; +} + +/** + * @brief Get list of currently enabled DMP features. + * @param[out] Mask of enabled features. + * @return 0 if successful. + */ +int dmp_get_enabled_features(unsigned short *mask) +{ + mask[0] = dmp.feature_mask; + return 0; +} + +/** + * @brief Calibrate the gyro data in the DMP. + * After eight seconds of no motion, the DMP will compute gyro biases and + * subtract them from the quaternion output. If @e dmp_enable_feature is + * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be + * subtracted from the gyro output. + * @param[in] enable 1 to enable gyro calibration. + * @return 0 if successful. + */ +int dmp_enable_gyro_cal(unsigned char enable) +{ + if (enable) { + unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } else { + unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } +} + +/** + * @brief Generate 3-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 3-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINBC0; + regs[1] = DINBC2; + regs[2] = DINBC4; + regs[3] = DINBC6; + } + else + memset(regs, 0x8B, 4); + + mpu_write_mem(CFG_LP_QUAT, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Generate 6-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 6-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_6x_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINA20; + regs[1] = DINA28; + regs[2] = DINA30; + regs[3] = DINA38; + } else + memset(regs, 0xA3, 4); + + mpu_write_mem(CFG_8, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Decode the four-byte gesture data and execute any callbacks. + * @param[in] gesture Gesture data from DMP packet. + * @return 0 if successful. + */ +static int decode_gesture(unsigned char *gesture) +{ + unsigned char tap, android_orient; + + android_orient = gesture[3] & 0xC0; + tap = 0x3F & gesture[3]; + + if (gesture[1] & INT_SRC_TAP) { + unsigned char direction, count; + direction = tap >> 3; + count = (tap % 8) + 1; + if (dmp.tap_cb) + dmp.tap_cb(direction, count); + } + + if (gesture[1] & INT_SRC_ANDROID_ORIENT) { + if (dmp.android_orient_cb) + dmp.android_orient_cb(android_orient >> 6); + } + + return 0; +} + +/** + * @brief Specify when a DMP interrupt should occur. + * A DMP interrupt can be configured to trigger on either of the two + * conditions below: + * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate). + * \n b. A tap event has been detected. + * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS. + * @return 0 if successful. + */ +int dmp_set_interrupt_mode(unsigned char mode) +{ + const unsigned char regs_continuous[11] = + {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9}; + const unsigned char regs_gesture[11] = + {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda}; + + switch (mode) { + case DMP_INT_CONTINUOUS: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_continuous); + case DMP_INT_GESTURE: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_gesture); + default: + return -1; + } +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_WXYZ_QUAT + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] quat 3-axis quaternion data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more) +{ + unsigned char fifo_data[MAX_PACKET_LENGTH]; + unsigned char ii = 0; + sensors[0] = 0; + + /* Get a packet. */ + if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more)) + return -1; + + /* Parse DMP packet. */ + if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) { +#ifdef FIFO_CORRUPTION_CHECK + long quat_q14[4], quat_mag_sq; +#endif + quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) | + ((long)fifo_data[2] << 8) | fifo_data[3]; + quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) | + ((long)fifo_data[6] << 8) | fifo_data[7]; + quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) | + ((long)fifo_data[10] << 8) | fifo_data[11]; + quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) | + ((long)fifo_data[14] << 8) | fifo_data[15]; + ii += 16; +#ifdef FIFO_CORRUPTION_CHECK + /* We can detect a corrupted FIFO by monitoring the quaternion data and + * ensuring that the magnitude is always normalized to one. This + * shouldn't happen in normal operation, but if an I2C error occurs, + * the FIFO reads might become misaligned. + * + * Let's start by scaling down the quaternion data to avoid long long + * math. + */ + quat_q14[0] = quat[0] >> 16; + quat_q14[1] = quat[1] >> 16; + quat_q14[2] = quat[2] >> 16; + quat_q14[3] = quat[3] >> 16; + quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] + + quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3]; + if ((quat_mag_sq < QUAT_MAG_SQ_MIN) || + (quat_mag_sq > QUAT_MAG_SQ_MAX)) { + /* Quaternion is outside of the acceptable threshold. */ + mpu_reset_fifo(); + sensors[0] = 0; + return -1; + } + sensors[0] |= INV_WXYZ_QUAT; +#endif + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) { + accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_ACCEL; + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) { + gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_GYRO; + } + + /* Gesture data is at the end of the DMP packet. Parse it and call + * the gesture callbacks (if registered). + */ + if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + decode_gesture(fifo_data + ii); + + myget_ms(timestamp); + return 0; +} + +/** + * @brief Register a function to be executed on a tap event. + * The tap direction is represented by one of the following: + * \n TAP_X_UP + * \n TAP_X_DOWN + * \n TAP_Y_UP + * \n TAP_Y_DOWN + * \n TAP_Z_UP + * \n TAP_Z_DOWN + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)) +{ + dmp.tap_cb = func; + return 0; +} + +/** + * @brief Register a function to be executed on a android orientation event. + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)) +{ + dmp.android_orient_cb = func; + return 0; +} + +/** + * @} + */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu_dmp_motion_driver.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu_dmp_motion_driver.h new file mode 100644 index 0000000..acaac4a --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DMP/inv_mpu_dmp_motion_driver.h @@ -0,0 +1,92 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.h + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ +#define _INV_MPU_DMP_MOTION_DRIVER_H_ + +#define TAP_X (0x01) +#define TAP_Y (0x02) +#define TAP_Z (0x04) +#define TAP_XYZ (0x07) + +#define TAP_X_UP (0x01) +#define TAP_X_DOWN (0x02) +#define TAP_Y_UP (0x03) +#define TAP_Y_DOWN (0x04) +#define TAP_Z_UP (0x05) +#define TAP_Z_DOWN (0x06) + +#define ANDROID_ORIENT_PORTRAIT (0x00) +#define ANDROID_ORIENT_LANDSCAPE (0x01) +#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) +#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) + +#define DMP_INT_GESTURE (0x01) +#define DMP_INT_CONTINUOUS (0x02) + +#define DMP_FEATURE_TAP (0x001) +#define DMP_FEATURE_ANDROID_ORIENT (0x002) +#define DMP_FEATURE_LP_QUAT (0x004) +#define DMP_FEATURE_PEDOMETER (0x008) +#define DMP_FEATURE_6X_LP_QUAT (0x010) +#define DMP_FEATURE_GYRO_CAL (0x020) +#define DMP_FEATURE_SEND_RAW_ACCEL (0x040) +#define DMP_FEATURE_SEND_RAW_GYRO (0x080) +#define DMP_FEATURE_SEND_CAL_GYRO (0x100) + +#define INV_WXYZ_QUAT (0x100) + +/* Set up functions. */ +int dmp_load_motion_driver_firmware(void); +int dmp_set_fifo_rate(unsigned short rate); +int dmp_get_fifo_rate(unsigned short *rate); +int dmp_enable_feature(unsigned short mask); +int dmp_get_enabled_features(unsigned short *mask); +int dmp_set_interrupt_mode(unsigned char mode); +int dmp_set_orientation(unsigned short orient); +int dmp_set_gyro_bias(long *bias); +int dmp_set_accel_bias(long *bias); + +/* Tap functions. */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); +int dmp_set_tap_axes(unsigned char axis); +int dmp_set_tap_count(unsigned char min_taps); +int dmp_set_tap_time(unsigned short time); +int dmp_set_tap_time_multi(unsigned short time); +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); +int dmp_set_shake_reject_time(unsigned short time); +int dmp_set_shake_reject_timeout(unsigned short time); + +/* Android orientation functions. */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)); + +/* LP quaternion functions. */ +int dmp_enable_lp_quat(unsigned char enable); +int dmp_enable_6x_lp_quat(unsigned char enable); + +/* Pedometer functions. */ +int dmp_get_pedometer_step_count(unsigned long *count); +int dmp_set_pedometer_step_count(unsigned long count); +int dmp_get_pedometer_walk_time(unsigned long *time); +int dmp_set_pedometer_walk_time(unsigned long time); + +/* DMP gyro calibration functions. */ +int dmp_enable_gyro_cal(unsigned char enable); + +/* Read function. This function should be called whenever the MPU interrupt is + * detected. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more); + +#endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DataScope_DP/DataScope_DP.C b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DataScope_DP/DataScope_DP.C new file mode 100644 index 0000000..2d2ce81 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DataScope_DP/DataScope_DP.C @@ -0,0 +1,90 @@ + +#include "DataScope_DP.h" + /************************************************************************** +ߣƽС֮ +ҵԱС꣺http://shop114407458.taobao.com/ +**************************************************************************/ +unsigned char DataScope_OutPut_Buffer[42] = {0}; //ڷͻ + + +//˵ȸת4ֽݲַָ +//˵ûֱӲ˺ +//target:Ŀ굥 +//buf:д +//beg:ָڼԪؿʼд +//޷ +void Float2Byte(float *target,unsigned char *buf,unsigned char beg) +{ + unsigned char *point; + point = (unsigned char*)target; //õfloatĵַ + buf[beg] = point[0]; + buf[beg+1] = point[1]; + buf[beg+2] = point[2]; + buf[beg+3] = point[3]; +} + + +//˵ͨĵȸд뷢ͻ +//Dataͨ +//Channelѡͨ1-10 +//޷ +void DataScope_Get_Channel_Data(float Data,unsigned char Channel) +{ + if ( (Channel > 10) || (Channel == 0) ) return; //ͨ100ֱִк + else + { + switch (Channel) + { + case 1: Float2Byte(&Data,DataScope_OutPut_Buffer,1); break; + case 2: Float2Byte(&Data,DataScope_OutPut_Buffer,5); break; + case 3: Float2Byte(&Data,DataScope_OutPut_Buffer,9); break; + case 4: Float2Byte(&Data,DataScope_OutPut_Buffer,13); break; + case 5: Float2Byte(&Data,DataScope_OutPut_Buffer,17); break; + case 6: Float2Byte(&Data,DataScope_OutPut_Buffer,21); break; + case 7: Float2Byte(&Data,DataScope_OutPut_Buffer,25); break; + case 8: Float2Byte(&Data,DataScope_OutPut_Buffer,29); break; + case 9: Float2Byte(&Data,DataScope_OutPut_Buffer,33); break; + case 10: Float2Byte(&Data,DataScope_OutPut_Buffer,37); break; + } + } +} + + +//˵ DataScopeV1.0 ȷʶ֡ʽ +//Channel_NumberҪ͵ͨ +//طͻݸ +//0ʾ֡ʽʧ +unsigned char DataScope_Data_Generate(unsigned char Channel_Number) +{ + if ( (Channel_Number > 10) || (Channel_Number == 0) ) { return 0; } //ͨ100ֱִк + else + { + DataScope_OutPut_Buffer[0] = '$'; //֡ͷ + + switch(Channel_Number) + { + case 1: DataScope_OutPut_Buffer[5] = 5; return 6; + case 2: DataScope_OutPut_Buffer[9] = 9; return 10; + case 3: DataScope_OutPut_Buffer[13] = 13; return 14; + case 4: DataScope_OutPut_Buffer[17] = 17; return 18; + case 5: DataScope_OutPut_Buffer[21] = 21; return 22; + case 6: DataScope_OutPut_Buffer[25] = 25; return 26; + case 7: DataScope_OutPut_Buffer[29] = 29; return 30; + case 8: DataScope_OutPut_Buffer[33] = 33; return 34; + case 9: DataScope_OutPut_Buffer[37] = 37; return 38; + case 10: DataScope_OutPut_Buffer[41] = 41; return 42; + } + } + return 0; +} + + + + + + + + + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DataScope_DP/DataScope_DP.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DataScope_DP/DataScope_DP.h new file mode 100644 index 0000000..30994c2 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/DataScope_DP/DataScope_DP.h @@ -0,0 +1,21 @@ + /************************************************************************** +ߣƽС֮ +ҵԱС꣺http://shop114407458.taobao.com/ +**************************************************************************/ + +#ifndef __DATA_PRTOCOL_H +#define __DATA_PRTOCOL_H + + +extern unsigned char DataScope_OutPut_Buffer[42]; //֡ݻ + + +void DataScope_Get_Channel_Data(float Data,unsigned char Channel); // дͨ ֡ݻ + +unsigned char DataScope_Data_Generate(unsigned char Channel_Number); // ֡ɺ + + +#endif + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/MPU6050/MPU6050.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/MPU6050/MPU6050.c new file mode 100644 index 0000000..8e0dbbc --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/MPU6050/MPU6050.c @@ -0,0 +1,692 @@ +//#include "MPU6050.h" +//#include "IOI2C.h" +//#include "usart.h" +//#define PRINT_ACCEL (0x01) +//#define PRINT_GYRO (0x02) +//#define PRINT_QUAT (0x04) +//#define ACCEL_ON (0x01) +//#define GYRO_ON (0x02) +//#define MOTION (0) +//#define NO_MOTION (1) +//#define DEFAULT_MPU_HZ (200) +//#define FLASH_SIZE (512) +//#define FLASH_MEM_START ((void*)0x1800) +//#define q30 1073741824.0f +//short gyro[3], accel[3], sensors; +//float Pitch,Roll; +//float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f; +//static signed char gyro_orientation[9] = {-1, 0, 0, +// 0,-1, 0, +// 0, 0, 1}; + +//static unsigned short inv_row_2_scale(const signed char *row) +//{ +// unsigned short b; + +// if (row[0] > 0) +// b = 0; +// else if (row[0] < 0) +// b = 4; +// else if (row[1] > 0) +// b = 1; +// else if (row[1] < 0) +// b = 5; +// else if (row[2] > 0) +// b = 2; +// else if (row[2] < 0) +// b = 6; +// else +// b = 7; // error +// return b; +//} + + +//static unsigned short inv_orientation_matrix_to_scalar( +// const signed char *mtx) +//{ +// unsigned short scalar; +// scalar = inv_row_2_scale(mtx); +// scalar |= inv_row_2_scale(mtx + 3) << 3; +// scalar |= inv_row_2_scale(mtx + 6) << 6; + + +// return scalar; +//} + +//static void run_self_test(void) +//{ +// int result; +// long gyro[3], accel[3]; + +// result = mpu_run_self_test(gyro, accel); +// if (result == 0x7) { +// /* Test passed. We can trust the gyro data here, so let's push it down +// * to the DMP. +// */ +// float sens; +// unsigned short accel_sens; +// mpu_get_gyro_sens(&sens); +// gyro[0] = (long)(gyro[0] * sens); +// gyro[1] = (long)(gyro[1] * sens); +// gyro[2] = (long)(gyro[2] * sens); +// dmp_set_gyro_bias(gyro); +// mpu_get_accel_sens(&accel_sens); +// accel[0] *= accel_sens; +// accel[1] *= accel_sens; +// accel[2] *= accel_sens; +// dmp_set_accel_bias(accel); +// printf("setting bias succesfully ......\r\n"); +// } +//} + + + +//uint8_t buffer[14]; + +//int16_t MPU6050_FIFO[6][11]; +//int16_t Gx_offset=0,Gy_offset=0,Gz_offset=0; + + + +///************************************************************************** +//Function: The new ADC data is updated to FIFO array for filtering +//Input : axayazxy, z-axis acceleration datagxgygzx. Y, z-axis angular acceleration data +//Output : none +//ܣµADCݸµ FIFO飬˲ +//ڲaxayazxyzٶݣgxgygzxyzǼٶ +// ֵ +//**************************************************************************/ + +//void MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz) +//{ +//unsigned char i ; +//int32_t sum=0; +//for(i=1;i<10;i++){ //FIFO +//MPU6050_FIFO[0][i-1]=MPU6050_FIFO[0][i]; +//MPU6050_FIFO[1][i-1]=MPU6050_FIFO[1][i]; +//MPU6050_FIFO[2][i-1]=MPU6050_FIFO[2][i]; +//MPU6050_FIFO[3][i-1]=MPU6050_FIFO[3][i]; +//MPU6050_FIFO[4][i-1]=MPU6050_FIFO[4][i]; +//MPU6050_FIFO[5][i-1]=MPU6050_FIFO[5][i]; +//} +//MPU6050_FIFO[0][9]=ax;//µݷõ ݵ +//MPU6050_FIFO[1][9]=ay; +//MPU6050_FIFO[2][9]=az; +//MPU6050_FIFO[3][9]=gx; +//MPU6050_FIFO[4][9]=gy; +//MPU6050_FIFO[5][9]=gz; + +//sum=0; +//for(i=0;i<10;i++){ //ǰĺϣȡƽֵ +// sum+=MPU6050_FIFO[0][i]; +//} +//MPU6050_FIFO[0][10]=sum/10; + +//sum=0; +//for(i=0;i<10;i++){ +// sum+=MPU6050_FIFO[1][i]; +//} +//MPU6050_FIFO[1][10]=sum/10; + +//sum=0; +//for(i=0;i<10;i++){ +// sum+=MPU6050_FIFO[2][i]; +//} +//MPU6050_FIFO[2][10]=sum/10; + +//sum=0; +//for(i=0;i<10;i++){ +// sum+=MPU6050_FIFO[3][i]; +//} +//MPU6050_FIFO[3][10]=sum/10; + +//sum=0; +//for(i=0;i<10;i++){ +// sum+=MPU6050_FIFO[4][i]; +//} +//MPU6050_FIFO[4][10]=sum/10; + +//sum=0; +//for(i=0;i<10;i++){ +// sum+=MPU6050_FIFO[5][i]; +//} +//MPU6050_FIFO[5][10]=sum/10; +//} + +///************************************************************************** +//Function: Setting the clock source of mpu6050 +//Input : sourceClock source number +//Output : none +//ܣ MPU6050 ʱԴ +//ڲsourceʱԴ +// ֵ +// * CLK_SEL | Clock Source +// * --------+-------------------------------------- +// * 0 | Internal oscillator +// * 1 | PLL with X Gyro reference +// * 2 | PLL with Y Gyro reference +// * 3 | PLL with Z Gyro reference +// * 4 | PLL with external 32.768kHz reference +// * 5 | PLL with external 19.2MHz reference +// * 6 | Reserved +// * 7 | Stops the clock and keeps the timing generator in reset +//**************************************************************************/ +//void MPU6050_setClockSource(uint8_t source){ +// IICwriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); + +//} + +///** Set full-scale gyroscope range. +// * @param range New full-scale gyroscope range value +// * @see getFullScaleRange() +// * @see MPU6050_GYRO_FS_250 +// * @see MPU6050_RA_GYRO_CONFIG +// * @see MPU6050_GCONFIG_FS_SEL_BIT +// * @see MPU6050_GCONFIG_FS_SEL_LENGTH +// */ +//void MPU6050_setFullScaleGyroRange(uint8_t range) { +// IICwriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +//} + +///************************************************************************** +//Function: Setting the maximum range of mpu6050 accelerometer +//Input : rangeAcceleration maximum range number +//Output : none +//ܣ MPU6050 ٶȼƵ +//ڲrangeٶ̱ +// ֵ +//**************************************************************************/ +////#define MPU6050_ACCEL_FS_2 0x00 //===+-2G +////#define MPU6050_ACCEL_FS_4 0x01 //===+-4G +////#define MPU6050_ACCEL_FS_8 0x02 //===+-8G +////#define MPU6050_ACCEL_FS_16 0x03 //===+-16G +//void MPU6050_setFullScaleAccelRange(uint8_t range) { +// IICwriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +//} + +///************************************************************************** +//Function: Set mpu6050 to sleep mode or not +//Input : enable1sleep0work +//Output : none +//ܣ MPU6050 Ƿ˯ģʽ +//ڲenable1˯0 +// ֵ +//**************************************************************************/ +//void MPU6050_setSleepEnabled(uint8_t enabled) { +// IICwriteBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +//} + +///************************************************************************** +//Function: Read identity +//Input : none +//Output : 0x68 +//ܣȡ MPU6050 WHO_AM_I ʶ +//ڲ +// ֵ0x68 +//**************************************************************************/ +//uint8_t MPU6050_getDeviceID(void) { + +// IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer); +// return buffer[0]; +//} + +///************************************************************************** +//Function: Check whether mpu6050 is connected +//Input : none +//Output : 1Connected0Not connected +//ܣMPU6050 ǷѾ +//ڲ +// ֵ1ӣ0δ +//**************************************************************************/ +//uint8_t MPU6050_testConnection(void) { +// if(MPU6050_getDeviceID() == 0x68) //0b01101000; +// return 1; +// else return 0; +//} + +///************************************************************************** +//Function: Setting whether mpu6050 is the host of aux I2C cable +//Input : enable1yes0;not +//Output : none +//ܣ MPU6050 ǷΪAUX I2Cߵ +//ڲenable1ǣ0 +// ֵ +//**************************************************************************/ +//void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) { +// IICwriteBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +//} + +///************************************************************************** +//Function: Setting whether mpu6050 is the host of aux I2C cable +//Input : enable1yes0;not +//Output : none +//ܣ MPU6050 ǷΪAUX I2Cߵ +//ڲenable1ǣ0 +// ֵ +//**************************************************************************/ +//void MPU6050_setI2CBypassEnabled(uint8_t enabled) { +// IICwriteBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +//} + +///************************************************************************** +//Function: initialization Mpu6050 to enter the available state +//Input : none +//Output : none +//ܣʼ MPU6050 Խ״̬ +//ڲ +// ֵ +//**************************************************************************/ +//void MPU6050_initialize(void) { +// MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO); //ʱ +// MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000);// +// MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2); //ٶȶ +-2G +// MPU6050_setSleepEnabled(0); //빤״̬ +// MPU6050_setI2CMasterModeEnabled(0); //MPU6050 AUXI2C +// MPU6050_setI2CBypassEnabled(0); //I2C MPU6050AUXI2C ֱͨر +//} + +///************************************************************************** +//Function: Initialization of DMP in mpu6050 +//Input : none +//Output : none +//ܣMPU6050DMPijʼ +//ڲ +// ֵ +//**************************************************************************/ +//void DMP_Init(void) +//{ +// u8 temp[1]={0}; +// i2cRead(0x68,0x75,1,temp); +// printf("mpu_set_sensor complete ......\r\n"); +// if(temp[0]!=0x68)NVIC_SystemReset(); +// if(!mpu_init()) +// { +// if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)) +// printf("mpu_set_sensor complete ......\r\n"); +// if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) +// printf("mpu_configure_fifo complete ......\r\n"); +// if(!mpu_set_sample_rate(DEFAULT_MPU_HZ)) +// printf("mpu_set_sample_rate complete ......\r\n"); +// if(!dmp_load_motion_driver_firmware()) +// printf("dmp_load_motion_driver_firmware complete ......\r\n"); +// if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) +// printf("dmp_set_orientation complete ......\r\n"); +// if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | +// DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | +// DMP_FEATURE_GYRO_CAL)) +// printf("dmp_enable_feature complete ......\r\n"); +// if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ)) +// printf("dmp_set_fifo_rate complete ......\r\n"); +// run_self_test(); +// if(!mpu_set_dmp_state(1)) +// printf("mpu_set_dmp_state complete ......\r\n"); +// } +//} +///************************************************************************** +//Function: Read the attitude information of DMP in mpu6050 +//Input : none +//Output : none +//ܣȡMPU6050DMP̬Ϣ +//ڲ +// ֵ +//**************************************************************************/ +//void Read_DMP(void) +//{ +// unsigned long sensor_timestamp; +// unsigned char more; +// long quat[4]; + +// dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); //ȡDMP +// if (sensors & INV_WXYZ_QUAT ) +// { +// q0=quat[0] / q30; +// q1=quat[1] / q30; +// q2=quat[2] / q30; +// q3=quat[3] / q30; //Ԫ +// Pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // +// Roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // +// } + +//} +///************************************************************************** +//Function: Read mpu6050 built-in temperature sensor data +//Input : none +//Output : Centigrade temperature +//ܣȡMPU6050¶ȴ +//ڲ +// ֵ¶ +//**************************************************************************/ +//int Read_Temperature(void) +//{ +// float Temp; +// Temp=(I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_L); +// if(Temp>32768) Temp-=65536; +// Temp=(36.53+Temp/340)*10; //¶ȷŴʮ +// return (int)Temp; +//} +////------------------End of File---------------------------- +#include "MPU6050.h" +#include "IOI2C.h" +#include "usart.h" +#define PRINT_ACCEL (0x01) +#define PRINT_GYRO (0x02) +#define PRINT_QUAT (0x04) +#define ACCEL_ON (0x01) +#define GYRO_ON (0x02) +#define MOTION (0) +#define NO_MOTION (1) +#define DEFAULT_MPU_HZ (200) +#define FLASH_SIZE (512) +#define FLASH_MEM_START ((void*)0x1800) +#define q30 1073741824.0f +short gyro[3], accel[3], sensors; +float Pitch,Roll; +float q0=1.0f,q1=0.0f,q2=0.0f,q3=0.0f; +static signed char gyro_orientation[9] = {-1, 0, 0, + 0,-1, 0, + 0, 0, 1}; + +static unsigned short inv_row_2_scale(const signed char *row) +{ + unsigned short b; + + if (row[0] > 0) + b = 0; + else if (row[0] < 0) + b = 4; + else if (row[1] > 0) + b = 1; + else if (row[1] < 0) + b = 5; + else if (row[2] > 0) + b = 2; + else if (row[2] < 0) + b = 6; + else + b = 7; // error + return b; +} + + +static unsigned short inv_orientation_matrix_to_scalar( + const signed char *mtx) +{ + unsigned short scalar; + scalar = inv_row_2_scale(mtx); + scalar |= inv_row_2_scale(mtx + 3) << 3; + scalar |= inv_row_2_scale(mtx + 6) << 6; + + + return scalar; +} + +static void run_self_test(void) +{ + int result; + long gyro[3], accel[3]; + + result = mpu_run_self_test(gyro, accel); + if (result == 0x7) { + /* Test passed. We can trust the gyro data here, so let's push it down + * to the DMP. + */ + float sens; + unsigned short accel_sens; + mpu_get_gyro_sens(&sens); + gyro[0] = (long)(gyro[0] * sens); + gyro[1] = (long)(gyro[1] * sens); + gyro[2] = (long)(gyro[2] * sens); + dmp_set_gyro_bias(gyro); + mpu_get_accel_sens(&accel_sens); + accel[0] *= accel_sens; + accel[1] *= accel_sens; + accel[2] *= accel_sens; + dmp_set_accel_bias(accel); + printf("setting bias succesfully ......\r\n"); + } +} + + + +uint8_t buffer[14]; + +int16_t MPU6050_FIFO[6][11]; +int16_t Gx_offset=0,Gy_offset=0,Gz_offset=0; + + +/**************************ʵֺ******************************************** +*ԭ: void MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz) +*: µADCݸµ FIFO飬˲ +*******************************************************************************/ + +void MPU6050_newValues(int16_t ax,int16_t ay,int16_t az,int16_t gx,int16_t gy,int16_t gz) +{ +unsigned char i ; +int32_t sum=0; +for(i=1;i<10;i++){ //FIFO +MPU6050_FIFO[0][i-1]=MPU6050_FIFO[0][i]; +MPU6050_FIFO[1][i-1]=MPU6050_FIFO[1][i]; +MPU6050_FIFO[2][i-1]=MPU6050_FIFO[2][i]; +MPU6050_FIFO[3][i-1]=MPU6050_FIFO[3][i]; +MPU6050_FIFO[4][i-1]=MPU6050_FIFO[4][i]; +MPU6050_FIFO[5][i-1]=MPU6050_FIFO[5][i]; +} +MPU6050_FIFO[0][9]=ax;//µݷõ ݵ +MPU6050_FIFO[1][9]=ay; +MPU6050_FIFO[2][9]=az; +MPU6050_FIFO[3][9]=gx; +MPU6050_FIFO[4][9]=gy; +MPU6050_FIFO[5][9]=gz; + +sum=0; +for(i=0;i<10;i++){ //ǰĺϣȡƽֵ + sum+=MPU6050_FIFO[0][i]; +} +MPU6050_FIFO[0][10]=sum/10; + +sum=0; +for(i=0;i<10;i++){ + sum+=MPU6050_FIFO[1][i]; +} +MPU6050_FIFO[1][10]=sum/10; + +sum=0; +for(i=0;i<10;i++){ + sum+=MPU6050_FIFO[2][i]; +} +MPU6050_FIFO[2][10]=sum/10; + +sum=0; +for(i=0;i<10;i++){ + sum+=MPU6050_FIFO[3][i]; +} +MPU6050_FIFO[3][10]=sum/10; + +sum=0; +for(i=0;i<10;i++){ + sum+=MPU6050_FIFO[4][i]; +} +MPU6050_FIFO[4][10]=sum/10; + +sum=0; +for(i=0;i<10;i++){ + sum+=MPU6050_FIFO[5][i]; +} +MPU6050_FIFO[5][10]=sum/10; +} + +/**************************ʵֺ******************************************** +*ԭ: void MPU6050_setClockSource(uint8_t source) +*: MPU6050 ʱԴ + * CLK_SEL | Clock Source + * --------+-------------------------------------- + * 0 | Internal oscillator + * 1 | PLL with X Gyro reference + * 2 | PLL with Y Gyro reference + * 3 | PLL with Z Gyro reference + * 4 | PLL with external 32.768kHz reference + * 5 | PLL with external 19.2MHz reference + * 6 | Reserved + * 7 | Stops the clock and keeps the timing generator in reset +*******************************************************************************/ +void MPU6050_setClockSource(uint8_t source){ + IICwriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); + +} + +/** Set full-scale gyroscope range. + * @param range New full-scale gyroscope range value + * @see getFullScaleRange() + * @see MPU6050_GYRO_FS_250 + * @see MPU6050_RA_GYRO_CONFIG + * @see MPU6050_GCONFIG_FS_SEL_BIT + * @see MPU6050_GCONFIG_FS_SEL_LENGTH + */ +void MPU6050_setFullScaleGyroRange(uint8_t range) { + IICwriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +} + +/**************************ʵֺ******************************************** +*ԭ: void MPU6050_setFullScaleAccelRange(uint8_t range) +*: MPU6050 ٶȼƵ +*******************************************************************************/ +void MPU6050_setFullScaleAccelRange(uint8_t range) { + IICwriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +} + +/**************************ʵֺ******************************************** +*ԭ: void MPU6050_setSleepEnabled(uint8_t enabled) +*: MPU6050 Ƿ˯ģʽ + enabled =1 ˯ + enabled =0 +*******************************************************************************/ +void MPU6050_setSleepEnabled(uint8_t enabled) { + IICwriteBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +} + +/**************************ʵֺ******************************************** +*ԭ: uint8_t MPU6050_getDeviceID(void) +*: ȡ MPU6050 WHO_AM_I ʶ 0x68 +*******************************************************************************/ +uint8_t MPU6050_getDeviceID(void) { + + IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer); + return buffer[0]; +} + +/**************************ʵֺ******************************************** +*ԭ: uint8_t MPU6050_testConnection(void) +*: MPU6050 ǷѾ +*******************************************************************************/ +uint8_t MPU6050_testConnection(void) { + if(MPU6050_getDeviceID() == 0x68) //0b01101000; + return 1; + else return 0; +} + +/**************************ʵֺ******************************************** +*ԭ: void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) +*: MPU6050 ǷΪAUX I2Cߵ +*******************************************************************************/ +void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) { + IICwriteBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +} + +/**************************ʵֺ******************************************** +*ԭ: void MPU6050_setI2CBypassEnabled(uint8_t enabled) +*: MPU6050 ǷΪAUX I2Cߵ +*******************************************************************************/ +void MPU6050_setI2CBypassEnabled(uint8_t enabled) { + IICwriteBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +} + +/**************************ʵֺ******************************************** +*ԭ: void MPU6050_initialize(void) +*: ʼ MPU6050 Խ״̬ +*******************************************************************************/ +void MPU6050_initialize(void) { + MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO); //ʱ + MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000);// + MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2); //ٶȶ +-2G + MPU6050_setSleepEnabled(0); //빤״̬ + MPU6050_setI2CMasterModeEnabled(0); //MPU6050 AUXI2C + MPU6050_setI2CBypassEnabled(0); //I2C MPU6050AUXI2C ֱͨر +} + +/************************************************************************** +ܣMPU6050DMPijʼ +ڲ + ֵ + ߣƽС֮ +**************************************************************************/ +void DMP_Init(void) +{ + u8 temp[1]={0}; + i2cRead(0x68,0x75,1,temp); + Flag_Show=1; + printf("mpu_set_sensor complete ......\r\n"); + if(temp[0]!=0x68)NVIC_SystemReset(); + if(!mpu_init()) + { + if(!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)) + printf("mpu_set_sensor complete ......\r\n"); + if(!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) + printf("mpu_configure_fifo complete ......\r\n"); + if(!mpu_set_sample_rate(DEFAULT_MPU_HZ)) + printf("mpu_set_sample_rate complete ......\r\n"); + if(!dmp_load_motion_driver_firmware()) + printf("dmp_load_motion_driver_firmware complete ......\r\n"); + if(!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) + printf("dmp_set_orientation complete ......\r\n"); + if(!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | + DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | + DMP_FEATURE_GYRO_CAL)) + printf("dmp_enable_feature complete ......\r\n"); + if(!dmp_set_fifo_rate(DEFAULT_MPU_HZ)) + printf("dmp_set_fifo_rate complete ......\r\n"); + run_self_test(); + if(!mpu_set_dmp_state(1)) + printf("mpu_set_dmp_state complete ......\r\n"); + } + Flag_Show=0; + +} +/************************************************************************** +ܣȡMPU6050DMP̬Ϣ +ڲ + ֵ + ߣƽС֮ +**************************************************************************/ +void Read_DMP(void) +{ + unsigned long sensor_timestamp; + unsigned char more; + long quat[4]; + + dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); + if (sensors & INV_WXYZ_QUAT ) + { + q0=quat[0] / q30; + q1=quat[1] / q30; + q2=quat[2] / q30; + q3=quat[3] / q30; + Pitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; + Roll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll + } + +} +/************************************************************************** +ܣȡMPU6050¶ȴ +ڲ + ֵ¶ + ߣƽС֮ +**************************************************************************/ +int Read_Temperature(void) +{ + float Temp; + Temp=(I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_H)<<8)+I2C_ReadOneByte(devAddr,MPU6050_RA_TEMP_OUT_L); + if(Temp>32768) Temp-=65536; + Temp=(36.53+Temp/340)*10; + return (int)Temp; +} +//------------------End of File---------------------------- diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/MPU6050/mpu6050.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/MPU6050/mpu6050.h new file mode 100644 index 0000000..1c359e4 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/MPU6050/mpu6050.h @@ -0,0 +1,375 @@ +#ifndef __MPU6050_H +#define __MPU6050_H + /************************************************************************** +ߣƽС֮ +ҵԱС꣺http://shop114407458.taobao.com/ +**************************************************************************/ +#include "sys.h" +#define devAddr 0xD0 + +#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board +#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) +#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW + +#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN +#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN +#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN +#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS +#define MPU6050_RA_XA_OFFS_L_TC 0x07 +#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS +#define MPU6050_RA_YA_OFFS_L_TC 0x09 +#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS +#define MPU6050_RA_ZA_OFFS_L_TC 0x0B +#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR +#define MPU6050_RA_XG_OFFS_USRL 0x14 +#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR +#define MPU6050_RA_YG_OFFS_USRL 0x16 +#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR +#define MPU6050_RA_ZG_OFFS_USRL 0x18 +#define MPU6050_RA_SMPLRT_DIV 0x19 +#define MPU6050_RA_CONFIG 0x1A +#define MPU6050_RA_GYRO_CONFIG 0x1B +#define MPU6050_RA_ACCEL_CONFIG 0x1C +#define MPU6050_RA_FF_THR 0x1D +#define MPU6050_RA_FF_DUR 0x1E +#define MPU6050_RA_MOT_THR 0x1F +#define MPU6050_RA_MOT_DUR 0x20 +#define MPU6050_RA_ZRMOT_THR 0x21 +#define MPU6050_RA_ZRMOT_DUR 0x22 +#define MPU6050_RA_FIFO_EN 0x23 +#define MPU6050_RA_I2C_MST_CTRL 0x24 +#define MPU6050_RA_I2C_SLV0_ADDR 0x25 +#define MPU6050_RA_I2C_SLV0_REG 0x26 +# define MPU6050_RA_I2C_SLV0_CTRL 0x27 +#define MPU6050_RA_I2C_SLV1_ADDR 0x28 +#define MPU6050_RA_I2C_SLV1_REG 0x29 +#define MPU6050_RA_I2C_SLV1_CTRL 0x2A +#define MPU6050_RA_I2C_SLV2_ADDR 0x2B +#define MPU6050_RA_I2C_SLV2_REG 0x2C +#define MPU6050_RA_I2C_SLV2_CTRL 0x2D +#define MPU6050_RA_I2C_SLV3_ADDR 0x2E +#define MPU6050_RA_I2C_SLV3_REG 0x2F +#define MPU6050_RA_I2C_SLV3_CTRL 0x30 +#define MPU6050_RA_I2C_SLV4_ADDR 0x31 +#define MPU6050_RA_I2C_SLV4_REG 0x32 +#define MPU6050_RA_I2C_SLV4_DO 0x33 +#define MPU6050_RA_I2C_SLV4_CTRL 0x34 +#define MPU6050_RA_I2C_SLV4_DI 0x35 +#define MPU6050_RA_I2C_MST_STATUS 0x36 +#define MPU6050_RA_INT_PIN_CFG 0x37 +#define MPU6050_RA_INT_ENABLE 0x38 +#define MPU6050_RA_DMP_INT_STATUS 0x39 +#define MPU6050_RA_INT_STATUS 0x3A +#define MPU6050_RA_ACCEL_XOUT_H 0x3B +#define MPU6050_RA_ACCEL_XOUT_L 0x3C +#define MPU6050_RA_ACCEL_YOUT_H 0x3D +#define MPU6050_RA_ACCEL_YOUT_L 0x3E +#define MPU6050_RA_ACCEL_ZOUT_H 0x3F +#define MPU6050_RA_ACCEL_ZOUT_L 0x40 +#define MPU6050_RA_TEMP_OUT_H 0x41 +#define MPU6050_RA_TEMP_OUT_L 0x42 +#define MPU6050_RA_GYRO_XOUT_H 0x43 +#define MPU6050_RA_GYRO_XOUT_L 0x44 +#define MPU6050_RA_GYRO_YOUT_H 0x45 +#define MPU6050_RA_GYRO_YOUT_L 0x46 +#define MPU6050_RA_GYRO_ZOUT_H 0x47 +#define MPU6050_RA_GYRO_ZOUT_L 0x48 +#define MPU6050_RA_EXT_SENS_DATA_00 0x49 +#define MPU6050_RA_EXT_SENS_DATA_01 0x4A +#define MPU6050_RA_EXT_SENS_DATA_02 0x4B +#define MPU6050_RA_EXT_SENS_DATA_03 0x4C +#define MPU6050_RA_EXT_SENS_DATA_04 0x4D +#define MPU6050_RA_EXT_SENS_DATA_05 0x4E +#define MPU6050_RA_EXT_SENS_DATA_06 0x4F +#define MPU6050_RA_EXT_SENS_DATA_07 0x50 +#define MPU6050_RA_EXT_SENS_DATA_08 0x51 +#define MPU6050_RA_EXT_SENS_DATA_09 0x52 +#define MPU6050_RA_EXT_SENS_DATA_10 0x53 +#define MPU6050_RA_EXT_SENS_DATA_11 0x54 +#define MPU6050_RA_EXT_SENS_DATA_12 0x55 +#define MPU6050_RA_EXT_SENS_DATA_13 0x56 +#define MPU6050_RA_EXT_SENS_DATA_14 0x57 +#define MPU6050_RA_EXT_SENS_DATA_15 0x58 +#define MPU6050_RA_EXT_SENS_DATA_16 0x59 +#define MPU6050_RA_EXT_SENS_DATA_17 0x5A +#define MPU6050_RA_EXT_SENS_DATA_18 0x5B +#define MPU6050_RA_EXT_SENS_DATA_19 0x5C +#define MPU6050_RA_EXT_SENS_DATA_20 0x5D +#define MPU6050_RA_EXT_SENS_DATA_21 0x5E +#define MPU6050_RA_EXT_SENS_DATA_22 0x5F +#define MPU6050_RA_EXT_SENS_DATA_23 0x60 +#define MPU6050_RA_MOT_DETECT_STATUS 0x61 +#define MPU6050_RA_I2C_SLV0_DO 0x63 +#define MPU6050_RA_I2C_SLV1_DO 0x64 +#define MPU6050_RA_I2C_SLV2_DO 0x65 +#define MPU6050_RA_I2C_SLV3_DO 0x66 +#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 +#define MPU6050_RA_SIGNAL_PATH_RESET 0x68 +#define MPU6050_RA_MOT_DETECT_CTRL 0x69 +#define MPU6050_RA_USER_CTRL 0x6A +#define MPU6050_RA_PWR_MGMT_1 0x6B +#define MPU6050_RA_PWR_MGMT_2 0x6C +#define MPU6050_RA_BANK_SEL 0x6D +#define MPU6050_RA_MEM_START_ADDR 0x6E +#define MPU6050_RA_MEM_R_W 0x6F +#define MPU6050_RA_DMP_CFG_1 0x70 +#define MPU6050_RA_DMP_CFG_2 0x71 +#define MPU6050_RA_FIFO_COUNTH 0x72 +#define MPU6050_RA_FIFO_COUNTL 0x73 +#define MPU6050_RA_FIFO_R_W 0x74 +#define MPU6050_RA_WHO_AM_I 0x75 + +#define MPU6050_TC_PWR_MODE_BIT 7 +#define MPU6050_TC_OFFSET_BIT 6 +#define MPU6050_TC_OFFSET_LENGTH 6 +#define MPU6050_TC_OTP_BNK_VLD_BIT 0 + +#define MPU6050_VDDIO_LEVEL_VLOGIC 0 +#define MPU6050_VDDIO_LEVEL_VDD 1 + +#define MPU6050_CFG_EXT_SYNC_SET_BIT 5 +#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 +#define MPU6050_CFG_DLPF_CFG_BIT 2 +#define MPU6050_CFG_DLPF_CFG_LENGTH 3 + +#define MPU6050_EXT_SYNC_DISABLED 0x0 +#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 +#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 +#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 +#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 +#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 +#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 +#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 + +#define MPU6050_DLPF_BW_256 0x00 +#define MPU6050_DLPF_BW_188 0x01 +#define MPU6050_DLPF_BW_98 0x02 +#define MPU6050_DLPF_BW_42 0x03 +#define MPU6050_DLPF_BW_20 0x04 +#define MPU6050_DLPF_BW_10 0x05 +#define MPU6050_DLPF_BW_5 0x06 + +#define MPU6050_GCONFIG_FS_SEL_BIT 4 +#define MPU6050_GCONFIG_FS_SEL_LENGTH 2 + +#define MPU6050_GYRO_FS_250 0x00 +#define MPU6050_GYRO_FS_500 0x01 +#define MPU6050_GYRO_FS_1000 0x02 +#define MPU6050_GYRO_FS_2000 0x03 + +#define MPU6050_ACONFIG_XA_ST_BIT 7 +#define MPU6050_ACONFIG_YA_ST_BIT 6 +#define MPU6050_ACONFIG_ZA_ST_BIT 5 +#define MPU6050_ACONFIG_AFS_SEL_BIT 4 +#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 +#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 +#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 + +#define MPU6050_ACCEL_FS_2 0x00 +#define MPU6050_ACCEL_FS_4 0x01 +#define MPU6050_ACCEL_FS_8 0x02 +#define MPU6050_ACCEL_FS_16 0x03 + +#define MPU6050_DHPF_RESET 0x00 +#define MPU6050_DHPF_5 0x01 +#define MPU6050_DHPF_2P5 0x02 +#define MPU6050_DHPF_1P25 0x03 +#define MPU6050_DHPF_0P63 0x04 +#define MPU6050_DHPF_HOLD 0x07 + +#define MPU6050_TEMP_FIFO_EN_BIT 7 +#define MPU6050_XG_FIFO_EN_BIT 6 +#define MPU6050_YG_FIFO_EN_BIT 5 +#define MPU6050_ZG_FIFO_EN_BIT 4 +#define MPU6050_ACCEL_FIFO_EN_BIT 3 +#define MPU6050_SLV2_FIFO_EN_BIT 2 +#define MPU6050_SLV1_FIFO_EN_BIT 1 +#define MPU6050_SLV0_FIFO_EN_BIT 0 + +#define MPU6050_MULT_MST_EN_BIT 7 +#define MPU6050_WAIT_FOR_ES_BIT 6 +#define MPU6050_SLV_3_FIFO_EN_BIT 5 +#define MPU6050_I2C_MST_P_NSR_BIT 4 +#define MPU6050_I2C_MST_CLK_BIT 3 +#define MPU6050_I2C_MST_CLK_LENGTH 4 + +#define MPU6050_CLOCK_DIV_348 0x0 +#define MPU6050_CLOCK_DIV_333 0x1 +#define MPU6050_CLOCK_DIV_320 0x2 +#define MPU6050_CLOCK_DIV_308 0x3 +#define MPU6050_CLOCK_DIV_296 0x4 +#define MPU6050_CLOCK_DIV_286 0x5 +#define MPU6050_CLOCK_DIV_276 0x6 +#define MPU6050_CLOCK_DIV_267 0x7 +#define MPU6050_CLOCK_DIV_258 0x8 +#define MPU6050_CLOCK_DIV_500 0x9 +#define MPU6050_CLOCK_DIV_471 0xA +#define MPU6050_CLOCK_DIV_444 0xB +#define MPU6050_CLOCK_DIV_421 0xC +#define MPU6050_CLOCK_DIV_400 0xD +#define MPU6050_CLOCK_DIV_381 0xE +#define MPU6050_CLOCK_DIV_364 0xF + +#define MPU6050_I2C_SLV_RW_BIT 7 +#define MPU6050_I2C_SLV_ADDR_BIT 6 +#define MPU6050_I2C_SLV_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV_EN_BIT 7 +#define MPU6050_I2C_SLV_BYTE_SW_BIT 6 +#define MPU6050_I2C_SLV_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV_GRP_BIT 4 +#define MPU6050_I2C_SLV_LEN_BIT 3 +#define MPU6050_I2C_SLV_LEN_LENGTH 4 + +#define MPU6050_I2C_SLV4_RW_BIT 7 +#define MPU6050_I2C_SLV4_ADDR_BIT 6 +#define MPU6050_I2C_SLV4_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV4_EN_BIT 7 +#define MPU6050_I2C_SLV4_INT_EN_BIT 6 +#define MPU6050_I2C_SLV4_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV4_MST_DLY_BIT 4 +#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 + +#define MPU6050_MST_PASS_THROUGH_BIT 7 +#define MPU6050_MST_I2C_SLV4_DONE_BIT 6 +#define MPU6050_MST_I2C_LOST_ARB_BIT 5 +#define MPU6050_MST_I2C_SLV4_NACK_BIT 4 +#define MPU6050_MST_I2C_SLV3_NACK_BIT 3 +#define MPU6050_MST_I2C_SLV2_NACK_BIT 2 +#define MPU6050_MST_I2C_SLV1_NACK_BIT 1 +#define MPU6050_MST_I2C_SLV0_NACK_BIT 0 + +#define MPU6050_INTCFG_INT_LEVEL_BIT 7 +#define MPU6050_INTCFG_INT_OPEN_BIT 6 +#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 +#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 +#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 +#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 +#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 +#define MPU6050_INTCFG_CLKOUT_EN_BIT 0 + +#define MPU6050_INTMODE_ACTIVEHIGH 0x00 +#define MPU6050_INTMODE_ACTIVELOW 0x01 + +#define MPU6050_INTDRV_PUSHPULL 0x00 +#define MPU6050_INTDRV_OPENDRAIN 0x01 + +#define MPU6050_INTLATCH_50USPULSE 0x00 +#define MPU6050_INTLATCH_WAITCLEAR 0x01 + +#define MPU6050_INTCLEAR_STATUSREAD 0x00 +#define MPU6050_INTCLEAR_ANYREAD 0x01 + +#define MPU6050_INTERRUPT_FF_BIT 7 +#define MPU6050_INTERRUPT_MOT_BIT 6 +#define MPU6050_INTERRUPT_ZMOT_BIT 5 +#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 +#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 +#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 +#define MPU6050_INTERRUPT_DMP_INT_BIT 1 +#define MPU6050_INTERRUPT_DATA_RDY_BIT 0 + +// TODO: figure out what these actually do +// UMPL source code is not very obivous +#define MPU6050_DMPINT_5_BIT 5 +#define MPU6050_DMPINT_4_BIT 4 +#define MPU6050_DMPINT_3_BIT 3 +#define MPU6050_DMPINT_2_BIT 2 +#define MPU6050_DMPINT_1_BIT 1 +#define MPU6050_DMPINT_0_BIT 0 + +#define MPU6050_MOTION_MOT_XNEG_BIT 7 +#define MPU6050_MOTION_MOT_XPOS_BIT 6 +#define MPU6050_MOTION_MOT_YNEG_BIT 5 +#define MPU6050_MOTION_MOT_YPOS_BIT 4 +#define MPU6050_MOTION_MOT_ZNEG_BIT 3 +#define MPU6050_MOTION_MOT_ZPOS_BIT 2 +#define MPU6050_MOTION_MOT_ZRMOT_BIT 0 + +#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 +#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 +#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 +#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 +#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 +#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 + +#define MPU6050_PATHRESET_GYRO_RESET_BIT 2 +#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 +#define MPU6050_PATHRESET_TEMP_RESET_BIT 0 + +#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 +#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 +#define MPU6050_DETECT_FF_COUNT_BIT 3 +#define MPU6050_DETECT_FF_COUNT_LENGTH 2 +#define MPU6050_DETECT_MOT_COUNT_BIT 1 +#define MPU6050_DETECT_MOT_COUNT_LENGTH 2 + +#define MPU6050_DETECT_DECREMENT_RESET 0x0 +#define MPU6050_DETECT_DECREMENT_1 0x1 +#define MPU6050_DETECT_DECREMENT_2 0x2 +#define MPU6050_DETECT_DECREMENT_4 0x3 + +#define MPU6050_USERCTRL_DMP_EN_BIT 7 +#define MPU6050_USERCTRL_FIFO_EN_BIT 6 +#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 +#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 +#define MPU6050_USERCTRL_DMP_RESET_BIT 3 +#define MPU6050_USERCTRL_FIFO_RESET_BIT 2 +#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 +#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 + +#define MPU6050_PWR1_DEVICE_RESET_BIT 7 +#define MPU6050_PWR1_SLEEP_BIT 6 +#define MPU6050_PWR1_CYCLE_BIT 5 +#define MPU6050_PWR1_TEMP_DIS_BIT 3 +#define MPU6050_PWR1_CLKSEL_BIT 2 +#define MPU6050_PWR1_CLKSEL_LENGTH 3 + +#define MPU6050_CLOCK_INTERNAL 0x00 +#define MPU6050_CLOCK_PLL_XGYRO 0x01 +#define MPU6050_CLOCK_PLL_YGYRO 0x02 +#define MPU6050_CLOCK_PLL_ZGYRO 0x03 +#define MPU6050_CLOCK_PLL_EXT32K 0x04 +#define MPU6050_CLOCK_PLL_EXT19M 0x05 +#define MPU6050_CLOCK_KEEP_RESET 0x07 + +#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 +#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 +#define MPU6050_PWR2_STBY_XA_BIT 5 +#define MPU6050_PWR2_STBY_YA_BIT 4 +#define MPU6050_PWR2_STBY_ZA_BIT 3 +#define MPU6050_PWR2_STBY_XG_BIT 2 +#define MPU6050_PWR2_STBY_YG_BIT 1 +#define MPU6050_PWR2_STBY_ZG_BIT 0 + +#define MPU6050_WAKE_FREQ_1P25 0x0 +#define MPU6050_WAKE_FREQ_2P5 0x1 +#define MPU6050_WAKE_FREQ_5 0x2 +#define MPU6050_WAKE_FREQ_10 0x3 + +#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 +#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 +#define MPU6050_BANKSEL_MEM_SEL_BIT 4 +#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 + +#define MPU6050_WHO_AM_I_BIT 6 +#define MPU6050_WHO_AM_I_LENGTH 6 +extern short gyro[3], accel[3]; +extern int16_t Gx_offset,Gy_offset,Gz_offset; +extern float Acc1G_Values; +extern float Pitch,Roll; +//ⲿõAPI +void MPU6050_initialize(void); //ʼ +uint8_t MPU6050_testConnection(void); //MPU6050Ƿ +//ȡADCֵ +void MPU6050_getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); +void MPU6050_getlastMotion6(int16_t* ax, int16_t* ay, + int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); +uint8_t MPU6050_getDeviceID(void); //ȡMPU6050ID +void MPU6050_InitGyro_Offset(void);//ʼƫ +void DMP_Init(void); +void Read_DMP(void); +int Read_Temperature(void); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/filter/filter.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/filter/filter.c new file mode 100644 index 0000000..5e76a15 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/filter/filter.c @@ -0,0 +1,93 @@ +/*********************************************** +公司：东莞市微宏智能科技有限公司 +品牌：WHEELTEC +官网：wheeltec.net +淘宝店铺：shop114407458.taobao.com +速卖通: https://minibalance.aliexpress.com/store/4455017 +版本： +修改时间：2021-04-29 + +Company: WeiHong Co.Ltd +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version: +Update：2021-04-29 + +All rights reserved +***********************************************/ +#include "filter.h" +float K1 =0.02; +float angle,angle_dot; +float Q_angle=0.001;// 过程噪声的协方差 +float Q_gyro=0.003;//0.003 过程噪声的协方差 过程噪声的协方差为一个一行两列矩阵 +float R_angle=0.5;// 测量噪声的协方差 既测量偏差 +float dt=0.005;// +char C_0 = 1; +float Q_bias, AngleErr; +float PCt_0, PCt_1, E; +float K_0, K_1, t_0, t_1; +float Pdot[4] ={0,0,0,0}; +float PP[2][2] = { { 1, 0 },{ 0, 1 } }; + +/************************************************************************** +Function: Simple Kalman filter +Input : acceleration、angular velocity +Output : none +函数功能：简易卡尔曼滤波 +入口参数：加速度、角速度 +返回 值：无 +**************************************************************************/ +void Kalman_Filter(float Accel, float Gyro) +{ + // 状态预测方程 Xt+1 = F*Xt + angle += (Gyro - Q_bias) * dt; + // Pk-先验估计误差协方差的微分 + Pdot[0] = Q_angle - PP[0][1] - PP[1][0]; + + // P = FPF + Q + Pdot[1]=-PP[1][1]; + Pdot[2]=-PP[1][1]; + Pdot[3]=Q_gyro; + + PP[0][0] += Pdot[0] * dt; // Pk-先验估计误差协方差微分的积分 + PP[0][1] += Pdot[1] * dt; // =先验估计误差协方差 + PP[1][0] += Pdot[2] * dt; + PP[1][1] += Pdot[3] * dt; + + AngleErr = Accel - angle; //zk-先验估计 + + PCt_0 = C_0 * PP[0][0]; + PCt_1 = C_0 * PP[1][0]; + + E = R_angle + C_0 * PCt_0; + + K_0 = PCt_0 / E; + K_1 = PCt_1 / E; + + t_0 = PCt_0; + t_1 = C_0 * PP[0][1]; + + PP[0][0] -= K_0 * t_0; // 后验估计误差协方差 + PP[0][1] -= K_0 * t_1; + PP[1][0] -= K_1 * t_0; + PP[1][1] -= K_1 * t_1; + + angle += K_0 * AngleErr; // 后验估计 + Q_bias += K_1 * AngleErr; // 后验估计 + angle_dot = Gyro - Q_bias; // 输出值(后验估计)的微分=角速度 +} + +/************************************************************************** +Function: First order complementary filtering +Input : acceleration、angular velocity +Output : none +函数功能：一阶互补滤波 +入口参数：加速度、角速度 +返回 值：无 +**************************************************************************/ +void First_order_filter(float angle_m, float gyro_m) +{ + angle = K1 * angle_m+ (1-K1) * (angle + gyro_m * 0.005); +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/filter/filter.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/filter/filter.h new file mode 100644 index 0000000..a9f8efd --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/filter/filter.h @@ -0,0 +1,25 @@ +/*********************************************** +˾ݸ΢ܿƼ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾 +޸ʱ䣺2021-04-29 + +Company: WeiHong Co.Ltd +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version: +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __FILTER_H +#define __FILTER_H +extern float angle, angle_dot; +void Kalman_Filter(float Accel,float Gyro); +void First_order_filter(float angle_m, float gyro_m); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/show/show.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/show/show.c new file mode 100644 index 0000000..3889ea7 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/show/show.c @@ -0,0 +1,55 @@ +#include "show.h" +/************************************************************************** +Function: OLED display +Input : none +Output : none +函数功能：OLED显示 +入口参数：无 +返回 值：无 +**************************************************************************/ +void oled_show(void) +{ + // 显示屏打开 + OLED_Display_On(); + // 第一行显示小车模式 + OLED_ShowString(0,0,"DMP"); + OLED_ShowString(60,0,"Normal"); + // 第三行显示编码器1 + OLED_ShowString(00,20,"EncoLEFT"); + if( Encoder_Left<0){ + OLED_ShowString(80,20,"-"); + OLED_ShowNumber(95,20,-Encoder_Left,3,12); + }else{ + OLED_ShowString(80,20,"+"); + OLED_ShowNumber(95,20, Encoder_Left,3,12); + } + + // 第四行显示编码器2 + OLED_ShowString(00,30,"EncoRIGHT"); + if(Encoder_Right<0){ + OLED_ShowString(80,30,"-"); + OLED_ShowNumber(95,30,-Encoder_Right,3,12); + }else{ + OLED_ShowString(80,30,"+"); + OLED_ShowNumber(95,30, Encoder_Right,3,12); + } + + // 第六行显示角度 + OLED_ShowString(0,50,"Angle"); + if(Angle_Balance < 0){ + OLED_ShowString(48,50,"-"); + } + if(Angle_Balance>=0){ + OLED_ShowString(48,50,"+"); + } + OLED_ShowNumber(53,50,myabs((int)Angle_Balance),3,12); + + if(Flag_Stop){ + OLED_ShowString(90,50,"OFF"); + } + if(!Flag_Stop){ + OLED_ShowString(90,50,"ON "); + } + // 刷新 + OLED_Refresh_Gram(); +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/show/show.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/show/show.h new file mode 100644 index 0000000..79abcef --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance/show/show.h @@ -0,0 +1,24 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __SHOW_H +#define __SHOW_H +#include "sys.h" +void oled_show(void); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/core_cm3.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/core_cm3.c new file mode 100644 index 0000000..fcff0d1 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/core_cm3.c @@ -0,0 +1,784 @@ +/**************************************************************************//** + * @file core_cm3.c + * @brief CMSIS Cortex-M3 Core Peripheral Access Layer Source File + * @version V1.30 + * @date 30. October 2009 + * + * @note + * Copyright (C) 2009 ARM Limited. All rights reserved. + * + * @par + * ARM Limited (ARM) is supplying this software for use with Cortex-M + * processor based microcontrollers. This file can be freely distributed + * within development tools that are supporting such ARM based processors. + * + * @par + * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED + * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. + * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR + * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. + * + ******************************************************************************/ + +#include + +/* define compiler specific symbols */ +#if defined ( __CC_ARM ) + #define __ASM __asm /*!< asm keyword for ARM Compiler */ + #define __INLINE __inline /*!< inline keyword for ARM Compiler */ + +#elif defined ( __ICCARM__ ) + #define __ASM __asm /*!< asm keyword for IAR Compiler */ + #define __INLINE inline /*!< inline keyword for IAR Compiler. Only avaiable in High optimization mode! */ + +#elif defined ( __GNUC__ ) + #define __ASM __asm /*!< asm keyword for GNU Compiler */ + #define __INLINE inline /*!< inline keyword for GNU Compiler */ + +#elif defined ( __TASKING__ ) + #define __ASM __asm /*!< asm keyword for TASKING Compiler */ + #define __INLINE inline /*!< inline keyword for TASKING Compiler */ + +#endif + + +/* ################### Compiler specific Intrinsics ########################### */ + +#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/ +/* ARM armcc specific functions */ + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +__ASM uint32_t __get_PSP(void) +{ + mrs r0, psp + bx lr +} + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +__ASM void __set_PSP(uint32_t topOfProcStack) +{ + msr psp, r0 + bx lr +} + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +__ASM uint32_t __get_MSP(void) +{ + mrs r0, msp + bx lr +} + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +__ASM void __set_MSP(uint32_t mainStackPointer) +{ + msr msp, r0 + bx lr +} + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +__ASM uint32_t __REV16(uint16_t value) +{ + rev16 r0, r0 + bx lr +} + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +__ASM int32_t __REVSH(int16_t value) +{ + revsh r0, r0 + bx lr +} + + +#if (__ARMCC_VERSION < 400000) + +/** + * @brief Remove the exclusive lock created by ldrex + * + * Removes the exclusive lock which is created by ldrex. + */ +__ASM void __CLREX(void) +{ + clrex +} + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +__ASM uint32_t __get_BASEPRI(void) +{ + mrs r0, basepri + bx lr +} + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +__ASM void __set_BASEPRI(uint32_t basePri) +{ + msr basepri, r0 + bx lr +} + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +__ASM uint32_t __get_PRIMASK(void) +{ + mrs r0, primask + bx lr +} + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +__ASM void __set_PRIMASK(uint32_t priMask) +{ + msr primask, r0 + bx lr +} + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +__ASM uint32_t __get_FAULTMASK(void) +{ + mrs r0, faultmask + bx lr +} + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +__ASM void __set_FAULTMASK(uint32_t faultMask) +{ + msr faultmask, r0 + bx lr +} + +/** + * @brief Return the Control Register value + * + * @return Control value + * + * Return the content of the control register + */ +__ASM uint32_t __get_CONTROL(void) +{ + mrs r0, control + bx lr +} + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +__ASM void __set_CONTROL(uint32_t control) +{ + msr control, r0 + bx lr +} + +#endif /* __ARMCC_VERSION */ + + + +#elif (defined (__ICCARM__)) /*------------------ ICC Compiler -------------------*/ +/* IAR iccarm specific functions */ +#pragma diag_suppress=Pe940 + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +uint32_t __get_PSP(void) +{ + __ASM("mrs r0, psp"); + __ASM("bx lr"); +} + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +void __set_PSP(uint32_t topOfProcStack) +{ + __ASM("msr psp, r0"); + __ASM("bx lr"); +} + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +uint32_t __get_MSP(void) +{ + __ASM("mrs r0, msp"); + __ASM("bx lr"); +} + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +void __set_MSP(uint32_t topOfMainStack) +{ + __ASM("msr msp, r0"); + __ASM("bx lr"); +} + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +uint32_t __REV16(uint16_t value) +{ + __ASM("rev16 r0, r0"); + __ASM("bx lr"); +} + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +uint32_t __RBIT(uint32_t value) +{ + __ASM("rbit r0, r0"); + __ASM("bx lr"); +} + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit values) + */ +uint8_t __LDREXB(uint8_t *addr) +{ + __ASM("ldrexb r0, [r0]"); + __ASM("bx lr"); +} + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +uint16_t __LDREXH(uint16_t *addr) +{ + __ASM("ldrexh r0, [r0]"); + __ASM("bx lr"); +} + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +uint32_t __LDREXW(uint32_t *addr) +{ + __ASM("ldrex r0, [r0]"); + __ASM("bx lr"); +} + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +uint32_t __STREXB(uint8_t value, uint8_t *addr) +{ + __ASM("strexb r0, r0, [r1]"); + __ASM("bx lr"); +} + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +uint32_t __STREXH(uint16_t value, uint16_t *addr) +{ + __ASM("strexh r0, r0, [r1]"); + __ASM("bx lr"); +} + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +uint32_t __STREXW(uint32_t value, uint32_t *addr) +{ + __ASM("strex r0, r0, [r1]"); + __ASM("bx lr"); +} + +#pragma diag_default=Pe940 + + +#elif (defined (__GNUC__)) /*------------------ GNU Compiler ---------------------*/ +/* GNU gcc specific functions */ + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +uint32_t __get_PSP(void) __attribute__( ( naked ) ); +uint32_t __get_PSP(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, psp\n\t" + "MOV r0, %0 \n\t" + "BX lr \n\t" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +void __set_PSP(uint32_t topOfProcStack) __attribute__( ( naked ) ); +void __set_PSP(uint32_t topOfProcStack) +{ + __ASM volatile ("MSR psp, %0\n\t" + "BX lr \n\t" : : "r" (topOfProcStack) ); +} + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +uint32_t __get_MSP(void) __attribute__( ( naked ) ); +uint32_t __get_MSP(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, msp\n\t" + "MOV r0, %0 \n\t" + "BX lr \n\t" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +void __set_MSP(uint32_t topOfMainStack) __attribute__( ( naked ) ); +void __set_MSP(uint32_t topOfMainStack) +{ + __ASM volatile ("MSR msp, %0\n\t" + "BX lr \n\t" : : "r" (topOfMainStack) ); +} + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +uint32_t __get_BASEPRI(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, basepri_max" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +void __set_BASEPRI(uint32_t value) +{ + __ASM volatile ("MSR basepri, %0" : : "r" (value) ); +} + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +uint32_t __get_PRIMASK(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, primask" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +void __set_PRIMASK(uint32_t priMask) +{ + __ASM volatile ("MSR primask, %0" : : "r" (priMask) ); +} + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +uint32_t __get_FAULTMASK(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +void __set_FAULTMASK(uint32_t faultMask) +{ + __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) ); +} + +/** + * @brief Return the Control Register value +* +* @return Control value + * + * Return the content of the control register + */ +uint32_t __get_CONTROL(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, control" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +void __set_CONTROL(uint32_t control) +{ + __ASM volatile ("MSR control, %0" : : "r" (control) ); +} + + +/** + * @brief Reverse byte order in integer value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in integer value + */ +uint32_t __REV(uint32_t value) +{ + uint32_t result=0; + + __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +uint32_t __REV16(uint16_t value) +{ + uint32_t result=0; + + __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +int32_t __REVSH(int16_t value) +{ + uint32_t result=0; + + __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +uint32_t __RBIT(uint32_t value) +{ + uint32_t result=0; + + __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit value + */ +uint8_t __LDREXB(uint8_t *addr) +{ + uint8_t result=0; + + __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) ); + return(result); +} + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +uint16_t __LDREXH(uint16_t *addr) +{ + uint16_t result=0; + + __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) ); + return(result); +} + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +uint32_t __LDREXW(uint32_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) ); + return(result); +} + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +uint32_t __STREXB(uint8_t value, uint8_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) ); + return(result); +} + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +uint32_t __STREXH(uint16_t value, uint16_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) ); + return(result); +} + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +uint32_t __STREXW(uint32_t value, uint32_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) ); + return(result); +} + + +#elif (defined (__TASKING__)) /*------------------ TASKING Compiler ---------------------*/ +/* TASKING carm specific functions */ + +/* + * The CMSIS functions have been implemented as intrinsics in the compiler. + * Please use "carm -?i" to get an up to date list of all instrinsics, + * Including the CMSIS ones. + */ + +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/core_cm3.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/core_cm3.h new file mode 100644 index 0000000..7ab7b4b --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/core_cm3.h @@ -0,0 +1,1818 @@ +/**************************************************************************//** + * @file core_cm3.h + * @brief CMSIS Cortex-M3 Core Peripheral Access Layer Header File + * @version V1.30 + * @date 30. October 2009 + * + * @note + * Copyright (C) 2009 ARM Limited. All rights reserved. + * + * @par + * ARM Limited (ARM) is supplying this software for use with Cortex-M + * processor based microcontrollers. This file can be freely distributed + * within development tools that are supporting such ARM based processors. + * + * @par + * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED + * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. + * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR + * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. + * + ******************************************************************************/ + +#ifndef __CM3_CORE_H__ +#define __CM3_CORE_H__ + +/** @addtogroup CMSIS_CM3_core_LintCinfiguration CMSIS CM3 Core Lint Configuration + * + * List of Lint messages which will be suppressed and not shown: + * - Error 10: \n + * register uint32_t __regBasePri __asm("basepri"); \n + * Error 10: Expecting ';' + * . + * - Error 530: \n + * return(__regBasePri); \n + * Warning 530: Symbol '__regBasePri' (line 264) not initialized + * . + * - Error 550: \n + * __regBasePri = (basePri & 0x1ff); \n + * Warning 550: Symbol '__regBasePri' (line 271) not accessed + * . + * - Error 754: \n + * uint32_t RESERVED0[24]; \n + * Info 754: local structure member '' (line 109, file ./cm3_core.h) not referenced + * . + * - Error 750: \n + * #define __CM3_CORE_H__ \n + * Info 750: local macro '__CM3_CORE_H__' (line 43, file./cm3_core.h) not referenced + * . + * - Error 528: \n + * static __INLINE void NVIC_DisableIRQ(uint32_t IRQn) \n + * Warning 528: Symbol 'NVIC_DisableIRQ(unsigned int)' (line 419, file ./cm3_core.h) not referenced + * . + * - Error 751: \n + * } InterruptType_Type; \n + * Info 751: local typedef 'InterruptType_Type' (line 170, file ./cm3_core.h) not referenced + * . + * Note: To re-enable a Message, insert a space before 'lint' * + * + */ + +/*lint -save */ +/*lint -e10 */ +/*lint -e530 */ +/*lint -e550 */ +/*lint -e754 */ +/*lint -e750 */ +/*lint -e528 */ +/*lint -e751 */ + + +/** @addtogroup CMSIS_CM3_core_definitions CM3 Core Definitions + This file defines all structures and symbols for CMSIS core: + - CMSIS version number + - Cortex-M core registers and bitfields + - Cortex-M core peripheral base address + @{ + */ + +#ifdef __cplusplus + extern "C" { +#endif + +#define __CM3_CMSIS_VERSION_MAIN (0x01) /*!< [31:16] CMSIS HAL main version */ +#define __CM3_CMSIS_VERSION_SUB (0x30) /*!< [15:0] CMSIS HAL sub version */ +#define __CM3_CMSIS_VERSION ((__CM3_CMSIS_VERSION_MAIN << 16) | __CM3_CMSIS_VERSION_SUB) /*!< CMSIS HAL version number */ + +#define __CORTEX_M (0x03) /*!< Cortex core */ + +#include /* Include standard types */ + +#if defined (__ICCARM__) + #include /* IAR Intrinsics */ +#endif + + +#ifndef __NVIC_PRIO_BITS + #define __NVIC_PRIO_BITS 4 /*!< standard definition for NVIC Priority Bits */ +#endif + + + + +/** + * IO definitions + * + * define access restrictions to peripheral registers + */ + +#ifdef __cplusplus + #define __I volatile /*!< defines 'read only' permissions */ +#else + #define __I volatile const /*!< defines 'read only' permissions */ +#endif +#define __O volatile /*!< defines 'write only' permissions */ +#define __IO volatile /*!< defines 'read / write' permissions */ + + + +/******************************************************************************* + * Register Abstraction + ******************************************************************************/ +/** @addtogroup CMSIS_CM3_core_register CMSIS CM3 Core Register + @{ +*/ + + +/** @addtogroup CMSIS_CM3_NVIC CMSIS CM3 NVIC + memory mapped structure for Nested Vectored Interrupt Controller (NVIC) + @{ + */ +typedef struct +{ + __IO uint32_t ISER[8]; /*!< Offset: 0x000 Interrupt Set Enable Register */ + uint32_t RESERVED0[24]; + __IO uint32_t ICER[8]; /*!< Offset: 0x080 Interrupt Clear Enable Register */ + uint32_t RSERVED1[24]; + __IO uint32_t ISPR[8]; /*!< Offset: 0x100 Interrupt Set Pending Register */ + uint32_t RESERVED2[24]; + __IO uint32_t ICPR[8]; /*!< Offset: 0x180 Interrupt Clear Pending Register */ + uint32_t RESERVED3[24]; + __IO uint32_t IABR[8]; /*!< Offset: 0x200 Interrupt Active bit Register */ + uint32_t RESERVED4[56]; + __IO uint8_t IP[240]; /*!< Offset: 0x300 Interrupt Priority Register (8Bit wide) */ + uint32_t RESERVED5[644]; + __O uint32_t STIR; /*!< Offset: 0xE00 Software Trigger Interrupt Register */ +} NVIC_Type; +/*@}*/ /* end of group CMSIS_CM3_NVIC */ + + +/** @addtogroup CMSIS_CM3_SCB CMSIS CM3 SCB + memory mapped structure for System Control Block (SCB) + @{ + */ +typedef struct +{ + __I uint32_t CPUID; /*!< Offset: 0x00 CPU ID Base Register */ + __IO uint32_t ICSR; /*!< Offset: 0x04 Interrupt Control State Register */ + __IO uint32_t VTOR; /*!< Offset: 0x08 Vector Table Offset Register */ + __IO uint32_t AIRCR; /*!< Offset: 0x0C Application Interrupt / Reset Control Register */ + __IO uint32_t SCR; /*!< Offset: 0x10 System Control Register */ + __IO uint32_t CCR; /*!< Offset: 0x14 Configuration Control Register */ + __IO uint8_t SHP[12]; /*!< Offset: 0x18 System Handlers Priority Registers (4-7, 8-11, 12-15) */ + __IO uint32_t SHCSR; /*!< Offset: 0x24 System Handler Control and State Register */ + __IO uint32_t CFSR; /*!< Offset: 0x28 Configurable Fault Status Register */ + __IO uint32_t HFSR; /*!< Offset: 0x2C Hard Fault Status Register */ + __IO uint32_t DFSR; /*!< Offset: 0x30 Debug Fault Status Register */ + __IO uint32_t MMFAR; /*!< Offset: 0x34 Mem Manage Address Register */ + __IO uint32_t BFAR; /*!< Offset: 0x38 Bus Fault Address Register */ + __IO uint32_t AFSR; /*!< Offset: 0x3C Auxiliary Fault Status Register */ + __I uint32_t PFR[2]; /*!< Offset: 0x40 Processor Feature Register */ + __I uint32_t DFR; /*!< Offset: 0x48 Debug Feature Register */ + __I uint32_t ADR; /*!< Offset: 0x4C Auxiliary Feature Register */ + __I uint32_t MMFR[4]; /*!< Offset: 0x50 Memory Model Feature Register */ + __I uint32_t ISAR[5]; /*!< Offset: 0x60 ISA Feature Register */ +} SCB_Type; + +/* SCB CPUID Register Definitions */ +#define SCB_CPUID_IMPLEMENTER_Pos 24 /*!< SCB CPUID: IMPLEMENTER Position */ +#define SCB_CPUID_IMPLEMENTER_Msk (0xFFul << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ + +#define SCB_CPUID_VARIANT_Pos 20 /*!< SCB CPUID: VARIANT Position */ +#define SCB_CPUID_VARIANT_Msk (0xFul << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ + +#define SCB_CPUID_PARTNO_Pos 4 /*!< SCB CPUID: PARTNO Position */ +#define SCB_CPUID_PARTNO_Msk (0xFFFul << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ + +#define SCB_CPUID_REVISION_Pos 0 /*!< SCB CPUID: REVISION Position */ +#define SCB_CPUID_REVISION_Msk (0xFul << SCB_CPUID_REVISION_Pos) /*!< SCB CPUID: REVISION Mask */ + +/* SCB Interrupt Control State Register Definitions */ +#define SCB_ICSR_NMIPENDSET_Pos 31 /*!< SCB ICSR: NMIPENDSET Position */ +#define SCB_ICSR_NMIPENDSET_Msk (1ul << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */ + +#define SCB_ICSR_PENDSVSET_Pos 28 /*!< SCB ICSR: PENDSVSET Position */ +#define SCB_ICSR_PENDSVSET_Msk (1ul << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ + +#define SCB_ICSR_PENDSVCLR_Pos 27 /*!< SCB ICSR: PENDSVCLR Position */ +#define SCB_ICSR_PENDSVCLR_Msk (1ul << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ + +#define SCB_ICSR_PENDSTSET_Pos 26 /*!< SCB ICSR: PENDSTSET Position */ +#define SCB_ICSR_PENDSTSET_Msk (1ul << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ + +#define SCB_ICSR_PENDSTCLR_Pos 25 /*!< SCB ICSR: PENDSTCLR Position */ +#define SCB_ICSR_PENDSTCLR_Msk (1ul << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ + +#define SCB_ICSR_ISRPREEMPT_Pos 23 /*!< SCB ICSR: ISRPREEMPT Position */ +#define SCB_ICSR_ISRPREEMPT_Msk (1ul << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ + +#define SCB_ICSR_ISRPENDING_Pos 22 /*!< SCB ICSR: ISRPENDING Position */ +#define SCB_ICSR_ISRPENDING_Msk (1ul << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ + +#define SCB_ICSR_VECTPENDING_Pos 12 /*!< SCB ICSR: VECTPENDING Position */ +#define SCB_ICSR_VECTPENDING_Msk (0x1FFul << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ + +#define SCB_ICSR_RETTOBASE_Pos 11 /*!< SCB ICSR: RETTOBASE Position */ +#define SCB_ICSR_RETTOBASE_Msk (1ul << SCB_ICSR_RETTOBASE_Pos) /*!< SCB ICSR: RETTOBASE Mask */ + +#define SCB_ICSR_VECTACTIVE_Pos 0 /*!< SCB ICSR: VECTACTIVE Position */ +#define SCB_ICSR_VECTACTIVE_Msk (0x1FFul << SCB_ICSR_VECTACTIVE_Pos) /*!< SCB ICSR: VECTACTIVE Mask */ + +/* SCB Interrupt Control State Register Definitions */ +#define SCB_VTOR_TBLBASE_Pos 29 /*!< SCB VTOR: TBLBASE Position */ +#define SCB_VTOR_TBLBASE_Msk (0x1FFul << SCB_VTOR_TBLBASE_Pos) /*!< SCB VTOR: TBLBASE Mask */ + +#define SCB_VTOR_TBLOFF_Pos 7 /*!< SCB VTOR: TBLOFF Position */ +#define SCB_VTOR_TBLOFF_Msk (0x3FFFFFul << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ + +/* SCB Application Interrupt and Reset Control Register Definitions */ +#define SCB_AIRCR_VECTKEY_Pos 16 /*!< SCB AIRCR: VECTKEY Position */ +#define SCB_AIRCR_VECTKEY_Msk (0xFFFFul << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ + +#define SCB_AIRCR_VECTKEYSTAT_Pos 16 /*!< SCB AIRCR: VECTKEYSTAT Position */ +#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFul << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ + +#define SCB_AIRCR_ENDIANESS_Pos 15 /*!< SCB AIRCR: ENDIANESS Position */ +#define SCB_AIRCR_ENDIANESS_Msk (1ul << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ + +#define SCB_AIRCR_PRIGROUP_Pos 8 /*!< SCB AIRCR: PRIGROUP Position */ +#define SCB_AIRCR_PRIGROUP_Msk (7ul << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ + +#define SCB_AIRCR_SYSRESETREQ_Pos 2 /*!< SCB AIRCR: SYSRESETREQ Position */ +#define SCB_AIRCR_SYSRESETREQ_Msk (1ul << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ + +#define SCB_AIRCR_VECTCLRACTIVE_Pos 1 /*!< SCB AIRCR: VECTCLRACTIVE Position */ +#define SCB_AIRCR_VECTCLRACTIVE_Msk (1ul << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ + +#define SCB_AIRCR_VECTRESET_Pos 0 /*!< SCB AIRCR: VECTRESET Position */ +#define SCB_AIRCR_VECTRESET_Msk (1ul << SCB_AIRCR_VECTRESET_Pos) /*!< SCB AIRCR: VECTRESET Mask */ + +/* SCB System Control Register Definitions */ +#define SCB_SCR_SEVONPEND_Pos 4 /*!< SCB SCR: SEVONPEND Position */ +#define SCB_SCR_SEVONPEND_Msk (1ul << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ + +#define SCB_SCR_SLEEPDEEP_Pos 2 /*!< SCB SCR: SLEEPDEEP Position */ +#define SCB_SCR_SLEEPDEEP_Msk (1ul << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ + +#define SCB_SCR_SLEEPONEXIT_Pos 1 /*!< SCB SCR: SLEEPONEXIT Position */ +#define SCB_SCR_SLEEPONEXIT_Msk (1ul << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ + +/* SCB Configuration Control Register Definitions */ +#define SCB_CCR_STKALIGN_Pos 9 /*!< SCB CCR: STKALIGN Position */ +#define SCB_CCR_STKALIGN_Msk (1ul << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */ + +#define SCB_CCR_BFHFNMIGN_Pos 8 /*!< SCB CCR: BFHFNMIGN Position */ +#define SCB_CCR_BFHFNMIGN_Msk (1ul << SCB_CCR_BFHFNMIGN_Pos) /*!< SCB CCR: BFHFNMIGN Mask */ + +#define SCB_CCR_DIV_0_TRP_Pos 4 /*!< SCB CCR: DIV_0_TRP Position */ +#define SCB_CCR_DIV_0_TRP_Msk (1ul << SCB_CCR_DIV_0_TRP_Pos) /*!< SCB CCR: DIV_0_TRP Mask */ + +#define SCB_CCR_UNALIGN_TRP_Pos 3 /*!< SCB CCR: UNALIGN_TRP Position */ +#define SCB_CCR_UNALIGN_TRP_Msk (1ul << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ + +#define SCB_CCR_USERSETMPEND_Pos 1 /*!< SCB CCR: USERSETMPEND Position */ +#define SCB_CCR_USERSETMPEND_Msk (1ul << SCB_CCR_USERSETMPEND_Pos) /*!< SCB CCR: USERSETMPEND Mask */ + +#define SCB_CCR_NONBASETHRDENA_Pos 0 /*!< SCB CCR: NONBASETHRDENA Position */ +#define SCB_CCR_NONBASETHRDENA_Msk (1ul << SCB_CCR_NONBASETHRDENA_Pos) /*!< SCB CCR: NONBASETHRDENA Mask */ + +/* SCB System Handler Control and State Register Definitions */ +#define SCB_SHCSR_USGFAULTENA_Pos 18 /*!< SCB SHCSR: USGFAULTENA Position */ +#define SCB_SHCSR_USGFAULTENA_Msk (1ul << SCB_SHCSR_USGFAULTENA_Pos) /*!< SCB SHCSR: USGFAULTENA Mask */ + +#define SCB_SHCSR_BUSFAULTENA_Pos 17 /*!< SCB SHCSR: BUSFAULTENA Position */ +#define SCB_SHCSR_BUSFAULTENA_Msk (1ul << SCB_SHCSR_BUSFAULTENA_Pos) /*!< SCB SHCSR: BUSFAULTENA Mask */ + +#define SCB_SHCSR_MEMFAULTENA_Pos 16 /*!< SCB SHCSR: MEMFAULTENA Position */ +#define SCB_SHCSR_MEMFAULTENA_Msk (1ul << SCB_SHCSR_MEMFAULTENA_Pos) /*!< SCB SHCSR: MEMFAULTENA Mask */ + +#define SCB_SHCSR_SVCALLPENDED_Pos 15 /*!< SCB SHCSR: SVCALLPENDED Position */ +#define SCB_SHCSR_SVCALLPENDED_Msk (1ul << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ + +#define SCB_SHCSR_BUSFAULTPENDED_Pos 14 /*!< SCB SHCSR: BUSFAULTPENDED Position */ +#define SCB_SHCSR_BUSFAULTPENDED_Msk (1ul << SCB_SHCSR_BUSFAULTPENDED_Pos) /*!< SCB SHCSR: BUSFAULTPENDED Mask */ + +#define SCB_SHCSR_MEMFAULTPENDED_Pos 13 /*!< SCB SHCSR: MEMFAULTPENDED Position */ +#define SCB_SHCSR_MEMFAULTPENDED_Msk (1ul << SCB_SHCSR_MEMFAULTPENDED_Pos) /*!< SCB SHCSR: MEMFAULTPENDED Mask */ + +#define SCB_SHCSR_USGFAULTPENDED_Pos 12 /*!< SCB SHCSR: USGFAULTPENDED Position */ +#define SCB_SHCSR_USGFAULTPENDED_Msk (1ul << SCB_SHCSR_USGFAULTPENDED_Pos) /*!< SCB SHCSR: USGFAULTPENDED Mask */ + +#define SCB_SHCSR_SYSTICKACT_Pos 11 /*!< SCB SHCSR: SYSTICKACT Position */ +#define SCB_SHCSR_SYSTICKACT_Msk (1ul << SCB_SHCSR_SYSTICKACT_Pos) /*!< SCB SHCSR: SYSTICKACT Mask */ + +#define SCB_SHCSR_PENDSVACT_Pos 10 /*!< SCB SHCSR: PENDSVACT Position */ +#define SCB_SHCSR_PENDSVACT_Msk (1ul << SCB_SHCSR_PENDSVACT_Pos) /*!< SCB SHCSR: PENDSVACT Mask */ + +#define SCB_SHCSR_MONITORACT_Pos 8 /*!< SCB SHCSR: MONITORACT Position */ +#define SCB_SHCSR_MONITORACT_Msk (1ul << SCB_SHCSR_MONITORACT_Pos) /*!< SCB SHCSR: MONITORACT Mask */ + +#define SCB_SHCSR_SVCALLACT_Pos 7 /*!< SCB SHCSR: SVCALLACT Position */ +#define SCB_SHCSR_SVCALLACT_Msk (1ul << SCB_SHCSR_SVCALLACT_Pos) /*!< SCB SHCSR: SVCALLACT Mask */ + +#define SCB_SHCSR_USGFAULTACT_Pos 3 /*!< SCB SHCSR: USGFAULTACT Position */ +#define SCB_SHCSR_USGFAULTACT_Msk (1ul << SCB_SHCSR_USGFAULTACT_Pos) /*!< SCB SHCSR: USGFAULTACT Mask */ + +#define SCB_SHCSR_BUSFAULTACT_Pos 1 /*!< SCB SHCSR: BUSFAULTACT Position */ +#define SCB_SHCSR_BUSFAULTACT_Msk (1ul << SCB_SHCSR_BUSFAULTACT_Pos) /*!< SCB SHCSR: BUSFAULTACT Mask */ + +#define SCB_SHCSR_MEMFAULTACT_Pos 0 /*!< SCB SHCSR: MEMFAULTACT Position */ +#define SCB_SHCSR_MEMFAULTACT_Msk (1ul << SCB_SHCSR_MEMFAULTACT_Pos) /*!< SCB SHCSR: MEMFAULTACT Mask */ + +/* SCB Configurable Fault Status Registers Definitions */ +#define SCB_CFSR_USGFAULTSR_Pos 16 /*!< SCB CFSR: Usage Fault Status Register Position */ +#define SCB_CFSR_USGFAULTSR_Msk (0xFFFFul << SCB_CFSR_USGFAULTSR_Pos) /*!< SCB CFSR: Usage Fault Status Register Mask */ + +#define SCB_CFSR_BUSFAULTSR_Pos 8 /*!< SCB CFSR: Bus Fault Status Register Position */ +#define SCB_CFSR_BUSFAULTSR_Msk (0xFFul << SCB_CFSR_BUSFAULTSR_Pos) /*!< SCB CFSR: Bus Fault Status Register Mask */ + +#define SCB_CFSR_MEMFAULTSR_Pos 0 /*!< SCB CFSR: Memory Manage Fault Status Register Position */ +#define SCB_CFSR_MEMFAULTSR_Msk (0xFFul << SCB_CFSR_MEMFAULTSR_Pos) /*!< SCB CFSR: Memory Manage Fault Status Register Mask */ + +/* SCB Hard Fault Status Registers Definitions */ +#define SCB_HFSR_DEBUGEVT_Pos 31 /*!< SCB HFSR: DEBUGEVT Position */ +#define SCB_HFSR_DEBUGEVT_Msk (1ul << SCB_HFSR_DEBUGEVT_Pos) /*!< SCB HFSR: DEBUGEVT Mask */ + +#define SCB_HFSR_FORCED_Pos 30 /*!< SCB HFSR: FORCED Position */ +#define SCB_HFSR_FORCED_Msk (1ul << SCB_HFSR_FORCED_Pos) /*!< SCB HFSR: FORCED Mask */ + +#define SCB_HFSR_VECTTBL_Pos 1 /*!< SCB HFSR: VECTTBL Position */ +#define SCB_HFSR_VECTTBL_Msk (1ul << SCB_HFSR_VECTTBL_Pos) /*!< SCB HFSR: VECTTBL Mask */ + +/* SCB Debug Fault Status Register Definitions */ +#define SCB_DFSR_EXTERNAL_Pos 4 /*!< SCB DFSR: EXTERNAL Position */ +#define SCB_DFSR_EXTERNAL_Msk (1ul << SCB_DFSR_EXTERNAL_Pos) /*!< SCB DFSR: EXTERNAL Mask */ + +#define SCB_DFSR_VCATCH_Pos 3 /*!< SCB DFSR: VCATCH Position */ +#define SCB_DFSR_VCATCH_Msk (1ul << SCB_DFSR_VCATCH_Pos) /*!< SCB DFSR: VCATCH Mask */ + +#define SCB_DFSR_DWTTRAP_Pos 2 /*!< SCB DFSR: DWTTRAP Position */ +#define SCB_DFSR_DWTTRAP_Msk (1ul << SCB_DFSR_DWTTRAP_Pos) /*!< SCB DFSR: DWTTRAP Mask */ + +#define SCB_DFSR_BKPT_Pos 1 /*!< SCB DFSR: BKPT Position */ +#define SCB_DFSR_BKPT_Msk (1ul << SCB_DFSR_BKPT_Pos) /*!< SCB DFSR: BKPT Mask */ + +#define SCB_DFSR_HALTED_Pos 0 /*!< SCB DFSR: HALTED Position */ +#define SCB_DFSR_HALTED_Msk (1ul << SCB_DFSR_HALTED_Pos) /*!< SCB DFSR: HALTED Mask */ +/*@}*/ /* end of group CMSIS_CM3_SCB */ + + +/** @addtogroup CMSIS_CM3_SysTick CMSIS CM3 SysTick + memory mapped structure for SysTick + @{ + */ +typedef struct +{ + __IO uint32_t CTRL; /*!< Offset: 0x00 SysTick Control and Status Register */ + __IO uint32_t LOAD; /*!< Offset: 0x04 SysTick Reload Value Register */ + __IO uint32_t VAL; /*!< Offset: 0x08 SysTick Current Value Register */ + __I uint32_t CALIB; /*!< Offset: 0x0C SysTick Calibration Register */ +} SysTick_Type; + +/* SysTick Control / Status Register Definitions */ +#define SysTick_CTRL_COUNTFLAG_Pos 16 /*!< SysTick CTRL: COUNTFLAG Position */ +#define SysTick_CTRL_COUNTFLAG_Msk (1ul << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ + +#define SysTick_CTRL_CLKSOURCE_Pos 2 /*!< SysTick CTRL: CLKSOURCE Position */ +#define SysTick_CTRL_CLKSOURCE_Msk (1ul << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ + +#define SysTick_CTRL_TICKINT_Pos 1 /*!< SysTick CTRL: TICKINT Position */ +#define SysTick_CTRL_TICKINT_Msk (1ul << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ + +#define SysTick_CTRL_ENABLE_Pos 0 /*!< SysTick CTRL: ENABLE Position */ +#define SysTick_CTRL_ENABLE_Msk (1ul << SysTick_CTRL_ENABLE_Pos) /*!< SysTick CTRL: ENABLE Mask */ + +/* SysTick Reload Register Definitions */ +#define SysTick_LOAD_RELOAD_Pos 0 /*!< SysTick LOAD: RELOAD Position */ +#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFul << SysTick_LOAD_RELOAD_Pos) /*!< SysTick LOAD: RELOAD Mask */ + +/* SysTick Current Register Definitions */ +#define SysTick_VAL_CURRENT_Pos 0 /*!< SysTick VAL: CURRENT Position */ +#define SysTick_VAL_CURRENT_Msk (0xFFFFFFul << SysTick_VAL_CURRENT_Pos) /*!< SysTick VAL: CURRENT Mask */ + +/* SysTick Calibration Register Definitions */ +#define SysTick_CALIB_NOREF_Pos 31 /*!< SysTick CALIB: NOREF Position */ +#define SysTick_CALIB_NOREF_Msk (1ul << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ + +#define SysTick_CALIB_SKEW_Pos 30 /*!< SysTick CALIB: SKEW Position */ +#define SysTick_CALIB_SKEW_Msk (1ul << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ + +#define SysTick_CALIB_TENMS_Pos 0 /*!< SysTick CALIB: TENMS Position */ +#define SysTick_CALIB_TENMS_Msk (0xFFFFFFul << SysTick_VAL_CURRENT_Pos) /*!< SysTick CALIB: TENMS Mask */ +/*@}*/ /* end of group CMSIS_CM3_SysTick */ + + +/** @addtogroup CMSIS_CM3_ITM CMSIS CM3 ITM + memory mapped structure for Instrumentation Trace Macrocell (ITM) + @{ + */ +typedef struct +{ + __O union + { + __O uint8_t u8; /*!< Offset: ITM Stimulus Port 8-bit */ + __O uint16_t u16; /*!< Offset: ITM Stimulus Port 16-bit */ + __O uint32_t u32; /*!< Offset: ITM Stimulus Port 32-bit */ + } PORT [32]; /*!< Offset: 0x00 ITM Stimulus Port Registers */ + uint32_t RESERVED0[864]; + __IO uint32_t TER; /*!< Offset: ITM Trace Enable Register */ + uint32_t RESERVED1[15]; + __IO uint32_t TPR; /*!< Offset: ITM Trace Privilege Register */ + uint32_t RESERVED2[15]; + __IO uint32_t TCR; /*!< Offset: ITM Trace Control Register */ + uint32_t RESERVED3[29]; + __IO uint32_t IWR; /*!< Offset: ITM Integration Write Register */ + __IO uint32_t IRR; /*!< Offset: ITM Integration Read Register */ + __IO uint32_t IMCR; /*!< Offset: ITM Integration Mode Control Register */ + uint32_t RESERVED4[43]; + __IO uint32_t LAR; /*!< Offset: ITM Lock Access Register */ + __IO uint32_t LSR; /*!< Offset: ITM Lock Status Register */ + uint32_t RESERVED5[6]; + __I uint32_t PID4; /*!< Offset: ITM Peripheral Identification Register #4 */ + __I uint32_t PID5; /*!< Offset: ITM Peripheral Identification Register #5 */ + __I uint32_t PID6; /*!< Offset: ITM Peripheral Identification Register #6 */ + __I uint32_t PID7; /*!< Offset: ITM Peripheral Identification Register #7 */ + __I uint32_t PID0; /*!< Offset: ITM Peripheral Identification Register #0 */ + __I uint32_t PID1; /*!< Offset: ITM Peripheral Identification Register #1 */ + __I uint32_t PID2; /*!< Offset: ITM Peripheral Identification Register #2 */ + __I uint32_t PID3; /*!< Offset: ITM Peripheral Identification Register #3 */ + __I uint32_t CID0; /*!< Offset: ITM Component Identification Register #0 */ + __I uint32_t CID1; /*!< Offset: ITM Component Identification Register #1 */ + __I uint32_t CID2; /*!< Offset: ITM Component Identification Register #2 */ + __I uint32_t CID3; /*!< Offset: ITM Component Identification Register #3 */ +} ITM_Type; + +/* ITM Trace Privilege Register Definitions */ +#define ITM_TPR_PRIVMASK_Pos 0 /*!< ITM TPR: PRIVMASK Position */ +#define ITM_TPR_PRIVMASK_Msk (0xFul << ITM_TPR_PRIVMASK_Pos) /*!< ITM TPR: PRIVMASK Mask */ + +/* ITM Trace Control Register Definitions */ +#define ITM_TCR_BUSY_Pos 23 /*!< ITM TCR: BUSY Position */ +#define ITM_TCR_BUSY_Msk (1ul << ITM_TCR_BUSY_Pos) /*!< ITM TCR: BUSY Mask */ + +#define ITM_TCR_ATBID_Pos 16 /*!< ITM TCR: ATBID Position */ +#define ITM_TCR_ATBID_Msk (0x7Ful << ITM_TCR_ATBID_Pos) /*!< ITM TCR: ATBID Mask */ + +#define ITM_TCR_TSPrescale_Pos 8 /*!< ITM TCR: TSPrescale Position */ +#define ITM_TCR_TSPrescale_Msk (3ul << ITM_TCR_TSPrescale_Pos) /*!< ITM TCR: TSPrescale Mask */ + +#define ITM_TCR_SWOENA_Pos 4 /*!< ITM TCR: SWOENA Position */ +#define ITM_TCR_SWOENA_Msk (1ul << ITM_TCR_SWOENA_Pos) /*!< ITM TCR: SWOENA Mask */ + +#define ITM_TCR_DWTENA_Pos 3 /*!< ITM TCR: DWTENA Position */ +#define ITM_TCR_DWTENA_Msk (1ul << ITM_TCR_DWTENA_Pos) /*!< ITM TCR: DWTENA Mask */ + +#define ITM_TCR_SYNCENA_Pos 2 /*!< ITM TCR: SYNCENA Position */ +#define ITM_TCR_SYNCENA_Msk (1ul << ITM_TCR_SYNCENA_Pos) /*!< ITM TCR: SYNCENA Mask */ + +#define ITM_TCR_TSENA_Pos 1 /*!< ITM TCR: TSENA Position */ +#define ITM_TCR_TSENA_Msk (1ul << ITM_TCR_TSENA_Pos) /*!< ITM TCR: TSENA Mask */ + +#define ITM_TCR_ITMENA_Pos 0 /*!< ITM TCR: ITM Enable bit Position */ +#define ITM_TCR_ITMENA_Msk (1ul << ITM_TCR_ITMENA_Pos) /*!< ITM TCR: ITM Enable bit Mask */ + +/* ITM Integration Write Register Definitions */ +#define ITM_IWR_ATVALIDM_Pos 0 /*!< ITM IWR: ATVALIDM Position */ +#define ITM_IWR_ATVALIDM_Msk (1ul << ITM_IWR_ATVALIDM_Pos) /*!< ITM IWR: ATVALIDM Mask */ + +/* ITM Integration Read Register Definitions */ +#define ITM_IRR_ATREADYM_Pos 0 /*!< ITM IRR: ATREADYM Position */ +#define ITM_IRR_ATREADYM_Msk (1ul << ITM_IRR_ATREADYM_Pos) /*!< ITM IRR: ATREADYM Mask */ + +/* ITM Integration Mode Control Register Definitions */ +#define ITM_IMCR_INTEGRATION_Pos 0 /*!< ITM IMCR: INTEGRATION Position */ +#define ITM_IMCR_INTEGRATION_Msk (1ul << ITM_IMCR_INTEGRATION_Pos) /*!< ITM IMCR: INTEGRATION Mask */ + +/* ITM Lock Status Register Definitions */ +#define ITM_LSR_ByteAcc_Pos 2 /*!< ITM LSR: ByteAcc Position */ +#define ITM_LSR_ByteAcc_Msk (1ul << ITM_LSR_ByteAcc_Pos) /*!< ITM LSR: ByteAcc Mask */ + +#define ITM_LSR_Access_Pos 1 /*!< ITM LSR: Access Position */ +#define ITM_LSR_Access_Msk (1ul << ITM_LSR_Access_Pos) /*!< ITM LSR: Access Mask */ + +#define ITM_LSR_Present_Pos 0 /*!< ITM LSR: Present Position */ +#define ITM_LSR_Present_Msk (1ul << ITM_LSR_Present_Pos) /*!< ITM LSR: Present Mask */ +/*@}*/ /* end of group CMSIS_CM3_ITM */ + + +/** @addtogroup CMSIS_CM3_InterruptType CMSIS CM3 Interrupt Type + memory mapped structure for Interrupt Type + @{ + */ +typedef struct +{ + uint32_t RESERVED0; + __I uint32_t ICTR; /*!< Offset: 0x04 Interrupt Control Type Register */ +#if ((defined __CM3_REV) && (__CM3_REV >= 0x200)) + __IO uint32_t ACTLR; /*!< Offset: 0x08 Auxiliary Control Register */ +#else + uint32_t RESERVED1; +#endif +} InterruptType_Type; + +/* Interrupt Controller Type Register Definitions */ +#define InterruptType_ICTR_INTLINESNUM_Pos 0 /*!< InterruptType ICTR: INTLINESNUM Position */ +#define InterruptType_ICTR_INTLINESNUM_Msk (0x1Ful << InterruptType_ICTR_INTLINESNUM_Pos) /*!< InterruptType ICTR: INTLINESNUM Mask */ + +/* Auxiliary Control Register Definitions */ +#define InterruptType_ACTLR_DISFOLD_Pos 2 /*!< InterruptType ACTLR: DISFOLD Position */ +#define InterruptType_ACTLR_DISFOLD_Msk (1ul << InterruptType_ACTLR_DISFOLD_Pos) /*!< InterruptType ACTLR: DISFOLD Mask */ + +#define InterruptType_ACTLR_DISDEFWBUF_Pos 1 /*!< InterruptType ACTLR: DISDEFWBUF Position */ +#define InterruptType_ACTLR_DISDEFWBUF_Msk (1ul << InterruptType_ACTLR_DISDEFWBUF_Pos) /*!< InterruptType ACTLR: DISDEFWBUF Mask */ + +#define InterruptType_ACTLR_DISMCYCINT_Pos 0 /*!< InterruptType ACTLR: DISMCYCINT Position */ +#define InterruptType_ACTLR_DISMCYCINT_Msk (1ul << InterruptType_ACTLR_DISMCYCINT_Pos) /*!< InterruptType ACTLR: DISMCYCINT Mask */ +/*@}*/ /* end of group CMSIS_CM3_InterruptType */ + + +#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1) +/** @addtogroup CMSIS_CM3_MPU CMSIS CM3 MPU + memory mapped structure for Memory Protection Unit (MPU) + @{ + */ +typedef struct +{ + __I uint32_t TYPE; /*!< Offset: 0x00 MPU Type Register */ + __IO uint32_t CTRL; /*!< Offset: 0x04 MPU Control Register */ + __IO uint32_t RNR; /*!< Offset: 0x08 MPU Region RNRber Register */ + __IO uint32_t RBAR; /*!< Offset: 0x0C MPU Region Base Address Register */ + __IO uint32_t RASR; /*!< Offset: 0x10 MPU Region Attribute and Size Register */ + __IO uint32_t RBAR_A1; /*!< Offset: 0x14 MPU Alias 1 Region Base Address Register */ + __IO uint32_t RASR_A1; /*!< Offset: 0x18 MPU Alias 1 Region Attribute and Size Register */ + __IO uint32_t RBAR_A2; /*!< Offset: 0x1C MPU Alias 2 Region Base Address Register */ + __IO uint32_t RASR_A2; /*!< Offset: 0x20 MPU Alias 2 Region Attribute and Size Register */ + __IO uint32_t RBAR_A3; /*!< Offset: 0x24 MPU Alias 3 Region Base Address Register */ + __IO uint32_t RASR_A3; /*!< Offset: 0x28 MPU Alias 3 Region Attribute and Size Register */ +} MPU_Type; + +/* MPU Type Register */ +#define MPU_TYPE_IREGION_Pos 16 /*!< MPU TYPE: IREGION Position */ +#define MPU_TYPE_IREGION_Msk (0xFFul << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ + +#define MPU_TYPE_DREGION_Pos 8 /*!< MPU TYPE: DREGION Position */ +#define MPU_TYPE_DREGION_Msk (0xFFul << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ + +#define MPU_TYPE_SEPARATE_Pos 0 /*!< MPU TYPE: SEPARATE Position */ +#define MPU_TYPE_SEPARATE_Msk (1ul << MPU_TYPE_SEPARATE_Pos) /*!< MPU TYPE: SEPARATE Mask */ + +/* MPU Control Register */ +#define MPU_CTRL_PRIVDEFENA_Pos 2 /*!< MPU CTRL: PRIVDEFENA Position */ +#define MPU_CTRL_PRIVDEFENA_Msk (1ul << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ + +#define MPU_CTRL_HFNMIENA_Pos 1 /*!< MPU CTRL: HFNMIENA Position */ +#define MPU_CTRL_HFNMIENA_Msk (1ul << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ + +#define MPU_CTRL_ENABLE_Pos 0 /*!< MPU CTRL: ENABLE Position */ +#define MPU_CTRL_ENABLE_Msk (1ul << MPU_CTRL_ENABLE_Pos) /*!< MPU CTRL: ENABLE Mask */ + +/* MPU Region Number Register */ +#define MPU_RNR_REGION_Pos 0 /*!< MPU RNR: REGION Position */ +#define MPU_RNR_REGION_Msk (0xFFul << MPU_RNR_REGION_Pos) /*!< MPU RNR: REGION Mask */ + +/* MPU Region Base Address Register */ +#define MPU_RBAR_ADDR_Pos 5 /*!< MPU RBAR: ADDR Position */ +#define MPU_RBAR_ADDR_Msk (0x7FFFFFFul << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */ + +#define MPU_RBAR_VALID_Pos 4 /*!< MPU RBAR: VALID Position */ +#define MPU_RBAR_VALID_Msk (1ul << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */ + +#define MPU_RBAR_REGION_Pos 0 /*!< MPU RBAR: REGION Position */ +#define MPU_RBAR_REGION_Msk (0xFul << MPU_RBAR_REGION_Pos) /*!< MPU RBAR: REGION Mask */ + +/* MPU Region Attribute and Size Register */ +#define MPU_RASR_XN_Pos 28 /*!< MPU RASR: XN Position */ +#define MPU_RASR_XN_Msk (1ul << MPU_RASR_XN_Pos) /*!< MPU RASR: XN Mask */ + +#define MPU_RASR_AP_Pos 24 /*!< MPU RASR: AP Position */ +#define MPU_RASR_AP_Msk (7ul << MPU_RASR_AP_Pos) /*!< MPU RASR: AP Mask */ + +#define MPU_RASR_TEX_Pos 19 /*!< MPU RASR: TEX Position */ +#define MPU_RASR_TEX_Msk (7ul << MPU_RASR_TEX_Pos) /*!< MPU RASR: TEX Mask */ + +#define MPU_RASR_S_Pos 18 /*!< MPU RASR: Shareable bit Position */ +#define MPU_RASR_S_Msk (1ul << MPU_RASR_S_Pos) /*!< MPU RASR: Shareable bit Mask */ + +#define MPU_RASR_C_Pos 17 /*!< MPU RASR: Cacheable bit Position */ +#define MPU_RASR_C_Msk (1ul << MPU_RASR_C_Pos) /*!< MPU RASR: Cacheable bit Mask */ + +#define MPU_RASR_B_Pos 16 /*!< MPU RASR: Bufferable bit Position */ +#define MPU_RASR_B_Msk (1ul << MPU_RASR_B_Pos) /*!< MPU RASR: Bufferable bit Mask */ + +#define MPU_RASR_SRD_Pos 8 /*!< MPU RASR: Sub-Region Disable Position */ +#define MPU_RASR_SRD_Msk (0xFFul << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */ + +#define MPU_RASR_SIZE_Pos 1 /*!< MPU RASR: Region Size Field Position */ +#define MPU_RASR_SIZE_Msk (0x1Ful << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */ + +#define MPU_RASR_ENA_Pos 0 /*!< MPU RASR: Region enable bit Position */ +#define MPU_RASR_ENA_Msk (0x1Ful << MPU_RASR_ENA_Pos) /*!< MPU RASR: Region enable bit Disable Mask */ + +/*@}*/ /* end of group CMSIS_CM3_MPU */ +#endif + + +/** @addtogroup CMSIS_CM3_CoreDebug CMSIS CM3 Core Debug + memory mapped structure for Core Debug Register + @{ + */ +typedef struct +{ + __IO uint32_t DHCSR; /*!< Offset: 0x00 Debug Halting Control and Status Register */ + __O uint32_t DCRSR; /*!< Offset: 0x04 Debug Core Register Selector Register */ + __IO uint32_t DCRDR; /*!< Offset: 0x08 Debug Core Register Data Register */ + __IO uint32_t DEMCR; /*!< Offset: 0x0C Debug Exception and Monitor Control Register */ +} CoreDebug_Type; + +/* Debug Halting Control and Status Register */ +#define CoreDebug_DHCSR_DBGKEY_Pos 16 /*!< CoreDebug DHCSR: DBGKEY Position */ +#define CoreDebug_DHCSR_DBGKEY_Msk (0xFFFFul << CoreDebug_DHCSR_DBGKEY_Pos) /*!< CoreDebug DHCSR: DBGKEY Mask */ + +#define CoreDebug_DHCSR_S_RESET_ST_Pos 25 /*!< CoreDebug DHCSR: S_RESET_ST Position */ +#define CoreDebug_DHCSR_S_RESET_ST_Msk (1ul << CoreDebug_DHCSR_S_RESET_ST_Pos) /*!< CoreDebug DHCSR: S_RESET_ST Mask */ + +#define CoreDebug_DHCSR_S_RETIRE_ST_Pos 24 /*!< CoreDebug DHCSR: S_RETIRE_ST Position */ +#define CoreDebug_DHCSR_S_RETIRE_ST_Msk (1ul << CoreDebug_DHCSR_S_RETIRE_ST_Pos) /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */ + +#define CoreDebug_DHCSR_S_LOCKUP_Pos 19 /*!< CoreDebug DHCSR: S_LOCKUP Position */ +#define CoreDebug_DHCSR_S_LOCKUP_Msk (1ul << CoreDebug_DHCSR_S_LOCKUP_Pos) /*!< CoreDebug DHCSR: S_LOCKUP Mask */ + +#define CoreDebug_DHCSR_S_SLEEP_Pos 18 /*!< CoreDebug DHCSR: S_SLEEP Position */ +#define CoreDebug_DHCSR_S_SLEEP_Msk (1ul << CoreDebug_DHCSR_S_SLEEP_Pos) /*!< CoreDebug DHCSR: S_SLEEP Mask */ + +#define CoreDebug_DHCSR_S_HALT_Pos 17 /*!< CoreDebug DHCSR: S_HALT Position */ +#define CoreDebug_DHCSR_S_HALT_Msk (1ul << CoreDebug_DHCSR_S_HALT_Pos) /*!< CoreDebug DHCSR: S_HALT Mask */ + +#define CoreDebug_DHCSR_S_REGRDY_Pos 16 /*!< CoreDebug DHCSR: S_REGRDY Position */ +#define CoreDebug_DHCSR_S_REGRDY_Msk (1ul << CoreDebug_DHCSR_S_REGRDY_Pos) /*!< CoreDebug DHCSR: S_REGRDY Mask */ + +#define CoreDebug_DHCSR_C_SNAPSTALL_Pos 5 /*!< CoreDebug DHCSR: C_SNAPSTALL Position */ +#define CoreDebug_DHCSR_C_SNAPSTALL_Msk (1ul << CoreDebug_DHCSR_C_SNAPSTALL_Pos) /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */ + +#define CoreDebug_DHCSR_C_MASKINTS_Pos 3 /*!< CoreDebug DHCSR: C_MASKINTS Position */ +#define CoreDebug_DHCSR_C_MASKINTS_Msk (1ul << CoreDebug_DHCSR_C_MASKINTS_Pos) /*!< CoreDebug DHCSR: C_MASKINTS Mask */ + +#define CoreDebug_DHCSR_C_STEP_Pos 2 /*!< CoreDebug DHCSR: C_STEP Position */ +#define CoreDebug_DHCSR_C_STEP_Msk (1ul << CoreDebug_DHCSR_C_STEP_Pos) /*!< CoreDebug DHCSR: C_STEP Mask */ + +#define CoreDebug_DHCSR_C_HALT_Pos 1 /*!< CoreDebug DHCSR: C_HALT Position */ +#define CoreDebug_DHCSR_C_HALT_Msk (1ul << CoreDebug_DHCSR_C_HALT_Pos) /*!< CoreDebug DHCSR: C_HALT Mask */ + +#define CoreDebug_DHCSR_C_DEBUGEN_Pos 0 /*!< CoreDebug DHCSR: C_DEBUGEN Position */ +#define CoreDebug_DHCSR_C_DEBUGEN_Msk (1ul << CoreDebug_DHCSR_C_DEBUGEN_Pos) /*!< CoreDebug DHCSR: C_DEBUGEN Mask */ + +/* Debug Core Register Selector Register */ +#define CoreDebug_DCRSR_REGWnR_Pos 16 /*!< CoreDebug DCRSR: REGWnR Position */ +#define CoreDebug_DCRSR_REGWnR_Msk (1ul << CoreDebug_DCRSR_REGWnR_Pos) /*!< CoreDebug DCRSR: REGWnR Mask */ + +#define CoreDebug_DCRSR_REGSEL_Pos 0 /*!< CoreDebug DCRSR: REGSEL Position */ +#define CoreDebug_DCRSR_REGSEL_Msk (0x1Ful << CoreDebug_DCRSR_REGSEL_Pos) /*!< CoreDebug DCRSR: REGSEL Mask */ + +/* Debug Exception and Monitor Control Register */ +#define CoreDebug_DEMCR_TRCENA_Pos 24 /*!< CoreDebug DEMCR: TRCENA Position */ +#define CoreDebug_DEMCR_TRCENA_Msk (1ul << CoreDebug_DEMCR_TRCENA_Pos) /*!< CoreDebug DEMCR: TRCENA Mask */ + +#define CoreDebug_DEMCR_MON_REQ_Pos 19 /*!< CoreDebug DEMCR: MON_REQ Position */ +#define CoreDebug_DEMCR_MON_REQ_Msk (1ul << CoreDebug_DEMCR_MON_REQ_Pos) /*!< CoreDebug DEMCR: MON_REQ Mask */ + +#define CoreDebug_DEMCR_MON_STEP_Pos 18 /*!< CoreDebug DEMCR: MON_STEP Position */ +#define CoreDebug_DEMCR_MON_STEP_Msk (1ul << CoreDebug_DEMCR_MON_STEP_Pos) /*!< CoreDebug DEMCR: MON_STEP Mask */ + +#define CoreDebug_DEMCR_MON_PEND_Pos 17 /*!< CoreDebug DEMCR: MON_PEND Position */ +#define CoreDebug_DEMCR_MON_PEND_Msk (1ul << CoreDebug_DEMCR_MON_PEND_Pos) /*!< CoreDebug DEMCR: MON_PEND Mask */ + +#define CoreDebug_DEMCR_MON_EN_Pos 16 /*!< CoreDebug DEMCR: MON_EN Position */ +#define CoreDebug_DEMCR_MON_EN_Msk (1ul << CoreDebug_DEMCR_MON_EN_Pos) /*!< CoreDebug DEMCR: MON_EN Mask */ + +#define CoreDebug_DEMCR_VC_HARDERR_Pos 10 /*!< CoreDebug DEMCR: VC_HARDERR Position */ +#define CoreDebug_DEMCR_VC_HARDERR_Msk (1ul << CoreDebug_DEMCR_VC_HARDERR_Pos) /*!< CoreDebug DEMCR: VC_HARDERR Mask */ + +#define CoreDebug_DEMCR_VC_INTERR_Pos 9 /*!< CoreDebug DEMCR: VC_INTERR Position */ +#define CoreDebug_DEMCR_VC_INTERR_Msk (1ul << CoreDebug_DEMCR_VC_INTERR_Pos) /*!< CoreDebug DEMCR: VC_INTERR Mask */ + +#define CoreDebug_DEMCR_VC_BUSERR_Pos 8 /*!< CoreDebug DEMCR: VC_BUSERR Position */ +#define CoreDebug_DEMCR_VC_BUSERR_Msk (1ul << CoreDebug_DEMCR_VC_BUSERR_Pos) /*!< CoreDebug DEMCR: VC_BUSERR Mask */ + +#define CoreDebug_DEMCR_VC_STATERR_Pos 7 /*!< CoreDebug DEMCR: VC_STATERR Position */ +#define CoreDebug_DEMCR_VC_STATERR_Msk (1ul << CoreDebug_DEMCR_VC_STATERR_Pos) /*!< CoreDebug DEMCR: VC_STATERR Mask */ + +#define CoreDebug_DEMCR_VC_CHKERR_Pos 6 /*!< CoreDebug DEMCR: VC_CHKERR Position */ +#define CoreDebug_DEMCR_VC_CHKERR_Msk (1ul << CoreDebug_DEMCR_VC_CHKERR_Pos) /*!< CoreDebug DEMCR: VC_CHKERR Mask */ + +#define CoreDebug_DEMCR_VC_NOCPERR_Pos 5 /*!< CoreDebug DEMCR: VC_NOCPERR Position */ +#define CoreDebug_DEMCR_VC_NOCPERR_Msk (1ul << CoreDebug_DEMCR_VC_NOCPERR_Pos) /*!< CoreDebug DEMCR: VC_NOCPERR Mask */ + +#define CoreDebug_DEMCR_VC_MMERR_Pos 4 /*!< CoreDebug DEMCR: VC_MMERR Position */ +#define CoreDebug_DEMCR_VC_MMERR_Msk (1ul << CoreDebug_DEMCR_VC_MMERR_Pos) /*!< CoreDebug DEMCR: VC_MMERR Mask */ + +#define CoreDebug_DEMCR_VC_CORERESET_Pos 0 /*!< CoreDebug DEMCR: VC_CORERESET Position */ +#define CoreDebug_DEMCR_VC_CORERESET_Msk (1ul << CoreDebug_DEMCR_VC_CORERESET_Pos) /*!< CoreDebug DEMCR: VC_CORERESET Mask */ +/*@}*/ /* end of group CMSIS_CM3_CoreDebug */ + + +/* Memory mapping of Cortex-M3 Hardware */ +#define SCS_BASE (0xE000E000) /*!< System Control Space Base Address */ +#define ITM_BASE (0xE0000000) /*!< ITM Base Address */ +#define CoreDebug_BASE (0xE000EDF0) /*!< Core Debug Base Address */ +#define SysTick_BASE (SCS_BASE + 0x0010) /*!< SysTick Base Address */ +#define NVIC_BASE (SCS_BASE + 0x0100) /*!< NVIC Base Address */ +#define SCB_BASE (SCS_BASE + 0x0D00) /*!< System Control Block Base Address */ + +#define InterruptType ((InterruptType_Type *) SCS_BASE) /*!< Interrupt Type Register */ +#define SCB ((SCB_Type *) SCB_BASE) /*!< SCB configuration struct */ +#define SysTick ((SysTick_Type *) SysTick_BASE) /*!< SysTick configuration struct */ +#define NVIC ((NVIC_Type *) NVIC_BASE) /*!< NVIC configuration struct */ +#define ITM ((ITM_Type *) ITM_BASE) /*!< ITM configuration struct */ +#define CoreDebug ((CoreDebug_Type *) CoreDebug_BASE) /*!< Core Debug configuration struct */ + +#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1) + #define MPU_BASE (SCS_BASE + 0x0D90) /*!< Memory Protection Unit */ + #define MPU ((MPU_Type*) MPU_BASE) /*!< Memory Protection Unit */ +#endif + +/*@}*/ /* end of group CMSIS_CM3_core_register */ + + +/******************************************************************************* + * Hardware Abstraction Layer + ******************************************************************************/ + +#if defined ( __CC_ARM ) + #define __ASM __asm /*!< asm keyword for ARM Compiler */ + #define __INLINE __inline /*!< inline keyword for ARM Compiler */ + +#elif defined ( __ICCARM__ ) + #define __ASM __asm /*!< asm keyword for IAR Compiler */ + #define __INLINE inline /*!< inline keyword for IAR Compiler. Only avaiable in High optimization mode! */ + +#elif defined ( __GNUC__ ) + #define __ASM __asm /*!< asm keyword for GNU Compiler */ + #define __INLINE inline /*!< inline keyword for GNU Compiler */ + +#elif defined ( __TASKING__ ) + #define __ASM __asm /*!< asm keyword for TASKING Compiler */ + #define __INLINE inline /*!< inline keyword for TASKING Compiler */ + +#endif + + +/* ################### Compiler specific Intrinsics ########################### */ + +#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/ +/* ARM armcc specific functions */ + +#define __enable_fault_irq __enable_fiq +#define __disable_fault_irq __disable_fiq + +#define __NOP __nop +#define __WFI __wfi +#define __WFE __wfe +#define __SEV __sev +#define __ISB() __isb(0) +#define __DSB() __dsb(0) +#define __DMB() __dmb(0) +#define __REV __rev +#define __RBIT __rbit +#define __LDREXB(ptr) ((unsigned char ) __ldrex(ptr)) +#define __LDREXH(ptr) ((unsigned short) __ldrex(ptr)) +#define __LDREXW(ptr) ((unsigned int ) __ldrex(ptr)) +#define __STREXB(value, ptr) __strex(value, ptr) +#define __STREXH(value, ptr) __strex(value, ptr) +#define __STREXW(value, ptr) __strex(value, ptr) + + +/* intrinsic unsigned long long __ldrexd(volatile void *ptr) */ +/* intrinsic int __strexd(unsigned long long val, volatile void *ptr) */ +/* intrinsic void __enable_irq(); */ +/* intrinsic void __disable_irq(); */ + + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +extern uint32_t __get_PSP(void); + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +extern void __set_PSP(uint32_t topOfProcStack); + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +extern uint32_t __get_MSP(void); + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +extern void __set_MSP(uint32_t topOfMainStack); + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +extern uint32_t __REV16(uint16_t value); + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +extern int32_t __REVSH(int16_t value); + + +#if (__ARMCC_VERSION < 400000) + +/** + * @brief Remove the exclusive lock created by ldrex + * + * Removes the exclusive lock which is created by ldrex. + */ +extern void __CLREX(void); + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +extern uint32_t __get_BASEPRI(void); + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +extern void __set_BASEPRI(uint32_t basePri); + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +extern uint32_t __get_PRIMASK(void); + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +extern void __set_PRIMASK(uint32_t priMask); + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +extern uint32_t __get_FAULTMASK(void); + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +extern void __set_FAULTMASK(uint32_t faultMask); + +/** + * @brief Return the Control Register value + * + * @return Control value + * + * Return the content of the control register + */ +extern uint32_t __get_CONTROL(void); + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +extern void __set_CONTROL(uint32_t control); + +#else /* (__ARMCC_VERSION >= 400000) */ + +/** + * @brief Remove the exclusive lock created by ldrex + * + * Removes the exclusive lock which is created by ldrex. + */ +#define __CLREX __clrex + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +static __INLINE uint32_t __get_BASEPRI(void) +{ + register uint32_t __regBasePri __ASM("basepri"); + return(__regBasePri); +} + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +static __INLINE void __set_BASEPRI(uint32_t basePri) +{ + register uint32_t __regBasePri __ASM("basepri"); + __regBasePri = (basePri & 0xff); +} + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +static __INLINE uint32_t __get_PRIMASK(void) +{ + register uint32_t __regPriMask __ASM("primask"); + return(__regPriMask); +} + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +static __INLINE void __set_PRIMASK(uint32_t priMask) +{ + register uint32_t __regPriMask __ASM("primask"); + __regPriMask = (priMask); +} + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +static __INLINE uint32_t __get_FAULTMASK(void) +{ + register uint32_t __regFaultMask __ASM("faultmask"); + return(__regFaultMask); +} + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +static __INLINE void __set_FAULTMASK(uint32_t faultMask) +{ + register uint32_t __regFaultMask __ASM("faultmask"); + __regFaultMask = (faultMask & 1); +} + +/** + * @brief Return the Control Register value + * + * @return Control value + * + * Return the content of the control register + */ +static __INLINE uint32_t __get_CONTROL(void) +{ + register uint32_t __regControl __ASM("control"); + return(__regControl); +} + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +static __INLINE void __set_CONTROL(uint32_t control) +{ + register uint32_t __regControl __ASM("control"); + __regControl = control; +} + +#endif /* __ARMCC_VERSION */ + + + +#elif (defined (__ICCARM__)) /*------------------ ICC Compiler -------------------*/ +/* IAR iccarm specific functions */ + +#define __enable_irq __enable_interrupt /*!< global Interrupt enable */ +#define __disable_irq __disable_interrupt /*!< global Interrupt disable */ + +static __INLINE void __enable_fault_irq() { __ASM ("cpsie f"); } +static __INLINE void __disable_fault_irq() { __ASM ("cpsid f"); } + +#define __NOP __no_operation /*!< no operation intrinsic in IAR Compiler */ +static __INLINE void __WFI() { __ASM ("wfi"); } +static __INLINE void __WFE() { __ASM ("wfe"); } +static __INLINE void __SEV() { __ASM ("sev"); } +static __INLINE void __CLREX() { __ASM ("clrex"); } + +/* intrinsic void __ISB(void) */ +/* intrinsic void __DSB(void) */ +/* intrinsic void __DMB(void) */ +/* intrinsic void __set_PRIMASK(); */ +/* intrinsic void __get_PRIMASK(); */ +/* intrinsic void __set_FAULTMASK(); */ +/* intrinsic void __get_FAULTMASK(); */ +/* intrinsic uint32_t __REV(uint32_t value); */ +/* intrinsic uint32_t __REVSH(uint32_t value); */ +/* intrinsic unsigned long __STREX(unsigned long, unsigned long); */ +/* intrinsic unsigned long __LDREX(unsigned long *); */ + + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +extern uint32_t __get_PSP(void); + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +extern void __set_PSP(uint32_t topOfProcStack); + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +extern uint32_t __get_MSP(void); + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +extern void __set_MSP(uint32_t topOfMainStack); + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +extern uint32_t __REV16(uint16_t value); + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +extern uint32_t __RBIT(uint32_t value); + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit values) + */ +extern uint8_t __LDREXB(uint8_t *addr); + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +extern uint16_t __LDREXH(uint16_t *addr); + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +extern uint32_t __LDREXW(uint32_t *addr); + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +extern uint32_t __STREXB(uint8_t value, uint8_t *addr); + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +extern uint32_t __STREXH(uint16_t value, uint16_t *addr); + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +extern uint32_t __STREXW(uint32_t value, uint32_t *addr); + + + +#elif (defined (__GNUC__)) /*------------------ GNU Compiler ---------------------*/ +/* GNU gcc specific functions */ + +static __INLINE void __enable_irq() { __ASM volatile ("cpsie i"); } +static __INLINE void __disable_irq() { __ASM volatile ("cpsid i"); } + +static __INLINE void __enable_fault_irq() { __ASM volatile ("cpsie f"); } +static __INLINE void __disable_fault_irq() { __ASM volatile ("cpsid f"); } + +static __INLINE void __NOP() { __ASM volatile ("nop"); } +static __INLINE void __WFI() { __ASM volatile ("wfi"); } +static __INLINE void __WFE() { __ASM volatile ("wfe"); } +static __INLINE void __SEV() { __ASM volatile ("sev"); } +static __INLINE void __ISB() { __ASM volatile ("isb"); } +static __INLINE void __DSB() { __ASM volatile ("dsb"); } +static __INLINE void __DMB() { __ASM volatile ("dmb"); } +static __INLINE void __CLREX() { __ASM volatile ("clrex"); } + + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +extern uint32_t __get_PSP(void); + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +extern void __set_PSP(uint32_t topOfProcStack); + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +extern uint32_t __get_MSP(void); + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +extern void __set_MSP(uint32_t topOfMainStack); + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +extern uint32_t __get_BASEPRI(void); + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +extern void __set_BASEPRI(uint32_t basePri); + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +extern uint32_t __get_PRIMASK(void); + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +extern void __set_PRIMASK(uint32_t priMask); + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +extern uint32_t __get_FAULTMASK(void); + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +extern void __set_FAULTMASK(uint32_t faultMask); + +/** + * @brief Return the Control Register value +* +* @return Control value + * + * Return the content of the control register + */ +extern uint32_t __get_CONTROL(void); + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +extern void __set_CONTROL(uint32_t control); + +/** + * @brief Reverse byte order in integer value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in integer value + */ +extern uint32_t __REV(uint32_t value); + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +extern uint32_t __REV16(uint16_t value); + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +extern int32_t __REVSH(int16_t value); + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +extern uint32_t __RBIT(uint32_t value); + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit value + */ +extern uint8_t __LDREXB(uint8_t *addr); + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +extern uint16_t __LDREXH(uint16_t *addr); + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +extern uint32_t __LDREXW(uint32_t *addr); + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +extern uint32_t __STREXB(uint8_t value, uint8_t *addr); + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +extern uint32_t __STREXH(uint16_t value, uint16_t *addr); + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +extern uint32_t __STREXW(uint32_t value, uint32_t *addr); + + +#elif (defined (__TASKING__)) /*------------------ TASKING Compiler ---------------------*/ +/* TASKING carm specific functions */ + +/* + * The CMSIS functions have been implemented as intrinsics in the compiler. + * Please use "carm -?i" to get an up to date list of all instrinsics, + * Including the CMSIS ones. + */ + +#endif + + +/** @addtogroup CMSIS_CM3_Core_FunctionInterface CMSIS CM3 Core Function Interface + Core Function Interface containing: + - Core NVIC Functions + - Core SysTick Functions + - Core Reset Functions +*/ +/*@{*/ + +/* ########################## NVIC functions #################################### */ + +/** + * @brief Set the Priority Grouping in NVIC Interrupt Controller + * + * @param PriorityGroup is priority grouping field + * + * Set the priority grouping field using the required unlock sequence. + * The parameter priority_grouping is assigned to the field + * SCB->AIRCR [10:8] PRIGROUP field. Only values from 0..7 are used. + * In case of a conflict between priority grouping and available + * priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. + */ +static __INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) +{ + uint32_t reg_value; + uint32_t PriorityGroupTmp = (PriorityGroup & 0x07); /* only values 0..7 are used */ + + reg_value = SCB->AIRCR; /* read old register configuration */ + reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); /* clear bits to change */ + reg_value = (reg_value | + (0x5FA << SCB_AIRCR_VECTKEY_Pos) | + (PriorityGroupTmp << 8)); /* Insert write key and priorty group */ + SCB->AIRCR = reg_value; +} + +/** + * @brief Get the Priority Grouping from NVIC Interrupt Controller + * + * @return priority grouping field + * + * Get the priority grouping from NVIC Interrupt Controller. + * priority grouping is SCB->AIRCR [10:8] PRIGROUP field. + */ +static __INLINE uint32_t NVIC_GetPriorityGrouping(void) +{ + return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos); /* read priority grouping field */ +} + +/** + * @brief Enable Interrupt in NVIC Interrupt Controller + * + * @param IRQn The positive number of the external interrupt to enable + * + * Enable a device specific interupt in the NVIC interrupt controller. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_EnableIRQ(IRQn_Type IRQn) +{ + NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* enable interrupt */ +} + +/** + * @brief Disable the interrupt line for external interrupt specified + * + * @param IRQn The positive number of the external interrupt to disable + * + * Disable a device specific interupt in the NVIC interrupt controller. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_DisableIRQ(IRQn_Type IRQn) +{ + NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */ +} + +/** + * @brief Read the interrupt pending bit for a device specific interrupt source + * + * @param IRQn The number of the device specifc interrupt + * @return 1 = interrupt pending, 0 = interrupt not pending + * + * Read the pending register in NVIC and return 1 if its status is pending, + * otherwise it returns 0 + */ +static __INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn) +{ + return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */ +} + +/** + * @brief Set the pending bit for an external interrupt + * + * @param IRQn The number of the interrupt for set pending + * + * Set the pending bit for the specified interrupt. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn) +{ + NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */ +} + +/** + * @brief Clear the pending bit for an external interrupt + * + * @param IRQn The number of the interrupt for clear pending + * + * Clear the pending bit for the specified interrupt. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn) +{ + NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */ +} + +/** + * @brief Read the active bit for an external interrupt + * + * @param IRQn The number of the interrupt for read active bit + * @return 1 = interrupt active, 0 = interrupt not active + * + * Read the active register in NVIC and returns 1 if its status is active, + * otherwise it returns 0. + */ +static __INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn) +{ + return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */ +} + +/** + * @brief Set the priority for an interrupt + * + * @param IRQn The number of the interrupt for set priority + * @param priority The priority to set + * + * Set the priority for the specified interrupt. The interrupt + * number can be positive to specify an external (device specific) + * interrupt, or negative to specify an internal (core) interrupt. + * + * Note: The priority cannot be set for every core interrupt. + */ +static __INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) +{ + if(IRQn < 0) { + SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M3 System Interrupts */ + else { + NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for device specific Interrupts */ +} + +/** + * @brief Read the priority for an interrupt + * + * @param IRQn The number of the interrupt for get priority + * @return The priority for the interrupt + * + * Read the priority for the specified interrupt. The interrupt + * number can be positive to specify an external (device specific) + * interrupt, or negative to specify an internal (core) interrupt. + * + * The returned priority value is automatically aligned to the implemented + * priority bits of the microcontroller. + * + * Note: The priority cannot be set for every core interrupt. + */ +static __INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn) +{ + + if(IRQn < 0) { + return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS))); } /* get priority for Cortex-M3 system interrupts */ + else { + return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)] >> (8 - __NVIC_PRIO_BITS))); } /* get priority for device specific interrupts */ +} + + +/** + * @brief Encode the priority for an interrupt + * + * @param PriorityGroup The used priority group + * @param PreemptPriority The preemptive priority value (starting from 0) + * @param SubPriority The sub priority value (starting from 0) + * @return The encoded priority for the interrupt + * + * Encode the priority for an interrupt with the given priority group, + * preemptive priority value and sub priority value. + * In case of a conflict between priority grouping and available + * priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set. + * + * The returned priority value can be used for NVIC_SetPriority(...) function + */ +static __INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) +{ + uint32_t PriorityGroupTmp = (PriorityGroup & 0x07); /* only values 0..7 are used */ + uint32_t PreemptPriorityBits; + uint32_t SubPriorityBits; + + PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp; + SubPriorityBits = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS; + + return ( + ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) | + ((SubPriority & ((1 << (SubPriorityBits )) - 1))) + ); +} + + +/** + * @brief Decode the priority of an interrupt + * + * @param Priority The priority for the interrupt + * @param PriorityGroup The used priority group + * @param pPreemptPriority The preemptive priority value (starting from 0) + * @param pSubPriority The sub priority value (starting from 0) + * + * Decode an interrupt priority value with the given priority group to + * preemptive priority value and sub priority value. + * In case of a conflict between priority grouping and available + * priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set. + * + * The priority value can be retrieved with NVIC_GetPriority(...) function + */ +static __INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority) +{ + uint32_t PriorityGroupTmp = (PriorityGroup & 0x07); /* only values 0..7 are used */ + uint32_t PreemptPriorityBits; + uint32_t SubPriorityBits; + + PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp; + SubPriorityBits = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS; + + *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1); + *pSubPriority = (Priority ) & ((1 << (SubPriorityBits )) - 1); +} + + + +/* ################################## SysTick function ############################################ */ + +#if (!defined (__Vendor_SysTickConfig)) || (__Vendor_SysTickConfig == 0) + +/** + * @brief Initialize and start the SysTick counter and its interrupt. + * + * @param ticks number of ticks between two interrupts + * @return 1 = failed, 0 = successful + * + * Initialise the system tick timer and its interrupt and start the + * system tick timer / counter in free running mode to generate + * periodical interrupts. + */ +static __INLINE uint32_t SysTick_Config(uint32_t ticks) +{ + if (ticks > SysTick_LOAD_RELOAD_Msk) return (1); /* Reload value impossible */ + + SysTick->LOAD = (ticks & SysTick_LOAD_RELOAD_Msk) - 1; /* set reload register */ + NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1); /* set Priority for Cortex-M0 System Interrupts */ + SysTick->VAL = 0; /* Load the SysTick Counter Value */ + SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | + SysTick_CTRL_TICKINT_Msk | + SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ + return (0); /* Function successful */ +} + +#endif + + + + +/* ################################## Reset function ############################################ */ + +/** + * @brief Initiate a system reset request. + * + * Initiate a system reset request to reset the MCU + */ +static __INLINE void NVIC_SystemReset(void) +{ + SCB->AIRCR = ((0x5FA << SCB_AIRCR_VECTKEY_Pos) | + (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) | + SCB_AIRCR_SYSRESETREQ_Msk); /* Keep priority group unchanged */ + __DSB(); /* Ensure completion of memory access */ + while(1); /* wait until reset */ +} + +/*@}*/ /* end of group CMSIS_CM3_Core_FunctionInterface */ + + + +/* ##################################### Debug In/Output function ########################################### */ + +/** @addtogroup CMSIS_CM3_CoreDebugInterface CMSIS CM3 Core Debug Interface + Core Debug Interface containing: + - Core Debug Receive / Transmit Functions + - Core Debug Defines + - Core Debug Variables +*/ +/*@{*/ + +extern volatile int ITM_RxBuffer; /*!< variable to receive characters */ +#define ITM_RXBUFFER_EMPTY 0x5AA55AA5 /*!< value identifying ITM_RxBuffer is ready for next character */ + + +/** + * @brief Outputs a character via the ITM channel 0 + * + * @param ch character to output + * @return character to output + * + * The function outputs a character via the ITM channel 0. + * The function returns when no debugger is connected that has booked the output. + * It is blocking when a debugger is connected, but the previous character send is not transmitted. + */ +static __INLINE uint32_t ITM_SendChar (uint32_t ch) +{ + if ((CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk) && /* Trace enabled */ + (ITM->TCR & ITM_TCR_ITMENA_Msk) && /* ITM enabled */ + (ITM->TER & (1ul << 0) ) ) /* ITM Port #0 enabled */ + { + while (ITM->PORT[0].u32 == 0); + ITM->PORT[0].u8 = (uint8_t) ch; + } + return (ch); +} + + +/** + * @brief Inputs a character via variable ITM_RxBuffer + * + * @return received character, -1 = no character received + * + * The function inputs a character via variable ITM_RxBuffer. + * The function returns when no debugger is connected that has booked the output. + * It is blocking when a debugger is connected, but the previous character send is not transmitted. + */ +static __INLINE int ITM_ReceiveChar (void) { + int ch = -1; /* no character available */ + + if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) { + ch = ITM_RxBuffer; + ITM_RxBuffer = ITM_RXBUFFER_EMPTY; /* ready for next character */ + } + + return (ch); +} + + +/** + * @brief Check if a character via variable ITM_RxBuffer is available + * + * @return 1 = character available, 0 = no character available + * + * The function checks variable ITM_RxBuffer whether a character is available or not. + * The function returns '1' if a character is available and '0' if no character is available. + */ +static __INLINE int ITM_CheckChar (void) { + + if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) { + return (0); /* no character available */ + } else { + return (1); /* character available */ + } +} + +/*@}*/ /* end of group CMSIS_CM3_core_DebugInterface */ + + +#ifdef __cplusplus +} +#endif + +/*@}*/ /* end of group CMSIS_CM3_core_definitions */ + +#endif /* __CM3_CORE_H__ */ + +/*lint -restore */ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/startup_stm32f10x_md.s b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/startup_stm32f10x_md.s new file mode 100644 index 0000000..74da96c --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_COER/startup_stm32f10x_md.s @@ -0,0 +1,307 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_md.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x Medium Density Devices vector table for MDK-ARM +;* toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1_2 + DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX + DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_IRQHandler ; TIM1 Break + DCD TIM1_UP_IRQHandler ; TIM1 Update + DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] + EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_IRQHandler [WEAK] + EXPORT TIM1_UP_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT USBWakeUp_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +USB_HP_CAN1_TX_IRQHandler +USB_LP_CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_IRQHandler +TIM1_UP_IRQHandler +TIM1_TRG_COM_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +USBWakeUp_IRQHandler + + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/dmpKey.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/dmpKey.h new file mode 100644 index 0000000..c8f62a2 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/dmpKey.h @@ -0,0 +1,494 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPKEY_H__ +#define DMPKEY_H__ + +#define KEY_CFG_25 (0) +#define KEY_CFG_24 (KEY_CFG_25 + 1) +#define KEY_CFG_26 (KEY_CFG_24 + 1) +#define KEY_CFG_27 (KEY_CFG_26 + 1) +#define KEY_CFG_21 (KEY_CFG_27 + 1) +#define KEY_CFG_20 (KEY_CFG_21 + 1) +#define KEY_CFG_TAP4 (KEY_CFG_20 + 1) +#define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1) +#define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1) +#define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1) +#define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1) +#define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1) +#define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1) +#define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1) +#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1) +#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1) +#define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1) +#define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1) +#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1) +#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1) +#define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1) +#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1) +#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1) +#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1) +#define KEY_FCFG_1 (KEY_CFG_23 + 1) +#define KEY_FCFG_3 (KEY_FCFG_1 + 1) +#define KEY_FCFG_2 (KEY_FCFG_3 + 1) +#define KEY_CFG_3D (KEY_FCFG_2 + 1) +#define KEY_CFG_3B (KEY_CFG_3D + 1) +#define KEY_CFG_3C (KEY_CFG_3B + 1) +#define KEY_FCFG_5 (KEY_CFG_3C + 1) +#define KEY_FCFG_4 (KEY_FCFG_5 + 1) +#define KEY_FCFG_7 (KEY_FCFG_4 + 1) +#define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1) +#define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1) +#define KEY_FCFG_6 (KEY_FCFG_AZ + 1) +#define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1) +#define KEY_CFG_12 (KEY_FCFG_LSB4 + 1) +#define KEY_CFG_14 (KEY_CFG_12 + 1) +#define KEY_CFG_15 (KEY_CFG_14 + 1) +#define KEY_CFG_16 (KEY_CFG_15 + 1) +#define KEY_CFG_18 (KEY_CFG_16 + 1) +#define KEY_CFG_6 (KEY_CFG_18 + 1) +#define KEY_CFG_7 (KEY_CFG_6 + 1) +#define KEY_CFG_4 (KEY_CFG_7 + 1) +#define KEY_CFG_5 (KEY_CFG_4 + 1) +#define KEY_CFG_2 (KEY_CFG_5 + 1) +#define KEY_CFG_3 (KEY_CFG_2 + 1) +#define KEY_CFG_1 (KEY_CFG_3 + 1) +#define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1) +#define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1) +#define KEY_CFG_9 (KEY_CFG_8 + 1) +#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) +#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) +#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) +#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) +#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) +#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) +#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) +#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) +#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) +#define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1) + +/* MPU6050 keys */ +#define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1) +#define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1) +#define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1) + +#define KEY_D_0_22 (KEY_TEMPLABEL + 1) +#define KEY_D_0_24 (KEY_D_0_22 + 1) +#define KEY_D_0_36 (KEY_D_0_24 + 1) +#define KEY_D_0_52 (KEY_D_0_36 + 1) +#define KEY_D_0_96 (KEY_D_0_52 + 1) +#define KEY_D_0_104 (KEY_D_0_96 + 1) +#define KEY_D_0_108 (KEY_D_0_104 + 1) +#define KEY_D_0_163 (KEY_D_0_108 + 1) +#define KEY_D_0_188 (KEY_D_0_163 + 1) +#define KEY_D_0_192 (KEY_D_0_188 + 1) +#define KEY_D_0_224 (KEY_D_0_192 + 1) +#define KEY_D_0_228 (KEY_D_0_224 + 1) +#define KEY_D_0_232 (KEY_D_0_228 + 1) +#define KEY_D_0_236 (KEY_D_0_232 + 1) + +#define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1) +#define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1) +#define KEY_D_1_4 (KEY_D_1_2 + 1) +#define KEY_D_1_8 (KEY_D_1_4 + 1) +#define KEY_D_1_10 (KEY_D_1_8 + 1) +#define KEY_D_1_24 (KEY_D_1_10 + 1) +#define KEY_D_1_28 (KEY_D_1_24 + 1) +#define KEY_D_1_36 (KEY_D_1_28 + 1) +#define KEY_D_1_40 (KEY_D_1_36 + 1) +#define KEY_D_1_44 (KEY_D_1_40 + 1) +#define KEY_D_1_72 (KEY_D_1_44 + 1) +#define KEY_D_1_74 (KEY_D_1_72 + 1) +#define KEY_D_1_79 (KEY_D_1_74 + 1) +#define KEY_D_1_88 (KEY_D_1_79 + 1) +#define KEY_D_1_90 (KEY_D_1_88 + 1) +#define KEY_D_1_92 (KEY_D_1_90 + 1) +#define KEY_D_1_96 (KEY_D_1_92 + 1) +#define KEY_D_1_98 (KEY_D_1_96 + 1) +#define KEY_D_1_100 (KEY_D_1_98 + 1) +#define KEY_D_1_106 (KEY_D_1_100 + 1) +#define KEY_D_1_108 (KEY_D_1_106 + 1) +#define KEY_D_1_112 (KEY_D_1_108 + 1) +#define KEY_D_1_128 (KEY_D_1_112 + 1) +#define KEY_D_1_152 (KEY_D_1_128 + 1) +#define KEY_D_1_160 (KEY_D_1_152 + 1) +#define KEY_D_1_168 (KEY_D_1_160 + 1) +#define KEY_D_1_175 (KEY_D_1_168 + 1) +#define KEY_D_1_176 (KEY_D_1_175 + 1) +#define KEY_D_1_178 (KEY_D_1_176 + 1) +#define KEY_D_1_179 (KEY_D_1_178 + 1) +#define KEY_D_1_218 (KEY_D_1_179 + 1) +#define KEY_D_1_232 (KEY_D_1_218 + 1) +#define KEY_D_1_236 (KEY_D_1_232 + 1) +#define KEY_D_1_240 (KEY_D_1_236 + 1) +#define KEY_D_1_244 (KEY_D_1_240 + 1) +#define KEY_D_1_250 (KEY_D_1_244 + 1) +#define KEY_D_1_252 (KEY_D_1_250 + 1) +#define KEY_D_2_12 (KEY_D_1_252 + 1) +#define KEY_D_2_96 (KEY_D_2_12 + 1) +#define KEY_D_2_108 (KEY_D_2_96 + 1) +#define KEY_D_2_208 (KEY_D_2_108 + 1) +#define KEY_FLICK_MSG (KEY_D_2_208 + 1) +#define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1) +#define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1) +#define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1) +#define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1) +#define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1) +#define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1) +#define KEY_D_2_244 (KEY_D_2_224 + 1) +#define KEY_D_2_248 (KEY_D_2_244 + 1) +#define KEY_D_2_252 (KEY_D_2_248 + 1) + +#define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1) +#define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1) +#define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1) +#define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1) +#define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1) +#define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1) +#define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1) +#define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1) +#define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1) +#define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1) +#define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1) +#define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1) +#define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1) +#define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1) +#define KEY_D_CS_TAY (KEY_D_CS_TAX + 1) +#define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1) +#define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1) +#define KEY_D_CS_TGY (KEY_D_CS_TGX + 1) +#define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1) +#define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1) +#define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1) +#define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1) +#define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1) + +/* Compass keys */ +#define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1) +#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1) +#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1) +#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1) +#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1) +#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1) +#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1) +#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1) +#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1) +#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1) +#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1) +#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1) + +/* Gesture Keys */ +#define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1) +#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1) +#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1) +#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1) +#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1) +#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1) +#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1) +#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1) +#define KEY_D_ACT0 (KEY_DMP_ORIENT + 1) +#define KEY_D_ACSX (KEY_D_ACT0 + 1) +#define KEY_D_ACSY (KEY_D_ACSX + 1) +#define KEY_D_ACSZ (KEY_D_ACSY + 1) + +#define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1) +#define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1) +#define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1) +#define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1) +#define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1) +#define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1) +#define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1) +#define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1) +#define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1) +#define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1) +#define KEY_X_GRT_Y (KEY_END_ORIENT + 1) +#define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1) +#define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1) +#define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1) + +/* Authenticate Keys */ +#define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1) +#define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1) +#define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1) +#define KEY_D_AUTH_B (KEY_D_AUTH_A + 1) + +/* Pedometer standalone only keys */ +#define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1) +#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1) +#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1) +#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1) +#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1) +#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1) +#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1) +#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1) +#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1) +#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1) +#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1) +#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1) +#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1) +#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1) +#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1) +#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1) +#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1) +#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1) +#define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1) + +/*Host Based No Motion*/ +#define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1) + +/* EIS keys */ +#define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1) +#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1) +#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1) +#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1) +#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1) +#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1) +#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1) +#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1) +#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1) +#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1) +#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1) +#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1) +#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1) +#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1) +#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1) +#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1) +#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1) +#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1) +#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1) +#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1) +#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1) +#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1) +#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1) +#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1) +#define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1) +#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1) +//#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1) +//#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1) +//#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1) + +/* Stream keys */ +#define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1) +#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1) +#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1) +#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1) +#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1) +#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1) +#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1) +#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1) +#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1) +#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1) +#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1) + +#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1) + +typedef struct { + unsigned short key; + unsigned short addr; +} tKeyLabel; + +#define DINA0A 0x0a +#define DINA22 0x22 +#define DINA42 0x42 +#define DINA5A 0x5a + +#define DINA06 0x06 +#define DINA0E 0x0e +#define DINA16 0x16 +#define DINA1E 0x1e +#define DINA26 0x26 +#define DINA2E 0x2e +#define DINA36 0x36 +#define DINA3E 0x3e +#define DINA46 0x46 +#define DINA4E 0x4e +#define DINA56 0x56 +#define DINA5E 0x5e +#define DINA66 0x66 +#define DINA6E 0x6e +#define DINA76 0x76 +#define DINA7E 0x7e + +#define DINA00 0x00 +#define DINA08 0x08 +#define DINA10 0x10 +#define DINA18 0x18 +#define DINA20 0x20 +#define DINA28 0x28 +#define DINA30 0x30 +#define DINA38 0x38 +#define DINA40 0x40 +#define DINA48 0x48 +#define DINA50 0x50 +#define DINA58 0x58 +#define DINA60 0x60 +#define DINA68 0x68 +#define DINA70 0x70 +#define DINA78 0x78 + +#define DINA04 0x04 +#define DINA0C 0x0c +#define DINA14 0x14 +#define DINA1C 0x1C +#define DINA24 0x24 +#define DINA2C 0x2c +#define DINA34 0x34 +#define DINA3C 0x3c +#define DINA44 0x44 +#define DINA4C 0x4c +#define DINA54 0x54 +#define DINA5C 0x5c +#define DINA64 0x64 +#define DINA6C 0x6c +#define DINA74 0x74 +#define DINA7C 0x7c + +#define DINA01 0x01 +#define DINA09 0x09 +#define DINA11 0x11 +#define DINA19 0x19 +#define DINA21 0x21 +#define DINA29 0x29 +#define DINA31 0x31 +#define DINA39 0x39 +#define DINA41 0x41 +#define DINA49 0x49 +#define DINA51 0x51 +#define DINA59 0x59 +#define DINA61 0x61 +#define DINA69 0x69 +#define DINA71 0x71 +#define DINA79 0x79 + +#define DINA25 0x25 +#define DINA2D 0x2d +#define DINA35 0x35 +#define DINA3D 0x3d +#define DINA4D 0x4d +#define DINA55 0x55 +#define DINA5D 0x5D +#define DINA6D 0x6d +#define DINA75 0x75 +#define DINA7D 0x7d + +#define DINADC 0xdc +#define DINAF2 0xf2 +#define DINAAB 0xab +#define DINAAA 0xaa +#define DINAF1 0xf1 +#define DINADF 0xdf +#define DINADA 0xda +#define DINAB1 0xb1 +#define DINAB9 0xb9 +#define DINAF3 0xf3 +#define DINA8B 0x8b +#define DINAA3 0xa3 +#define DINA91 0x91 +#define DINAB6 0xb6 +#define DINAB4 0xb4 + + +#define DINC00 0x00 +#define DINC01 0x01 +#define DINC02 0x02 +#define DINC03 0x03 +#define DINC08 0x08 +#define DINC09 0x09 +#define DINC0A 0x0a +#define DINC0B 0x0b +#define DINC10 0x10 +#define DINC11 0x11 +#define DINC12 0x12 +#define DINC13 0x13 +#define DINC18 0x18 +#define DINC19 0x19 +#define DINC1A 0x1a +#define DINC1B 0x1b + +#define DINC20 0x20 +#define DINC21 0x21 +#define DINC22 0x22 +#define DINC23 0x23 +#define DINC28 0x28 +#define DINC29 0x29 +#define DINC2A 0x2a +#define DINC2B 0x2b +#define DINC30 0x30 +#define DINC31 0x31 +#define DINC32 0x32 +#define DINC33 0x33 +#define DINC38 0x38 +#define DINC39 0x39 +#define DINC3A 0x3a +#define DINC3B 0x3b + +#define DINC40 0x40 +#define DINC41 0x41 +#define DINC42 0x42 +#define DINC43 0x43 +#define DINC48 0x48 +#define DINC49 0x49 +#define DINC4A 0x4a +#define DINC4B 0x4b +#define DINC50 0x50 +#define DINC51 0x51 +#define DINC52 0x52 +#define DINC53 0x53 +#define DINC58 0x58 +#define DINC59 0x59 +#define DINC5A 0x5a +#define DINC5B 0x5b + +#define DINC60 0x60 +#define DINC61 0x61 +#define DINC62 0x62 +#define DINC63 0x63 +#define DINC68 0x68 +#define DINC69 0x69 +#define DINC6A 0x6a +#define DINC6B 0x6b +#define DINC70 0x70 +#define DINC71 0x71 +#define DINC72 0x72 +#define DINC73 0x73 +#define DINC78 0x78 +#define DINC79 0x79 +#define DINC7A 0x7a +#define DINC7B 0x7b + +#define DIND40 0x40 + + +#define DINA80 0x80 +#define DINA90 0x90 +#define DINAA0 0xa0 +#define DINAC9 0xc9 +#define DINACB 0xcb +#define DINACD 0xcd +#define DINACF 0xcf +#define DINAC8 0xc8 +#define DINACA 0xca +#define DINACC 0xcc +#define DINACE 0xce +#define DINAD8 0xd8 +#define DINADD 0xdd +#define DINAF8 0xf0 +#define DINAFE 0xfe + +#define DINBF8 0xf8 +#define DINAC0 0xb0 +#define DINAC1 0xb1 +#define DINAC2 0xb4 +#define DINAC3 0xb5 +#define DINAC4 0xb8 +#define DINAC5 0xb9 +#define DINBC0 0xc0 +#define DINBC2 0xc2 +#define DINBC4 0xc4 +#define DINBC6 0xc6 + + + +#endif // DMPKEY_H__ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/dmpmap.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/dmpmap.h new file mode 100644 index 0000000..391ba14 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/dmpmap.h @@ -0,0 +1,264 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPMAP_H +#define DMPMAP_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define DMP_PTAT 0 +#define DMP_XGYR 2 +#define DMP_YGYR 4 +#define DMP_ZGYR 6 +#define DMP_XACC 8 +#define DMP_YACC 10 +#define DMP_ZACC 12 +#define DMP_ADC1 14 +#define DMP_ADC2 16 +#define DMP_ADC3 18 +#define DMP_BIASUNC 20 +#define DMP_FIFORT 22 +#define DMP_INVGSFH 24 +#define DMP_INVGSFL 26 +#define DMP_1H 28 +#define DMP_1L 30 +#define DMP_BLPFSTCH 32 +#define DMP_BLPFSTCL 34 +#define DMP_BLPFSXH 36 +#define DMP_BLPFSXL 38 +#define DMP_BLPFSYH 40 +#define DMP_BLPFSYL 42 +#define DMP_BLPFSZH 44 +#define DMP_BLPFSZL 46 +#define DMP_BLPFMTC 48 +#define DMP_SMC 50 +#define DMP_BLPFMXH 52 +#define DMP_BLPFMXL 54 +#define DMP_BLPFMYH 56 +#define DMP_BLPFMYL 58 +#define DMP_BLPFMZH 60 +#define DMP_BLPFMZL 62 +#define DMP_BLPFC 64 +#define DMP_SMCTH 66 +#define DMP_0H2 68 +#define DMP_0L2 70 +#define DMP_BERR2H 72 +#define DMP_BERR2L 74 +#define DMP_BERR2NH 76 +#define DMP_SMCINC 78 +#define DMP_ANGVBXH 80 +#define DMP_ANGVBXL 82 +#define DMP_ANGVBYH 84 +#define DMP_ANGVBYL 86 +#define DMP_ANGVBZH 88 +#define DMP_ANGVBZL 90 +#define DMP_BERR1H 92 +#define DMP_BERR1L 94 +#define DMP_ATCH 96 +#define DMP_BIASUNCSF 98 +#define DMP_ACT2H 100 +#define DMP_ACT2L 102 +#define DMP_GSFH 104 +#define DMP_GSFL 106 +#define DMP_GH 108 +#define DMP_GL 110 +#define DMP_0_5H 112 +#define DMP_0_5L 114 +#define DMP_0_0H 116 +#define DMP_0_0L 118 +#define DMP_1_0H 120 +#define DMP_1_0L 122 +#define DMP_1_5H 124 +#define DMP_1_5L 126 +#define DMP_TMP1AH 128 +#define DMP_TMP1AL 130 +#define DMP_TMP2AH 132 +#define DMP_TMP2AL 134 +#define DMP_TMP3AH 136 +#define DMP_TMP3AL 138 +#define DMP_TMP4AH 140 +#define DMP_TMP4AL 142 +#define DMP_XACCW 144 +#define DMP_TMP5 146 +#define DMP_XACCB 148 +#define DMP_TMP8 150 +#define DMP_YACCB 152 +#define DMP_TMP9 154 +#define DMP_ZACCB 156 +#define DMP_TMP10 158 +#define DMP_DZH 160 +#define DMP_DZL 162 +#define DMP_XGCH 164 +#define DMP_XGCL 166 +#define DMP_YGCH 168 +#define DMP_YGCL 170 +#define DMP_ZGCH 172 +#define DMP_ZGCL 174 +#define DMP_YACCW 176 +#define DMP_TMP7 178 +#define DMP_AFB1H 180 +#define DMP_AFB1L 182 +#define DMP_AFB2H 184 +#define DMP_AFB2L 186 +#define DMP_MAGFBH 188 +#define DMP_MAGFBL 190 +#define DMP_QT1H 192 +#define DMP_QT1L 194 +#define DMP_QT2H 196 +#define DMP_QT2L 198 +#define DMP_QT3H 200 +#define DMP_QT3L 202 +#define DMP_QT4H 204 +#define DMP_QT4L 206 +#define DMP_CTRL1H 208 +#define DMP_CTRL1L 210 +#define DMP_CTRL2H 212 +#define DMP_CTRL2L 214 +#define DMP_CTRL3H 216 +#define DMP_CTRL3L 218 +#define DMP_CTRL4H 220 +#define DMP_CTRL4L 222 +#define DMP_CTRLS1 224 +#define DMP_CTRLSF1 226 +#define DMP_CTRLS2 228 +#define DMP_CTRLSF2 230 +#define DMP_CTRLS3 232 +#define DMP_CTRLSFNLL 234 +#define DMP_CTRLS4 236 +#define DMP_CTRLSFNL2 238 +#define DMP_CTRLSFNL 240 +#define DMP_TMP30 242 +#define DMP_CTRLSFJT 244 +#define DMP_TMP31 246 +#define DMP_TMP11 248 +#define DMP_CTRLSF2_2 250 +#define DMP_TMP12 252 +#define DMP_CTRLSF1_2 254 +#define DMP_PREVPTAT 256 +#define DMP_ACCZB 258 +#define DMP_ACCXB 264 +#define DMP_ACCYB 266 +#define DMP_1HB 272 +#define DMP_1LB 274 +#define DMP_0H 276 +#define DMP_0L 278 +#define DMP_ASR22H 280 +#define DMP_ASR22L 282 +#define DMP_ASR6H 284 +#define DMP_ASR6L 286 +#define DMP_TMP13 288 +#define DMP_TMP14 290 +#define DMP_FINTXH 292 +#define DMP_FINTXL 294 +#define DMP_FINTYH 296 +#define DMP_FINTYL 298 +#define DMP_FINTZH 300 +#define DMP_FINTZL 302 +#define DMP_TMP1BH 304 +#define DMP_TMP1BL 306 +#define DMP_TMP2BH 308 +#define DMP_TMP2BL 310 +#define DMP_TMP3BH 312 +#define DMP_TMP3BL 314 +#define DMP_TMP4BH 316 +#define DMP_TMP4BL 318 +#define DMP_STXG 320 +#define DMP_ZCTXG 322 +#define DMP_STYG 324 +#define DMP_ZCTYG 326 +#define DMP_STZG 328 +#define DMP_ZCTZG 330 +#define DMP_CTRLSFJT2 332 +#define DMP_CTRLSFJTCNT 334 +#define DMP_PVXG 336 +#define DMP_TMP15 338 +#define DMP_PVYG 340 +#define DMP_TMP16 342 +#define DMP_PVZG 344 +#define DMP_TMP17 346 +#define DMP_MNMFLAGH 352 +#define DMP_MNMFLAGL 354 +#define DMP_MNMTMH 356 +#define DMP_MNMTML 358 +#define DMP_MNMTMTHRH 360 +#define DMP_MNMTMTHRL 362 +#define DMP_MNMTHRH 364 +#define DMP_MNMTHRL 366 +#define DMP_ACCQD4H 368 +#define DMP_ACCQD4L 370 +#define DMP_ACCQD5H 372 +#define DMP_ACCQD5L 374 +#define DMP_ACCQD6H 376 +#define DMP_ACCQD6L 378 +#define DMP_ACCQD7H 380 +#define DMP_ACCQD7L 382 +#define DMP_ACCQD0H 384 +#define DMP_ACCQD0L 386 +#define DMP_ACCQD1H 388 +#define DMP_ACCQD1L 390 +#define DMP_ACCQD2H 392 +#define DMP_ACCQD2L 394 +#define DMP_ACCQD3H 396 +#define DMP_ACCQD3L 398 +#define DMP_XN2H 400 +#define DMP_XN2L 402 +#define DMP_XN1H 404 +#define DMP_XN1L 406 +#define DMP_YN2H 408 +#define DMP_YN2L 410 +#define DMP_YN1H 412 +#define DMP_YN1L 414 +#define DMP_YH 416 +#define DMP_YL 418 +#define DMP_B0H 420 +#define DMP_B0L 422 +#define DMP_A1H 424 +#define DMP_A1L 426 +#define DMP_A2H 428 +#define DMP_A2L 430 +#define DMP_SEM1 432 +#define DMP_FIFOCNT 434 +#define DMP_SH_TH_X 436 +#define DMP_PACKET 438 +#define DMP_SH_TH_Y 440 +#define DMP_FOOTER 442 +#define DMP_SH_TH_Z 444 +#define DMP_TEMP29 448 +#define DMP_TEMP30 450 +#define DMP_XACCB_PRE 452 +#define DMP_XACCB_PREL 454 +#define DMP_YACCB_PRE 456 +#define DMP_YACCB_PREL 458 +#define DMP_ZACCB_PRE 460 +#define DMP_ZACCB_PREL 462 +#define DMP_TMP22 464 +#define DMP_TAP_TIMER 466 +#define DMP_TAP_THX 468 +#define DMP_TAP_THY 472 +#define DMP_TAP_THZ 476 +#define DMP_TAPW_MIN 478 +#define DMP_TMP25 480 +#define DMP_TMP26 482 +#define DMP_TMP27 484 +#define DMP_TMP28 486 +#define DMP_ORIENT 488 +#define DMP_THRSH 490 +#define DMP_ENDIANH 492 +#define DMP_ENDIANL 494 +#define DMP_BLPFNMTCH 496 +#define DMP_BLPFNMTCL 498 +#define DMP_BLPFNMXH 500 +#define DMP_BLPFNMXL 502 +#define DMP_BLPFNMYH 504 +#define DMP_BLPFNMYL 506 +#define DMP_BLPFNMZH 508 +#define DMP_BLPFNMZL 510 +#ifdef __cplusplus +} +#endif +#endif // DMPMAP_H diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu.c new file mode 100644 index 0000000..3d48961 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu.c @@ -0,0 +1,2858 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.c + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ +#include +#include "delay.h" +#include "usart.h" +#include "ioi2c.h" + +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin) + * labs(long x) + * fabsf(float x) + * min(int a, int b) + */ +#define MPU6050 +#define MOTION_DRIVER_TARGET_MSP430 + +#if defined MOTION_DRIVER_TARGET_MSP430 +/*#include "msp430.h" +#include "msp430_i2c.h" +#include "msp430_clock.h" +#include "msp430_interrupt.h" */ + +#define i2c_write i2cWrite +#define i2c_read i2cRead +#define delay_ms delay_ms +#define get_ms myget_ms + +//static int reg_int_cb(struct int_param_s *int_param) +//{ +// /*return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, +// int_param->active_low);*/ +// return 0; +//} +//#define log_i(...) do {} while (0) +//#define log_e(...) do {} while (0) +#define log_e printf +#define log_i printf +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((acb, int_param->pin, int_param->lp_exit, + int_param->active_low); +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((apin, int_param->cb, int_param->arg); + return 0; +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* UC3 is a 32-bit processor, so abs and labs are equivalent. */ +#define labs abs +#define fabs(x) (((x)>0)?(x):-(x)) +#else +//#error Gyro driver is missing the system layer implementations. +#endif + +#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250 +//#error Which gyro are you using? Define MPUxxxx in your compiler options. +#endif + +/* Time for some messy macro work. =] + * #define MPU9150 + * is equivalent to.. + * #define MPU6050 + * #define AK8975_SECONDARY + * + * #define MPU9250 + * is equivalent to.. + * #define MPU6500 + * #define AK8963_SECONDARY + */ +#if defined MPU9150 +#ifndef MPU6050 +#define MPU6050 +#endif /* #ifndef MPU6050 */ +#if defined AK8963_SECONDARY +#error "MPU9150 and AK8963_SECONDARY cannot both be defined." +#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */ +#define AK8975_SECONDARY +#endif /* #if defined AK8963_SECONDARY */ +#elif defined MPU9250 /* #if defined MPU9150 */ +#ifndef MPU6500 +#define MPU6500 +#endif /* #ifndef MPU6500 */ +#if defined AK8975_SECONDARY +#error "MPU9250 and AK8975_SECONDARY cannot both be defined." +#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */ +#define AK8963_SECONDARY +#endif /* #if defined AK8975_SECONDARY */ +#endif /* #if defined MPU9150 */ + +#if defined AK8975_SECONDARY || defined AK8963_SECONDARY +#define AK89xx_SECONDARY +#else +/* #warning "No compass = less profit for Invensense. Lame." */ +#endif + +static int set_int_enable(unsigned char enable); + +/* Hardware registers needed by driver. */ +struct gyro_reg_s { + unsigned char who_am_i; + unsigned char rate_div; + unsigned char lpf; + unsigned char prod_id; + unsigned char user_ctrl; + unsigned char fifo_en; + unsigned char gyro_cfg; + unsigned char accel_cfg; + + //unsigned char accel_cfg2; + + //unsigned char lp_accel_odr; + + unsigned char motion_thr; + unsigned char motion_dur; + unsigned char fifo_count_h; + unsigned char fifo_r_w; + unsigned char raw_gyro; + unsigned char raw_accel; + unsigned char temp; + unsigned char int_enable; + unsigned char dmp_int_status; + unsigned char int_status; + + //unsigned char accel_intel; + + unsigned char pwr_mgmt_1; + unsigned char pwr_mgmt_2; + unsigned char int_pin_cfg; + unsigned char mem_r_w; + unsigned char accel_offs; + unsigned char i2c_mst; + unsigned char bank_sel; + unsigned char mem_start_addr; + unsigned char prgm_start_h; +#if defined AK89xx_SECONDARY + unsigned char s0_addr; + unsigned char s0_reg; + unsigned char s0_ctrl; + unsigned char s1_addr; + unsigned char s1_reg; + unsigned char s1_ctrl; + unsigned char s4_ctrl; + unsigned char s0_do; + unsigned char s1_do; + unsigned char i2c_delay_ctrl; + unsigned char raw_compass; + /* The I2C_MST_VDDIO bit is in this register. */ + unsigned char yg_offs_tc; +#endif +}; + +/* Information specific to a particular device. */ +struct hw_s { + unsigned char addr; + unsigned short max_fifo; + unsigned char num_reg; + unsigned short temp_sens; + short temp_offset; + unsigned short bank_size; +#if defined AK89xx_SECONDARY + unsigned short compass_fsr; +#endif +}; + +/* When entering motion interrupt mode, the driver keeps track of the + * previous state so that it can be restored at a later time. + * TODO: This is tacky. Fix it. + */ +struct motion_int_cache_s { + unsigned short gyro_fsr; + unsigned char accel_fsr; + unsigned short lpf; + unsigned short sample_rate; + unsigned char sensors_on; + unsigned char fifo_sensors; + unsigned char dmp_on; +}; + +/* Cached chip configuration data. + * TODO: A lot of these can be handled with a bitmask. + */ +struct chip_cfg_s { + /* Matches gyro_cfg >> 3 & 0x03 */ + unsigned char gyro_fsr; + /* Matches accel_cfg >> 3 & 0x03 */ + unsigned char accel_fsr; + /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */ + unsigned char sensors; + /* Matches config register. */ + unsigned char lpf; + unsigned char clk_src; + /* Sample rate, NOT rate divider. */ + unsigned short sample_rate; + /* Matches fifo_en register. */ + unsigned char fifo_enable; + /* Matches int enable register. */ + unsigned char int_enable; + /* 1 if devices on auxiliary I2C bus appear on the primary. */ + unsigned char bypass_mode; + /* 1 if half-sensitivity. + * NOTE: This doesn't belong here, but everything else in hw_s is const, + * and this allows us to save some precious RAM. + */ + unsigned char accel_half; + /* 1 if device in low-power accel-only mode. */ + unsigned char lp_accel_mode; + /* 1 if interrupts are only triggered on motion events. */ + unsigned char int_motion_only; + struct motion_int_cache_s cache; + /* 1 for active low interrupts. */ + unsigned char active_low_int; + /* 1 for latched interrupts. */ + unsigned char latched_int; + /* 1 if DMP is enabled. */ + unsigned char dmp_on; + /* Ensures that DMP will only be loaded once. */ + unsigned char dmp_loaded; + /* Sampling rate used when DMP is enabled. */ + unsigned short dmp_sample_rate; +#ifdef AK89xx_SECONDARY + /* Compass sample rate. */ + unsigned short compass_sample_rate; + unsigned char compass_addr; + short mag_sens_adj[3]; +#endif +}; + +/* Information for self-test. */ +struct test_s { + unsigned long gyro_sens; + unsigned long accel_sens; + unsigned char reg_rate_div; + unsigned char reg_lpf; + unsigned char reg_gyro_fsr; + unsigned char reg_accel_fsr; + unsigned short wait_ms; + unsigned char packet_thresh; + float min_dps; + float max_dps; + float max_gyro_var; + float min_g; + float max_g; + float max_accel_var; +}; + +/* Gyro driver state variables. */ +struct gyro_state_s { + const struct gyro_reg_s *reg; + const struct hw_s *hw; + struct chip_cfg_s chip_cfg; + const struct test_s *test; +}; + +/* Filter configurations. */ +enum lpf_e { + INV_FILTER_256HZ_NOLPF2 = 0, + INV_FILTER_188HZ, + INV_FILTER_98HZ, + INV_FILTER_42HZ, + INV_FILTER_20HZ, + INV_FILTER_10HZ, + INV_FILTER_5HZ, + INV_FILTER_2100HZ_NOLPF, + NUM_FILTER +}; + +/* Full scale ranges. */ +enum gyro_fsr_e { + INV_FSR_250DPS = 0, + INV_FSR_500DPS, + INV_FSR_1000DPS, + INV_FSR_2000DPS, + NUM_GYRO_FSR +}; + +/* Full scale ranges. */ +enum accel_fsr_e { + INV_FSR_2G = 0, + INV_FSR_4G, + INV_FSR_8G, + INV_FSR_16G, + NUM_ACCEL_FSR +}; + +/* Clock sources. */ +enum clock_sel_e { + INV_CLK_INTERNAL = 0, + INV_CLK_PLL, + NUM_CLK +}; + +/* Low-power accel wakeup rates. */ +enum lp_accel_rate_e { +#if defined MPU6050 + INV_LPA_1_25HZ, + INV_LPA_5HZ, + INV_LPA_20HZ, + INV_LPA_40HZ +#elif defined MPU6500 + INV_LPA_0_3125HZ, + INV_LPA_0_625HZ, + INV_LPA_1_25HZ, + INV_LPA_2_5HZ, + INV_LPA_5HZ, + INV_LPA_10HZ, + INV_LPA_20HZ, + INV_LPA_40HZ, + INV_LPA_80HZ, + INV_LPA_160HZ, + INV_LPA_320HZ, + INV_LPA_640HZ +#endif +}; + +#define BIT_I2C_MST_VDDIO (0x80) +#define BIT_FIFO_EN (0x40) +#define BIT_DMP_EN (0x80) +#define BIT_FIFO_RST (0x04) +#define BIT_DMP_RST (0x08) +#define BIT_FIFO_OVERFLOW (0x10) +#define BIT_DATA_RDY_EN (0x01) +#define BIT_DMP_INT_EN (0x02) +#define BIT_MOT_INT_EN (0x40) +#define BITS_FSR (0x18) +#define BITS_LPF (0x07) +#define BITS_HPF (0x07) +#define BITS_CLK (0x07) +#define BIT_FIFO_SIZE_1024 (0x40) +#define BIT_FIFO_SIZE_2048 (0x80) +#define BIT_FIFO_SIZE_4096 (0xC0) +#define BIT_RESET (0x80) +#define BIT_SLEEP (0x40) +#define BIT_S0_DELAY_EN (0x01) +#define BIT_S2_DELAY_EN (0x04) +#define BITS_SLAVE_LENGTH (0x0F) +#define BIT_SLAVE_BYTE_SW (0x40) +#define BIT_SLAVE_GROUP (0x10) +#define BIT_SLAVE_EN (0x80) +#define BIT_I2C_READ (0x80) +#define BITS_I2C_MASTER_DLY (0x1F) +#define BIT_AUX_IF_EN (0x20) +#define BIT_ACTL (0x80) +#define BIT_LATCH_EN (0x20) +#define BIT_ANY_RD_CLR (0x10) +#define BIT_BYPASS_EN (0x02) +#define BITS_WOM_EN (0xC0) +#define BIT_LPA_CYCLE (0x20) +#define BIT_STBY_XA (0x20) +#define BIT_STBY_YA (0x10) +#define BIT_STBY_ZA (0x08) +#define BIT_STBY_XG (0x04) +#define BIT_STBY_YG (0x02) +#define BIT_STBY_ZG (0x01) +#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA) +#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG) + +#if defined AK8975_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x00) +#define AK89xx_FSR (9830) +#elif defined AK8963_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x10) +#define AK89xx_FSR (4915) +#endif + +#ifdef AK89xx_SECONDARY +#define AKM_REG_WHOAMI (0x00) + +#define AKM_REG_ST1 (0x02) +#define AKM_REG_HXL (0x03) +#define AKM_REG_ST2 (0x09) + +#define AKM_REG_CNTL (0x0A) +#define AKM_REG_ASTC (0x0C) +#define AKM_REG_ASAX (0x10) +#define AKM_REG_ASAY (0x11) +#define AKM_REG_ASAZ (0x12) + +#define AKM_DATA_READY (0x01) +#define AKM_DATA_OVERRUN (0x02) +#define AKM_OVERFLOW (0x80) +#define AKM_DATA_ERROR (0x40) + +#define AKM_BIT_SELF_TEST (0x40) + +#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS) + +#define AKM_WHOAMI (0x48) +#endif + +#if defined MPU6050 +/* +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x06, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .yg_offs_tc = 0x01, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 118, + .temp_sens = 340, + .temp_offset = -521, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; +*/ +const struct hw_s hw={ + 0x68, //addr + 1024, //max_fifo + 118, //num_reg + 340, //temp_sens + -521, //temp_offset + 256 //bank_size +}; +const struct gyro_reg_s reg = { +0x75, //who_am_i +0x19, //rate_div +0x1A, //lpf +0x0C, //prod_id +0x6A, //user_ctrl +0x23, //fifo_en +0x1B, //gyro_cfg +0x1C, //accel_cfg +0x1F, // motion_thr +0x20, // motion_dur +0x72, // fifo_count_h +0x74, // fifo_r_w +0x43, // raw_gyro +0x3B, // raw_accel +0x41, // temp +0x38, // int_enable +0x39, // dmp_int_status +0x3A, // int_status +0x6B, // pwr_mgmt_1 +0x6C, // pwr_mgmt_2 +0x37, // int_pin_cfg +0x6F, // mem_r_w +0x06, // accel_offs +0x24, // i2c_mst +0x6D, // bank_sel +0x6E, // mem_start_addr +0x70 // prgm_start_h +}; + +//const struct test_s test = { +// .gyro_sens = 32768/250, +// .accel_sens = 32768/16, +// .reg_rate_div = 0, /* 1kHz. */ +// .reg_lpf = 1, /* 188Hz. */ +// .reg_gyro_fsr = 0, /* 250dps. */ +// .reg_accel_fsr = 0x18, /* 16g. */ +// .wait_ms = 50, +// .packet_thresh = 5, /* 5% */ +// .min_dps = 10.f, +// .max_dps = 105.f, +// .max_gyro_var = 0.14f, +// .min_g = 0.3f, +// .max_g = 0.95f, +// .max_accel_var = 0.14f +//}; +const struct test_s test={ +32768/250, //gyro_sens +32768/16, // accel_sens +0, // reg_rate_div +1, // reg_lpf +0, // reg_gyro_fsr +0x18, // reg_accel_fsr +50, // wait_ms +5, // packet_thresh +10.0f, // min_dps +105.0f, // max_dps +0.14f, // max_gyro_var +0.3f, // min_g +0.95f, // max_g +0.14f // max_accel_var +}; +/* +static struct gyro_state_s st = { + .reg = ®, + .hw = &hw, + .test = &test +}; */ +static struct gyro_state_s st={ + ®, + &hw, + {0}, + &test +}; +//st.chip_cfg.dmp_on = 1; +//st.dhip_cfg.fifo_enabel = 1; +/* +#elif defined MPU6500 +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .accel_cfg2 = 0x1D, + .lp_accel_odr = 0x1E, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .accel_intel = 0x69, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x77, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 128, + .temp_sens = 321, + .temp_offset = 0, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; +*/ +//const struct test_s test = { +// .gyro_sens = 32768/250, +// .accel_sens = 32768/16, +// .reg_rate_div = 0, /* 1kHz. */ +// .reg_lpf = 1, /* 188Hz. */ +// .reg_gyro_fsr = 0, /* 250dps. */ +// .reg_accel_fsr = 0x18, /* 16g. */ +// .wait_ms = 50, +// .packet_thresh = 5, /* 5% */ +// .min_dps = 10.f, +// .max_dps = 105.f, +// .max_gyro_var = 0.14f, +// .min_g = 0.3f, +// .max_g = 0.95f, +// .max_accel_var = 0.14f +//}; +// +//static struct gyro_state_s st = { +// .reg = ®, +// .hw = &hw, +// .test = &test +//}; +#endif + +#define MAX_PACKET_LENGTH (12) + +#ifdef AK89xx_SECONDARY +static int setup_compass(void); +#define MAX_COMPASS_SAMPLE_RATE (100) +#endif + +/** + * @brief Enable/disable data ready interrupt. + * If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready + * interrupt is used. + * @param[in] enable 1 to enable interrupt. + * @return 0 if successful. + */ +static int set_int_enable(unsigned char enable) +{ + unsigned char tmp; + + if (st.chip_cfg.dmp_on) { + if (enable) + tmp = BIT_DMP_INT_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } else { + if (!st.chip_cfg.sensors) + return -1; + if (enable && st.chip_cfg.int_enable) + return 0; + if (enable) + tmp = BIT_DATA_RDY_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } + return 0; +} + + +/** + * @brief Register dump for testing. + * @return 0 if successful. + */ +int mpu_reg_dump(void) +{ + unsigned char ii; + unsigned char data; + + for (ii = 0; ii < st.hw->num_reg; ii++) { + if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w) + continue; + if (i2c_read(st.hw->addr, ii, 1, &data)) + return -1; + //log_i("%#5x: %#5x\r\n", ii, data); + } + return 0; +} + +/** + * @brief Read from a single register. + * NOTE: The memory and FIFO read/write registers cannot be accessed. + * @param[in] reg Register address. + * @param[out] data Register data. + * @return 0 if successful. + */ +int mpu_read_reg(unsigned char reg, unsigned char *data) +{ + if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w) + return -1; + if (reg >= st.hw->num_reg) + return -1; + return i2c_read(st.hw->addr, reg, 1, data); +} + +/** + * @brief Initialize hardware. + * Initial configuration:\n + * Gyro FSR: +/- 2000DPS\n + * Accel FSR +/- 2G\n + * DLPF: 42Hz\n + * FIFO rate: 50Hz\n + * Clock source: Gyro PLL\n + * FIFO: Disabled.\n + * Data ready interrupt: Disabled, active low, unlatched. + * @param[in] int_param Platform-specific parameters to interrupt API. + * @return 0 if successful. + */ +int mpu_init(void) +{ + unsigned char data[6], rev; + + /* Reset device. */ + data[0] = 0x80;//BIT_RESET; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0]))) + return -1; + delay_ms(100); + + /* Wake up chip. */ + data[0] = 0x00; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0]))) + return -1; + +#if defined MPU6050 + /* Check product revision. */ + if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data)) + return -1; + rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) | + (data[1] & 0x01); + + if (rev) { + /* Congrats, these parts are better. */ + if (rev == 1) + st.chip_cfg.accel_half = 1; + else if (rev == 2) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\n",rev); + return -1; + } + } else { + if (i2c_read(st.hw->addr, st.reg->prod_id, 1, &(data[0]))) + return -1; + rev = data[0] & 0x0F; + if (!rev) { + log_e("Product ID read as 0 indicates device is either incompatible or an MPU3050.\r\n"); + return -1; + } else if (rev == 4) { + log_i("Half sensitivity part found.\r\n"); + st.chip_cfg.accel_half = 1; + } else + st.chip_cfg.accel_half = 0; + } +#elif defined MPU6500 +#define MPU6500_MEM_REV_ADDR (0x17) + if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev)) + return -1; + if (rev == 0x1) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\r\n", rev); + return -1; + } + + /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the + * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO. + */ + data[0] = BIT_FIFO_SIZE_1024 | 0x8; + if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data)) + return -1; +#endif + + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.bypass_mode = 0xFF; +#ifdef AK89xx_SECONDARY + st.chip_cfg.compass_sample_rate = 0xFFFF; +#endif + /* mpu_set_sensors always preserves this setting. */ + st.chip_cfg.clk_src = INV_CLK_PLL; + /* Handled in next call to mpu_set_bypass. */ + st.chip_cfg.active_low_int = 1; + st.chip_cfg.latched_int = 0; + st.chip_cfg.int_motion_only = 0; + st.chip_cfg.lp_accel_mode = 0; + memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache)); + st.chip_cfg.dmp_on = 0; + st.chip_cfg.dmp_loaded = 0; + st.chip_cfg.dmp_sample_rate = 0; + + if (mpu_set_gyro_fsr(2000)) + return -1; + if (mpu_set_accel_fsr(2)) + return -1; + if (mpu_set_lpf(42)) + return -1; + if (mpu_set_sample_rate(50)) + return -1; + if (mpu_configure_fifo(0)) + return -1; + + /*if (int_param) + reg_int_cb(int_param);*/ + +#ifdef AK89xx_SECONDARY + setup_compass(); + if (mpu_set_compass_sample_rate(10)) + return -1; +#else + /* Already disabled by setup_compass. */ + if (mpu_set_bypass(0)) + return -1; +#endif + + mpu_set_sensors(0); + return 0; +} + +/** + * @brief Enter low-power accel-only mode. + * In low-power accel mode, the chip goes to sleep and only wakes up to sample + * the accelerometer at one of the following frequencies: + * \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz + * \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * \n If the requested rate is not one listed above, the device will be set to + * the next highest rate. Requesting a rate above the maximum supported + * frequency will result in an error. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e rate. + * @param[in] rate Minimum sampling rate, or zero to disable LP + * accel mode. + * @return 0 if successful. + */ +int mpu_lp_accel_mode(unsigned char rate) +{ + unsigned char tmp[2]; + + if (rate > 40) + return -1; + + if (!rate) { + mpu_set_int_latched(0); + tmp[0] = 0; + tmp[1] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; + st.chip_cfg.lp_accel_mode = 0; + return 0; + } + /* For LP accel, we automatically configure the hardware to produce latched + * interrupts. In LP accel mode, the hardware cycles into sleep mode before + * it gets a chance to deassert the interrupt pin; therefore, we shift this + * responsibility over to the MCU. + * + * Any register read will clear the interrupt. + */ + mpu_set_int_latched(1); +#if defined MPU6050 + tmp[0] = BIT_LPA_CYCLE; + if (rate == 1) { + tmp[1] = INV_LPA_1_25HZ; + mpu_set_lpf(5); + } else if (rate <= 5) { + tmp[1] = INV_LPA_5HZ; + mpu_set_lpf(5); + } else if (rate <= 20) { + tmp[1] = INV_LPA_20HZ; + mpu_set_lpf(10); + } else { + tmp[1] = INV_LPA_40HZ; + mpu_set_lpf(20); + } + tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; +#elif defined MPU6500 + /* Set wake frequency. */ + if (rate == 1) + tmp[0] = INV_LPA_1_25HZ; + else if (rate == 2) + tmp[0] = INV_LPA_2_5HZ; + else if (rate <= 5) + tmp[0] = INV_LPA_5HZ; + else if (rate <= 10) + tmp[0] = INV_LPA_10HZ; + else if (rate <= 20) + tmp[0] = INV_LPA_20HZ; + else if (rate <= 40) + tmp[0] = INV_LPA_40HZ; + else if (rate <= 80) + tmp[0] = INV_LPA_80HZ; + else if (rate <= 160) + tmp[0] = INV_LPA_160HZ; + else if (rate <= 320) + tmp[0] = INV_LPA_320HZ; + else + tmp[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp)) + return -1; + tmp[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp)) + return -1; +#endif + st.chip_cfg.sensors = INV_XYZ_ACCEL; + st.chip_cfg.clk_src = 0; + st.chip_cfg.lp_accel_mode = 1; + mpu_configure_fifo(0); + + return 0; +} + +/** + * @brief Read raw gyro data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_GYRO)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read raw accel data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_accel_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read temperature data directly from the registers. + * @param[out] data Data in q16 format. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_temperature(long *data, unsigned long *timestamp) +{ + unsigned char tmp[2]; + short raw; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp)) + return -1; + raw = (tmp[0] << 8) | tmp[1]; + if (timestamp) + get_ms(timestamp); + + data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L); + return 0; +} + +/** + * @brief Push biases to the accel bias registers. + * This function expects biases relative to the current sensor output, and + * these biases will be added to the factory-supplied values. + * @param[in] accel_bias New biases. + * @return 0 if successful. + */ +int mpu_set_accel_bias(const long *accel_bias) +{ + unsigned char data[6]; + short accel_hw[3]; + short got_accel[3]; + short fg[3]; + + if (!accel_bias) + return -1; + if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2]) + return 0; + + if (i2c_read(st.hw->addr, 3, 3, data)) + return -1; + fg[0] = ((data[0] >> 4) + 8) & 0xf; + fg[1] = ((data[1] >> 4) + 8) & 0xf; + fg[2] = ((data[2] >> 4) + 8) & 0xf; + + accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0])); + accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1])); + accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2])); + + if (i2c_read(st.hw->addr, 0x06, 6, data)) + return -1; + + got_accel[0] = ((short)data[0] << 8) | data[1]; + got_accel[1] = ((short)data[2] << 8) | data[3]; + got_accel[2] = ((short)data[4] << 8) | data[5]; + + accel_hw[0] += got_accel[0]; + accel_hw[1] += got_accel[1]; + accel_hw[2] += got_accel[2]; + + data[0] = (accel_hw[0] >> 8) & 0xff; + data[1] = (accel_hw[0]) & 0xff; + data[2] = (accel_hw[1] >> 8) & 0xff; + data[3] = (accel_hw[1]) & 0xff; + data[4] = (accel_hw[2] >> 8) & 0xff; + data[5] = (accel_hw[2]) & 0xff; + + if (i2c_write(st.hw->addr, 0x06, 6, data)) + return -1; + return 0; +} + +/** + * @brief Reset FIFO read/write pointers. + * @return 0 if successful. + */ +int mpu_reset_fifo(void) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.dmp_on) { + data = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + data = BIT_DMP_EN | BIT_FIFO_EN; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + data |= BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.int_enable) + data = BIT_DMP_INT_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + data = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + } else { + data = BIT_FIFO_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + data = BIT_FIFO_EN; + else + data = BIT_FIFO_EN | BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.int_enable) + data = BIT_DATA_RDY_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable)) + return -1; + } + return 0; +} + +/** + * @brief Get the gyro full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_gyro_fsr(unsigned short *fsr) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + fsr[0] = 250; + break; + case INV_FSR_500DPS: + fsr[0] = 500; + break; + case INV_FSR_1000DPS: + fsr[0] = 1000; + break; + case INV_FSR_2000DPS: + fsr[0] = 2000; + break; + default: + fsr[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set the gyro full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_gyro_fsr(unsigned short fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 250: + data = INV_FSR_250DPS << 3; + break; + case 500: + data = INV_FSR_500DPS << 3; + break; + case 1000: + data = INV_FSR_1000DPS << 3; + break; + case 2000: + data = INV_FSR_2000DPS << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.gyro_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data)) + return -1; + st.chip_cfg.gyro_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the accel full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_accel_fsr(unsigned char *fsr) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + fsr[0] = 2; + break; + case INV_FSR_4G: + fsr[0] = 4; + break; + case INV_FSR_8G: + fsr[0] = 8; + break; + case INV_FSR_16G: + fsr[0] = 16; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + fsr[0] <<= 1; + return 0; +} + +/** + * @brief Set the accel full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_accel_fsr(unsigned char fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 2: + data = INV_FSR_2G << 3; + break; + case 4: + data = INV_FSR_4G << 3; + break; + case 8: + data = INV_FSR_8G << 3; + break; + case 16: + data = INV_FSR_16G << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.accel_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data)) + return -1; + st.chip_cfg.accel_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the current DLPF setting. + * @param[out] lpf Current LPF setting. + * 0 if successful. + */ +int mpu_get_lpf(unsigned short *lpf) +{ + switch (st.chip_cfg.lpf) { + case INV_FILTER_188HZ: + lpf[0] = 188; + break; + case INV_FILTER_98HZ: + lpf[0] = 98; + break; + case INV_FILTER_42HZ: + lpf[0] = 42; + break; + case INV_FILTER_20HZ: + lpf[0] = 20; + break; + case INV_FILTER_10HZ: + lpf[0] = 10; + break; + case INV_FILTER_5HZ: + lpf[0] = 5; + break; + case INV_FILTER_256HZ_NOLPF2: + case INV_FILTER_2100HZ_NOLPF: + default: + lpf[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set digital low pass filter. + * The following LPF settings are supported: 188, 98, 42, 20, 10, 5. + * @param[in] lpf Desired LPF setting. + * @return 0 if successful. + */ +int mpu_set_lpf(unsigned short lpf) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (lpf >= 188) + data = INV_FILTER_188HZ; + else if (lpf >= 98) + data = INV_FILTER_98HZ; + else if (lpf >= 42) + data = INV_FILTER_42HZ; + else if (lpf >= 20) + data = INV_FILTER_20HZ; + else if (lpf >= 10) + data = INV_FILTER_10HZ; + else + data = INV_FILTER_5HZ; + + if (st.chip_cfg.lpf == data) + return 0; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data)) + return -1; + st.chip_cfg.lpf = data; + return 0; +} + +/** + * @brief Get sampling rate. + * @param[out] rate Current sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_sample_rate(unsigned short *rate) +{ + if (st.chip_cfg.dmp_on) + return -1; + else + rate[0] = st.chip_cfg.sample_rate; + return 0; +} + +/** + * @brief Set sampling rate. + * Sampling rate must be between 4Hz and 1kHz. + * @param[in] rate Desired sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_sample_rate(unsigned short rate) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (st.chip_cfg.dmp_on) + return -1; + else { + if (st.chip_cfg.lp_accel_mode) { + if (rate && (rate <= 40)) { + /* Just stay in low-power accel mode. */ + mpu_lp_accel_mode(rate); + return 0; + } + /* Requested rate exceeds the allowed frequencies in LP accel mode, + * switch back to full-power mode. + */ + mpu_lp_accel_mode(0); + } + if (rate < 4) + rate = 4; + else if (rate > 1000) + rate = 1000; + + data = 1000 / rate - 1; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data)) + return -1; + + st.chip_cfg.sample_rate = 1000 / (1 + data); + +#ifdef AK89xx_SECONDARY + mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE)); +#endif + + /* Automatically set LPF to 1/2 sampling rate. */ + mpu_set_lpf(st.chip_cfg.sample_rate >> 1); + return 0; + } +} + +/** + * @brief Get compass sampling rate. + * @param[out] rate Current compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_compass_sample_rate(unsigned short *rate) +{ +#ifdef AK89xx_SECONDARY + rate[0] = st.chip_cfg.compass_sample_rate; + return 0; +#else + rate[0] = 0; + return -1; +#endif +} + +/** + * @brief Set compass sampling rate. + * The compass on the auxiliary I2C bus is read by the MPU hardware at a + * maximum of 100Hz. The actual rate can be set to a fraction of the gyro + * sampling rate. + * + * \n WARNING: The new rate may be different than what was requested. Call + * mpu_get_compass_sample_rate to check the actual setting. + * @param[in] rate Desired compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_compass_sample_rate(unsigned short rate) +{ +#ifdef AK89xx_SECONDARY + unsigned char div; + if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE) + return -1; + + div = st.chip_cfg.sample_rate / rate - 1; + if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div)) + return -1; + st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get gyro sensitivity scale factor. + * @param[out] sens Conversion from hardware units to dps. + * @return 0 if successful. + */ +int mpu_get_gyro_sens(float *sens) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + sens[0] = 131.f; + break; + case INV_FSR_500DPS: + sens[0] = 65.5f; + break; + case INV_FSR_1000DPS: + sens[0] = 32.8f; + break; + case INV_FSR_2000DPS: + sens[0] = 16.4f; + break; + default: + return -1; + } + return 0; +} + +/** + * @brief Get accel sensitivity scale factor. + * @param[out] sens Conversion from hardware units to g's. + * @return 0 if successful. + */ +int mpu_get_accel_sens(unsigned short *sens) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + sens[0] = 16384; + break; + case INV_FSR_4G: + sens[0] = 8092; + break; + case INV_FSR_8G: + sens[0] = 4096; + break; + case INV_FSR_16G: + sens[0] = 2048; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + sens[0] >>= 1; + return 0; +} + +/** + * @brief Get current FIFO configuration. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[out] sensors Mask of sensors in FIFO. + * @return 0 if successful. + */ +int mpu_get_fifo_config(unsigned char *sensors) +{ + sensors[0] = st.chip_cfg.fifo_enable; + return 0; +} + +/** + * @brief Select which sensors are pushed to FIFO. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[in] sensors Mask of sensors to push to FIFO. + * @return 0 if successful. + */ +int mpu_configure_fifo(unsigned char sensors) +{ + unsigned char prev; + int result = 0; + + /* Compass data isn't going into the FIFO. Stop trying. */ + sensors &= ~INV_XYZ_COMPASS; + + if (st.chip_cfg.dmp_on) + return 0; + else { + if (!(st.chip_cfg.sensors)) + return -1; + prev = st.chip_cfg.fifo_enable; + st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors; + if (st.chip_cfg.fifo_enable != sensors) + /* You're not getting what you asked for. Some sensors are + * asleep. + */ + result = -1; + else + result = 0; + if (sensors || st.chip_cfg.lp_accel_mode) + set_int_enable(1); + else + set_int_enable(0); + if (sensors) { + if (mpu_reset_fifo()) { + st.chip_cfg.fifo_enable = prev; + return -1; + } + } + } + + return result; +} + +/** + * @brief Get current power state. + * @param[in] power_on 1 if turned on, 0 if suspended. + * @return 0 if successful. + */ +int mpu_get_power_state(unsigned char *power_on) +{ + if (st.chip_cfg.sensors) + power_on[0] = 1; + else + power_on[0] = 0; + return 0; +} + +/** + * @brief Turn specific sensors on/off. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_XYZ_COMPASS + * @param[in] sensors Mask of sensors to wake. + * @return 0 if successful. + */ +int mpu_set_sensors(unsigned char sensors) +{ + unsigned char data; +#ifdef AK89xx_SECONDARY + unsigned char user_ctrl; +#endif + + if (sensors & INV_XYZ_GYRO) + data = INV_CLK_PLL; + else if (sensors) + data = 0; + else + data = BIT_SLEEP; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + st.chip_cfg.clk_src = data & ~BIT_SLEEP; + + data = 0; + if (!(sensors & INV_X_GYRO)) + data |= BIT_STBY_XG; + if (!(sensors & INV_Y_GYRO)) + data |= BIT_STBY_YG; + if (!(sensors & INV_Z_GYRO)) + data |= BIT_STBY_ZG; + if (!(sensors & INV_XYZ_ACCEL)) + data |= BIT_STBY_XYZA; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + + if (sensors && (sensors != INV_XYZ_ACCEL)) + /* Latched interrupts only used in LP accel mode. */ + mpu_set_int_latched(0); + +#ifdef AK89xx_SECONDARY +#ifdef AK89xx_BYPASS + if (sensors & INV_XYZ_COMPASS) + mpu_set_bypass(1); + else + mpu_set_bypass(0); +#else + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; + /* Handle AKM power management. */ + if (sensors & INV_XYZ_COMPASS) { + data = AKM_SINGLE_MEASUREMENT; + user_ctrl |= BIT_AUX_IF_EN; + } else { + data = AKM_POWER_DOWN; + user_ctrl &= ~BIT_AUX_IF_EN; + } + if (st.chip_cfg.dmp_on) + user_ctrl |= BIT_DMP_EN; + else + user_ctrl &= ~BIT_DMP_EN; + if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data)) + return -1; + /* Enable/disable I2C master mode. */ + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; +#endif +#endif + + st.chip_cfg.sensors = sensors; + st.chip_cfg.lp_accel_mode = 0; + delay_ms(50); + return 0; +} + +/** + * @brief Read the MPU interrupt status registers. + * @param[out] status Mask of interrupt bits. + * @return 0 if successful. + */ +int mpu_get_int_status(short *status) +{ + unsigned char tmp[2]; + if (!st.chip_cfg.sensors) + return -1; + if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp)) + return -1; + status[0] = (tmp[0] << 8) | tmp[1]; + return 0; +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more) +{ + /* Assumes maximum packet size is gyro (6) + accel (6). */ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_size = 0; + unsigned short fifo_count, index = 0; + + if (st.chip_cfg.dmp_on) + return -1; + + sensors[0] = 0; + if (!st.chip_cfg.sensors) + return -1; + if (!st.chip_cfg.fifo_enable) + return -1; + + if (st.chip_cfg.fifo_enable & INV_X_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Y_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Z_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) + packet_size += 6; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + fifo_count = (data[0] << 8) | data[1]; + if (fifo_count < packet_size) + return 0; +// log_i("FIFO count: %hd\n", fifo_count); + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, data)) + return -1; + if (data[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + get_ms((unsigned long*)timestamp); + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data)) + return -1; + more[0] = fifo_count / packet_size - 1; + sensors[0] = 0; + + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) { + accel[0] = (data[index+0] << 8) | data[index+1]; + accel[1] = (data[index+2] << 8) | data[index+3]; + accel[2] = (data[index+4] << 8) | data[index+5]; + sensors[0] |= INV_XYZ_ACCEL; + index += 6; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) { + gyro[0] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_X_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) { + gyro[1] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Y_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) { + gyro[2] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Z_GYRO; + index += 2; + } + + return 0; +} + +/** + * @brief Get one unparsed packet from the FIFO. + * This function should be used if the packet is to be parsed elsewhere. + * @param[in] length Length of one FIFO packet. + * @param[in] data FIFO packet. + * @param[in] more Number of remaining packets. + */ +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more) +{ + unsigned char tmp[2]; + unsigned short fifo_count; + if (!st.chip_cfg.dmp_on) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp)) + return -1; + fifo_count = (tmp[0] << 8) | tmp[1]; + if (fifo_count < length) { + more[0] = 0; + return -1; + } + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp)) + return -1; + if (tmp[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data)) + return -1; + more[0] = fifo_count / length - 1; + return 0; +} + +/** + * @brief Set device to bypass mode. + * @param[in] bypass_on 1 to enable bypass mode. + * @return 0 if successful. + */ +int mpu_set_bypass(unsigned char bypass_on) +{ + unsigned char tmp; + + if (st.chip_cfg.bypass_mode == bypass_on) + return 0; + + if (bypass_on) { + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + delay_ms(3); + tmp = BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } else { + /* Enable I2C master mode if compass is being used. */ + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + tmp |= BIT_AUX_IF_EN; + else + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + delay_ms(3); + if (st.chip_cfg.active_low_int) + tmp = BIT_ACTL; + else + tmp = 0; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } + st.chip_cfg.bypass_mode = bypass_on; + return 0; +} + +/** + * @brief Set interrupt level. + * @param[in] active_low 1 for active low, 0 for active high. + * @return 0 if successful. + */ +int mpu_set_int_level(unsigned char active_low) +{ + st.chip_cfg.active_low_int = active_low; + return 0; +} + +/** + * @brief Enable latched interrupts. + * Any MPU register will clear the interrupt. + * @param[in] enable 1 to enable, 0 to disable. + * @return 0 if successful. + */ +int mpu_set_int_latched(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.latched_int == enable) + return 0; + + if (enable) + tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR; + else + tmp = 0; + if (st.chip_cfg.bypass_mode) + tmp |= BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + st.chip_cfg.latched_int = enable; + return 0; +} + +#ifdef MPU6050 +static int get_accel_prod_shift(float *st_shift) +{ + unsigned char tmp[4], shift_code[3], ii; + + if (i2c_read(st.hw->addr, 0x0D, 4, tmp)) + return 0x07; + + shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4); + shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2); + shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03); + for (ii = 0; ii < 3; ii++) { + if (!shift_code[ii]) { + st_shift[ii] = 0.f; + continue; + } + /* Equivalent to.. + * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f) + */ + st_shift[ii] = 0.34f; + while (--shift_code[ii]) + st_shift[ii] *= 1.034f; + } + return 0; +} + +static int accel_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + float st_shift[3], st_shift_cust, st_shift_var; + + get_accel_prod_shift(st_shift); + for(jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (st_shift[jj]) { + st_shift_var = st_shift_cust / st_shift[jj] - 1.f; + if (fabs(st_shift_var) > test.max_accel_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_g) || + (st_shift_cust > test.max_g)) + result |= 1 << jj; + } + + return result; +} + +static int gyro_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + unsigned char tmp[3]; + float st_shift, st_shift_cust, st_shift_var; + + if (i2c_read(st.hw->addr, 0x0D, 3, tmp)) + return 0x07; + + tmp[0] &= 0x1F; + tmp[1] &= 0x1F; + tmp[2] &= 0x1F; + + for (jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (tmp[jj]) { + st_shift = 3275.f / test.gyro_sens; + while (--tmp[jj]) + st_shift *= 1.046f; + st_shift_var = st_shift_cust / st_shift - 1.f; + if (fabs(st_shift_var) > test.max_gyro_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_dps) || + (st_shift_cust > test.max_dps)) + result |= 1 << jj; + } + return result; +} + +#ifdef AK89xx_SECONDARY +static int compass_self_test(void) +{ + unsigned char tmp[6]; + unsigned char tries = 10; + int result = 0x07; + short data; + + mpu_set_bypass(1); + + tmp[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + return 0x07; + tmp[0] = AKM_BIT_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp)) + goto AKM_restore; + tmp[0] = AKM_MODE_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + goto AKM_restore; + + do { + delay_ms(10); + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp)) + goto AKM_restore; + if (tmp[0] & AKM_DATA_READY) + break; + } while (tries--); + if (!(tmp[0] & AKM_DATA_READY)) + goto AKM_restore; + + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp)) + goto AKM_restore; + + result = 0; + data = (short)(tmp[1] << 8) | tmp[0]; + if ((data > 100) || (data < -100)) + result |= 0x01; + data = (short)(tmp[3] << 8) | tmp[2]; + if ((data > 100) || (data < -100)) + result |= 0x02; + data = (short)(tmp[5] << 8) | tmp[4]; + if ((data > -300) || (data < -1000)) + result |= 0x04; + +AKM_restore: + tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp); + tmp[0] = SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp); + mpu_set_bypass(0); + return result; +} +#endif +#endif + +static int get_st_biases(long *gyro, long *accel, unsigned char hw_test) +{ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_count, ii; + unsigned short fifo_count; + + data[0] = 0x01; + data[1] = 0; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + return -1; + delay_ms(200); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + data[0] = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + delay_ms(15); + data[0] = st.test->reg_lpf; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + data[0] = st.test->reg_rate_div; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data)) + return -1; + if (hw_test) + data[0] = st.test->reg_gyro_fsr | 0xE0; + else + data[0] = st.test->reg_gyro_fsr; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data)) + return -1; + + if (hw_test) + data[0] = st.test->reg_accel_fsr | 0xE0; + else + data[0] = test.reg_accel_fsr; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + return -1; + if (hw_test) + delay_ms(200); + + /* Fill FIFO for test.wait_ms milliseconds. */ + data[0] = BIT_FIFO_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + + data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + delay_ms(test.wait_ms); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + + fifo_count = (data[0] << 8) | data[1]; + packet_count = fifo_count / MAX_PACKET_LENGTH; + gyro[0] = gyro[1] = gyro[2] = 0; + accel[0] = accel[1] = accel[2] = 0; + + for (ii = 0; ii < packet_count; ii++) { + short accel_cur[3], gyro_cur[3]; + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data)) + return -1; + accel_cur[0] = ((short)data[0] << 8) | data[1]; + accel_cur[1] = ((short)data[2] << 8) | data[3]; + accel_cur[2] = ((short)data[4] << 8) | data[5]; + accel[0] += (long)accel_cur[0]; + accel[1] += (long)accel_cur[1]; + accel[2] += (long)accel_cur[2]; + gyro_cur[0] = (((short)data[6] << 8) | data[7]); + gyro_cur[1] = (((short)data[8] << 8) | data[9]); + gyro_cur[2] = (((short)data[10] << 8) | data[11]); + gyro[0] += (long)gyro_cur[0]; + gyro[1] += (long)gyro_cur[1]; + gyro[2] += (long)gyro_cur[2]; + } +#ifdef EMPL_NO_64BIT + gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count); + gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count); + gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count); + if (has_accel) { + accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens / + packet_count); + accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens / + packet_count); + accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + accel[2] -= 65536L; + } +#else + gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count); + gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count); + gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count); + accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens / + packet_count); + accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens / + packet_count); + accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + if (accel[2] > 0L) + accel[2] -= 65536L; + else + accel[2] += 65536L; +#endif + + return 0; +} + +/** + * @brief Trigger gyro/accel/compass self-test. + * On success/error, the self-test returns a mask representing the sensor(s) + * that failed. For each bit, a one (1) represents a "pass" case; conversely, + * a zero (0) indicates a failure. + * + * \n The mask is defined as follows: + * \n Bit 0: Gyro. + * \n Bit 1: Accel. + * \n Bit 2: Compass. + * + * \n Currently, the hardware self-test is unsupported for MPU6500. However, + * this function can still be used to obtain the accel and gyro biases. + * + * \n This function must be called with the device either face-up or face-down + * (z-axis is parallel to gravity). + * @param[out] gyro Gyro biases in q16 format. + * @param[out] accel Accel biases (if applicable) in q16 format. + * @return Result mask (see above). + */ +int mpu_run_self_test(long *gyro, long *accel) +{ +#ifdef MPU6050 + const unsigned char tries = 2; + long gyro_st[3], accel_st[3]; + unsigned char accel_result, gyro_result; +#ifdef AK89xx_SECONDARY + unsigned char compass_result; +#endif + int ii; +#endif + int result; + unsigned char accel_fsr, fifo_sensors, sensors_on; + unsigned short gyro_fsr, sample_rate, lpf; + unsigned char dmp_was_on; + + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + dmp_was_on = 1; + } else + dmp_was_on = 0; + + /* Get initial settings. */ + mpu_get_gyro_fsr(&gyro_fsr); + mpu_get_accel_fsr(&accel_fsr); + mpu_get_lpf(&lpf); + mpu_get_sample_rate(&sample_rate); + sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&fifo_sensors); + + /* For older chips, the self-test will be different. */ +#if defined MPU6050 + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro, accel, 0)) + break; + if (ii == tries) { + /* If we reach this point, we most likely encountered an I2C error. + * We'll just report an error for all three sensors. + */ + result = 0; + goto restore; + } + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro_st, accel_st, 1)) + break; + if (ii == tries) { + /* Again, probably an I2C error. */ + result = 0; + goto restore; + } + accel_result = accel_self_test(accel, accel_st); + gyro_result = gyro_self_test(gyro, gyro_st); + + result = 0; + if (!gyro_result) + result |= 0x01; + if (!accel_result) + result |= 0x02; + +#ifdef AK89xx_SECONDARY + compass_result = compass_self_test(); + if (!compass_result) + result |= 0x04; +#endif +restore: +#elif defined MPU6500 + /* For now, this function will return a "pass" result for all three sensors + * for compatibility with current test applications. + */ + get_st_biases(gyro, accel, 0); + result = 0x7; +#endif + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_gyro_fsr(gyro_fsr); + mpu_set_accel_fsr(accel_fsr); + mpu_set_lpf(lpf); + mpu_set_sample_rate(sample_rate); + mpu_set_sensors(sensors_on); + mpu_configure_fifo(fifo_sensors); + + if (dmp_was_on) + mpu_set_dmp_state(1); + + return result; +} + +/** + * @brief Write to the DMP memory. + * This function prevents I2C writes past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to write. + * @param[in] data Bytes to write to memory. + * @return 0 if successful. + */ +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Read from the DMP memory. + * This function prevents I2C reads past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to read. + * @param[out] data Bytes read from memory. + * @return 0 if successful. + */ +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Load and verify DMP image. + * @param[in] length Length of DMP image. + * @param[in] firmware DMP code. + * @param[in] start_addr Starting address of DMP code memory. + * @param[in] sample_rate Fixed sampling rate used when DMP is enabled. + * @return 0 if successful. + */ +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate) +{ + unsigned short ii; + unsigned short this_write; + /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */ +#define LOAD_CHUNK (16) + unsigned char cur[LOAD_CHUNK], tmp[2]; + + if (st.chip_cfg.dmp_loaded) + /* DMP should only be loaded once. */ + return -1; + + if (!firmware) + return -1; + for (ii = 0; ii < length; ii += this_write) { + this_write = min(LOAD_CHUNK, length - ii); + if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii])) + return -1; + if (mpu_read_mem(ii, this_write, cur)) + return -1; + if (memcmp(firmware+ii, cur, this_write)) + return -2; + } + + /* Set program start address. */ + tmp[0] = start_addr >> 8; + tmp[1] = start_addr & 0xFF; + if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp)) + return -1; + + st.chip_cfg.dmp_loaded = 1; + st.chip_cfg.dmp_sample_rate = sample_rate; + return 0; +} + +/** + * @brief Enable/disable DMP support. + * @param[in] enable 1 to turn on the DMP. + * @return 0 if successful. + */ +int mpu_set_dmp_state(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.dmp_on == enable) + return 0; + + if (enable) { + if (!st.chip_cfg.dmp_loaded) + return -1; + /* Disable data ready interrupt. */ + set_int_enable(0); + /* Disable bypass mode. */ + mpu_set_bypass(0); + /* Keep constant sample rate, FIFO rate controlled by DMP. */ + mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate); + /* Remove FIFO elements. */ + tmp = 0; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 1; + /* Enable DMP interrupt. */ + set_int_enable(1); + mpu_reset_fifo(); + } else { + /* Disable DMP interrupt. */ + set_int_enable(0); + /* Restore FIFO settings. */ + tmp = st.chip_cfg.fifo_enable; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 0; + mpu_reset_fifo(); + } + return 0; +} + +/** + * @brief Get DMP state. + * @param[out] enabled 1 if enabled. + * @return 0 if successful. + */ +int mpu_get_dmp_state(unsigned char *enabled) +{ + enabled[0] = st.chip_cfg.dmp_on; + return 0; +} + + +/* This initialization is similar to the one in ak8975.c. */ +//static int setup_compass(void) +//{ +//#ifdef AK89xx_SECONDARY +// unsigned char data[4], akm_addr; +// +// mpu_set_bypass(1); +// +// /* Find compass. Possible addresses range from 0x0C to 0x0F. */ +// for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) { +// int result; +// result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data); +// if (!result && (data[0] == AKM_WHOAMI)) +// break; +// } +// +// if (akm_addr > 0x0F) { +// /* TODO: Handle this case in all compass-related functions. */ +// log_e("Compass not found.\n"); +// return -1; +// } +// +// st.chip_cfg.compass_addr = akm_addr; +// +// data[0] = AKM_POWER_DOWN; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// data[0] = AKM_FUSE_ROM_ACCESS; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// /* Get sensitivity adjustment data from fuse ROM. */ +// if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data)) +// return -1; +// st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128; +// st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128; +// st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128; +// +// data[0] = AKM_POWER_DOWN; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// mpu_set_bypass(0); +// +// /* Set up master mode, master clock, and ES bit. */ +// data[0] = 0x40; +// if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) +// return -1; +// +// /* Slave 0 reads from AKM data registers. */ +// data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr; +// if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data)) +// return -1; +// +// /* Compass reads start at this register. */ +// data[0] = AKM_REG_ST1; +// if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data)) +// return -1; +// +// /* Enable slave 0, 8-byte reads. */ +// data[0] = BIT_SLAVE_EN | 8; +// if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data)) +// return -1; +// +// /* Slave 1 changes AKM measurement mode. */ +// data[0] = st.chip_cfg.compass_addr; +// if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data)) +// return -1; +// +// /* AKM measurement mode register. */ +// data[0] = AKM_REG_CNTL; +// if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data)) +// return -1; +// +// /* Enable slave 1, 1-byte writes. */ +// data[0] = BIT_SLAVE_EN | 1; +// if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data)) +// return -1; +// +// /* Set slave 1 data. */ +// data[0] = AKM_SINGLE_MEASUREMENT; +// if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data)) +// return -1; +// +// /* Trigger slave 0 and slave 1 actions at each sample. */ +// data[0] = 0x03; +// if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data)) +// return -1; +// +//#ifdef MPU9150 +// /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */ +// data[0] = BIT_I2C_MST_VDDIO; +// if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data)) +// return -1; +//#endif +// +// return 0; +//#else +// return -1; +//#endif +//} + +/** + * @brief Read raw compass data. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_compass_reg(short *data, unsigned long *timestamp) +{ +#ifdef AK89xx_SECONDARY + unsigned char tmp[9]; + + if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + return -1; + +#ifdef AK89xx_BYPASS + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp)) + return -1; + tmp[8] = AKM_SINGLE_MEASUREMENT; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8)) + return -1; +#else + if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp)) + return -1; +#endif + +#if defined AK8975_SECONDARY + /* AK8975 doesn't have the overrun error bit. */ + if (!(tmp[0] & AKM_DATA_READY)) + return -2; + if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR)) + return -3; +#elif defined AK8963_SECONDARY + /* AK8963 doesn't have the data read error bit. */ + if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN)) + return -2; + if (tmp[7] & AKM_OVERFLOW) + return -3; +#endif + data[0] = (tmp[2] << 8) | tmp[1]; + data[1] = (tmp[4] << 8) | tmp[3]; + data[2] = (tmp[6] << 8) | tmp[5]; + + data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8; + data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8; + data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8; + + if (timestamp) + get_ms(timestamp); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get the compass full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_compass_fsr(unsigned short *fsr) +{ +#ifdef AK89xx_SECONDARY + fsr[0] = st.hw->compass_fsr; + return 0; +#else + return -1; +#endif +} + +/** + * @brief Enters LP accel motion interrupt mode. + * The behavior of this feature is very different between the MPU6050 and the + * MPU6500. Each chip's version of this feature is explained below. + * + * \n MPU6050: + * \n When this mode is first enabled, the hardware captures a single accel + * sample, and subsequent samples are compared with this one to determine if + * the device is in motion. Therefore, whenever this "locked" sample needs to + * be changed, this function must be called again. + * + * \n The hardware motion threshold can be between 32mg and 8160mg in 32mg + * increments. + * + * \n Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 5Hz, 20Hz, 40Hz + * + * \n MPU6500: + * \n Unlike the MPU6050 version, the hardware does not "lock in" a reference + * sample. The hardware monitors the accel data and detects any large change + * over a short period of time. + * + * \n The hardware motion threshold can be between 4mg and 1020mg in 4mg + * increments. + * + * \n MPU6500 Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * + * \n\n NOTES: + * \n The driver will round down @e thresh to the nearest supported value if + * an unsupported threshold is selected. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e lpa_freq. + * \n The MPU6500 does not support a delay parameter. If this function is used + * for the MPU6500, the value passed to @e time will be ignored. + * \n To disable this mode, set @e lpa_freq to zero. The driver will restore + * the previous configuration. + * + * @param[in] thresh Motion threshold in mg. + * @param[in] time Duration in milliseconds that the accel data must + * exceed @e thresh before motion is reported. + * @param[in] lpa_freq Minimum sampling rate, or zero to disable. + * @return 0 if successful. + */ +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq) +{ + unsigned char data[3]; + + if (lpa_freq) { + unsigned char thresh_hw; + +#if defined MPU6050 + /* TODO: Make these const/#defines. */ + /* 1LSb = 32mg. */ + if (thresh > 8160) + thresh_hw = 255; + else if (thresh < 32) + thresh_hw = 1; + else + thresh_hw = thresh >> 5; +#elif defined MPU6500 + /* 1LSb = 4mg. */ + if (thresh > 1020) + thresh_hw = 255; + else if (thresh < 4) + thresh_hw = 1; + else + thresh_hw = thresh >> 2; +#endif + + if (!time) + /* Minimum duration must be 1ms. */ + time = 1; + +#if defined MPU6050 + if (lpa_freq > 40) +#elif defined MPU6500 + if (lpa_freq > 640) +#endif + /* At this point, the chip has not been re-configured, so the + * function can safely exit. + */ + return -1; + + if (!st.chip_cfg.int_motion_only) { + /* Store current settings for later. */ + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + st.chip_cfg.cache.dmp_on = 1; + } else + st.chip_cfg.cache.dmp_on = 0; + mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr); + mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr); + mpu_get_lpf(&st.chip_cfg.cache.lpf); + mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate); + st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors); + } + +#ifdef MPU6050 + /* Disable hardware interrupts for now. */ + set_int_enable(0); + + /* Enter full-power accel-only mode. */ + mpu_lp_accel_mode(0); + + /* Override current LPF (and HPF) settings to obtain a valid accel + * reading. + */ + data[0] = INV_FILTER_256HZ_NOLPF2; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + + /* NOTE: Digital high pass filter should be configured here. Since this + * driver doesn't modify those bits anywhere, they should already be + * cleared by default. + */ + + /* Configure the device to send motion interrupts. */ + /* Enable motion interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + /* Set motion interrupt parameters. */ + data[0] = thresh_hw; + data[1] = time; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 2, data)) + goto lp_int_restore; + + /* Force hardware to "lock" current accel sample. */ + delay_ms(5); + data[0] = (st.chip_cfg.accel_fsr << 3) | BITS_HPF; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + goto lp_int_restore; + + /* Set up LP accel mode. */ + data[0] = BIT_LPA_CYCLE; + if (lpa_freq == 1) + data[1] = INV_LPA_1_25HZ; + else if (lpa_freq <= 5) + data[1] = INV_LPA_5HZ; + else if (lpa_freq <= 20) + data[1] = INV_LPA_20HZ; + else + data[1] = INV_LPA_40HZ; + data[1] = (data[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#elif defined MPU6500 + /* Disable hardware interrupts. */ + set_int_enable(0); + + /* Enter full-power accel-only mode, no FIFO/DMP. */ + data[0] = 0; + data[1] = 0; + data[2] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data)) + goto lp_int_restore; + + /* Set motion threshold. */ + data[0] = thresh_hw; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data)) + goto lp_int_restore; + + /* Set wake frequency. */ + if (lpa_freq == 1) + data[0] = INV_LPA_1_25HZ; + else if (lpa_freq == 2) + data[0] = INV_LPA_2_5HZ; + else if (lpa_freq <= 5) + data[0] = INV_LPA_5HZ; + else if (lpa_freq <= 10) + data[0] = INV_LPA_10HZ; + else if (lpa_freq <= 20) + data[0] = INV_LPA_20HZ; + else if (lpa_freq <= 40) + data[0] = INV_LPA_40HZ; + else if (lpa_freq <= 80) + data[0] = INV_LPA_80HZ; + else if (lpa_freq <= 160) + data[0] = INV_LPA_160HZ; + else if (lpa_freq <= 320) + data[0] = INV_LPA_320HZ; + else + data[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data)) + goto lp_int_restore; + + /* Enable motion interrupt (MPU6500 version). */ + data[0] = BITS_WOM_EN; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; + + /* Enable cycle mode. */ + data[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + goto lp_int_restore; + + /* Enable interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#endif + } else { + /* Don't "restore" the previous state if no state has been saved. */ + int ii; + char *cache_ptr = (char*)&st.chip_cfg.cache; + for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) { + if (cache_ptr[ii] != 0) + goto lp_int_restore; + } + /* If we reach this point, motion interrupt mode hasn't been used yet. */ + return -1; + } +lp_int_restore: + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_sensors(st.chip_cfg.cache.sensors_on); + mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr); + mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr); + mpu_set_lpf(st.chip_cfg.cache.lpf); + mpu_set_sample_rate(st.chip_cfg.cache.sample_rate); + mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors); + + if (st.chip_cfg.cache.dmp_on) + mpu_set_dmp_state(1); + +#ifdef MPU6500 + /* Disable motion interrupt (MPU6500 version). */ + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; +#endif + + st.chip_cfg.int_motion_only = 0; + return 0; +} +void myget_ms(unsigned long *time) +{ + +} +/** + * @} + */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu.h new file mode 100644 index 0000000..a67d924 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu.h @@ -0,0 +1,122 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.h + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ + +#ifndef _INV_MPU_H_ +#define _INV_MPU_H_ + +#define INV_X_GYRO (0x40) +#define INV_Y_GYRO (0x20) +#define INV_Z_GYRO (0x10) +#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) +#define INV_XYZ_ACCEL (0x08) +#define INV_XYZ_COMPASS (0x01) + +struct int_param_s { +//#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 + void (*cb)(void); + unsigned short pin; + unsigned char lp_exit; + unsigned char active_low; +/*#elif defined EMPL_TARGET_UC3L0 + unsigned long pin; + void (*cb)(volatile void*); + void *arg; +#endif */ +}; + +#define MPU_INT_STATUS_DATA_READY (0x0001) +#define MPU_INT_STATUS_DMP (0x0002) +#define MPU_INT_STATUS_PLL_READY (0x0004) +#define MPU_INT_STATUS_I2C_MST (0x0008) +#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) +#define MPU_INT_STATUS_ZMOT (0x0020) +#define MPU_INT_STATUS_MOT (0x0040) +#define MPU_INT_STATUS_FREE_FALL (0x0080) +#define MPU_INT_STATUS_DMP_0 (0x0100) +#define MPU_INT_STATUS_DMP_1 (0x0200) +#define MPU_INT_STATUS_DMP_2 (0x0400) +#define MPU_INT_STATUS_DMP_3 (0x0800) +#define MPU_INT_STATUS_DMP_4 (0x1000) +#define MPU_INT_STATUS_DMP_5 (0x2000) + +/* Set up APIs */ +int mpu_init(void); +int mpu_init_slave(void); +int mpu_set_bypass(unsigned char bypass_on); + +/* Configuration APIs */ +int mpu_lp_accel_mode(unsigned char rate); +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq); +int mpu_set_int_level(unsigned char active_low); +int mpu_set_int_latched(unsigned char enable); + +int mpu_set_dmp_state(unsigned char enable); +int mpu_get_dmp_state(unsigned char *enabled); + +int mpu_get_lpf(unsigned short *lpf); +int mpu_set_lpf(unsigned short lpf); + +int mpu_get_gyro_fsr(unsigned short *fsr); +int mpu_set_gyro_fsr(unsigned short fsr); + +int mpu_get_accel_fsr(unsigned char *fsr); +int mpu_set_accel_fsr(unsigned char fsr); + +int mpu_get_compass_fsr(unsigned short *fsr); + +int mpu_get_gyro_sens(float *sens); +int mpu_get_accel_sens(unsigned short *sens); + +int mpu_get_sample_rate(unsigned short *rate); +int mpu_set_sample_rate(unsigned short rate); +int mpu_get_compass_sample_rate(unsigned short *rate); +int mpu_set_compass_sample_rate(unsigned short rate); + +int mpu_get_fifo_config(unsigned char *sensors); +int mpu_configure_fifo(unsigned char sensors); + +int mpu_get_power_state(unsigned char *power_on); +int mpu_set_sensors(unsigned char sensors); + +int mpu_set_accel_bias(const long *accel_bias); + +/* Data getter/setter APIs */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp); +int mpu_get_accel_reg(short *data, unsigned long *timestamp); +int mpu_get_compass_reg(short *data, unsigned long *timestamp); +int mpu_get_temperature(long *data, unsigned long *timestamp); + +int mpu_get_int_status(short *status); +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more); +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more); +int mpu_reset_fifo(void); + +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate); + +int mpu_reg_dump(void); +int mpu_read_reg(unsigned char reg, unsigned char *data); +int mpu_run_self_test(long *gyro, long *accel); +int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); +void myget_ms(unsigned long *time); +#endif /* #ifndef _INV_MPU_H_ */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu_dmp_motion_driver.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu_dmp_motion_driver.c new file mode 100644 index 0000000..0ac2044 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu_dmp_motion_driver.c @@ -0,0 +1,1361 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.c + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#include "sys.h" + + +#define MOTION_DRIVER_TARGET_MSP430 +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + */ +#if defined MOTION_DRIVER_TARGET_MSP430 +//#include "msp430.h" +//#include "msp430_clock.h" +#define delay_ms delay_ms +#define get_ms get_ms +#define log_e printf +#define log_i printf + +#elif defined EMPL_TARGET_MSP430 +#include "msp430.h" +#include "msp430_clock.h" +#include "log.h" +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#elif defined EMPL_TARGET_UC3L0 +/* Instead of using the standard TWI driver from the ASF library, we're using + * a TWI driver that follows the slave address + register address convention. + */ +#include "delay.h" +#include "sysclk.h" +#include "log.h" +#include "uc3l0_clock.h" +/* delay_ms is a function already defined in ASF. */ +#define get_ms uc3l0_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#else +//#error Gyro driver is missing the system layer implementations. +#endif + +/* These defines are copied from dmpDefaultMPU6050.c in the general MPL + * releases. These defines may change for each DMP image, so be sure to modify + * these values when switching to a new image. + */ +#define CFG_LP_QUAT (2712) +#define END_ORIENT_TEMP (1866) +#define CFG_27 (2742) +#define CFG_20 (2224) +#define CFG_23 (2745) +#define CFG_FIFO_ON_EVENT (2690) +#define END_PREDICTION_UPDATE (1761) +#define CGNOTICE_INTR (2620) +#define X_GRT_Y_TMP (1358) +#define CFG_DR_INT (1029) +#define CFG_AUTH (1035) +#define UPDATE_PROP_ROT (1835) +#define END_COMPARE_Y_X_TMP2 (1455) +#define SKIP_X_GRT_Y_TMP (1359) +#define SKIP_END_COMPARE (1435) +#define FCFG_3 (1088) +#define FCFG_2 (1066) +#define FCFG_1 (1062) +#define END_COMPARE_Y_X_TMP3 (1434) +#define FCFG_7 (1073) +#define FCFG_6 (1106) +#define FLAT_STATE_END (1713) +#define SWING_END_4 (1616) +#define SWING_END_2 (1565) +#define SWING_END_3 (1587) +#define SWING_END_1 (1550) +#define CFG_8 (2718) +#define CFG_15 (2727) +#define CFG_16 (2746) +#define CFG_EXT_GYRO_BIAS (1189) +#define END_COMPARE_Y_X_TMP (1407) +#define DO_NOT_UPDATE_PROP_ROT (1839) +#define CFG_7 (1205) +#define FLAT_STATE_END_TEMP (1683) +#define END_COMPARE_Y_X (1484) +#define SKIP_SWING_END_1 (1551) +#define SKIP_SWING_END_3 (1588) +#define SKIP_SWING_END_2 (1566) +#define TILTG75_START (1672) +#define CFG_6 (2753) +#define TILTL75_END (1669) +#define END_ORIENT (1884) +#define CFG_FLICK_IN (2573) +#define TILTL75_START (1643) +#define CFG_MOTION_BIAS (1208) +#define X_GRT_Y (1408) +#define TEMPLABEL (2324) +#define CFG_ANDROID_ORIENT_INT (1853) +#define CFG_GYRO_RAW_DATA (2722) +#define X_GRT_Y_TMP2 (1379) + +#define D_0_22 (22+512) +#define D_0_24 (24+512) + +#define D_0_36 (36) +#define D_0_52 (52) +#define D_0_96 (96) +#define D_0_104 (104) +#define D_0_108 (108) +#define D_0_163 (163) +#define D_0_188 (188) +#define D_0_192 (192) +#define D_0_224 (224) +#define D_0_228 (228) +#define D_0_232 (232) +#define D_0_236 (236) + +#define D_1_2 (256 + 2) +#define D_1_4 (256 + 4) +#define D_1_8 (256 + 8) +#define D_1_10 (256 + 10) +#define D_1_24 (256 + 24) +#define D_1_28 (256 + 28) +#define D_1_36 (256 + 36) +#define D_1_40 (256 + 40) +#define D_1_44 (256 + 44) +#define D_1_72 (256 + 72) +#define D_1_74 (256 + 74) +#define D_1_79 (256 + 79) +#define D_1_88 (256 + 88) +#define D_1_90 (256 + 90) +#define D_1_92 (256 + 92) +#define D_1_96 (256 + 96) +#define D_1_98 (256 + 98) +#define D_1_106 (256 + 106) +#define D_1_108 (256 + 108) +#define D_1_112 (256 + 112) +#define D_1_128 (256 + 144) +#define D_1_152 (256 + 12) +#define D_1_160 (256 + 160) +#define D_1_176 (256 + 176) +#define D_1_178 (256 + 178) +#define D_1_218 (256 + 218) +#define D_1_232 (256 + 232) +#define D_1_236 (256 + 236) +#define D_1_240 (256 + 240) +#define D_1_244 (256 + 244) +#define D_1_250 (256 + 250) +#define D_1_252 (256 + 252) +#define D_2_12 (512 + 12) +#define D_2_96 (512 + 96) +#define D_2_108 (512 + 108) +#define D_2_208 (512 + 208) +#define D_2_224 (512 + 224) +#define D_2_236 (512 + 236) +#define D_2_244 (512 + 244) +#define D_2_248 (512 + 248) +#define D_2_252 (512 + 252) + +#define CPASS_BIAS_X (35 * 16 + 4) +#define CPASS_BIAS_Y (35 * 16 + 8) +#define CPASS_BIAS_Z (35 * 16 + 12) +#define CPASS_MTX_00 (36 * 16) +#define CPASS_MTX_01 (36 * 16 + 4) +#define CPASS_MTX_02 (36 * 16 + 8) +#define CPASS_MTX_10 (36 * 16 + 12) +#define CPASS_MTX_11 (37 * 16) +#define CPASS_MTX_12 (37 * 16 + 4) +#define CPASS_MTX_20 (37 * 16 + 8) +#define CPASS_MTX_21 (37 * 16 + 12) +#define CPASS_MTX_22 (43 * 16 + 12) +#define D_EXT_GYRO_BIAS_X (61 * 16) +#define D_EXT_GYRO_BIAS_Y (61 * 16) + 4 +#define D_EXT_GYRO_BIAS_Z (61 * 16) + 8 +#define D_ACT0 (40 * 16) +#define D_ACSX (40 * 16 + 4) +#define D_ACSY (40 * 16 + 8) +#define D_ACSZ (40 * 16 + 12) + +#define FLICK_MSG (45 * 16 + 4) +#define FLICK_COUNTER (45 * 16 + 8) +#define FLICK_LOWER (45 * 16 + 12) +#define FLICK_UPPER (46 * 16 + 12) + +#define D_AUTH_OUT (992) +#define D_AUTH_IN (996) +#define D_AUTH_A (1000) +#define D_AUTH_B (1004) + +#define D_PEDSTD_BP_B (768 + 0x1C) +#define D_PEDSTD_HP_A (768 + 0x78) +#define D_PEDSTD_HP_B (768 + 0x7C) +#define D_PEDSTD_BP_A4 (768 + 0x40) +#define D_PEDSTD_BP_A3 (768 + 0x44) +#define D_PEDSTD_BP_A2 (768 + 0x48) +#define D_PEDSTD_BP_A1 (768 + 0x4C) +#define D_PEDSTD_INT_THRSH (768 + 0x68) +#define D_PEDSTD_CLIP (768 + 0x6C) +#define D_PEDSTD_SB (768 + 0x28) +#define D_PEDSTD_SB_TIME (768 + 0x2C) +#define D_PEDSTD_PEAKTHRSH (768 + 0x98) +#define D_PEDSTD_TIML (768 + 0x2A) +#define D_PEDSTD_TIMH (768 + 0x2E) +#define D_PEDSTD_PEAK (768 + 0X94) +#define D_PEDSTD_STEPCTR (768 + 0x60) +#define D_PEDSTD_TIMECTR (964) +#define D_PEDSTD_DECI (768 + 0xA0) + +#define D_HOST_NO_MOT (976) +#define D_ACCEL_BIAS (660) + +#define D_ORIENT_GAP (76) + +#define D_TILT0_H (48) +#define D_TILT0_L (50) +#define D_TILT1_H (52) +#define D_TILT1_L (54) +#define D_TILT2_H (56) +#define D_TILT2_L (58) +#define D_TILT3_H (60) +#define D_TILT3_L (62) + +#define DMP_CODE_SIZE (3062) + +static const unsigned char dmp_memory[DMP_CODE_SIZE] = { + /* bank # 0 */ + 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, + 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01, + 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e, + 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, + 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1, + 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2, + 0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, + 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf, + 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00, + 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65, + 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, + 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 1 */ + 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, + 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, + 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00, + 0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00, + 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28, + 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00, + /* bank # 2 */ + 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, + 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x67, 0x7d, 0xdf, 0x7e, 0x72, 0x90, 0x2e, 0x55, 0x4c, 0xf6, 0xe6, 0x88, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + + /* bank # 4 */ + 0xd8, 0xdc, 0xb4, 0xb8, 0xb0, 0xd8, 0xb9, 0xab, 0xf3, 0xf8, 0xfa, 0xb3, 0xb7, 0xbb, 0x8e, 0x9e, + 0xae, 0xf1, 0x32, 0xf5, 0x1b, 0xf1, 0xb4, 0xb8, 0xb0, 0x80, 0x97, 0xf1, 0xa9, 0xdf, 0xdf, 0xdf, + 0xaa, 0xdf, 0xdf, 0xdf, 0xf2, 0xaa, 0xc5, 0xcd, 0xc7, 0xa9, 0x0c, 0xc9, 0x2c, 0x97, 0xf1, 0xa9, + 0x89, 0x26, 0x46, 0x66, 0xb2, 0x89, 0x99, 0xa9, 0x2d, 0x55, 0x7d, 0xb0, 0xb0, 0x8a, 0xa8, 0x96, + 0x36, 0x56, 0x76, 0xf1, 0xba, 0xa3, 0xb4, 0xb2, 0x80, 0xc0, 0xb8, 0xa8, 0x97, 0x11, 0xb2, 0x83, + 0x98, 0xba, 0xa3, 0xf0, 0x24, 0x08, 0x44, 0x10, 0x64, 0x18, 0xb2, 0xb9, 0xb4, 0x98, 0x83, 0xf1, + 0xa3, 0x29, 0x55, 0x7d, 0xba, 0xb5, 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0xfc, 0xd8, 0x0d, 0xdb, 0xa8, 0xfc, 0x2d, 0xf3, 0xd9, 0xba, + 0xa6, 0xf8, 0xda, 0xba, 0xa6, 0xde, 0xd8, 0xba, 0xb2, 0xb6, 0x86, 0x96, 0xa6, 0xd0, 0xf3, 0xc8, + 0x41, 0xda, 0xa6, 0xc8, 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0x82, 0xa8, 0x92, 0xf5, 0x2c, 0x54, 0x88, + 0x98, 0xf1, 0x35, 0xd9, 0xf4, 0x18, 0xd8, 0xf1, 0xa2, 0xd0, 0xf8, 0xf9, 0xa8, 0x84, 0xd9, 0xc7, + 0xdf, 0xf8, 0xf8, 0x83, 0xc5, 0xda, 0xdf, 0x69, 0xdf, 0x83, 0xc1, 0xd8, 0xf4, 0x01, 0x14, 0xf1, + 0xa8, 0x82, 0x4e, 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x28, 0x97, 0x88, 0xf1, + 0x09, 0xf4, 0x1c, 0x1c, 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x29, + 0xf4, 0x0d, 0xd8, 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc2, 0x03, 0xd8, 0xde, 0xdf, 0x1a, + 0xd8, 0xf1, 0xa2, 0xfa, 0xf9, 0xa8, 0x84, 0x98, 0xd9, 0xc7, 0xdf, 0xf8, 0xf8, 0xf8, 0x83, 0xc7, + 0xda, 0xdf, 0x69, 0xdf, 0xf8, 0x83, 0xc3, 0xd8, 0xf4, 0x01, 0x14, 0xf1, 0x98, 0xa8, 0x82, 0x2e, + 0xa8, 0x84, 0xf3, 0x11, 0xd1, 0x82, 0xf5, 0xd9, 0x92, 0x50, 0x97, 0x88, 0xf1, 0x09, 0xf4, 0x1c, + 0xd8, 0x84, 0xa8, 0xf3, 0xc0, 0xf8, 0xf9, 0xd1, 0xd9, 0x97, 0x82, 0xf1, 0x49, 0xf4, 0x0d, 0xd8, + 0xf3, 0xf9, 0xf9, 0xd1, 0xd9, 0x82, 0xf4, 0xc4, 0x03, 0xd8, 0xde, 0xdf, 0xd8, 0xf1, 0xad, 0x88, + 0x98, 0xcc, 0xa8, 0x09, 0xf9, 0xd9, 0x82, 0x92, 0xa8, 0xf5, 0x7c, 0xf1, 0x88, 0x3a, 0xcf, 0x94, + 0x4a, 0x6e, 0x98, 0xdb, 0x69, 0x31, 0xda, 0xad, 0xf2, 0xde, 0xf9, 0xd8, 0x87, 0x95, 0xa8, 0xf2, + 0x21, 0xd1, 0xda, 0xa5, 0xf9, 0xf4, 0x17, 0xd9, 0xf1, 0xae, 0x8e, 0xd0, 0xc0, 0xc3, 0xae, 0x82, + /* bank # 6 */ + 0xc6, 0x84, 0xc3, 0xa8, 0x85, 0x95, 0xc8, 0xa5, 0x88, 0xf2, 0xc0, 0xf1, 0xf4, 0x01, 0x0e, 0xf1, + 0x8e, 0x9e, 0xa8, 0xc6, 0x3e, 0x56, 0xf5, 0x54, 0xf1, 0x88, 0x72, 0xf4, 0x01, 0x15, 0xf1, 0x98, + 0x45, 0x85, 0x6e, 0xf5, 0x8e, 0x9e, 0x04, 0x88, 0xf1, 0x42, 0x98, 0x5a, 0x8e, 0x9e, 0x06, 0x88, + 0x69, 0xf4, 0x01, 0x1c, 0xf1, 0x98, 0x1e, 0x11, 0x08, 0xd0, 0xf5, 0x04, 0xf1, 0x1e, 0x97, 0x02, + 0x02, 0x98, 0x36, 0x25, 0xdb, 0xf9, 0xd9, 0x85, 0xa5, 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0x49, 0xda, 0xa6, 0xcb, + 0xf8, 0xd8, 0xb0, 0xb4, 0xb8, 0xd8, 0xad, 0x84, 0xf2, 0xc0, 0xdf, 0xf1, 0x8f, 0xcb, 0xc3, 0xa8, + /* bank # 7 */ + 0xb2, 0xb6, 0x86, 0x96, 0xc8, 0xc1, 0xcb, 0xc3, 0xf3, 0xb0, 0xb4, 0x88, 0x98, 0xa8, 0x21, 0xdb, + 0x71, 0x8d, 0x9d, 0x71, 0x85, 0x95, 0x21, 0xd9, 0xad, 0xf2, 0xfa, 0xd8, 0x85, 0x97, 0xa8, 0x28, + 0xd9, 0xf4, 0x08, 0xd8, 0xf2, 0x8d, 0x29, 0xda, 0xf4, 0x05, 0xd9, 0xf2, 0x85, 0xa4, 0xc2, 0xf2, + 0xd8, 0xa8, 0x8d, 0x94, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xf2, 0xd8, 0x87, 0x21, 0xd8, 0xf4, 0x0a, + 0xd8, 0xf2, 0x84, 0x98, 0xa8, 0xc8, 0x01, 0xd1, 0xd9, 0xf4, 0x11, 0xd8, 0xf3, 0xa4, 0xc8, 0xbb, + 0xaf, 0xd0, 0xf2, 0xde, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xd8, 0xf1, 0xb8, 0xf6, + 0xb5, 0xb9, 0xb0, 0x8a, 0x95, 0xa3, 0xde, 0x3c, 0xa3, 0xd9, 0xf8, 0xd8, 0x5c, 0xa3, 0xd9, 0xf8, + 0xd8, 0x7c, 0xa3, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa5, 0xd9, 0xdf, 0xda, 0xfa, 0xd8, 0xb1, + 0x85, 0x30, 0xf7, 0xd9, 0xde, 0xd8, 0xf8, 0x30, 0xad, 0xda, 0xde, 0xd8, 0xf2, 0xb4, 0x8c, 0x99, + 0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb, + 0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9, + 0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9, + 0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac, + 0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6, + 0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0, + 0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf, + /* bank # 8 */ + 0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30, + 0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9, + 0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 0xd9, 0xdf, 0xdf, 0xa0, + 0xdf, 0xdf, 0xd8, 0xf1, 0xa8, 0x88, 0x90, 0x2c, 0x54, 0x7c, 0x98, 0xa8, 0xd0, 0x5c, 0x38, 0xd1, + 0xda, 0xf2, 0xae, 0x8c, 0xdf, 0xf9, 0xd8, 0xb0, 0x87, 0xa8, 0xc1, 0xc1, 0xb1, 0x88, 0xa8, 0xc6, + 0xf9, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xa8, + 0xf9, 0xda, 0x36, 0xd8, 0xa8, 0xf9, 0xda, 0x36, 0xd8, 0xf7, 0x8d, 0x9d, 0xad, 0xf8, 0x18, 0xda, + 0xf2, 0xae, 0xdf, 0xd8, 0xf7, 0xad, 0xfa, 0x30, 0xd9, 0xa4, 0xde, 0xf9, 0xd8, 0xf2, 0xae, 0xde, + 0xfa, 0xf9, 0x83, 0xa7, 0xd9, 0xc3, 0xc5, 0xc7, 0xf1, 0x88, 0x9b, 0xa7, 0x7a, 0xad, 0xf7, 0xde, + 0xdf, 0xa4, 0xf8, 0x84, 0x94, 0x08, 0xa7, 0x97, 0xf3, 0x00, 0xae, 0xf2, 0x98, 0x19, 0xa4, 0x88, + 0xc6, 0xa3, 0x94, 0x88, 0xf6, 0x32, 0xdf, 0xf2, 0x83, 0x93, 0xdb, 0x09, 0xd9, 0xf2, 0xaa, 0xdf, + 0xd8, 0xd8, 0xae, 0xf8, 0xf9, 0xd1, 0xda, 0xf3, 0xa4, 0xde, 0xa7, 0xf1, 0x88, 0x9b, 0x7a, 0xd8, + 0xf3, 0x84, 0x94, 0xae, 0x19, 0xf9, 0xda, 0xaa, 0xf1, 0xdf, 0xd8, 0xa8, 0x81, 0xc0, 0xc3, 0xc5, + 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8, + 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7, + 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8, + /* bank # 9 */ + 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0, + 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b, + 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab, + 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0, + 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0, + 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59, + 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31, + 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28, + 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0, + 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9, + 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c, + 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e, + 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0, + 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf, + 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2, + 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83, + /* bank # 10 */ + 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6, + 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, + 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb, + 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c, + 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8, + 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9, + 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2, + 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84, + 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0, + 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3, + 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9, + 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, + 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90, + 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, + /* bank # 11 */ + 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83, + 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19, + 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39, + 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7, + 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80, + 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9, + 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26, + 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89, + 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, + 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, + 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, + 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, + 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00, + 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10, + 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88, + 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff +}; + +static const unsigned short sStartAddress = 0x0400; + +/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */ + +#define INT_SRC_TAP (0x01) +#define INT_SRC_ANDROID_ORIENT (0x08) + +#define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \ + DMP_FEATURE_SEND_CAL_GYRO) + +#define MAX_PACKET_LENGTH (32) + +#define DMP_SAMPLE_RATE (200) +#define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) + +#define FIFO_CORRUPTION_CHECK +#ifdef FIFO_CORRUPTION_CHECK +#define QUAT_ERROR_THRESH (1L<<24) +#define QUAT_MAG_SQ_NORMALIZED (1L<<28) +#define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) +#define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) +#endif + +struct dmp_s { + void (*tap_cb)(unsigned char count, unsigned char direction); + void (*android_orient_cb)(unsigned char orientation); + unsigned short orient; + unsigned short feature_mask; + unsigned short fifo_rate; + unsigned char packet_length; +}; + +//static struct dmp_s dmp = { +// .tap_cb = NULL, +// .android_orient_cb = NULL, +// .orient = 0, +// .feature_mask = 0, +// .fifo_rate = 0, +// .packet_length = 0 +//}; +static struct dmp_s dmp={ + 0, + 0, + 0, + 0, + 0, + 0 +}; +/** + * @brief Load the DMP with this image. + * @return 0 if successful. + */ +int dmp_load_motion_driver_firmware(void) +{ + return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress, + DMP_SAMPLE_RATE); +} + +/** + * @brief Push gyro and accel orientation to the DMP. + * The orientation is represented here as the output of + * @e inv_orientation_matrix_to_scalar. + * @param[in] orient Gyro and accel orientation in body frame. + * @return 0 if successful. + */ +int dmp_set_orientation(unsigned short orient) +{ + unsigned char gyro_regs[3], accel_regs[3]; + const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C}; + const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C}; + const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76}; + const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66}; + + gyro_regs[0] = gyro_axes[orient & 3]; + gyro_regs[1] = gyro_axes[(orient >> 3) & 3]; + gyro_regs[2] = gyro_axes[(orient >> 6) & 3]; + accel_regs[0] = accel_axes[orient & 3]; + accel_regs[1] = accel_axes[(orient >> 3) & 3]; + accel_regs[2] = accel_axes[(orient >> 6) & 3]; + + /* Chip-to-body, axes only. */ + if (mpu_write_mem(FCFG_1, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_2, 3, accel_regs)) + return -1; + + memcpy(gyro_regs, gyro_sign, 3); + memcpy(accel_regs, accel_sign, 3); + if (orient & 4) { + gyro_regs[0] |= 1; + accel_regs[0] |= 1; + } + if (orient & 0x20) { + gyro_regs[1] |= 1; + accel_regs[1] |= 1; + } + if (orient & 0x100) { + gyro_regs[2] |= 1; + accel_regs[2] |= 1; + } + + /* Chip-to-body, sign only. */ + if (mpu_write_mem(FCFG_3, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_7, 3, accel_regs)) + return -1; + dmp.orient = orient; + return 0; +} + +/** + * @brief Push gyro biases to the DMP. + * Because the gyro integration is handled in the DMP, any gyro biases + * calculated by the MPL should be pushed down to DMP memory to remove + * 3-axis quaternion drift. + * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will + * overwrite the biases written to this location once a new one is computed. + * @param[in] bias Gyro biases in q16. + * @return 0 if successful. + */ +int dmp_set_gyro_bias(long *bias) +{ + long gyro_bias_body[3]; + unsigned char regs[4]; + + gyro_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + gyro_bias_body[0] *= -1; + gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + gyro_bias_body[1] *= -1; + gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + gyro_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f); + gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f); + gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f); +#else + gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30); + gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30); + gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30); +#endif + + regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF); + return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs); +} + +/** + * @brief Push accel biases to the DMP. + * These biases will be removed from the DMP 6-axis quaternion. + * @param[in] bias Accel biases in q16. + * @return 0 if successful. + */ +int dmp_set_accel_bias(long *bias) +{ + long accel_bias_body[3]; + unsigned char regs[12]; + long long accel_sf; + unsigned short accel_sens; + + mpu_get_accel_sens(&accel_sens); + accel_sf = (long long)accel_sens << 15; + //__no_operation(); + + accel_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + accel_bias_body[0] *= -1; + accel_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + accel_bias_body[1] *= -1; + accel_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + accel_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f); + accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f); + accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f); +#else + accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30); + accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30); + accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30); +#endif + + regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF); + regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF); + regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF); + regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF); + regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF); + regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF); + regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF); + regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF); + regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF); + return mpu_write_mem(D_ACCEL_BIAS, 12, regs); +} + +/** + * @brief Set DMP output rate. + * Only used when DMP is on. + * @param[in] rate Desired fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_set_fifo_rate(unsigned short rate) +{ + const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB, + 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF}; + unsigned short div; + unsigned char tmp[8]; + + if (rate > DMP_SAMPLE_RATE) + return -1; + div = DMP_SAMPLE_RATE / rate - 1; + tmp[0] = (unsigned char)((div >> 8) & 0xFF); + tmp[1] = (unsigned char)(div & 0xFF); + if (mpu_write_mem(D_0_22, 2, tmp)) + return -1; + if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end)) + return -1; + + dmp.fifo_rate = rate; + return 0; +} + +/** + * @brief Get DMP output rate. + * @param[out] rate Current fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_get_fifo_rate(unsigned short *rate) +{ + rate[0] = dmp.fifo_rate; + return 0; +} + +/** + * @brief Set tap threshold for a specific axis. + * @param[in] axis 1, 2, and 4 for XYZ accel, respectively. + * @param[in] thresh Tap threshold, in mg/ms. + * @return 0 if successful. + */ +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh) +{ + unsigned char tmp[4], accel_fsr; + float scaled_thresh; + unsigned short dmp_thresh, dmp_thresh_2; + if (!(axis & TAP_XYZ) || thresh > 1600) + return -1; + + scaled_thresh = (float)thresh / DMP_SAMPLE_RATE; + + mpu_get_accel_fsr(&accel_fsr); + switch (accel_fsr) { + case 2: + dmp_thresh = (unsigned short)(scaled_thresh * 16384); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288); + break; + case 4: + dmp_thresh = (unsigned short)(scaled_thresh * 8192); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144); + break; + case 8: + dmp_thresh = (unsigned short)(scaled_thresh * 4096); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072); + break; + case 16: + dmp_thresh = (unsigned short)(scaled_thresh * 2048); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536); + break; + default: + return -1; + } + tmp[0] = (unsigned char)(dmp_thresh >> 8); + tmp[1] = (unsigned char)(dmp_thresh & 0xFF); + tmp[2] = (unsigned char)(dmp_thresh_2 >> 8); + tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF); + + if (axis & TAP_X) { + if (mpu_write_mem(DMP_TAP_THX, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_36, 2, tmp+2)) + return -1; + } + if (axis & TAP_Y) { + if (mpu_write_mem(DMP_TAP_THY, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_40, 2, tmp+2)) + return -1; + } + if (axis & TAP_Z) { + if (mpu_write_mem(DMP_TAP_THZ, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_44, 2, tmp+2)) + return -1; + } + return 0; +} + +/** + * @brief Set which axes will register a tap. + * @param[in] axis 1, 2, and 4 for XYZ, respectively. + * @return 0 if successful. + */ +int dmp_set_tap_axes(unsigned char axis) +{ + unsigned char tmp = 0; + + if (axis & TAP_X) + tmp |= 0x30; + if (axis & TAP_Y) + tmp |= 0x0C; + if (axis & TAP_Z) + tmp |= 0x03; + return mpu_write_mem(D_1_72, 1, &tmp); +} + +/** + * @brief Set minimum number of taps needed for an interrupt. + * @param[in] min_taps Minimum consecutive taps (1-4). + * @return 0 if successful. + */ +int dmp_set_tap_count(unsigned char min_taps) +{ + unsigned char tmp; + + if (min_taps < 1) + min_taps = 1; + else if (min_taps > 4) + min_taps = 4; + + tmp = min_taps - 1; + return mpu_write_mem(D_1_79, 1, &tmp); +} + +/** + * @brief Set length between valid taps. + * @param[in] time Milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(DMP_TAPW_MIN, 2, tmp); +} + +/** + * @brief Set max time between taps to register as a multi-tap. + * @param[in] time Max milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time_multi(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(D_1_218, 2, tmp); +} + +/** + * @brief Set shake rejection threshold. + * If the DMP detects a gyro sample larger than @e thresh, taps are rejected. + * @param[in] sf Gyro scale factor. + * @param[in] thresh Gyro threshold in dps. + * @return 0 if successful. + */ +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh) +{ + unsigned char tmp[4]; + long thresh_scaled = sf / 1000 * thresh; + tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF); + tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF); + tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF); + tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF); + return mpu_write_mem(D_1_92, 4, tmp); +} + +/** + * @brief Set shake rejection time. + * Sets the length of time that the gyro must be outside of the threshold set + * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_time(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_90,2,tmp); +} + +/** + * @brief Set shake rejection timeout. + * Sets the length of time after a shake rejection that the gyro must stay + * inside of the threshold before taps can be detected again. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_timeout(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_88,2,tmp); +} + +/** + * @brief Get current step count. + * @param[out] count Number of steps detected. + * @return 0 if successful. + */ +int dmp_get_pedometer_step_count(unsigned long *count) +{ + unsigned char tmp[4]; + if (!count) + return -1; + + if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp)) + return -1; + + count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]; + return 0; +} + +/** + * @brief Overwrite current step count. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] count New step count. + * @return 0 if successful. + */ +int dmp_set_pedometer_step_count(unsigned long count) +{ + unsigned char tmp[4]; + + tmp[0] = (unsigned char)((count >> 24) & 0xFF); + tmp[1] = (unsigned char)((count >> 16) & 0xFF); + tmp[2] = (unsigned char)((count >> 8) & 0xFF); + tmp[3] = (unsigned char)(count & 0xFF); + return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp); +} + +/** + * @brief Get duration of walking time. + * @param[in] time Walk time in milliseconds. + * @return 0 if successful. + */ +int dmp_get_pedometer_walk_time(unsigned long *time) +{ + unsigned char tmp[4]; + if (!time) + return -1; + + if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp)) + return -1; + + time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]) * 20; + return 0; +} + +/** + * @brief Overwrite current walk time. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] time New walk time in milliseconds. + */ +int dmp_set_pedometer_walk_time(unsigned long time) +{ + unsigned char tmp[4]; + + time /= 20; + + tmp[0] = (unsigned char)((time >> 24) & 0xFF); + tmp[1] = (unsigned char)((time >> 16) & 0xFF); + tmp[2] = (unsigned char)((time >> 8) & 0xFF); + tmp[3] = (unsigned char)(time & 0xFF); + return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp); +} + +/** + * @brief Enable DMP features. + * The following \#define's are used in the input mask: + * \n DMP_FEATURE_TAP + * \n DMP_FEATURE_ANDROID_ORIENT + * \n DMP_FEATURE_LP_QUAT + * \n DMP_FEATURE_6X_LP_QUAT + * \n DMP_FEATURE_GYRO_CAL + * \n DMP_FEATURE_SEND_RAW_ACCEL + * \n DMP_FEATURE_SEND_RAW_GYRO + * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually + * exclusive. + * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also + * mutually exclusive. + * @param[in] mask Mask of features to enable. + * @return 0 if successful. + */ +int dmp_enable_feature(unsigned short mask) +{ + unsigned char tmp[10]; + + /* TODO: All of these settings can probably be integrated into the default + * DMP image. + */ + /* Set integration scale factor. */ + tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF); + tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF); + tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF); + tmp[3] = (unsigned char)(GYRO_SF & 0xFF); + mpu_write_mem(D_0_104, 4, tmp); + + /* Send sensor data to the FIFO. */ + tmp[0] = 0xA3; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) { + tmp[1] = 0xC0; + tmp[2] = 0xC8; + tmp[3] = 0xC2; + } else { + tmp[1] = 0xA3; + tmp[2] = 0xA3; + tmp[3] = 0xA3; + } + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + tmp[4] = 0xC4; + tmp[5] = 0xCC; + tmp[6] = 0xC6; + } else { + tmp[4] = 0xA3; + tmp[5] = 0xA3; + tmp[6] = 0xA3; + } + tmp[7] = 0xA3; + tmp[8] = 0xA3; + tmp[9] = 0xA3; + mpu_write_mem(CFG_15,10,tmp); + + /* Send gesture data to the FIFO. */ + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + tmp[0] = DINA20; + else + tmp[0] = 0xD8; + mpu_write_mem(CFG_27,1,tmp); + + if (mask & DMP_FEATURE_GYRO_CAL) + dmp_enable_gyro_cal(1); + else + dmp_enable_gyro_cal(0); + + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + if (mask & DMP_FEATURE_SEND_CAL_GYRO) { + tmp[0] = 0xB2; + tmp[1] = 0x8B; + tmp[2] = 0xB6; + tmp[3] = 0x9B; + } else { + tmp[0] = DINAC0; + tmp[1] = DINA80; + tmp[2] = DINAC2; + tmp[3] = DINA90; + } + mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp); + } + + if (mask & DMP_FEATURE_TAP) { + /* Enable tap. */ + tmp[0] = 0xF8; + mpu_write_mem(CFG_20, 1, tmp); + dmp_set_tap_thresh(TAP_XYZ, 250); + dmp_set_tap_axes(TAP_XYZ); + dmp_set_tap_count(1); + dmp_set_tap_time(100); + dmp_set_tap_time_multi(500); + + dmp_set_shake_reject_thresh(GYRO_SF, 200); + dmp_set_shake_reject_time(40); + dmp_set_shake_reject_timeout(10); + } else { + tmp[0] = 0xD8; + mpu_write_mem(CFG_20, 1, tmp); + } + + if (mask & DMP_FEATURE_ANDROID_ORIENT) { + tmp[0] = 0xD9; + } else + tmp[0] = 0xD8; + mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp); + + if (mask & DMP_FEATURE_LP_QUAT) + dmp_enable_lp_quat(1); + else + dmp_enable_lp_quat(0); + + if (mask & DMP_FEATURE_6X_LP_QUAT) + dmp_enable_6x_lp_quat(1); + else + dmp_enable_6x_lp_quat(0); + + /* Pedometer is always enabled. */ + dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER; + mpu_reset_fifo(); + + dmp.packet_length = 0; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) + dmp.packet_length += 6; + if (mask & DMP_FEATURE_SEND_ANY_GYRO) + dmp.packet_length += 6; + if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) + dmp.packet_length += 16; + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + dmp.packet_length += 4; + + return 0; +} + +/** + * @brief Get list of currently enabled DMP features. + * @param[out] Mask of enabled features. + * @return 0 if successful. + */ +int dmp_get_enabled_features(unsigned short *mask) +{ + mask[0] = dmp.feature_mask; + return 0; +} + +/** + * @brief Calibrate the gyro data in the DMP. + * After eight seconds of no motion, the DMP will compute gyro biases and + * subtract them from the quaternion output. If @e dmp_enable_feature is + * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be + * subtracted from the gyro output. + * @param[in] enable 1 to enable gyro calibration. + * @return 0 if successful. + */ +int dmp_enable_gyro_cal(unsigned char enable) +{ + if (enable) { + unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } else { + unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } +} + +/** + * @brief Generate 3-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 3-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINBC0; + regs[1] = DINBC2; + regs[2] = DINBC4; + regs[3] = DINBC6; + } + else + memset(regs, 0x8B, 4); + + mpu_write_mem(CFG_LP_QUAT, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Generate 6-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 6-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_6x_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINA20; + regs[1] = DINA28; + regs[2] = DINA30; + regs[3] = DINA38; + } else + memset(regs, 0xA3, 4); + + mpu_write_mem(CFG_8, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Decode the four-byte gesture data and execute any callbacks. + * @param[in] gesture Gesture data from DMP packet. + * @return 0 if successful. + */ +static int decode_gesture(unsigned char *gesture) +{ + unsigned char tap, android_orient; + + android_orient = gesture[3] & 0xC0; + tap = 0x3F & gesture[3]; + + if (gesture[1] & INT_SRC_TAP) { + unsigned char direction, count; + direction = tap >> 3; + count = (tap % 8) + 1; + if (dmp.tap_cb) + dmp.tap_cb(direction, count); + } + + if (gesture[1] & INT_SRC_ANDROID_ORIENT) { + if (dmp.android_orient_cb) + dmp.android_orient_cb(android_orient >> 6); + } + + return 0; +} + +/** + * @brief Specify when a DMP interrupt should occur. + * A DMP interrupt can be configured to trigger on either of the two + * conditions below: + * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate). + * \n b. A tap event has been detected. + * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS. + * @return 0 if successful. + */ +int dmp_set_interrupt_mode(unsigned char mode) +{ + const unsigned char regs_continuous[11] = + {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9}; + const unsigned char regs_gesture[11] = + {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda}; + + switch (mode) { + case DMP_INT_CONTINUOUS: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_continuous); + case DMP_INT_GESTURE: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_gesture); + default: + return -1; + } +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_WXYZ_QUAT + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] quat 3-axis quaternion data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more) +{ + unsigned char fifo_data[MAX_PACKET_LENGTH]; + unsigned char ii = 0; + sensors[0] = 0; + + /* Get a packet. */ + if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more)) + return -1; + + /* Parse DMP packet. */ + if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) { +#ifdef FIFO_CORRUPTION_CHECK + long quat_q14[4], quat_mag_sq; +#endif + quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) | + ((long)fifo_data[2] << 8) | fifo_data[3]; + quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) | + ((long)fifo_data[6] << 8) | fifo_data[7]; + quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) | + ((long)fifo_data[10] << 8) | fifo_data[11]; + quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) | + ((long)fifo_data[14] << 8) | fifo_data[15]; + ii += 16; +#ifdef FIFO_CORRUPTION_CHECK + /* We can detect a corrupted FIFO by monitoring the quaternion data and + * ensuring that the magnitude is always normalized to one. This + * shouldn't happen in normal operation, but if an I2C error occurs, + * the FIFO reads might become misaligned. + * + * Let's start by scaling down the quaternion data to avoid long long + * math. + */ + quat_q14[0] = quat[0] >> 16; + quat_q14[1] = quat[1] >> 16; + quat_q14[2] = quat[2] >> 16; + quat_q14[3] = quat[3] >> 16; + quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] + + quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3]; + if ((quat_mag_sq < QUAT_MAG_SQ_MIN) || + (quat_mag_sq > QUAT_MAG_SQ_MAX)) { + /* Quaternion is outside of the acceptable threshold. */ + mpu_reset_fifo(); + sensors[0] = 0; + return -1; + } + sensors[0] |= INV_WXYZ_QUAT; +#endif + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) { + accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_ACCEL; + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) { + gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_GYRO; + } + + /* Gesture data is at the end of the DMP packet. Parse it and call + * the gesture callbacks (if registered). + */ + if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + decode_gesture(fifo_data + ii); + + myget_ms(timestamp); + return 0; +} + +/** + * @brief Register a function to be executed on a tap event. + * The tap direction is represented by one of the following: + * \n TAP_X_UP + * \n TAP_X_DOWN + * \n TAP_Y_UP + * \n TAP_Y_DOWN + * \n TAP_Z_UP + * \n TAP_Z_DOWN + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)) +{ + dmp.tap_cb = func; + return 0; +} + +/** + * @brief Register a function to be executed on a android orientation event. + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)) +{ + dmp.android_orient_cb = func; + return 0; +} + +/** + * @} + */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu_dmp_motion_driver.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu_dmp_motion_driver.h new file mode 100644 index 0000000..acaac4a --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/DMP/inv_mpu_dmp_motion_driver.h @@ -0,0 +1,92 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.h + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ +#define _INV_MPU_DMP_MOTION_DRIVER_H_ + +#define TAP_X (0x01) +#define TAP_Y (0x02) +#define TAP_Z (0x04) +#define TAP_XYZ (0x07) + +#define TAP_X_UP (0x01) +#define TAP_X_DOWN (0x02) +#define TAP_Y_UP (0x03) +#define TAP_Y_DOWN (0x04) +#define TAP_Z_UP (0x05) +#define TAP_Z_DOWN (0x06) + +#define ANDROID_ORIENT_PORTRAIT (0x00) +#define ANDROID_ORIENT_LANDSCAPE (0x01) +#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) +#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) + +#define DMP_INT_GESTURE (0x01) +#define DMP_INT_CONTINUOUS (0x02) + +#define DMP_FEATURE_TAP (0x001) +#define DMP_FEATURE_ANDROID_ORIENT (0x002) +#define DMP_FEATURE_LP_QUAT (0x004) +#define DMP_FEATURE_PEDOMETER (0x008) +#define DMP_FEATURE_6X_LP_QUAT (0x010) +#define DMP_FEATURE_GYRO_CAL (0x020) +#define DMP_FEATURE_SEND_RAW_ACCEL (0x040) +#define DMP_FEATURE_SEND_RAW_GYRO (0x080) +#define DMP_FEATURE_SEND_CAL_GYRO (0x100) + +#define INV_WXYZ_QUAT (0x100) + +/* Set up functions. */ +int dmp_load_motion_driver_firmware(void); +int dmp_set_fifo_rate(unsigned short rate); +int dmp_get_fifo_rate(unsigned short *rate); +int dmp_enable_feature(unsigned short mask); +int dmp_get_enabled_features(unsigned short *mask); +int dmp_set_interrupt_mode(unsigned char mode); +int dmp_set_orientation(unsigned short orient); +int dmp_set_gyro_bias(long *bias); +int dmp_set_accel_bias(long *bias); + +/* Tap functions. */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); +int dmp_set_tap_axes(unsigned char axis); +int dmp_set_tap_count(unsigned char min_taps); +int dmp_set_tap_time(unsigned short time); +int dmp_set_tap_time_multi(unsigned short time); +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); +int dmp_set_shake_reject_time(unsigned short time); +int dmp_set_shake_reject_timeout(unsigned short time); + +/* Android orientation functions. */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)); + +/* LP quaternion functions. */ +int dmp_enable_lp_quat(unsigned char enable); +int dmp_enable_6x_lp_quat(unsigned char enable); + +/* Pedometer functions. */ +int dmp_get_pedometer_step_count(unsigned long *count); +int dmp_set_pedometer_step_count(unsigned long count); +int dmp_get_pedometer_walk_time(unsigned long *time); +int dmp_set_pedometer_walk_time(unsigned long time); + +/* DMP gyro calibration functions. */ +int dmp_enable_gyro_cal(unsigned char enable); + +/* Read function. This function should be called whenever the MPU interrupt is + * detected. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more); + +#endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */ + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/ENCODER/encoder.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/ENCODER/encoder.c new file mode 100644 index 0000000..6979caa --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/ENCODER/encoder.c @@ -0,0 +1,147 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#include "encoder.h" +#include "stm32f10x_gpio.h" + +/************************************************************************** +Function: Initialize TIM2 to encoder interface mode +Input : none +Output : none +ܣTIM2ʼΪӿģʽ +ڲ + ֵ +**************************************************************************/ +void Encoder_Init_TIM2(void) +{ + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + TIM_ICInitTypeDef TIM_ICInitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//ʹܶʱ4ʱ + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//ʹPB˿ʱ + + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //˿ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; // + GPIO_Init(GPIOA, &GPIO_InitStructure); //趨ʼGPIOB + + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // ԤƵ + TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //趨Զװֵ + TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//ѡʱӷƵƵ + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIMϼ + TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); + TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//ʹñģʽ3 + TIM_ICStructInit(&TIM_ICInitStructure); + TIM_ICInitStructure.TIM_ICFilter = 10; //˲10 + TIM_ICInit(TIM2, &TIM_ICInitStructure); + TIM_ClearFlag(TIM2, TIM_FLAG_Update);//TIMĸ±־λ + TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); + //Reset counter + TIM_SetCounter(TIM2,0); + TIM_Cmd(TIM2, ENABLE); +} +/************************************************************************** +Function: Initialize TIM4 to encoder interface mode +Input : none +Output : none +ܣTIM4ʼΪӿģʽ +ڲ + ֵ +**************************************************************************/ +void Encoder_Init_TIM4(void) +{ + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + TIM_ICInitTypeDef TIM_ICInitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//ʹܶʱ4ʱ + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//ʹPB˿ʱ + + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //˿ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; // + GPIO_Init(GPIOB, &GPIO_InitStructure); //趨ʼGPIOB + + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // ԤƵ + TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //趨Զװֵ + TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//ѡʱӷƵƵ + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIMϼ + TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); + TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//ʹñģʽ3 + TIM_ICStructInit(&TIM_ICInitStructure); + TIM_ICInitStructure.TIM_ICFilter = 10; + TIM_ICInit(TIM4, &TIM_ICInitStructure); + TIM_ClearFlag(TIM4, TIM_FLAG_Update);//TIMĸ±־λ + TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); + //Reset counter + TIM_SetCounter(TIM4,0); + TIM_Cmd(TIM4, ENABLE); +} +/************************************************************************** +Function: Read encoder count per unit time +Input : TIMXTimer +Output : none +ܣλʱȡ +ڲTIMXʱ + ֵٶֵ +**************************************************************************/ +int Read_Encoder(u8 TIMX) +{ + int Encoder_TIM; + switch(TIMX) + { + case 2: Encoder_TIM= (short)TIM2 -> CNT; TIM2 -> CNT=0;break; + case 3: Encoder_TIM= (short)TIM3 -> CNT; TIM3 -> CNT=0;break; + case 4: Encoder_TIM= (short)TIM4 -> CNT; TIM4 -> CNT=0;break; + default: Encoder_TIM=0; + } + return Encoder_TIM; +} +/************************************************************************** +Function: TIM4 interrupt service function +Input : none +Output : none +ܣTIM4жϷ +ڲ + ֵ +**************************************************************************/ +void TIM4_IRQHandler(void) +{ + if(TIM4->SR&0X0001)//ж + { + } + TIM4->SR&=~(1<<0);//жϱ־λ +} +/************************************************************************** +Function: TIM2 interrupt service function +Input : none +Output : none +ܣTIM2жϷ +ڲ + ֵ +**************************************************************************/ +void TIM2_IRQHandler(void) +{ + if(TIM2->SR&0X0001)//ж + { + } + TIM2->SR&=~(1<<0);//жϱ־λ +} + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/ENCODER/encoder.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/ENCODER/encoder.h new file mode 100644 index 0000000..a73ceae --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/ENCODER/encoder.h @@ -0,0 +1,29 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __ENCODER_H +#define __ENCODER_H +#include +#define ENCODER_TIM_PERIOD (u16)(65535) //ɴ65535 ΪF103Ķʱ16λġ +void Encoder_Init_TIM2(void); +void Encoder_Init_TIM4(void); +int Read_Encoder(u8 TIMX); +void TIM4_IRQHandler(void); +void TIM2_IRQHandler(void); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/EXTI/exti.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/EXTI/exti.c new file mode 100644 index 0000000..9997b07 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/EXTI/exti.c @@ -0,0 +1,52 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#include "exti.h" +/************************************************************************** +Function: External interrupt initialization +Input : none +Output : none +ܣⲿжϳʼ +ڲ + ֵ +**************************************************************************/ +void MiniBalance_EXTI_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + EXTI_InitTypeDef EXTI_InitStructure; + NVIC_InitTypeDef NVIC_InitStructure; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE); //ⲿжϣҪʹAFIOʱ + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); //ʹGPIO˿ʱ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //˿ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // + GPIO_Init(GPIOA, &GPIO_InitStructure); //趨ʼGPIO + GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource12); + EXTI_InitStructure.EXTI_Line=EXTI_Line12; + EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; + EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling;//½ش + EXTI_InitStructure.EXTI_LineCmd = ENABLE; + EXTI_Init(&EXTI_InitStructure); //EXTI_InitStructָIJʼEXTIĴ + NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn; //ʹܰڵⲿжͨ + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x02; //ռȼ2 + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01; //ȼ1 + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //ʹⲿжͨ + NVIC_Init(&NVIC_InitStructure); +} + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/EXTI/exti.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/EXTI/exti.h new file mode 100644 index 0000000..af5326d --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/EXTI/exti.h @@ -0,0 +1,50 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __EXTI_H +#define __EXIT_H +#include "sys.h" +#define INT PAin(12) //PA12ӵMPU6050ж +void MiniBalance_EXTI_Init(void); //ⲿжϳʼ +#endif + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/IIC/IOI2C.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/IIC/IOI2C.c new file mode 100644 index 0000000..3b43b80 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/IIC/IOI2C.c @@ -0,0 +1,441 @@ +/*********************************************** +公司：轮趣科技（东莞）有限公司 +品牌：WHEELTEC +官网：wheeltec.net +淘宝店铺：shop114407458.taobao.com +速卖通: https://minibalance.aliexpress.com/store/4455017 +版本：5.7 +修改时间：2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update：2021-04-29 + +All rights reserved +***********************************************/ +#include "ioi2c.h" +#include "sys.h" +#include "delay.h" + +/************************************************************************** +Function: IIC pin initialization +Input : none +Output : none +函数功能：IIC引脚初始化 +入口参数：无 +返回 值：无 +**************************************************************************/ +void IIC_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); // 使能PB端口时钟 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; // 端口配置 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; // 推挽输出 + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // 50M + GPIO_Init(GPIOB, &GPIO_InitStructure); // 根据设定参数初始化GPIOB +} + +/************************************************************************** +Function: Simulate IIC start signal +Input : none +Output : 1 +函数功能：模拟IIC起始信号 +入口参数：无 +返回 值：1 +**************************************************************************/ +int IIC_Start(void) +{ + SDA_OUT(); // sda线输出 + IIC_SDA = 1; + if (!READ_SDA) + return 0; + IIC_SCL = 1; + delay_us(1); + IIC_SDA = 0; // START:when CLK is high,DATA change form high to low + if (READ_SDA) + return 0; + delay_us(1); + IIC_SCL = 0; // 钳住I2C总线，准备发送或接收数据 + return 1; +} + +/************************************************************************** +Function: Analog IIC end signal +Input : none +Output : none +函数功能：模拟IIC结束信号 +入口参数：无 +返回 值：无 +**************************************************************************/ +void IIC_Stop(void) +{ + SDA_OUT(); // sda线输出 + IIC_SCL = 0; + IIC_SDA = 0; // STOP:when CLK is high DATA change form low to high + delay_us(1); + IIC_SCL = 1; + IIC_SDA = 1; // 发送I2C总线结束信号 + delay_us(1); +} + +/************************************************************************** +Function: IIC wait the response signal +Input : none +Output : 0：No response received；1：Response received +函数功能：IIC等待应答信号 +入口参数：无 +返回 值：0：没有收到应答；1：收到应答 +**************************************************************************/ +int IIC_Wait_Ack(void) +{ + u8 ucErrTime = 0; + SDA_IN(); // SDA设置为输入 + IIC_SDA = 1; + delay_us(1); + IIC_SCL = 1; + delay_us(1); + while (READ_SDA) + { + ucErrTime++; + if (ucErrTime > 50) + { + IIC_Stop(); + return 0; + } + delay_us(1); + } + IIC_SCL = 0; // 时钟输出0 + return 1; +} + +/************************************************************************** +Function: IIC response +Input : none +Output : none +函数功能：IIC应答 +入口参数：无 +返回 值：无 +**************************************************************************/ +void IIC_Ack(void) +{ + IIC_SCL = 0; + SDA_OUT(); + IIC_SDA = 0; + delay_us(1); + IIC_SCL = 1; + delay_us(1); + IIC_SCL = 0; +} + +/************************************************************************** +Function: IIC don't reply +Input : none +Output : none +函数功能：IIC不应答 +入口参数：无 +返回 值：无 +**************************************************************************/ +void IIC_NAck(void) +{ + IIC_SCL = 0; + SDA_OUT(); + IIC_SDA = 1; + delay_us(1); + IIC_SCL = 1; + delay_us(1); + IIC_SCL = 0; +} +/************************************************************************** +Function: IIC sends a byte +Input : txd：Byte data sent +Output : none +函数功能：IIC发送一个字节 +入口参数：txd：发送的字节数据 +返回 值：无 +**************************************************************************/ +void IIC_Send_Byte(u8 txd) +{ + u8 t; + SDA_OUT(); + IIC_SCL = 0; // 拉低时钟开始数据传输 + for (t = 0; t < 8; t++) + { + IIC_SDA = (txd & 0x80) >> 7; + txd <<= 1; + delay_us(1); + IIC_SCL = 1; + delay_us(1); + IIC_SCL = 0; + delay_us(1); + } +} + +/************************************************************************** +Function: IIC write data to register +Input : addr：Device address；reg：Register address；len;Number of bytes；data：Data +Output : 0：Write successfully；1：Failed to write +函数功能：IIC写数据到寄存器 +入口参数：addr：设备地址；reg：寄存器地址；len;字节数；data：数据 +返回 值：0：成功写入；1：没有成功写入 +**************************************************************************/ +int i2cWrite(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *data) +{ + int i; + if (!IIC_Start()) + return 1; + IIC_Send_Byte(addr << 1); + if (!IIC_Wait_Ack()) + { + IIC_Stop(); + return 1; + } + IIC_Send_Byte(reg); + IIC_Wait_Ack(); + for (i = 0; i < len; i++) + { + IIC_Send_Byte(data[i]); + if (!IIC_Wait_Ack()) + { + IIC_Stop(); + return 0; + } + } + IIC_Stop(); + return 0; +} +/************************************************************************** +Function: IIC read register data +Input : addr：Device address；reg：Register address；len;Number of bytes；*buf：Data read out +Output : 0：Read successfully；1：Failed to read +函数功能：IIC读寄存器的数据 +入口参数：addr：设备地址；reg：寄存器地址；len;字节数；*buf：读出数据缓存 +返回 值：0：成功读出；1：没有成功读出 +**************************************************************************/ + +int i2cRead(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf) +{ + if (!IIC_Start()) + return 1; + IIC_Send_Byte(addr << 1); + if (!IIC_Wait_Ack()) + { + IIC_Stop(); + return 1; + } + IIC_Send_Byte(reg); + IIC_Wait_Ack(); + IIC_Start(); + IIC_Send_Byte((addr << 1) + 1); + IIC_Wait_Ack(); + while (len) + { + if (len == 1) + *buf = IIC_Read_Byte(0); + else + *buf = IIC_Read_Byte(1); + buf++; + len--; + } + IIC_Stop(); + return 0; +} + +/************************************************************************** +Function: IIC reads a byte +Input : ack：Send response signal or not；1：Send；0：Do not send +Output : receive：Data read +函数功能：IIC读取一个位 +入口参数：ack：是否发送应答信号；1：发送；0：不发送 +返回 值：receive：读取的数据 +**************************************************************************/ +u8 IIC_Read_Byte(unsigned char ack) +{ + unsigned char i, receive = 0; + SDA_IN(); // SDA设置为输入 + for (i = 0; i < 8; i++) + { + IIC_SCL = 0; + delay_us(2); + IIC_SCL = 1; + receive <<= 1; + if (READ_SDA) + receive++; + delay_us(2); + } + if (ack) + IIC_Ack(); // 发送ACK + else + IIC_NAck(); // 发送nACK + return receive; +} + +/************************************************************************** +Function: IIC reads a byte +Input : I2C_Addr：Device IIC address；addr:Register address +Output : res：Data read +函数功能：读取指定设备指定寄存器的一个值 +入口参数：I2C_Addr：设备IIC地址；addr:寄存器地址 +返回 值：res：读取的数据 +**************************************************************************/ +unsigned char I2C_ReadOneByte(unsigned char I2C_Addr, unsigned char addr) +{ + unsigned char res = 0; + + IIC_Start(); + IIC_Send_Byte(I2C_Addr); // 发送写命令 + res++; + IIC_Wait_Ack(); + IIC_Send_Byte(addr); + res++; // 发送地址 + IIC_Wait_Ack(); + // IIC_Stop();//产生一个停止条件 + IIC_Start(); + IIC_Send_Byte(I2C_Addr + 1); + res++; // 进入接收模式 + IIC_Wait_Ack(); + res = IIC_Read_Byte(0); + IIC_Stop(); // 产生一个停止条件 + + return res; +} + +/************************************************************************** +Function: IIC continuous reading data +Input : dev：Target device IIC address；reg:Register address； + length：Number of bytes；*data:The pointer where the read data will be stored +Output : count：Number of bytes read out-1 +函数功能：IIC连续读数据 +入口参数：dev：目标设备IIC地址；reg:寄存器地址；length：字节数； + *data:读出的数据将要存放的指针 +返回 值：count：读出来的字节数量-1 +**************************************************************************/ +u8 IICreadBytes(u8 dev, u8 reg, u8 length, u8 *data) +{ + u8 count = 0; + + IIC_Start(); + IIC_Send_Byte(dev); // 发送写命令 + IIC_Wait_Ack(); + IIC_Send_Byte(reg); // 发送地址 + IIC_Wait_Ack(); + IIC_Start(); + IIC_Send_Byte(dev + 1); // 进入接收模式 + IIC_Wait_Ack(); + + for (count = 0; count < length; count++) + { + + if (count != length - 1) + data[count] = IIC_Read_Byte(1); // 带ACK的读数据 + else + data[count] = IIC_Read_Byte(0); // 最后一个字节NACK + } + IIC_Stop(); // 产生一个停止条件 + return count; +} +/************************************************************************** +Function: Writes multiple bytes to the specified register of the specified device +Input : dev：Target device IIC address；reg：Register address；length：Number of bytes； + *data：The pointer where the read data will be stored +Output : 1 +函数功能：将多个字节写入指定设备指定寄存器 +入口参数：dev：目标设备地址；reg：寄存器地址；length：要写的字节数； + *data：将要写的数据的首地址 +返回 值：1：返回是否成功 +**************************************************************************/ +u8 IICwriteBytes(u8 dev, u8 reg, u8 length, u8 *data) +{ + + u8 count = 0; + IIC_Start(); + IIC_Send_Byte(dev); // 发送写命令 + IIC_Wait_Ack(); + IIC_Send_Byte(reg); // 发送地址 + IIC_Wait_Ack(); + for (count = 0; count < length; count++) + { + IIC_Send_Byte(data[count]); + IIC_Wait_Ack(); + } + IIC_Stop(); // 产生一个停止条件 + + return 1; // status == 0; +} + +/************************************************************************** +Function: Reads a byte of the specified register of the specified device +Input : dev：Target device IIC address；reg：Register address；*data：The pointer where the read data will be stored +Output : 1 +函数功能：读取指定设备指定寄存器的一个值 +入口参数：dev：目标设备地址；reg：寄存器地址；*data：将要写的数据的首地址 +返回 值：1：返回是否成功 +**************************************************************************/ +u8 IICreadByte(u8 dev, u8 reg, u8 *data) +{ + *data = I2C_ReadOneByte(dev, reg); + return 1; +} + +/************************************************************************** +Function: Write a byte to the specified register of the specified device +Input : dev：Target device IIC address；reg：Register address；data：Data to be writtenwill be stored +Output : 1 +函数功能：写入指定设备指定寄存器一个字节 +入口参数：dev：目标设备地址；reg：寄存器地址；data：将要写的数据 +返回 值：1 +**************************************************************************/ +unsigned char IICwriteByte(unsigned char dev, unsigned char reg, unsigned char data) +{ + return IICwriteBytes(dev, reg, 1, &data); +} + +/************************************************************************** +Function: Read, modify, and write multiple bits in a byte of the specified device specified register +Input : dev：Target device IIC address；reg：Register address；length：Number of bytes； + bitStart：Start bit of target byte；data：Stores the value of the target byte bit to be changed +Output : 1：success；0：fail +函数功能：读 修改 写 指定设备 指定寄存器一个字节 中的多个位 +入口参数：dev：目标设备地址；reg：寄存器地址；bitStart：目标字节的起始位； + data：存放改变目标字节位的值 +返回 值：1：成功；0：失败 +**************************************************************************/ +u8 IICwriteBits(u8 dev, u8 reg, u8 bitStart, u8 length, u8 data) +{ + + u8 b; + if (IICreadByte(dev, reg, &b) != 0) + { + u8 mask = (0xFF << (bitStart + 1)) | 0xFF >> ((8 - bitStart) + length - 1); + data <<= (8 - length); + data >>= (7 - bitStart); + b &= mask; + b |= data; + return IICwriteByte(dev, reg, b); + } + else + { + return 0; + } +} + +/************************************************************************** +Function: Read, modify, and write one bit in a byte of the specified device specified register +Input : dev：Target device IIC address；reg：Register address； + bitNum：To modify the bitnum bit of the target byte；data：When it is 0, the target bit will be cleared, otherwise it will be set +Output : 1：success；0：fail +函数功能：读 修改 写 指定设备 指定寄存器一个字节 中的1个位 +入口参数：dev：目标设备地址；reg：寄存器地址；bitNum：要修改目标字节的bitNum位； + data：为0时，目标位将被清，否则将被置位 +返回 值：1：成功；0：失败 +**************************************************************************/ +u8 IICwriteBit(u8 dev, u8 reg, u8 bitNum, u8 data) +{ + u8 b; + IICreadByte(dev, reg, &b); + b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); + return IICwriteByte(dev, reg, b); +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/IIC/IOI2C.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/IIC/IOI2C.h new file mode 100644 index 0000000..943e5f5 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/IIC/IOI2C.h @@ -0,0 +1,96 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __IOI2C_H +#define __IOI2C_H +#include "stm32f10x.h" + /************************************************************************** +ߣƽС֮ +ҵԱС꣺http://shop114407458.taobao.com/ +**************************************************************************/ +//IOڲ궨 +#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2)) +#define MEM_ADDR(addr) *((volatile unsigned long *)(addr)) +#define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum)) + +//IOڵַӳ +#define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C +#define GPIOB_ODR_Addr (GPIOB_BASE+12) //0x40010C0C +#define GPIOC_ODR_Addr (GPIOC_BASE+12) //0x4001100C +#define GPIOD_ODR_Addr (GPIOD_BASE+12) //0x4001140C +#define GPIOE_ODR_Addr (GPIOE_BASE+12) //0x4001180C +#define GPIOF_ODR_Addr (GPIOF_BASE+12) //0x40011A0C +#define GPIOG_ODR_Addr (GPIOG_BASE+12) //0x40011E0C + +#define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808 +#define GPIOB_IDR_Addr (GPIOB_BASE+8) //0x40010C08 +#define GPIOC_IDR_Addr (GPIOC_BASE+8) //0x40011008 +#define GPIOD_IDR_Addr (GPIOD_BASE+8) //0x40011408 +#define GPIOE_IDR_Addr (GPIOE_BASE+8) //0x40011808 +#define GPIOF_IDR_Addr (GPIOF_BASE+8) //0x40011A08 +#define GPIOG_IDR_Addr (GPIOG_BASE+8) //0x40011E08 + +#define PCout(n) BIT_ADDR(GPIOC_ODR_Addr,n) // +#define PCin(n) BIT_ADDR(GPIOC_IDR_Addr,n) // + +#define PBout(n) BIT_ADDR(GPIOB_ODR_Addr,n) // +#define PBin(n) BIT_ADDR(GPIOB_IDR_Addr,n) // + +#define PEout(n) BIT_ADDR(GPIOE_ODR_Addr,n) // +#define PEin(n) BIT_ADDR(GPIOE_IDR_Addr,n) // + + +//IO +#define SDA_IN() {GPIOB->CRH&=0XFFFFFF0F;GPIOB->CRH|=8<<4;} +#define SDA_OUT() {GPIOB->CRH&=0XFFFFFF0F;GPIOB->CRH|=3<<4;} + +//IO +#define IIC_SCL PBout(8) //SCL +#define IIC_SDA PBout(9) //SDA +#define READ_SDA PBin(9) //SDA + +//IICв +void IIC_Init(void); // ʼIICIO +int IIC_Start(void); // IICʼź +void IIC_Stop(void); // IICֹͣź +void IIC_Send_Byte(u8 txd); //IICһֽ +u8 IIC_Read_Byte(unsigned char ack); // IICȡһֽ +int IIC_Wait_Ack(void); // IICȴACKź +void IIC_Ack(void); //IICACKź +void IIC_NAck(void); //IICACKź + +void IIC_Write_One_Byte(u8 daddr,u8 addr,u8 data); +u8 IIC_Read_One_Byte(u8 daddr,u8 addr); +unsigned char I2C_Readkey(unsigned char I2C_Addr); + +unsigned char I2C_ReadOneByte(unsigned char I2C_Addr,unsigned char addr); +unsigned char IICwriteByte(unsigned char dev, unsigned char reg, unsigned char data); + + +u8 IICwriteBytes(u8 dev, u8 reg, u8 length, u8* data); +u8 IICwriteBits(u8 dev,u8 reg,u8 bitStart,u8 length,u8 data); +u8 IICwriteBit(u8 dev,u8 reg,u8 bitNum,u8 data); +u8 IICreadBytes(u8 dev, u8 reg, u8 length, u8 *data); + +int i2cWrite(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *data); +int i2cRead(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf); + +#endif + +//------------------End of File---------------------------- diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/KEY/key.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/KEY/key.c new file mode 100644 index 0000000..e2010b7 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/KEY/key.c @@ -0,0 +1,38 @@ + +#include "key.h" +/************************************************************************** +Function: Key initialization +Input : none +Output : none +ܣʼ +ڲ + ֵ +**************************************************************************/ +void KEY_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); // ʹPA˿ʱ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5; // ˿ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU; // + GPIO_Init(GPIOA, &GPIO_InitStructure); // 趨ʼGPIOA +} +/************************************************************************** +Function: Key scan +Input : none +Output : 0No action1click +ܣɨ +ڲ + ֵ״̬ 0޶ 1 +**************************************************************************/ +u8 click(void) +{ + static u8 flag_key = 1; // ɿ־ + if (flag_key && KEY == 0) // ⵽ + { + flag_key = 0; + return 1; // + } + else if (1 == KEY) + flag_key = 1; + return 0; // ް +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/KEY/key.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/KEY/key.h new file mode 100644 index 0000000..518b4aa --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/KEY/key.h @@ -0,0 +1,7 @@ +#ifndef __KEY_H__ +#define __KEY_H__ +#include "sys.h" +#define KEY PAin(5) +void KEY_Init(void); +u8 click(void); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MOTOR/motor.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MOTOR/motor.c new file mode 100644 index 0000000..8bb1423 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MOTOR/motor.c @@ -0,0 +1,84 @@ +/*********************************************** +公司：轮趣科技（东莞）有限公司 +品牌：WHEELTEC +官网：wheeltec.net +淘宝店铺：shop114407458.taobao.com +速卖通: https://minibalance.aliexpress.com/store/4455017 +版本：5.7 +修改时间：2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update：2021-04-29 + +All rights reserved +***********************************************/ +#include "motor.h" +/************************************************************************** +Function: Initialize Motor Interface +Input : none +Output : none +函数功能：初始化电机接口 +入口参数：无 +返回 值：无 +**************************************************************************/ +void Motor_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //使能PB端口时钟 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12|GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //端口配置 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //推挽输出 + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; //50M + GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB +} +/************************************************************************** +Function: Initialize PWM to drive motor +Input : arr：Auto reload value；psc：Prescaler coefficient +Output : none +函数功能：初始化PWM，用于驱动电机 +入口参数：arr：自动重装值；psc：预分频系数 +返回 值：无 +**************************************************************************/ +void MiniBalance_PWM_Init(u16 arr,u16 psc) +{ + GPIO_InitTypeDef GPIO_InitStructure; + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + TIM_OCInitTypeDef TIM_OCInitStructure; + Motor_Init(); + RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);// + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE); //使能GPIO外设时钟使能 + //设置该引脚为复用输出功能,输出TIM1 CH1 CH4的PWM脉冲波形 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_11; //TIM_CH1 //TIM_CH4 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出 + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 + TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 不分频 + TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式 + TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位 + + + TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; //选择定时器模式:TIM脉冲宽度调制模式1 + TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能 + TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值 + TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高 + TIM_OC1Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx + TIM_OC4Init(TIM1, &TIM_OCInitStructure); //根据TIM_OCInitStruct中指定的参数初始化外设TIMx + + TIM_CtrlPWMOutputs(TIM1,ENABLE); //MOE 主输出使能 + + TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH1预装载使能 + TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable); //CH4预装载使能 + + TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器 + + TIM_Cmd(TIM1, ENABLE); //使能TIM1 + +} + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MOTOR/motor.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MOTOR/motor.h new file mode 100644 index 0000000..d1d0820 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MOTOR/motor.h @@ -0,0 +1,31 @@ +/*********************************************** +��˾����Ȥ�Ƽ�����ݸ�����޹�˾ +Ʒ�ƣ�WHEELTEC +������wheeltec.net +�Ա����̣�shop114407458.taobao.com +����ͨ: https://minibalance.aliexpress.com/store/4455017 +�汾��5.7 +�޸�ʱ�䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update��2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __MOTOR_H +#define __MOTOR_H +#include +#define PWMB TIM1->CCR4 //PA11 +#define BIN2 PBout(12) +#define BIN1 PBout(13) +#define AIN2 PBout(15) +#define AIN1 PBout(14) +#define PWMA TIM1->CCR1 //PA8 +void MiniBalance_PWM_Init(u16 arr,u16 psc); +void Motor_Init(void); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MPU6050/MPU6050.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MPU6050/MPU6050.c new file mode 100644 index 0000000..54307c3 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MPU6050/MPU6050.c @@ -0,0 +1,366 @@ +#include "MPU6050.h" +#include "IOI2C.h" +#include "usart.h" +#define PRINT_ACCEL (0x01) +#define PRINT_GYRO (0x02) +#define PRINT_QUAT (0x04) +#define ACCEL_ON (0x01) +#define GYRO_ON (0x02) +#define MOTION (0) +#define NO_MOTION (1) +#define DEFAULT_MPU_HZ (200) +#define FLASH_SIZE (512) +#define FLASH_MEM_START ((void *)0x1800) +#define q30 1073741824.0f +short gyro[3], accel[3], sensors; +float Roll, Pitch; +float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; +static signed char gyro_orientation[9] = {-1, 0, 0, + 0, -1, 0, + 0, 0, 1}; + +static unsigned short inv_row_2_scale(const signed char *row) +{ + unsigned short b; + + if (row[0] > 0) + b = 0; + else if (row[0] < 0) + b = 4; + else if (row[1] > 0) + b = 1; + else if (row[1] < 0) + b = 5; + else if (row[2] > 0) + b = 2; + else if (row[2] < 0) + b = 6; + else + b = 7; // error + return b; +} + +static unsigned short inv_orientation_matrix_to_scalar( + const signed char *mtx) +{ + unsigned short scalar; + scalar = inv_row_2_scale(mtx); + scalar |= inv_row_2_scale(mtx + 3) << 3; + scalar |= inv_row_2_scale(mtx + 6) << 6; + + return scalar; +} + +static void run_self_test(void) +{ + int result; + long gyro[3], accel[3]; + + result = mpu_run_self_test(gyro, accel); + if (result == 0x7) + { + /* Test passed. We can trust the gyro data here, so let's push it down + * to the DMP. + */ + float sens; + unsigned short accel_sens; + mpu_get_gyro_sens(&sens); + gyro[0] = (long)(gyro[0] * sens); + gyro[1] = (long)(gyro[1] * sens); + gyro[2] = (long)(gyro[2] * sens); + dmp_set_gyro_bias(gyro); + mpu_get_accel_sens(&accel_sens); + accel[0] *= accel_sens; + accel[1] *= accel_sens; + accel[2] *= accel_sens; + dmp_set_accel_bias(accel); + printf("setting bias succesfully ......\r\n"); + } +} + +uint8_t buffer[14]; + +int16_t MPU6050_FIFO[6][11]; +int16_t Gx_offset = 0, Gy_offset = 0, Gz_offset = 0; + +/************************************************************************** +Function: The new ADC data is updated to FIFO array for filtering +Input : ax，ay，az：x，y, z-axis acceleration data；gx，gy，gz：x. Y, z-axis angular acceleration data +Output : none +函数功能：将新的ADC数据更新到 FIFO数组，进行滤波处理 +入口参数：ax，ay，az：x，y，z轴加速度数据；gx，gy，gz：x，y，z轴角加速度数据 +返回 值：无 +**************************************************************************/ + +void MPU6050_newValues(int16_t ax, int16_t ay, int16_t az, int16_t gx, int16_t gy, int16_t gz) +{ + unsigned char i; + int32_t sum = 0; + for (i = 1; i < 10; i++) + { // FIFO 操作 + MPU6050_FIFO[0][i - 1] = MPU6050_FIFO[0][i]; + MPU6050_FIFO[1][i - 1] = MPU6050_FIFO[1][i]; + MPU6050_FIFO[2][i - 1] = MPU6050_FIFO[2][i]; + MPU6050_FIFO[3][i - 1] = MPU6050_FIFO[3][i]; + MPU6050_FIFO[4][i - 1] = MPU6050_FIFO[4][i]; + MPU6050_FIFO[5][i - 1] = MPU6050_FIFO[5][i]; + } + MPU6050_FIFO[0][9] = ax; // 将新的数据放置到 数据的最后面 + MPU6050_FIFO[1][9] = ay; + MPU6050_FIFO[2][9] = az; + MPU6050_FIFO[3][9] = gx; + MPU6050_FIFO[4][9] = gy; + MPU6050_FIFO[5][9] = gz; + + sum = 0; + for (i = 0; i < 10; i++) + { // 求当前数组的合，再取平均值 + sum += MPU6050_FIFO[0][i]; + } + MPU6050_FIFO[0][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[1][i]; + } + MPU6050_FIFO[1][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[2][i]; + } + MPU6050_FIFO[2][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[3][i]; + } + MPU6050_FIFO[3][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[4][i]; + } + MPU6050_FIFO[4][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[5][i]; + } + MPU6050_FIFO[5][10] = sum / 10; +} + +/************************************************************************** +Function: Setting the clock source of mpu6050 +Input : source：Clock source number +Output : none +函数功能：设置 MPU6050 的时钟源 +入口参数：source：时钟源编号 +返回 值：无 + * CLK_SEL | Clock Source + * --------+-------------------------------------- + * 0 | Internal oscillator + * 1 | PLL with X Gyro reference + * 2 | PLL with Y Gyro reference + * 3 | PLL with Z Gyro reference + * 4 | PLL with external 32.768kHz reference + * 5 | PLL with external 19.2MHz reference + * 6 | Reserved + * 7 | Stops the clock and keeps the timing generator in reset +**************************************************************************/ +void MPU6050_setClockSource(uint8_t source) +{ + IICwriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); +} + +/** Set full-scale gyroscope range. + * @param range New full-scale gyroscope range value + * @see getFullScaleRange() + * @see MPU6050_GYRO_FS_250 + * @see MPU6050_RA_GYRO_CONFIG + * @see MPU6050_GCONFIG_FS_SEL_BIT + * @see MPU6050_GCONFIG_FS_SEL_LENGTH + */ +void MPU6050_setFullScaleGyroRange(uint8_t range) +{ + IICwriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +} + +/************************************************************************** +Function: Setting the maximum range of mpu6050 accelerometer +Input : range：Acceleration maximum range number +Output : none +函数功能：设置 MPU6050 加速度计的最大量程 +入口参数：range：加速度最大量程编号 +返回 值：无 +**************************************************************************/ +// #define MPU6050_ACCEL_FS_2 0x00 //===最大量程+-2G +// #define MPU6050_ACCEL_FS_4 0x01 //===最大量程+-4G +// #define MPU6050_ACCEL_FS_8 0x02 //===最大量程+-8G +// #define MPU6050_ACCEL_FS_16 0x03 //===最大量程+-16G +void MPU6050_setFullScaleAccelRange(uint8_t range) +{ + IICwriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +} + +/************************************************************************** +Function: Set mpu6050 to sleep mode or not +Input : enable：1，sleep；0，work； +Output : none +函数功能：设置 MPU6050 是否进入睡眠模式 +入口参数：enable：1，睡觉；0，工作； +返回 值：无 +**************************************************************************/ +void MPU6050_setSleepEnabled(uint8_t enabled) +{ + IICwriteBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +} + +/************************************************************************** +Function: Read identity +Input : none +Output : 0x68 +函数功能：读取 MPU6050 WHO_AM_I 标识 +入口参数：无 +返回 值：0x68 +**************************************************************************/ +uint8_t MPU6050_getDeviceID(void) +{ + + IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer); + return buffer[0]; +} + +/************************************************************************** +Function: Check whether mpu6050 is connected +Input : none +Output : 1：Connected；0：Not connected +函数功能：检测MPU6050 是否已经连接 +入口参数：无 +返回 值：1：已连接；0：未连接 +**************************************************************************/ +uint8_t MPU6050_testConnection(void) +{ + if (MPU6050_getDeviceID() == 0x68) // 0b01101000; + return 1; + else + return 0; +} + +/************************************************************************** +Function: Setting whether mpu6050 is the host of aux I2C cable +Input : enable：1，yes；0;not +Output : none +函数功能：设置 MPU6050 是否为AUX I2C线的主机 +入口参数：enable：1，是；0：否 +返回 值：无 +**************************************************************************/ +void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) +{ + IICwriteBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +} + +/************************************************************************** +Function: Setting whether mpu6050 is the host of aux I2C cable +Input : enable：1，yes；0;not +Output : none +函数功能：设置 MPU6050 是否为AUX I2C线的主机 +入口参数：enable：1，是；0：否 +返回 值：无 +**************************************************************************/ +void MPU6050_setI2CBypassEnabled(uint8_t enabled) +{ + IICwriteBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +} + +/************************************************************************** +Function: initialization Mpu6050 to enter the available state +Input : none +Output : none +函数功能：初始化 MPU6050 以进入可用状态 +入口参数：无 +返回 值：无 +**************************************************************************/ +void MPU6050_initialize(void) +{ + MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO); // 设置时钟 + MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000); // 陀螺仪量程设置 + MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2); // 加速度度最大量程 +-2G + MPU6050_setSleepEnabled(0); // 进入工作状态 + MPU6050_setI2CMasterModeEnabled(0); // 不让MPU6050 控制AUXI2C + MPU6050_setI2CBypassEnabled(0); // 主控制器的I2C与 MPU6050的AUXI2C 直通关闭 +} + +/************************************************************************** +Function: Initialization of DMP in mpu6050 +Input : none +Output : none +函数功能：MPU6050内置DMP的初始化 +入口参数：无 +返回 值：无 +**************************************************************************/ +void DMP_Init(void) +{ + u8 temp[1] = {0}; + i2cRead(0x68, 0x75, 1, temp); + if (temp[0] != 0x68) + NVIC_SystemReset(); + if (!mpu_init()) + { + if (!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)) + { + } + if (!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) + { + } + if (!mpu_set_sample_rate(DEFAULT_MPU_HZ)) + { + } + if (!dmp_load_motion_driver_firmware()) + { + } + if (!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) + { + } + if (!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | + DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | + DMP_FEATURE_GYRO_CAL)) + { + } + if (!dmp_set_fifo_rate(DEFAULT_MPU_HZ)) + { + } + run_self_test(); + if (!mpu_set_dmp_state(1)) + { + } + } +} +/************************************************************************** +Function: Read the attitude information of DMP in mpu6050 +Input : none +Output : none +函数功能：读取MPU6050内置DMP的姿态信息 +入口参数：无 +返回 值：无 +**************************************************************************/ +void Read_DMP(void) +{ + unsigned long sensor_timestamp; + unsigned char more; + long quat[4]; + dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); // 读取DMP数据 + if (sensors & INV_WXYZ_QUAT) + { + q0 = quat[0] / q30; + q1 = quat[1] / q30; + q2 = quat[2] / q30; + q3 = quat[3] / q30; // 四元数 + Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 57.3; // 计算出俯仰角 + } +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MPU6050/mpu6050.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MPU6050/mpu6050.h new file mode 100644 index 0000000..b6428dd --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/MPU6050/mpu6050.h @@ -0,0 +1,371 @@ +#ifndef __MPU6050_H +#define __MPU6050_H + +#include "sys.h" +#define devAddr 0xD0 + +#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board +#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) +#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW + +#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN +#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN +#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN +#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS +#define MPU6050_RA_XA_OFFS_L_TC 0x07 +#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS +#define MPU6050_RA_YA_OFFS_L_TC 0x09 +#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS +#define MPU6050_RA_ZA_OFFS_L_TC 0x0B +#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR +#define MPU6050_RA_XG_OFFS_USRL 0x14 +#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR +#define MPU6050_RA_YG_OFFS_USRL 0x16 +#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR +#define MPU6050_RA_ZG_OFFS_USRL 0x18 +#define MPU6050_RA_SMPLRT_DIV 0x19 +#define MPU6050_RA_CONFIG 0x1A +#define MPU6050_RA_GYRO_CONFIG 0x1B +#define MPU6050_RA_ACCEL_CONFIG 0x1C +#define MPU6050_RA_FF_THR 0x1D +#define MPU6050_RA_FF_DUR 0x1E +#define MPU6050_RA_MOT_THR 0x1F +#define MPU6050_RA_MOT_DUR 0x20 +#define MPU6050_RA_ZRMOT_THR 0x21 +#define MPU6050_RA_ZRMOT_DUR 0x22 +#define MPU6050_RA_FIFO_EN 0x23 +#define MPU6050_RA_I2C_MST_CTRL 0x24 +#define MPU6050_RA_I2C_SLV0_ADDR 0x25 +#define MPU6050_RA_I2C_SLV0_REG 0x26 +# define MPU6050_RA_I2C_SLV0_CTRL 0x27 +#define MPU6050_RA_I2C_SLV1_ADDR 0x28 +#define MPU6050_RA_I2C_SLV1_REG 0x29 +#define MPU6050_RA_I2C_SLV1_CTRL 0x2A +#define MPU6050_RA_I2C_SLV2_ADDR 0x2B +#define MPU6050_RA_I2C_SLV2_REG 0x2C +#define MPU6050_RA_I2C_SLV2_CTRL 0x2D +#define MPU6050_RA_I2C_SLV3_ADDR 0x2E +#define MPU6050_RA_I2C_SLV3_REG 0x2F +#define MPU6050_RA_I2C_SLV3_CTRL 0x30 +#define MPU6050_RA_I2C_SLV4_ADDR 0x31 +#define MPU6050_RA_I2C_SLV4_REG 0x32 +#define MPU6050_RA_I2C_SLV4_DO 0x33 +#define MPU6050_RA_I2C_SLV4_CTRL 0x34 +#define MPU6050_RA_I2C_SLV4_DI 0x35 +#define MPU6050_RA_I2C_MST_STATUS 0x36 +#define MPU6050_RA_INT_PIN_CFG 0x37 +#define MPU6050_RA_INT_ENABLE 0x38 +#define MPU6050_RA_DMP_INT_STATUS 0x39 +#define MPU6050_RA_INT_STATUS 0x3A +#define MPU6050_RA_ACCEL_XOUT_H 0x3B +#define MPU6050_RA_ACCEL_XOUT_L 0x3C +#define MPU6050_RA_ACCEL_YOUT_H 0x3D +#define MPU6050_RA_ACCEL_YOUT_L 0x3E +#define MPU6050_RA_ACCEL_ZOUT_H 0x3F +#define MPU6050_RA_ACCEL_ZOUT_L 0x40 +#define MPU6050_RA_TEMP_OUT_H 0x41 +#define MPU6050_RA_TEMP_OUT_L 0x42 +#define MPU6050_RA_GYRO_XOUT_H 0x43 +#define MPU6050_RA_GYRO_XOUT_L 0x44 +#define MPU6050_RA_GYRO_YOUT_H 0x45 +#define MPU6050_RA_GYRO_YOUT_L 0x46 +#define MPU6050_RA_GYRO_ZOUT_H 0x47 +#define MPU6050_RA_GYRO_ZOUT_L 0x48 +#define MPU6050_RA_EXT_SENS_DATA_00 0x49 +#define MPU6050_RA_EXT_SENS_DATA_01 0x4A +#define MPU6050_RA_EXT_SENS_DATA_02 0x4B +#define MPU6050_RA_EXT_SENS_DATA_03 0x4C +#define MPU6050_RA_EXT_SENS_DATA_04 0x4D +#define MPU6050_RA_EXT_SENS_DATA_05 0x4E +#define MPU6050_RA_EXT_SENS_DATA_06 0x4F +#define MPU6050_RA_EXT_SENS_DATA_07 0x50 +#define MPU6050_RA_EXT_SENS_DATA_08 0x51 +#define MPU6050_RA_EXT_SENS_DATA_09 0x52 +#define MPU6050_RA_EXT_SENS_DATA_10 0x53 +#define MPU6050_RA_EXT_SENS_DATA_11 0x54 +#define MPU6050_RA_EXT_SENS_DATA_12 0x55 +#define MPU6050_RA_EXT_SENS_DATA_13 0x56 +#define MPU6050_RA_EXT_SENS_DATA_14 0x57 +#define MPU6050_RA_EXT_SENS_DATA_15 0x58 +#define MPU6050_RA_EXT_SENS_DATA_16 0x59 +#define MPU6050_RA_EXT_SENS_DATA_17 0x5A +#define MPU6050_RA_EXT_SENS_DATA_18 0x5B +#define MPU6050_RA_EXT_SENS_DATA_19 0x5C +#define MPU6050_RA_EXT_SENS_DATA_20 0x5D +#define MPU6050_RA_EXT_SENS_DATA_21 0x5E +#define MPU6050_RA_EXT_SENS_DATA_22 0x5F +#define MPU6050_RA_EXT_SENS_DATA_23 0x60 +#define MPU6050_RA_MOT_DETECT_STATUS 0x61 +#define MPU6050_RA_I2C_SLV0_DO 0x63 +#define MPU6050_RA_I2C_SLV1_DO 0x64 +#define MPU6050_RA_I2C_SLV2_DO 0x65 +#define MPU6050_RA_I2C_SLV3_DO 0x66 +#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 +#define MPU6050_RA_SIGNAL_PATH_RESET 0x68 +#define MPU6050_RA_MOT_DETECT_CTRL 0x69 +#define MPU6050_RA_USER_CTRL 0x6A +#define MPU6050_RA_PWR_MGMT_1 0x6B +#define MPU6050_RA_PWR_MGMT_2 0x6C +#define MPU6050_RA_BANK_SEL 0x6D +#define MPU6050_RA_MEM_START_ADDR 0x6E +#define MPU6050_RA_MEM_R_W 0x6F +#define MPU6050_RA_DMP_CFG_1 0x70 +#define MPU6050_RA_DMP_CFG_2 0x71 +#define MPU6050_RA_FIFO_COUNTH 0x72 +#define MPU6050_RA_FIFO_COUNTL 0x73 +#define MPU6050_RA_FIFO_R_W 0x74 +#define MPU6050_RA_WHO_AM_I 0x75 + +#define MPU6050_TC_PWR_MODE_BIT 7 +#define MPU6050_TC_OFFSET_BIT 6 +#define MPU6050_TC_OFFSET_LENGTH 6 +#define MPU6050_TC_OTP_BNK_VLD_BIT 0 + +#define MPU6050_VDDIO_LEVEL_VLOGIC 0 +#define MPU6050_VDDIO_LEVEL_VDD 1 + +#define MPU6050_CFG_EXT_SYNC_SET_BIT 5 +#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 +#define MPU6050_CFG_DLPF_CFG_BIT 2 +#define MPU6050_CFG_DLPF_CFG_LENGTH 3 + +#define MPU6050_EXT_SYNC_DISABLED 0x0 +#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 +#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 +#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 +#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 +#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 +#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 +#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 + +#define MPU6050_DLPF_BW_256 0x00 +#define MPU6050_DLPF_BW_188 0x01 +#define MPU6050_DLPF_BW_98 0x02 +#define MPU6050_DLPF_BW_42 0x03 +#define MPU6050_DLPF_BW_20 0x04 +#define MPU6050_DLPF_BW_10 0x05 +#define MPU6050_DLPF_BW_5 0x06 + +#define MPU6050_GCONFIG_FS_SEL_BIT 4 +#define MPU6050_GCONFIG_FS_SEL_LENGTH 2 + +#define MPU6050_GYRO_FS_250 0x00 +#define MPU6050_GYRO_FS_500 0x01 +#define MPU6050_GYRO_FS_1000 0x02 +#define MPU6050_GYRO_FS_2000 0x03 + +#define MPU6050_ACONFIG_XA_ST_BIT 7 +#define MPU6050_ACONFIG_YA_ST_BIT 6 +#define MPU6050_ACONFIG_ZA_ST_BIT 5 +#define MPU6050_ACONFIG_AFS_SEL_BIT 4 +#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 +#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 +#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 + +#define MPU6050_ACCEL_FS_2 0x00 +#define MPU6050_ACCEL_FS_4 0x01 +#define MPU6050_ACCEL_FS_8 0x02 +#define MPU6050_ACCEL_FS_16 0x03 + +#define MPU6050_DHPF_RESET 0x00 +#define MPU6050_DHPF_5 0x01 +#define MPU6050_DHPF_2P5 0x02 +#define MPU6050_DHPF_1P25 0x03 +#define MPU6050_DHPF_0P63 0x04 +#define MPU6050_DHPF_HOLD 0x07 + +#define MPU6050_TEMP_FIFO_EN_BIT 7 +#define MPU6050_XG_FIFO_EN_BIT 6 +#define MPU6050_YG_FIFO_EN_BIT 5 +#define MPU6050_ZG_FIFO_EN_BIT 4 +#define MPU6050_ACCEL_FIFO_EN_BIT 3 +#define MPU6050_SLV2_FIFO_EN_BIT 2 +#define MPU6050_SLV1_FIFO_EN_BIT 1 +#define MPU6050_SLV0_FIFO_EN_BIT 0 + +#define MPU6050_MULT_MST_EN_BIT 7 +#define MPU6050_WAIT_FOR_ES_BIT 6 +#define MPU6050_SLV_3_FIFO_EN_BIT 5 +#define MPU6050_I2C_MST_P_NSR_BIT 4 +#define MPU6050_I2C_MST_CLK_BIT 3 +#define MPU6050_I2C_MST_CLK_LENGTH 4 + +#define MPU6050_CLOCK_DIV_348 0x0 +#define MPU6050_CLOCK_DIV_333 0x1 +#define MPU6050_CLOCK_DIV_320 0x2 +#define MPU6050_CLOCK_DIV_308 0x3 +#define MPU6050_CLOCK_DIV_296 0x4 +#define MPU6050_CLOCK_DIV_286 0x5 +#define MPU6050_CLOCK_DIV_276 0x6 +#define MPU6050_CLOCK_DIV_267 0x7 +#define MPU6050_CLOCK_DIV_258 0x8 +#define MPU6050_CLOCK_DIV_500 0x9 +#define MPU6050_CLOCK_DIV_471 0xA +#define MPU6050_CLOCK_DIV_444 0xB +#define MPU6050_CLOCK_DIV_421 0xC +#define MPU6050_CLOCK_DIV_400 0xD +#define MPU6050_CLOCK_DIV_381 0xE +#define MPU6050_CLOCK_DIV_364 0xF + +#define MPU6050_I2C_SLV_RW_BIT 7 +#define MPU6050_I2C_SLV_ADDR_BIT 6 +#define MPU6050_I2C_SLV_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV_EN_BIT 7 +#define MPU6050_I2C_SLV_BYTE_SW_BIT 6 +#define MPU6050_I2C_SLV_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV_GRP_BIT 4 +#define MPU6050_I2C_SLV_LEN_BIT 3 +#define MPU6050_I2C_SLV_LEN_LENGTH 4 + +#define MPU6050_I2C_SLV4_RW_BIT 7 +#define MPU6050_I2C_SLV4_ADDR_BIT 6 +#define MPU6050_I2C_SLV4_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV4_EN_BIT 7 +#define MPU6050_I2C_SLV4_INT_EN_BIT 6 +#define MPU6050_I2C_SLV4_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV4_MST_DLY_BIT 4 +#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 + +#define MPU6050_MST_PASS_THROUGH_BIT 7 +#define MPU6050_MST_I2C_SLV4_DONE_BIT 6 +#define MPU6050_MST_I2C_LOST_ARB_BIT 5 +#define MPU6050_MST_I2C_SLV4_NACK_BIT 4 +#define MPU6050_MST_I2C_SLV3_NACK_BIT 3 +#define MPU6050_MST_I2C_SLV2_NACK_BIT 2 +#define MPU6050_MST_I2C_SLV1_NACK_BIT 1 +#define MPU6050_MST_I2C_SLV0_NACK_BIT 0 + +#define MPU6050_INTCFG_INT_LEVEL_BIT 7 +#define MPU6050_INTCFG_INT_OPEN_BIT 6 +#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 +#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 +#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 +#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 +#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 +#define MPU6050_INTCFG_CLKOUT_EN_BIT 0 + +#define MPU6050_INTMODE_ACTIVEHIGH 0x00 +#define MPU6050_INTMODE_ACTIVELOW 0x01 + +#define MPU6050_INTDRV_PUSHPULL 0x00 +#define MPU6050_INTDRV_OPENDRAIN 0x01 + +#define MPU6050_INTLATCH_50USPULSE 0x00 +#define MPU6050_INTLATCH_WAITCLEAR 0x01 + +#define MPU6050_INTCLEAR_STATUSREAD 0x00 +#define MPU6050_INTCLEAR_ANYREAD 0x01 + +#define MPU6050_INTERRUPT_FF_BIT 7 +#define MPU6050_INTERRUPT_MOT_BIT 6 +#define MPU6050_INTERRUPT_ZMOT_BIT 5 +#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 +#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 +#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 +#define MPU6050_INTERRUPT_DMP_INT_BIT 1 +#define MPU6050_INTERRUPT_DATA_RDY_BIT 0 + +// TODO: figure out what these actually do +// UMPL source code is not very obivous +#define MPU6050_DMPINT_5_BIT 5 +#define MPU6050_DMPINT_4_BIT 4 +#define MPU6050_DMPINT_3_BIT 3 +#define MPU6050_DMPINT_2_BIT 2 +#define MPU6050_DMPINT_1_BIT 1 +#define MPU6050_DMPINT_0_BIT 0 + +#define MPU6050_MOTION_MOT_XNEG_BIT 7 +#define MPU6050_MOTION_MOT_XPOS_BIT 6 +#define MPU6050_MOTION_MOT_YNEG_BIT 5 +#define MPU6050_MOTION_MOT_YPOS_BIT 4 +#define MPU6050_MOTION_MOT_ZNEG_BIT 3 +#define MPU6050_MOTION_MOT_ZPOS_BIT 2 +#define MPU6050_MOTION_MOT_ZRMOT_BIT 0 + +#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 +#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 +#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 +#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 +#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 +#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 + +#define MPU6050_PATHRESET_GYRO_RESET_BIT 2 +#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 +#define MPU6050_PATHRESET_TEMP_RESET_BIT 0 + +#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 +#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 +#define MPU6050_DETECT_FF_COUNT_BIT 3 +#define MPU6050_DETECT_FF_COUNT_LENGTH 2 +#define MPU6050_DETECT_MOT_COUNT_BIT 1 +#define MPU6050_DETECT_MOT_COUNT_LENGTH 2 + +#define MPU6050_DETECT_DECREMENT_RESET 0x0 +#define MPU6050_DETECT_DECREMENT_1 0x1 +#define MPU6050_DETECT_DECREMENT_2 0x2 +#define MPU6050_DETECT_DECREMENT_4 0x3 + +#define MPU6050_USERCTRL_DMP_EN_BIT 7 +#define MPU6050_USERCTRL_FIFO_EN_BIT 6 +#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 +#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 +#define MPU6050_USERCTRL_DMP_RESET_BIT 3 +#define MPU6050_USERCTRL_FIFO_RESET_BIT 2 +#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 +#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 + +#define MPU6050_PWR1_DEVICE_RESET_BIT 7 +#define MPU6050_PWR1_SLEEP_BIT 6 +#define MPU6050_PWR1_CYCLE_BIT 5 +#define MPU6050_PWR1_TEMP_DIS_BIT 3 +#define MPU6050_PWR1_CLKSEL_BIT 2 +#define MPU6050_PWR1_CLKSEL_LENGTH 3 + +#define MPU6050_CLOCK_INTERNAL 0x00 +#define MPU6050_CLOCK_PLL_XGYRO 0x01 +#define MPU6050_CLOCK_PLL_YGYRO 0x02 +#define MPU6050_CLOCK_PLL_ZGYRO 0x03 +#define MPU6050_CLOCK_PLL_EXT32K 0x04 +#define MPU6050_CLOCK_PLL_EXT19M 0x05 +#define MPU6050_CLOCK_KEEP_RESET 0x07 + +#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 +#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 +#define MPU6050_PWR2_STBY_XA_BIT 5 +#define MPU6050_PWR2_STBY_YA_BIT 4 +#define MPU6050_PWR2_STBY_ZA_BIT 3 +#define MPU6050_PWR2_STBY_XG_BIT 2 +#define MPU6050_PWR2_STBY_YG_BIT 1 +#define MPU6050_PWR2_STBY_ZG_BIT 0 + +#define MPU6050_WAKE_FREQ_1P25 0x0 +#define MPU6050_WAKE_FREQ_2P5 0x1 +#define MPU6050_WAKE_FREQ_5 0x2 +#define MPU6050_WAKE_FREQ_10 0x3 + +#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 +#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 +#define MPU6050_BANKSEL_MEM_SEL_BIT 4 +#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 + +#define MPU6050_WHO_AM_I_BIT 6 +#define MPU6050_WHO_AM_I_LENGTH 6 +extern short gyro[3], accel[3]; +extern int16_t Gx_offset,Gy_offset,Gz_offset; +extern float Acc1G_Values; +extern float Roll,Pitch; +//供外部调用的API +void MPU6050_initialize(void); //初始化 +uint8_t MPU6050_testConnection(void); //检测MPU6050是否存在 +//读取ADC值 +void MPU6050_getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); +void MPU6050_getlastMotion6(int16_t* ax, int16_t* ay, + int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); +uint8_t MPU6050_getDeviceID(void); //读取MPU6050的ID +void MPU6050_InitGyro_Offset(void);//初始化陀螺仪偏置 +void DMP_Init(void); +void Read_DMP(void); +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oled.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oled.c new file mode 100644 index 0000000..4159a29 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oled.c @@ -0,0 +1,310 @@ +/*********************************************** +公司：轮趣科技（东莞）有限公司 +品牌：WHEELTEC +官网：wheeltec.net +淘宝店铺：shop114407458.taobao.com +速卖通: https://minibalance.aliexpress.com/store/4455017 +版本：5.7 +修改时间：2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update：2021-04-29 + +All rights reserved +***********************************************/ +#include "oled.h" +#include "stdlib.h" +#include "oledfont.h" +#include "delay.h" +u8 OLED_GRAM[128][8]; +/************************************************************************** +Function: Refresh the OLED screen +Input : none +Output : none +函数功能：刷新OLED屏幕 +入口参数：无 +返回 值：无 +**************************************************************************/ +void OLED_Refresh_Gram(void) +{ + u8 i, n; + for (i = 0; i < 8; i++) + { + OLED_WR_Byte(0xb0 + i, OLED_CMD); // 设置页地址（0~7） + OLED_WR_Byte(0x00, OLED_CMD); // 设置显示位置—列低地址 + OLED_WR_Byte(0x10, OLED_CMD); // 设置显示位置—列高地址 + for (n = 0; n < 128; n++) + OLED_WR_Byte(OLED_GRAM[n][i], OLED_DATA); + } +} + +/************************************************************************** +Function: Refresh the OLED screen +Input : Dat: data/command to write, CMD: data/command flag 0, represents the command;1, represents data +Output : none +函数功能：向OLED写入一个字节 +入口参数：dat:要写入的数据/命令，cmd:数据/命令标志 0,表示命令;1,表示数据 +返回 值：无 +**************************************************************************/ +void OLED_WR_Byte(u8 dat, u8 cmd) +{ + u8 i; + if (cmd) + OLED_RS_Set(); + else + OLED_RS_Clr(); + for (i = 0; i < 8; i++) + { + OLED_SCLK_Clr(); + if (dat & 0x80) + OLED_SDIN_Set(); + else + OLED_SDIN_Clr(); + OLED_SCLK_Set(); + dat <<= 1; + } + OLED_RS_Set(); +} +/************************************************************************** +Function: Turn on the OLED display +Input : none +Output : none +函数功能：开启OLED显示 +入口参数：无 +返回 值：无 +**************************************************************************/ +void OLED_Display_On(void) +{ + OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令 + OLED_WR_Byte(0X14, OLED_CMD); // DCDC ON + OLED_WR_Byte(0XAF, OLED_CMD); // DISPLAY ON +} +/************************************************************************** +Function: Turn off the OLED display +Input : none +Output : none +函数功能：关闭OLED显示 +入口参数：无 +返回 值：无 +**************************************************************************/ +void OLED_Display_Off(void) +{ + OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令 + OLED_WR_Byte(0X10, OLED_CMD); // DCDC OFF + OLED_WR_Byte(0XAE, OLED_CMD); // DISPLAY OFF +} +/************************************************************************** +Function: Screen clear function, clear the screen, the entire screen is black, and did not light up the same +Input : none +Output : none +函数功能：清屏函数,清完屏,整个屏幕是黑色的，和没点亮一样 +入口参数：无 +返回 值：无 +**************************************************************************/ +void OLED_Clear(void) +{ + u8 i, n; + for (i = 0; i < 8; i++) + for (n = 0; n < 128; n++) + OLED_GRAM[n][i] = 0X00; + OLED_Refresh_Gram(); // 更新显示 +} +/************************************************************************** +Function: Draw point +Input : x,y: starting coordinate;T :1, fill,0, empty +Output : none +函数功能：画点 +入口参数：x,y :起点坐标; t:1,填充,0,清空 +返回 值：无 +**************************************************************************/ +void OLED_DrawPoint(u8 x, u8 y, u8 t) +{ + u8 pos, bx, temp = 0; + if (x > 127 || y > 63) + return; // 超出范围了. + pos = 7 - y / 8; + bx = y % 8; + temp = 1 << (7 - bx); + if (t) + OLED_GRAM[x][pos] |= temp; + else + OLED_GRAM[x][pos] &= ~temp; +} + +/************************************************************************** +Function: Displays a character, including partial characters, at the specified position +Input : x,y: starting coordinate;Len: The number of digits;Size: font size;Mode :0, anti-white display,1, normal display +Output : none +函数功能：在指定位置显示一个字符,包括部分字符 +入口参数：x,y :起点坐标; len :数字的位数; size:字体大小; mode:0,反白显示,1,正常显示 +返回 值：无 +**************************************************************************/ +void OLED_ShowChar(u8 x, u8 y, u8 chr, u8 size, u8 mode) +{ + u8 temp, t, t1; + u8 y0 = y; + chr = chr - ' '; // 得到偏移后的值 + for (t = 0; t < size; t++) + { + if (size == 12) + temp = oled_asc2_1206[chr][t]; // 调用1206字体 + else + temp = oled_asc2_1608[chr][t]; // 调用1608字体 + for (t1 = 0; t1 < 8; t1++) + { + if (temp & 0x80) + OLED_DrawPoint(x, y, mode); + else + OLED_DrawPoint(x, y, !mode); + temp <<= 1; + y++; + if ((y - y0) == size) + { + y = y0; + x++; + break; + } + } + } +} +/************************************************************************** +Function: Find m to the NTH power +Input : m: base number, n: power number +Output : none +函数功能：求m的n次方的函数 +入口参数：m：底数，n：次方数 +返回 值：无 +**************************************************************************/ +u32 oled_pow(u8 m, u8 n) +{ + u32 result = 1; + while (n--) + result *= m; + return result; +} +/************************************************************************** +Function: Displays 2 numbers +Input : x,y: starting coordinate;Len: The number of digits;Size: font size;Mode: mode, 0, fill mode, 1, overlay mode;Num: value (0 ~ 4294967295); +Output : none +函数功能：显示2个数字 +入口参数：x,y :起点坐标; len :数字的位数; size:字体大小; mode:模式, 0,填充模式, 1,叠加模式; num:数值(0~4294967295); +返回 值：无 +**************************************************************************/ +void OLED_ShowNumber(u8 x, u8 y, u32 num, u8 len, u8 size) +{ + u8 t, temp; + u8 enshow = 0; + for (t = 0; t < len; t++) + { + temp = (num / oled_pow(10, len - t - 1)) % 10; + if (enshow == 0 && t < (len - 1)) + { + if (temp == 0) + { + OLED_ShowChar(x + (size / 2) * t, y, ' ', size, 1); + continue; + } + else + enshow = 1; + } + OLED_ShowChar(x + (size / 2) * t, y, temp + '0', size, 1); + } +} +/************************************************************************** +Function: Display string +Input : x,y: starting coordinate;*p: starting address of the string +Output : none +函数功能：显示字符串 +入口参数：x,y :起点坐标; *p:字符串起始地址 +返回 值：无 +**************************************************************************/ +// 用16字体 +void OLED_ShowString(u8 x, u8 y, const u8 *p) +{ +#define MAX_CHAR_POSX 122 +#define MAX_CHAR_POSY 58 + while (*p != '\0') + { + if (x > MAX_CHAR_POSX) + { + x = 0; + y += 16; + } + if (y > MAX_CHAR_POSY) + { + y = x = 0; + OLED_Clear(); + } + OLED_ShowChar(x, y, *p, 12, 1); + x += 8; + p++; + } +} +/************************************************************************** +Function: Initialize the OLED +Input : none +Output : none +函数功能：初始化OLED +入口参数: 无 +返回 值：无 +**************************************************************************/ +void OLED_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); // 使能PB端口时钟 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4 | GPIO_Pin_5; // 端口配置 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; // 推挽输出 + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; // 2M + GPIO_Init(GPIOB, &GPIO_InitStructure); // 根据设定参数初始化GPIO + + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); // 开A口时钟。 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; // 设为输出　 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + PWR_BackupAccessCmd(ENABLE); // 允许修改RTC 和后备寄存器 + RCC_LSEConfig(RCC_LSE_OFF); // 关闭外部低速外部时钟信号功能 后，PC13 PC14 PC15 才可以当普通IO用。 + BKP_TamperPinCmd(DISABLE); // 关闭入侵检测功能，也就是 PC13，也可以当普通IO 使用 + PWR_BackupAccessCmd(DISABLE); // 禁止修改后备寄存器 + + OLED_RST_Clr(); + delay_ms(100); + OLED_RST_Set(); + + OLED_WR_Byte(0xAE, OLED_CMD); // 关闭显示 + OLED_WR_Byte(0xD5, OLED_CMD); // 设置时钟分频因子,震荡频率 + OLED_WR_Byte(80, OLED_CMD); //[3:0],分频因子;[7:4],震荡频率 + OLED_WR_Byte(0xA8, OLED_CMD); // 设置驱动路数 + OLED_WR_Byte(0X3F, OLED_CMD); // 默认0X3F(1/64) + OLED_WR_Byte(0xD3, OLED_CMD); // 设置显示偏移 + OLED_WR_Byte(0X00, OLED_CMD); // 默认为0 + + OLED_WR_Byte(0x40, OLED_CMD); // 设置显示开始行 [5:0],行数. + + OLED_WR_Byte(0x8D, OLED_CMD); // 电荷泵设置 + OLED_WR_Byte(0x14, OLED_CMD); // bit2，开启/关闭 + OLED_WR_Byte(0x20, OLED_CMD); // 设置内存地址模式 + OLED_WR_Byte(0x02, OLED_CMD); //[1:0],00，列地址模式;01，行地址模式;10,页地址模式;默认10; + OLED_WR_Byte(0xA1, OLED_CMD); // 段重定义设置,bit0:0,0->0;1,0->127; + OLED_WR_Byte(0xC0, OLED_CMD); // 设置COM扫描方向;bit3:0,普通模式;1,重定义模式 COM[N-1]->COM0;N:驱动路数 + OLED_WR_Byte(0xDA, OLED_CMD); // 设置COM硬件引脚配置 + OLED_WR_Byte(0x12, OLED_CMD); //[5:4]配置 + + OLED_WR_Byte(0x81, OLED_CMD); // 对比度设置 + OLED_WR_Byte(0xEF, OLED_CMD); // 1~255;默认0X7F (亮度设置,越大越亮) + OLED_WR_Byte(0xD9, OLED_CMD); // 设置预充电周期 + OLED_WR_Byte(0xf1, OLED_CMD); //[3:0],PHASE 1;[7:4],PHASE 2; + OLED_WR_Byte(0xDB, OLED_CMD); // 设置VCOMH 电压倍率 + OLED_WR_Byte(0x30, OLED_CMD); //[6:4] 000,0.65*vcc;001,0.77*vcc;011,0.83*vcc; + + OLED_WR_Byte(0xA4, OLED_CMD); // 全局显示开启;bit0:1,开启;0,关闭;(白屏/黑屏) + OLED_WR_Byte(0xA6, OLED_CMD); // 设置显示方式;bit0:1,反相显示;0,正常显示 + OLED_WR_Byte(0xAF, OLED_CMD); // 开启显示 + OLED_Clear(); +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oled.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oled.h new file mode 100644 index 0000000..cb8df6b --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oled.h @@ -0,0 +1,50 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __OLED_H +#define __OLED_H +#include "sys.h" +//-----------------OLED˿ڶ---------------- +#define OLED_RST_Clr() PBout(3)=0 //RST +#define OLED_RST_Set() PBout(3)=1 //RST + +#define OLED_RS_Clr() PAout(15)=0 //DC +#define OLED_RS_Set() PAout(15)=1 //DC + +#define OLED_SCLK_Clr() PBout(5)=0 //SCL +#define OLED_SCLK_Set() PBout(5)=1 //SCL + +#define OLED_SDIN_Clr() PBout(4)=0 //SDA +#define OLED_SDIN_Set() PBout(4)=1 //SDA + +#define OLED_CMD 0 //д +#define OLED_DATA 1 //д +//OLEDú +void OLED_WR_Byte(u8 dat,u8 cmd); +void OLED_Display_On(void); +void OLED_Display_Off(void); +void OLED_Refresh_Gram(void); +void OLED_Init(void); +void OLED_Clear(void); +void OLED_DrawPoint(u8 x,u8 y,u8 t); +void OLED_ShowChar(u8 x,u8 y,u8 chr,u8 size,u8 mode); +void OLED_ShowNumber(u8 x,u8 y,u32 num,u8 len,u8 size); +void OLED_ShowString(u8 x,u8 y,const u8 *p); +#endif + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oledfont.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oledfont.h new file mode 100644 index 0000000..b9759a6 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/MiniBalance_HARDWARE/OLED/oledfont.h @@ -0,0 +1,202 @@ +#ifndef __OLEDFONT_H +#define __OLEDFONT_H +//ASCII +//ƫ32 +//ASCIIַ +//ƫ32 +//С:12*6 +const unsigned char oled_asc2_1206[95][12]={ +{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*" ",0*/ +{0x00,0x00,0x00,0x00,0x3F,0x40,0x00,0x00,0x00,0x00,0x00,0x00},/*"!",1*/ +{0x00,0x00,0x30,0x00,0x40,0x00,0x30,0x00,0x40,0x00,0x00,0x00},/*""",2*/ +{0x09,0x00,0x0B,0xC0,0x3D,0x00,0x0B,0xC0,0x3D,0x00,0x09,0x00},/*"#",3*/ +{0x18,0xC0,0x24,0x40,0x7F,0xE0,0x22,0x40,0x31,0x80,0x00,0x00},/*"$",4*/ +{0x18,0x00,0x24,0xC0,0x1B,0x00,0x0D,0x80,0x32,0x40,0x01,0x80},/*"%",5*/ +{0x03,0x80,0x1C,0x40,0x27,0x40,0x1C,0x80,0x07,0x40,0x00,0x40},/*"&",6*/ +{0x10,0x00,0x60,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*"'",7*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0x1F,0x80,0x20,0x40,0x40,0x20},/*"(",8*/ +{0x00,0x00,0x40,0x20,0x20,0x40,0x1F,0x80,0x00,0x00,0x00,0x00},/*")",9*/ +{0x09,0x00,0x06,0x00,0x1F,0x80,0x06,0x00,0x09,0x00,0x00,0x00},/*"*",10*/ +{0x04,0x00,0x04,0x00,0x3F,0x80,0x04,0x00,0x04,0x00,0x00,0x00},/*"+",11*/ +{0x00,0x10,0x00,0x60,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*",",12*/ +{0x04,0x00,0x04,0x00,0x04,0x00,0x04,0x00,0x04,0x00,0x00,0x00},/*"-",13*/ +{0x00,0x00,0x00,0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*".",14*/ +{0x00,0x20,0x01,0xC0,0x06,0x00,0x38,0x00,0x40,0x00,0x00,0x00},/*"/",15*/ +{0x1F,0x80,0x20,0x40,0x20,0x40,0x20,0x40,0x1F,0x80,0x00,0x00},/*"0",16*/ +{0x00,0x00,0x10,0x40,0x3F,0xC0,0x00,0x40,0x00,0x00,0x00,0x00},/*"1",17*/ +{0x18,0xC0,0x21,0x40,0x22,0x40,0x24,0x40,0x18,0x40,0x00,0x00},/*"2",18*/ +{0x10,0x80,0x20,0x40,0x24,0x40,0x24,0x40,0x1B,0x80,0x00,0x00},/*"3",19*/ +{0x02,0x00,0x0D,0x00,0x11,0x00,0x3F,0xC0,0x01,0x40,0x00,0x00},/*"4",20*/ +{0x3C,0x80,0x24,0x40,0x24,0x40,0x24,0x40,0x23,0x80,0x00,0x00},/*"5",21*/ +{0x1F,0x80,0x24,0x40,0x24,0x40,0x34,0x40,0x03,0x80,0x00,0x00},/*"6",22*/ +{0x30,0x00,0x20,0x00,0x27,0xC0,0x38,0x00,0x20,0x00,0x00,0x00},/*"7",23*/ +{0x1B,0x80,0x24,0x40,0x24,0x40,0x24,0x40,0x1B,0x80,0x00,0x00},/*"8",24*/ +{0x1C,0x00,0x22,0xC0,0x22,0x40,0x22,0x40,0x1F,0x80,0x00,0x00},/*"9",25*/ +{0x00,0x00,0x00,0x00,0x08,0x40,0x00,0x00,0x00,0x00,0x00,0x00},/*":",26*/ +{0x00,0x00,0x00,0x00,0x04,0x60,0x00,0x00,0x00,0x00,0x00,0x00},/*";",27*/ +{0x00,0x00,0x04,0x00,0x0A,0x00,0x11,0x00,0x20,0x80,0x40,0x40},/*"<",28*/ +{0x09,0x00,0x09,0x00,0x09,0x00,0x09,0x00,0x09,0x00,0x00,0x00},/*"=",29*/ +{0x00,0x00,0x40,0x40,0x20,0x80,0x11,0x00,0x0A,0x00,0x04,0x00},/*">",30*/ +{0x18,0x00,0x20,0x00,0x23,0x40,0x24,0x00,0x18,0x00,0x00,0x00},/*"?",31*/ +{0x1F,0x80,0x20,0x40,0x27,0x40,0x29,0x40,0x1F,0x40,0x00,0x00},/*"@",32*/ +{0x00,0x40,0x07,0xC0,0x39,0x00,0x0F,0x00,0x01,0xC0,0x00,0x40},/*"A",33*/ +{0x20,0x40,0x3F,0xC0,0x24,0x40,0x24,0x40,0x1B,0x80,0x00,0x00},/*"B",34*/ +{0x1F,0x80,0x20,0x40,0x20,0x40,0x20,0x40,0x30,0x80,0x00,0x00},/*"C",35*/ +{0x20,0x40,0x3F,0xC0,0x20,0x40,0x20,0x40,0x1F,0x80,0x00,0x00},/*"D",36*/ +{0x20,0x40,0x3F,0xC0,0x24,0x40,0x2E,0x40,0x30,0xC0,0x00,0x00},/*"E",37*/ +{0x20,0x40,0x3F,0xC0,0x24,0x40,0x2E,0x00,0x30,0x00,0x00,0x00},/*"F",38*/ +{0x0F,0x00,0x10,0x80,0x20,0x40,0x22,0x40,0x33,0x80,0x02,0x00},/*"G",39*/ +{0x20,0x40,0x3F,0xC0,0x04,0x00,0x04,0x00,0x3F,0xC0,0x20,0x40},/*"H",40*/ +{0x20,0x40,0x20,0x40,0x3F,0xC0,0x20,0x40,0x20,0x40,0x00,0x00},/*"I",41*/ +{0x00,0x60,0x20,0x20,0x20,0x20,0x3F,0xC0,0x20,0x00,0x20,0x00},/*"J",42*/ +{0x20,0x40,0x3F,0xC0,0x24,0x40,0x0B,0x00,0x30,0xC0,0x20,0x40},/*"K",43*/ +{0x20,0x40,0x3F,0xC0,0x20,0x40,0x00,0x40,0x00,0x40,0x00,0xC0},/*"L",44*/ +{0x3F,0xC0,0x3C,0x00,0x03,0xC0,0x3C,0x00,0x3F,0xC0,0x00,0x00},/*"M",45*/ +{0x20,0x40,0x3F,0xC0,0x0C,0x40,0x23,0x00,0x3F,0xC0,0x20,0x00},/*"N",46*/ +{0x1F,0x80,0x20,0x40,0x20,0x40,0x20,0x40,0x1F,0x80,0x00,0x00},/*"O",47*/ +{0x20,0x40,0x3F,0xC0,0x24,0x40,0x24,0x00,0x18,0x00,0x00,0x00},/*"P",48*/ +{0x1F,0x80,0x21,0x40,0x21,0x40,0x20,0xE0,0x1F,0xA0,0x00,0x00},/*"Q",49*/ +{0x20,0x40,0x3F,0xC0,0x24,0x40,0x26,0x00,0x19,0xC0,0x00,0x40},/*"R",50*/ +{0x18,0xC0,0x24,0x40,0x24,0x40,0x22,0x40,0x31,0x80,0x00,0x00},/*"S",51*/ +{0x30,0x00,0x20,0x40,0x3F,0xC0,0x20,0x40,0x30,0x00,0x00,0x00},/*"T",52*/ +{0x20,0x00,0x3F,0x80,0x00,0x40,0x00,0x40,0x3F,0x80,0x20,0x00},/*"U",53*/ +{0x20,0x00,0x3E,0x00,0x01,0xC0,0x07,0x00,0x38,0x00,0x20,0x00},/*"V",54*/ +{0x38,0x00,0x07,0xC0,0x3C,0x00,0x07,0xC0,0x38,0x00,0x00,0x00},/*"W",55*/ +{0x20,0x40,0x39,0xC0,0x06,0x00,0x39,0xC0,0x20,0x40,0x00,0x00},/*"X",56*/ +{0x20,0x00,0x38,0x40,0x07,0xC0,0x38,0x40,0x20,0x00,0x00,0x00},/*"Y",57*/ +{0x30,0x40,0x21,0xC0,0x26,0x40,0x38,0x40,0x20,0xC0,0x00,0x00},/*"Z",58*/ +{0x00,0x00,0x00,0x00,0x7F,0xE0,0x40,0x20,0x40,0x20,0x00,0x00},/*"[",59*/ +{0x00,0x00,0x70,0x00,0x0C,0x00,0x03,0x80,0x00,0x40,0x00,0x00},/*"\",60*/ +{0x00,0x00,0x40,0x20,0x40,0x20,0x7F,0xE0,0x00,0x00,0x00,0x00},/*"]",61*/ +{0x00,0x00,0x20,0x00,0x40,0x00,0x20,0x00,0x00,0x00,0x00,0x00},/*"^",62*/ +{0x00,0x10,0x00,0x10,0x00,0x10,0x00,0x10,0x00,0x10,0x00,0x10},/*"_",63*/ +{0x00,0x00,0x00,0x00,0x40,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*"`",64*/ +{0x00,0x00,0x02,0x80,0x05,0x40,0x05,0x40,0x03,0xC0,0x00,0x40},/*"a",65*/ +{0x20,0x00,0x3F,0xC0,0x04,0x40,0x04,0x40,0x03,0x80,0x00,0x00},/*"b",66*/ +{0x00,0x00,0x03,0x80,0x04,0x40,0x04,0x40,0x06,0x40,0x00,0x00},/*"c",67*/ +{0x00,0x00,0x03,0x80,0x04,0x40,0x24,0x40,0x3F,0xC0,0x00,0x40},/*"d",68*/ +{0x00,0x00,0x03,0x80,0x05,0x40,0x05,0x40,0x03,0x40,0x00,0x00},/*"e",69*/ +{0x00,0x00,0x04,0x40,0x1F,0xC0,0x24,0x40,0x24,0x40,0x20,0x00},/*"f",70*/ +{0x00,0x00,0x02,0xE0,0x05,0x50,0x05,0x50,0x06,0x50,0x04,0x20},/*"g",71*/ +{0x20,0x40,0x3F,0xC0,0x04,0x40,0x04,0x00,0x03,0xC0,0x00,0x40},/*"h",72*/ +{0x00,0x00,0x04,0x40,0x27,0xC0,0x00,0x40,0x00,0x00,0x00,0x00},/*"i",73*/ +{0x00,0x10,0x00,0x10,0x04,0x10,0x27,0xE0,0x00,0x00,0x00,0x00},/*"j",74*/ +{0x20,0x40,0x3F,0xC0,0x01,0x40,0x07,0x00,0x04,0xC0,0x04,0x40},/*"k",75*/ +{0x20,0x40,0x20,0x40,0x3F,0xC0,0x00,0x40,0x00,0x40,0x00,0x00},/*"l",76*/ +{0x07,0xC0,0x04,0x00,0x07,0xC0,0x04,0x00,0x03,0xC0,0x00,0x00},/*"m",77*/ +{0x04,0x40,0x07,0xC0,0x04,0x40,0x04,0x00,0x03,0xC0,0x00,0x40},/*"n",78*/ +{0x00,0x00,0x03,0x80,0x04,0x40,0x04,0x40,0x03,0x80,0x00,0x00},/*"o",79*/ +{0x04,0x10,0x07,0xF0,0x04,0x50,0x04,0x40,0x03,0x80,0x00,0x00},/*"p",80*/ +{0x00,0x00,0x03,0x80,0x04,0x40,0x04,0x50,0x07,0xF0,0x00,0x10},/*"q",81*/ +{0x04,0x40,0x07,0xC0,0x02,0x40,0x04,0x00,0x04,0x00,0x00,0x00},/*"r",82*/ +{0x00,0x00,0x06,0x40,0x05,0x40,0x05,0x40,0x04,0xC0,0x00,0x00},/*"s",83*/ +{0x00,0x00,0x04,0x00,0x1F,0x80,0x04,0x40,0x00,0x40,0x00,0x00},/*"t",84*/ +{0x04,0x00,0x07,0x80,0x00,0x40,0x04,0x40,0x07,0xC0,0x00,0x40},/*"u",85*/ +{0x04,0x00,0x07,0x00,0x04,0xC0,0x01,0x80,0x06,0x00,0x04,0x00},/*"v",86*/ +{0x06,0x00,0x01,0xC0,0x07,0x00,0x01,0xC0,0x06,0x00,0x00,0x00},/*"w",87*/ +{0x04,0x40,0x06,0xC0,0x01,0x00,0x06,0xC0,0x04,0x40,0x00,0x00},/*"x",88*/ +{0x04,0x10,0x07,0x10,0x04,0xE0,0x01,0x80,0x06,0x00,0x04,0x00},/*"y",89*/ +{0x00,0x00,0x04,0x40,0x05,0xC0,0x06,0x40,0x04,0x40,0x00,0x00},/*"z",90*/ +{0x00,0x00,0x00,0x00,0x04,0x00,0x7B,0xE0,0x40,0x20,0x00,0x00},/*"{",91*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xF0,0x00,0x00,0x00,0x00},/*"|",92*/ +{0x00,0x00,0x40,0x20,0x7B,0xE0,0x04,0x00,0x00,0x00,0x00,0x00},/*"}",93*/ +{0x40,0x00,0x80,0x00,0x40,0x00,0x20,0x00,0x20,0x00,0x40,0x00},/*"~",94*/ +}; +const unsigned char oled_asc2_1608[95][16]={ +{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*" ",0*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0x1F,0xCC,0x00,0x0C,0x00,0x00,0x00,0x00,0x00,0x00},/*"!",1*/ +{0x00,0x00,0x08,0x00,0x30,0x00,0x60,0x00,0x08,0x00,0x30,0x00,0x60,0x00,0x00,0x00},/*""",2*/ +{0x02,0x20,0x03,0xFC,0x1E,0x20,0x02,0x20,0x03,0xFC,0x1E,0x20,0x02,0x20,0x00,0x00},/*"#",3*/ +{0x00,0x00,0x0E,0x18,0x11,0x04,0x3F,0xFF,0x10,0x84,0x0C,0x78,0x00,0x00,0x00,0x00},/*"$",4*/ +{0x0F,0x00,0x10,0x84,0x0F,0x38,0x00,0xC0,0x07,0x78,0x18,0x84,0x00,0x78,0x00,0x00},/*"%",5*/ +{0x00,0x78,0x0F,0x84,0x10,0xC4,0x11,0x24,0x0E,0x98,0x00,0xE4,0x00,0x84,0x00,0x08},/*"&",6*/ +{0x08,0x00,0x68,0x00,0x70,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*"'",7*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0x07,0xE0,0x18,0x18,0x20,0x04,0x40,0x02,0x00,0x00},/*"(",8*/ +{0x00,0x00,0x40,0x02,0x20,0x04,0x18,0x18,0x07,0xE0,0x00,0x00,0x00,0x00,0x00,0x00},/*")",9*/ +{0x02,0x40,0x02,0x40,0x01,0x80,0x0F,0xF0,0x01,0x80,0x02,0x40,0x02,0x40,0x00,0x00},/*"*",10*/ +{0x00,0x80,0x00,0x80,0x00,0x80,0x0F,0xF8,0x00,0x80,0x00,0x80,0x00,0x80,0x00,0x00},/*"+",11*/ +{0x00,0x01,0x00,0x0D,0x00,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*",",12*/ +{0x00,0x00,0x00,0x80,0x00,0x80,0x00,0x80,0x00,0x80,0x00,0x80,0x00,0x80,0x00,0x80},/*"-",13*/ +{0x00,0x00,0x00,0x0C,0x00,0x0C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*".",14*/ +{0x00,0x00,0x00,0x06,0x00,0x18,0x00,0x60,0x01,0x80,0x06,0x00,0x18,0x00,0x20,0x00},/*"/",15*/ +{0x00,0x00,0x07,0xF0,0x08,0x08,0x10,0x04,0x10,0x04,0x08,0x08,0x07,0xF0,0x00,0x00},/*"0",16*/ +{0x00,0x00,0x08,0x04,0x08,0x04,0x1F,0xFC,0x00,0x04,0x00,0x04,0x00,0x00,0x00,0x00},/*"1",17*/ +{0x00,0x00,0x0E,0x0C,0x10,0x14,0x10,0x24,0x10,0x44,0x11,0x84,0x0E,0x0C,0x00,0x00},/*"2",18*/ +{0x00,0x00,0x0C,0x18,0x10,0x04,0x11,0x04,0x11,0x04,0x12,0x88,0x0C,0x70,0x00,0x00},/*"3",19*/ +{0x00,0x00,0x00,0xE0,0x03,0x20,0x04,0x24,0x08,0x24,0x1F,0xFC,0x00,0x24,0x00,0x00},/*"4",20*/ +{0x00,0x00,0x1F,0x98,0x10,0x84,0x11,0x04,0x11,0x04,0x10,0x88,0x10,0x70,0x00,0x00},/*"5",21*/ +{0x00,0x00,0x07,0xF0,0x08,0x88,0x11,0x04,0x11,0x04,0x18,0x88,0x00,0x70,0x00,0x00},/*"6",22*/ +{0x00,0x00,0x1C,0x00,0x10,0x00,0x10,0xFC,0x13,0x00,0x1C,0x00,0x10,0x00,0x00,0x00},/*"7",23*/ +{0x00,0x00,0x0E,0x38,0x11,0x44,0x10,0x84,0x10,0x84,0x11,0x44,0x0E,0x38,0x00,0x00},/*"8",24*/ +{0x00,0x00,0x07,0x00,0x08,0x8C,0x10,0x44,0x10,0x44,0x08,0x88,0x07,0xF0,0x00,0x00},/*"9",25*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x0C,0x03,0x0C,0x00,0x00,0x00,0x00,0x00,0x00},/*":",26*/ +{0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*";",27*/ +{0x00,0x00,0x00,0x80,0x01,0x40,0x02,0x20,0x04,0x10,0x08,0x08,0x10,0x04,0x00,0x00},/*"<",28*/ +{0x02,0x20,0x02,0x20,0x02,0x20,0x02,0x20,0x02,0x20,0x02,0x20,0x02,0x20,0x00,0x00},/*"=",29*/ +{0x00,0x00,0x10,0x04,0x08,0x08,0x04,0x10,0x02,0x20,0x01,0x40,0x00,0x80,0x00,0x00},/*">",30*/ +{0x00,0x00,0x0E,0x00,0x12,0x00,0x10,0x0C,0x10,0x6C,0x10,0x80,0x0F,0x00,0x00,0x00},/*"?",31*/ +{0x03,0xE0,0x0C,0x18,0x13,0xE4,0x14,0x24,0x17,0xC4,0x08,0x28,0x07,0xD0,0x00,0x00},/*"@",32*/ +{0x00,0x04,0x00,0x3C,0x03,0xC4,0x1C,0x40,0x07,0x40,0x00,0xE4,0x00,0x1C,0x00,0x04},/*"A",33*/ +{0x10,0x04,0x1F,0xFC,0x11,0x04,0x11,0x04,0x11,0x04,0x0E,0x88,0x00,0x70,0x00,0x00},/*"B",34*/ +{0x03,0xE0,0x0C,0x18,0x10,0x04,0x10,0x04,0x10,0x04,0x10,0x08,0x1C,0x10,0x00,0x00},/*"C",35*/ +{0x10,0x04,0x1F,0xFC,0x10,0x04,0x10,0x04,0x10,0x04,0x08,0x08,0x07,0xF0,0x00,0x00},/*"D",36*/ +{0x10,0x04,0x1F,0xFC,0x11,0x04,0x11,0x04,0x17,0xC4,0x10,0x04,0x08,0x18,0x00,0x00},/*"E",37*/ +{0x10,0x04,0x1F,0xFC,0x11,0x04,0x11,0x00,0x17,0xC0,0x10,0x00,0x08,0x00,0x00,0x00},/*"F",38*/ +{0x03,0xE0,0x0C,0x18,0x10,0x04,0x10,0x04,0x10,0x44,0x1C,0x78,0x00,0x40,0x00,0x00},/*"G",39*/ +{0x10,0x04,0x1F,0xFC,0x10,0x84,0x00,0x80,0x00,0x80,0x10,0x84,0x1F,0xFC,0x10,0x04},/*"H",40*/ +{0x00,0x00,0x10,0x04,0x10,0x04,0x1F,0xFC,0x10,0x04,0x10,0x04,0x00,0x00,0x00,0x00},/*"I",41*/ +{0x00,0x03,0x00,0x01,0x10,0x01,0x10,0x01,0x1F,0xFE,0x10,0x00,0x10,0x00,0x00,0x00},/*"J",42*/ +{0x10,0x04,0x1F,0xFC,0x11,0x04,0x03,0x80,0x14,0x64,0x18,0x1C,0x10,0x04,0x00,0x00},/*"K",43*/ +{0x10,0x04,0x1F,0xFC,0x10,0x04,0x00,0x04,0x00,0x04,0x00,0x04,0x00,0x0C,0x00,0x00},/*"L",44*/ +{0x10,0x04,0x1F,0xFC,0x1F,0x00,0x00,0xFC,0x1F,0x00,0x1F,0xFC,0x10,0x04,0x00,0x00},/*"M",45*/ +{0x10,0x04,0x1F,0xFC,0x0C,0x04,0x03,0x00,0x00,0xE0,0x10,0x18,0x1F,0xFC,0x10,0x00},/*"N",46*/ +{0x07,0xF0,0x08,0x08,0x10,0x04,0x10,0x04,0x10,0x04,0x08,0x08,0x07,0xF0,0x00,0x00},/*"O",47*/ +{0x10,0x04,0x1F,0xFC,0x10,0x84,0x10,0x80,0x10,0x80,0x10,0x80,0x0F,0x00,0x00,0x00},/*"P",48*/ +{0x07,0xF0,0x08,0x18,0x10,0x24,0x10,0x24,0x10,0x1C,0x08,0x0A,0x07,0xF2,0x00,0x00},/*"Q",49*/ +{0x10,0x04,0x1F,0xFC,0x11,0x04,0x11,0x00,0x11,0xC0,0x11,0x30,0x0E,0x0C,0x00,0x04},/*"R",50*/ +{0x00,0x00,0x0E,0x1C,0x11,0x04,0x10,0x84,0x10,0x84,0x10,0x44,0x1C,0x38,0x00,0x00},/*"S",51*/ +{0x18,0x00,0x10,0x00,0x10,0x04,0x1F,0xFC,0x10,0x04,0x10,0x00,0x18,0x00,0x00,0x00},/*"T",52*/ +{0x10,0x00,0x1F,0xF8,0x10,0x04,0x00,0x04,0x00,0x04,0x10,0x04,0x1F,0xF8,0x10,0x00},/*"U",53*/ +{0x10,0x00,0x1E,0x00,0x11,0xE0,0x00,0x1C,0x00,0x70,0x13,0x80,0x1C,0x00,0x10,0x00},/*"V",54*/ +{0x1F,0xC0,0x10,0x3C,0x00,0xE0,0x1F,0x00,0x00,0xE0,0x10,0x3C,0x1F,0xC0,0x00,0x00},/*"W",55*/ +{0x10,0x04,0x18,0x0C,0x16,0x34,0x01,0xC0,0x01,0xC0,0x16,0x34,0x18,0x0C,0x10,0x04},/*"X",56*/ +{0x10,0x00,0x1C,0x00,0x13,0x04,0x00,0xFC,0x13,0x04,0x1C,0x00,0x10,0x00,0x00,0x00},/*"Y",57*/ +{0x08,0x04,0x10,0x1C,0x10,0x64,0x10,0x84,0x13,0x04,0x1C,0x04,0x10,0x18,0x00,0x00},/*"Z",58*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0x7F,0xFE,0x40,0x02,0x40,0x02,0x40,0x02,0x00,0x00},/*"[",59*/ +{0x00,0x00,0x30,0x00,0x0C,0x00,0x03,0x80,0x00,0x60,0x00,0x1C,0x00,0x03,0x00,0x00},/*"\",60*/ +{0x00,0x00,0x40,0x02,0x40,0x02,0x40,0x02,0x7F,0xFE,0x00,0x00,0x00,0x00,0x00,0x00},/*"]",61*/ +{0x00,0x00,0x00,0x00,0x20,0x00,0x40,0x00,0x40,0x00,0x40,0x00,0x20,0x00,0x00,0x00},/*"^",62*/ +{0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01,0x00,0x01},/*"_",63*/ +{0x00,0x00,0x40,0x00,0x40,0x00,0x20,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*"`",64*/ +{0x00,0x00,0x00,0x98,0x01,0x24,0x01,0x44,0x01,0x44,0x01,0x44,0x00,0xFC,0x00,0x04},/*"a",65*/ +{0x10,0x00,0x1F,0xFC,0x00,0x88,0x01,0x04,0x01,0x04,0x00,0x88,0x00,0x70,0x00,0x00},/*"b",66*/ +{0x00,0x00,0x00,0x70,0x00,0x88,0x01,0x04,0x01,0x04,0x01,0x04,0x00,0x88,0x00,0x00},/*"c",67*/ +{0x00,0x00,0x00,0x70,0x00,0x88,0x01,0x04,0x01,0x04,0x11,0x08,0x1F,0xFC,0x00,0x04},/*"d",68*/ +{0x00,0x00,0x00,0xF8,0x01,0x44,0x01,0x44,0x01,0x44,0x01,0x44,0x00,0xC8,0x00,0x00},/*"e",69*/ +{0x00,0x00,0x01,0x04,0x01,0x04,0x0F,0xFC,0x11,0x04,0x11,0x04,0x11,0x00,0x18,0x00},/*"f",70*/ +{0x00,0x00,0x00,0xD6,0x01,0x29,0x01,0x29,0x01,0x29,0x01,0xC9,0x01,0x06,0x00,0x00},/*"g",71*/ +{0x10,0x04,0x1F,0xFC,0x00,0x84,0x01,0x00,0x01,0x00,0x01,0x04,0x00,0xFC,0x00,0x04},/*"h",72*/ +{0x00,0x00,0x01,0x04,0x19,0x04,0x19,0xFC,0x00,0x04,0x00,0x04,0x00,0x00,0x00,0x00},/*"i",73*/ +{0x00,0x00,0x00,0x03,0x00,0x01,0x01,0x01,0x19,0x01,0x19,0xFE,0x00,0x00,0x00,0x00},/*"j",74*/ +{0x10,0x04,0x1F,0xFC,0x00,0x24,0x00,0x40,0x01,0xB4,0x01,0x0C,0x01,0x04,0x00,0x00},/*"k",75*/ +{0x00,0x00,0x10,0x04,0x10,0x04,0x1F,0xFC,0x00,0x04,0x00,0x04,0x00,0x00,0x00,0x00},/*"l",76*/ +{0x01,0x04,0x01,0xFC,0x01,0x04,0x01,0x00,0x01,0xFC,0x01,0x04,0x01,0x00,0x00,0xFC},/*"m",77*/ +{0x01,0x04,0x01,0xFC,0x00,0x84,0x01,0x00,0x01,0x00,0x01,0x04,0x00,0xFC,0x00,0x04},/*"n",78*/ +{0x00,0x00,0x00,0xF8,0x01,0x04,0x01,0x04,0x01,0x04,0x01,0x04,0x00,0xF8,0x00,0x00},/*"o",79*/ +{0x01,0x01,0x01,0xFF,0x00,0x85,0x01,0x04,0x01,0x04,0x00,0x88,0x00,0x70,0x00,0x00},/*"p",80*/ +{0x00,0x00,0x00,0x70,0x00,0x88,0x01,0x04,0x01,0x04,0x01,0x05,0x01,0xFF,0x00,0x01},/*"q",81*/ +{0x01,0x04,0x01,0x04,0x01,0xFC,0x00,0x84,0x01,0x04,0x01,0x00,0x01,0x80,0x00,0x00},/*"r",82*/ +{0x00,0x00,0x00,0xCC,0x01,0x24,0x01,0x24,0x01,0x24,0x01,0x24,0x01,0x98,0x00,0x00},/*"s",83*/ +{0x00,0x00,0x01,0x00,0x01,0x00,0x07,0xF8,0x01,0x04,0x01,0x04,0x00,0x00,0x00,0x00},/*"t",84*/ +{0x01,0x00,0x01,0xF8,0x00,0x04,0x00,0x04,0x00,0x04,0x01,0x08,0x01,0xFC,0x00,0x04},/*"u",85*/ +{0x01,0x00,0x01,0x80,0x01,0x70,0x00,0x0C,0x00,0x10,0x01,0x60,0x01,0x80,0x01,0x00},/*"v",86*/ +{0x01,0xF0,0x01,0x0C,0x00,0x30,0x01,0xC0,0x00,0x30,0x01,0x0C,0x01,0xF0,0x01,0x00},/*"w",87*/ +{0x00,0x00,0x01,0x04,0x01,0x8C,0x00,0x74,0x01,0x70,0x01,0x8C,0x01,0x04,0x00,0x00},/*"x",88*/ +{0x01,0x01,0x01,0x81,0x01,0x71,0x00,0x0E,0x00,0x18,0x01,0x60,0x01,0x80,0x01,0x00},/*"y",89*/ +{0x00,0x00,0x01,0x84,0x01,0x0C,0x01,0x34,0x01,0x44,0x01,0x84,0x01,0x0C,0x00,0x00},/*"z",90*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x00,0x3E,0xFC,0x40,0x02,0x40,0x02},/*"{",91*/ +{0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00},/*"|",92*/ +{0x00,0x00,0x40,0x02,0x40,0x02,0x3E,0xFC,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00},/*"}",93*/ +{0x00,0x00,0x60,0x00,0x80,0x00,0x80,0x00,0x40,0x00,0x40,0x00,0x20,0x00,0x20,0x00},/*"~",94*/ +}; +#endif diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance.lnp b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance.lnp new file mode 100644 index 0000000..8acb21c --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance.lnp @@ -0,0 +1,47 @@ +--cpu Cortex-M3 +"..\obj\stm32f10x_it.o" +"..\obj\system_stm32f10x.o" +"..\obj\minibalance.o" +"..\obj\core_cm3.o" +"..\obj\startup_stm32f10x_md.o" +"..\obj\misc.o" +"..\obj\stm32f10x_adc.o" +"..\obj\stm32f10x_bkp.o" +"..\obj\stm32f10x_can.o" +"..\obj\stm32f10x_cec.o" +"..\obj\stm32f10x_crc.o" +"..\obj\stm32f10x_dac.o" +"..\obj\stm32f10x_dbgmcu.o" +"..\obj\stm32f10x_dma.o" +"..\obj\stm32f10x_exti.o" +"..\obj\stm32f10x_flash.o" +"..\obj\stm32f10x_fsmc.o" +"..\obj\stm32f10x_gpio.o" +"..\obj\stm32f10x_i2c.o" +"..\obj\stm32f10x_iwdg.o" +"..\obj\stm32f10x_pwr.o" +"..\obj\stm32f10x_rcc.o" +"..\obj\stm32f10x_rtc.o" +"..\obj\stm32f10x_sdio.o" +"..\obj\stm32f10x_spi.o" +"..\obj\stm32f10x_tim.o" +"..\obj\stm32f10x_usart.o" +"..\obj\stm32f10x_wwdg.o" +"..\obj\delay.o" +"..\obj\sys.o" +"..\obj\usart.o" +"..\obj\key.o" +"..\obj\oled.o" +"..\obj\motor.o" +"..\obj\encoder.o" +"..\obj\ioi2c.o" +"..\obj\exti.o" +"..\obj\control.o" +"..\obj\show.o" +"..\obj\inv_mpu.o" +"..\obj\inv_mpu_dmp_motion_driver.o" +"..\obj\mpu6050.o" +--strict --scatter "..\OBJ\MiniBalance.sct" +--summary_stderr --info summarysizes --map --xref --callgraph --symbols +--info sizes --info totals --info unused --info veneers +--list ".\MiniBalance.map" -o ..\OBJ\MiniBalance.axf \ No newline at end of file diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance_sct.Bak b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance_sct.Bak new file mode 100644 index 0000000..09aa1bd --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/OBJ/MiniBalance_sct.Bak @@ -0,0 +1,16 @@ +; ************************************************************* +; *** Scatter-Loading Description File generated by uVision *** +; ************************************************************* + +LR_IROM1 0x08000000 0x00010000 { ; load region size_region + ER_IROM1 0x08000000 0x00010000 { ; load address = execution address + *.o (RESET, +First) + *(InRoot$$Sections) + .ANY (+RO) + .ANY (+XO) + } + RW_IRAM1 0x20000000 0x00005000 { ; RW data + .ANY (+RW +ZI) + } +} + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/misc.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/misc.h new file mode 100644 index 0000000..9a6bd07 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/misc.h @@ -0,0 +1,220 @@ +/** + ****************************************************************************** + * @file misc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the miscellaneous + * firmware library functions (add-on to CMSIS functions). + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __MISC_H +#define __MISC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup MISC + * @{ + */ + +/** @defgroup MISC_Exported_Types + * @{ + */ + +/** + * @brief NVIC Init Structure definition + */ + +typedef struct +{ + uint8_t NVIC_IRQChannel; /*!< Specifies the IRQ channel to be enabled or disabled. + This parameter can be a value of @ref IRQn_Type + (For the complete STM32 Devices IRQ Channels list, please + refer to stm32f10x.h file) */ + + uint8_t NVIC_IRQChannelPreemptionPriority; /*!< Specifies the pre-emption priority for the IRQ channel + specified in NVIC_IRQChannel. This parameter can be a value + between 0 and 15 as described in the table @ref NVIC_Priority_Table */ + + uint8_t NVIC_IRQChannelSubPriority; /*!< Specifies the subpriority level for the IRQ channel specified + in NVIC_IRQChannel. This parameter can be a value + between 0 and 15 as described in the table @ref NVIC_Priority_Table */ + + FunctionalState NVIC_IRQChannelCmd; /*!< Specifies whether the IRQ channel defined in NVIC_IRQChannel + will be enabled or disabled. + This parameter can be set either to ENABLE or DISABLE */ +} NVIC_InitTypeDef; + +/** + * @} + */ + +/** @defgroup NVIC_Priority_Table + * @{ + */ + +/** +@code + The table below gives the allowed values of the pre-emption priority and subpriority according + to the Priority Grouping configuration performed by NVIC_PriorityGroupConfig function + ============================================================================================================================ + NVIC_PriorityGroup | NVIC_IRQChannelPreemptionPriority | NVIC_IRQChannelSubPriority | Description + ============================================================================================================================ + NVIC_PriorityGroup_0 | 0 | 0-15 | 0 bits for pre-emption priority + | | | 4 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_1 | 0-1 | 0-7 | 1 bits for pre-emption priority + | | | 3 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_2 | 0-3 | 0-3 | 2 bits for pre-emption priority + | | | 2 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_3 | 0-7 | 0-1 | 3 bits for pre-emption priority + | | | 1 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_4 | 0-15 | 0 | 4 bits for pre-emption priority + | | | 0 bits for subpriority + ============================================================================================================================ +@endcode +*/ + +/** + * @} + */ + +/** @defgroup MISC_Exported_Constants + * @{ + */ + +/** @defgroup Vector_Table_Base + * @{ + */ + +#define NVIC_VectTab_RAM ((uint32_t)0x20000000) +#define NVIC_VectTab_FLASH ((uint32_t)0x08000000) +#define IS_NVIC_VECTTAB(VECTTAB) (((VECTTAB) == NVIC_VectTab_RAM) || \ + ((VECTTAB) == NVIC_VectTab_FLASH)) +/** + * @} + */ + +/** @defgroup System_Low_Power + * @{ + */ + +#define NVIC_LP_SEVONPEND ((uint8_t)0x10) +#define NVIC_LP_SLEEPDEEP ((uint8_t)0x04) +#define NVIC_LP_SLEEPONEXIT ((uint8_t)0x02) +#define IS_NVIC_LP(LP) (((LP) == NVIC_LP_SEVONPEND) || \ + ((LP) == NVIC_LP_SLEEPDEEP) || \ + ((LP) == NVIC_LP_SLEEPONEXIT)) +/** + * @} + */ + +/** @defgroup Preemption_Priority_Group + * @{ + */ + +#define NVIC_PriorityGroup_0 ((uint32_t)0x700) /*!< 0 bits for pre-emption priority + 4 bits for subpriority */ +#define NVIC_PriorityGroup_1 ((uint32_t)0x600) /*!< 1 bits for pre-emption priority + 3 bits for subpriority */ +#define NVIC_PriorityGroup_2 ((uint32_t)0x500) /*!< 2 bits for pre-emption priority + 2 bits for subpriority */ +#define NVIC_PriorityGroup_3 ((uint32_t)0x400) /*!< 3 bits for pre-emption priority + 1 bits for subpriority */ +#define NVIC_PriorityGroup_4 ((uint32_t)0x300) /*!< 4 bits for pre-emption priority + 0 bits for subpriority */ + +#define IS_NVIC_PRIORITY_GROUP(GROUP) (((GROUP) == NVIC_PriorityGroup_0) || \ + ((GROUP) == NVIC_PriorityGroup_1) || \ + ((GROUP) == NVIC_PriorityGroup_2) || \ + ((GROUP) == NVIC_PriorityGroup_3) || \ + ((GROUP) == NVIC_PriorityGroup_4)) + +#define IS_NVIC_PREEMPTION_PRIORITY(PRIORITY) ((PRIORITY) < 0x10) + +#define IS_NVIC_SUB_PRIORITY(PRIORITY) ((PRIORITY) < 0x10) + +#define IS_NVIC_OFFSET(OFFSET) ((OFFSET) < 0x000FFFFF) + +/** + * @} + */ + +/** @defgroup SysTick_clock_source + * @{ + */ + +#define SysTick_CLKSource_HCLK_Div8 ((uint32_t)0xFFFFFFFB) +#define SysTick_CLKSource_HCLK ((uint32_t)0x00000004) +#define IS_SYSTICK_CLK_SOURCE(SOURCE) (((SOURCE) == SysTick_CLKSource_HCLK) || \ + ((SOURCE) == SysTick_CLKSource_HCLK_Div8)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup MISC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Exported_Functions + * @{ + */ + +void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup); +void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct); +void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset); +void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState); +void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource); + +#ifdef __cplusplus +} +#endif + +#endif /* __MISC_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_adc.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_adc.h new file mode 100644 index 0000000..c465d33 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_adc.h @@ -0,0 +1,483 @@ +/** + ****************************************************************************** + * @file stm32f10x_adc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the ADC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_ADC_H +#define __STM32F10x_ADC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup ADC + * @{ + */ + +/** @defgroup ADC_Exported_Types + * @{ + */ + +/** + * @brief ADC Init structure definition + */ + +typedef struct +{ + uint32_t ADC_Mode; /*!< Configures the ADC to operate in independent or + dual mode. + This parameter can be a value of @ref ADC_mode */ + + FunctionalState ADC_ScanConvMode; /*!< Specifies whether the conversion is performed in + Scan (multichannels) or Single (one channel) mode. + This parameter can be set to ENABLE or DISABLE */ + + FunctionalState ADC_ContinuousConvMode; /*!< Specifies whether the conversion is performed in + Continuous or Single mode. + This parameter can be set to ENABLE or DISABLE. */ + + uint32_t ADC_ExternalTrigConv; /*!< Defines the external trigger used to start the analog + to digital conversion of regular channels. This parameter + can be a value of @ref ADC_external_trigger_sources_for_regular_channels_conversion */ + + uint32_t ADC_DataAlign; /*!< Specifies whether the ADC data alignment is left or right. + This parameter can be a value of @ref ADC_data_align */ + + uint8_t ADC_NbrOfChannel; /*!< Specifies the number of ADC channels that will be converted + using the sequencer for regular channel group. + This parameter must range from 1 to 16. */ +}ADC_InitTypeDef; +/** + * @} + */ + +/** @defgroup ADC_Exported_Constants + * @{ + */ + +#define IS_ADC_ALL_PERIPH(PERIPH) (((PERIPH) == ADC1) || \ + ((PERIPH) == ADC2) || \ + ((PERIPH) == ADC3)) + +#define IS_ADC_DMA_PERIPH(PERIPH) (((PERIPH) == ADC1) || \ + ((PERIPH) == ADC3)) + +/** @defgroup ADC_mode + * @{ + */ + +#define ADC_Mode_Independent ((uint32_t)0x00000000) +#define ADC_Mode_RegInjecSimult ((uint32_t)0x00010000) +#define ADC_Mode_RegSimult_AlterTrig ((uint32_t)0x00020000) +#define ADC_Mode_InjecSimult_FastInterl ((uint32_t)0x00030000) +#define ADC_Mode_InjecSimult_SlowInterl ((uint32_t)0x00040000) +#define ADC_Mode_InjecSimult ((uint32_t)0x00050000) +#define ADC_Mode_RegSimult ((uint32_t)0x00060000) +#define ADC_Mode_FastInterl ((uint32_t)0x00070000) +#define ADC_Mode_SlowInterl ((uint32_t)0x00080000) +#define ADC_Mode_AlterTrig ((uint32_t)0x00090000) + +#define IS_ADC_MODE(MODE) (((MODE) == ADC_Mode_Independent) || \ + ((MODE) == ADC_Mode_RegInjecSimult) || \ + ((MODE) == ADC_Mode_RegSimult_AlterTrig) || \ + ((MODE) == ADC_Mode_InjecSimult_FastInterl) || \ + ((MODE) == ADC_Mode_InjecSimult_SlowInterl) || \ + ((MODE) == ADC_Mode_InjecSimult) || \ + ((MODE) == ADC_Mode_RegSimult) || \ + ((MODE) == ADC_Mode_FastInterl) || \ + ((MODE) == ADC_Mode_SlowInterl) || \ + ((MODE) == ADC_Mode_AlterTrig)) +/** + * @} + */ + +/** @defgroup ADC_external_trigger_sources_for_regular_channels_conversion + * @{ + */ + +#define ADC_ExternalTrigConv_T1_CC1 ((uint32_t)0x00000000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T1_CC2 ((uint32_t)0x00020000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T2_CC2 ((uint32_t)0x00060000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T3_TRGO ((uint32_t)0x00080000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T4_CC4 ((uint32_t)0x000A0000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_Ext_IT11_TIM8_TRGO ((uint32_t)0x000C0000) /*!< For ADC1 and ADC2 */ + +#define ADC_ExternalTrigConv_T1_CC3 ((uint32_t)0x00040000) /*!< For ADC1, ADC2 and ADC3 */ +#define ADC_ExternalTrigConv_None ((uint32_t)0x000E0000) /*!< For ADC1, ADC2 and ADC3 */ + +#define ADC_ExternalTrigConv_T3_CC1 ((uint32_t)0x00000000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T2_CC3 ((uint32_t)0x00020000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T8_CC1 ((uint32_t)0x00060000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T8_TRGO ((uint32_t)0x00080000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T5_CC1 ((uint32_t)0x000A0000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T5_CC3 ((uint32_t)0x000C0000) /*!< For ADC3 only */ + +#define IS_ADC_EXT_TRIG(REGTRIG) (((REGTRIG) == ADC_ExternalTrigConv_T1_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T1_CC2) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T1_CC3) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T2_CC2) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T3_TRGO) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T4_CC4) || \ + ((REGTRIG) == ADC_ExternalTrigConv_Ext_IT11_TIM8_TRGO) || \ + ((REGTRIG) == ADC_ExternalTrigConv_None) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T3_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T2_CC3) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T8_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T8_TRGO) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T5_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T5_CC3)) +/** + * @} + */ + +/** @defgroup ADC_data_align + * @{ + */ + +#define ADC_DataAlign_Right ((uint32_t)0x00000000) +#define ADC_DataAlign_Left ((uint32_t)0x00000800) +#define IS_ADC_DATA_ALIGN(ALIGN) (((ALIGN) == ADC_DataAlign_Right) || \ + ((ALIGN) == ADC_DataAlign_Left)) +/** + * @} + */ + +/** @defgroup ADC_channels + * @{ + */ + +#define ADC_Channel_0 ((uint8_t)0x00) +#define ADC_Channel_1 ((uint8_t)0x01) +#define ADC_Channel_2 ((uint8_t)0x02) +#define ADC_Channel_3 ((uint8_t)0x03) +#define ADC_Channel_4 ((uint8_t)0x04) +#define ADC_Channel_5 ((uint8_t)0x05) +#define ADC_Channel_6 ((uint8_t)0x06) +#define ADC_Channel_7 ((uint8_t)0x07) +#define ADC_Channel_8 ((uint8_t)0x08) +#define ADC_Channel_9 ((uint8_t)0x09) +#define ADC_Channel_10 ((uint8_t)0x0A) +#define ADC_Channel_11 ((uint8_t)0x0B) +#define ADC_Channel_12 ((uint8_t)0x0C) +#define ADC_Channel_13 ((uint8_t)0x0D) +#define ADC_Channel_14 ((uint8_t)0x0E) +#define ADC_Channel_15 ((uint8_t)0x0F) +#define ADC_Channel_16 ((uint8_t)0x10) +#define ADC_Channel_17 ((uint8_t)0x11) + +#define ADC_Channel_TempSensor ((uint8_t)ADC_Channel_16) +#define ADC_Channel_Vrefint ((uint8_t)ADC_Channel_17) + +#define IS_ADC_CHANNEL(CHANNEL) (((CHANNEL) == ADC_Channel_0) || ((CHANNEL) == ADC_Channel_1) || \ + ((CHANNEL) == ADC_Channel_2) || ((CHANNEL) == ADC_Channel_3) || \ + ((CHANNEL) == ADC_Channel_4) || ((CHANNEL) == ADC_Channel_5) || \ + ((CHANNEL) == ADC_Channel_6) || ((CHANNEL) == ADC_Channel_7) || \ + ((CHANNEL) == ADC_Channel_8) || ((CHANNEL) == ADC_Channel_9) || \ + ((CHANNEL) == ADC_Channel_10) || ((CHANNEL) == ADC_Channel_11) || \ + ((CHANNEL) == ADC_Channel_12) || ((CHANNEL) == ADC_Channel_13) || \ + ((CHANNEL) == ADC_Channel_14) || ((CHANNEL) == ADC_Channel_15) || \ + ((CHANNEL) == ADC_Channel_16) || ((CHANNEL) == ADC_Channel_17)) +/** + * @} + */ + +/** @defgroup ADC_sampling_time + * @{ + */ + +#define ADC_SampleTime_1Cycles5 ((uint8_t)0x00) +#define ADC_SampleTime_7Cycles5 ((uint8_t)0x01) +#define ADC_SampleTime_13Cycles5 ((uint8_t)0x02) +#define ADC_SampleTime_28Cycles5 ((uint8_t)0x03) +#define ADC_SampleTime_41Cycles5 ((uint8_t)0x04) +#define ADC_SampleTime_55Cycles5 ((uint8_t)0x05) +#define ADC_SampleTime_71Cycles5 ((uint8_t)0x06) +#define ADC_SampleTime_239Cycles5 ((uint8_t)0x07) +#define IS_ADC_SAMPLE_TIME(TIME) (((TIME) == ADC_SampleTime_1Cycles5) || \ + ((TIME) == ADC_SampleTime_7Cycles5) || \ + ((TIME) == ADC_SampleTime_13Cycles5) || \ + ((TIME) == ADC_SampleTime_28Cycles5) || \ + ((TIME) == ADC_SampleTime_41Cycles5) || \ + ((TIME) == ADC_SampleTime_55Cycles5) || \ + ((TIME) == ADC_SampleTime_71Cycles5) || \ + ((TIME) == ADC_SampleTime_239Cycles5)) +/** + * @} + */ + +/** @defgroup ADC_external_trigger_sources_for_injected_channels_conversion + * @{ + */ + +#define ADC_ExternalTrigInjecConv_T2_TRGO ((uint32_t)0x00002000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_T2_CC1 ((uint32_t)0x00003000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_T3_CC4 ((uint32_t)0x00004000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_T4_TRGO ((uint32_t)0x00005000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_Ext_IT15_TIM8_CC4 ((uint32_t)0x00006000) /*!< For ADC1 and ADC2 */ + +#define ADC_ExternalTrigInjecConv_T1_TRGO ((uint32_t)0x00000000) /*!< For ADC1, ADC2 and ADC3 */ +#define ADC_ExternalTrigInjecConv_T1_CC4 ((uint32_t)0x00001000) /*!< For ADC1, ADC2 and ADC3 */ +#define ADC_ExternalTrigInjecConv_None ((uint32_t)0x00007000) /*!< For ADC1, ADC2 and ADC3 */ + +#define ADC_ExternalTrigInjecConv_T4_CC3 ((uint32_t)0x00002000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T8_CC2 ((uint32_t)0x00003000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T8_CC4 ((uint32_t)0x00004000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T5_TRGO ((uint32_t)0x00005000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T5_CC4 ((uint32_t)0x00006000) /*!< For ADC3 only */ + +#define IS_ADC_EXT_INJEC_TRIG(INJTRIG) (((INJTRIG) == ADC_ExternalTrigInjecConv_T1_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T1_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T2_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T2_CC1) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T3_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_Ext_IT15_TIM8_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_None) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_CC3) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T8_CC2) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T8_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T5_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T5_CC4)) +/** + * @} + */ + +/** @defgroup ADC_injected_channel_selection + * @{ + */ + +#define ADC_InjectedChannel_1 ((uint8_t)0x14) +#define ADC_InjectedChannel_2 ((uint8_t)0x18) +#define ADC_InjectedChannel_3 ((uint8_t)0x1C) +#define ADC_InjectedChannel_4 ((uint8_t)0x20) +#define IS_ADC_INJECTED_CHANNEL(CHANNEL) (((CHANNEL) == ADC_InjectedChannel_1) || \ + ((CHANNEL) == ADC_InjectedChannel_2) || \ + ((CHANNEL) == ADC_InjectedChannel_3) || \ + ((CHANNEL) == ADC_InjectedChannel_4)) +/** + * @} + */ + +/** @defgroup ADC_analog_watchdog_selection + * @{ + */ + +#define ADC_AnalogWatchdog_SingleRegEnable ((uint32_t)0x00800200) +#define ADC_AnalogWatchdog_SingleInjecEnable ((uint32_t)0x00400200) +#define ADC_AnalogWatchdog_SingleRegOrInjecEnable ((uint32_t)0x00C00200) +#define ADC_AnalogWatchdog_AllRegEnable ((uint32_t)0x00800000) +#define ADC_AnalogWatchdog_AllInjecEnable ((uint32_t)0x00400000) +#define ADC_AnalogWatchdog_AllRegAllInjecEnable ((uint32_t)0x00C00000) +#define ADC_AnalogWatchdog_None ((uint32_t)0x00000000) + +#define IS_ADC_ANALOG_WATCHDOG(WATCHDOG) (((WATCHDOG) == ADC_AnalogWatchdog_SingleRegEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_SingleInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_SingleRegOrInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_AllRegEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_AllInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_AllRegAllInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_None)) +/** + * @} + */ + +/** @defgroup ADC_interrupts_definition + * @{ + */ + +#define ADC_IT_EOC ((uint16_t)0x0220) +#define ADC_IT_AWD ((uint16_t)0x0140) +#define ADC_IT_JEOC ((uint16_t)0x0480) + +#define IS_ADC_IT(IT) ((((IT) & (uint16_t)0xF81F) == 0x00) && ((IT) != 0x00)) + +#define IS_ADC_GET_IT(IT) (((IT) == ADC_IT_EOC) || ((IT) == ADC_IT_AWD) || \ + ((IT) == ADC_IT_JEOC)) +/** + * @} + */ + +/** @defgroup ADC_flags_definition + * @{ + */ + +#define ADC_FLAG_AWD ((uint8_t)0x01) +#define ADC_FLAG_EOC ((uint8_t)0x02) +#define ADC_FLAG_JEOC ((uint8_t)0x04) +#define ADC_FLAG_JSTRT ((uint8_t)0x08) +#define ADC_FLAG_STRT ((uint8_t)0x10) +#define IS_ADC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint8_t)0xE0) == 0x00) && ((FLAG) != 0x00)) +#define IS_ADC_GET_FLAG(FLAG) (((FLAG) == ADC_FLAG_AWD) || ((FLAG) == ADC_FLAG_EOC) || \ + ((FLAG) == ADC_FLAG_JEOC) || ((FLAG)== ADC_FLAG_JSTRT) || \ + ((FLAG) == ADC_FLAG_STRT)) +/** + * @} + */ + +/** @defgroup ADC_thresholds + * @{ + */ + +#define IS_ADC_THRESHOLD(THRESHOLD) ((THRESHOLD) <= 0xFFF) + +/** + * @} + */ + +/** @defgroup ADC_injected_offset + * @{ + */ + +#define IS_ADC_OFFSET(OFFSET) ((OFFSET) <= 0xFFF) + +/** + * @} + */ + +/** @defgroup ADC_injected_length + * @{ + */ + +#define IS_ADC_INJECTED_LENGTH(LENGTH) (((LENGTH) >= 0x1) && ((LENGTH) <= 0x4)) + +/** + * @} + */ + +/** @defgroup ADC_injected_rank + * @{ + */ + +#define IS_ADC_INJECTED_RANK(RANK) (((RANK) >= 0x1) && ((RANK) <= 0x4)) + +/** + * @} + */ + + +/** @defgroup ADC_regular_length + * @{ + */ + +#define IS_ADC_REGULAR_LENGTH(LENGTH) (((LENGTH) >= 0x1) && ((LENGTH) <= 0x10)) +/** + * @} + */ + +/** @defgroup ADC_regular_rank + * @{ + */ + +#define IS_ADC_REGULAR_RANK(RANK) (((RANK) >= 0x1) && ((RANK) <= 0x10)) + +/** + * @} + */ + +/** @defgroup ADC_regular_discontinuous_mode_number + * @{ + */ + +#define IS_ADC_REGULAR_DISC_NUMBER(NUMBER) (((NUMBER) >= 0x1) && ((NUMBER) <= 0x8)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup ADC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Exported_Functions + * @{ + */ + +void ADC_DeInit(ADC_TypeDef* ADCx); +void ADC_Init(ADC_TypeDef* ADCx, ADC_InitTypeDef* ADC_InitStruct); +void ADC_StructInit(ADC_InitTypeDef* ADC_InitStruct); +void ADC_Cmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_DMACmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_ITConfig(ADC_TypeDef* ADCx, uint16_t ADC_IT, FunctionalState NewState); +void ADC_ResetCalibration(ADC_TypeDef* ADCx); +FlagStatus ADC_GetResetCalibrationStatus(ADC_TypeDef* ADCx); +void ADC_StartCalibration(ADC_TypeDef* ADCx); +FlagStatus ADC_GetCalibrationStatus(ADC_TypeDef* ADCx); +void ADC_SoftwareStartConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +FlagStatus ADC_GetSoftwareStartConvStatus(ADC_TypeDef* ADCx); +void ADC_DiscModeChannelCountConfig(ADC_TypeDef* ADCx, uint8_t Number); +void ADC_DiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_RegularChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime); +void ADC_ExternalTrigConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +uint16_t ADC_GetConversionValue(ADC_TypeDef* ADCx); +uint32_t ADC_GetDualModeConversionValue(void); +void ADC_AutoInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_InjectedDiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_ExternalTrigInjectedConvConfig(ADC_TypeDef* ADCx, uint32_t ADC_ExternalTrigInjecConv); +void ADC_ExternalTrigInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_SoftwareStartInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +FlagStatus ADC_GetSoftwareStartInjectedConvCmdStatus(ADC_TypeDef* ADCx); +void ADC_InjectedChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime); +void ADC_InjectedSequencerLengthConfig(ADC_TypeDef* ADCx, uint8_t Length); +void ADC_SetInjectedOffset(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel, uint16_t Offset); +uint16_t ADC_GetInjectedConversionValue(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel); +void ADC_AnalogWatchdogCmd(ADC_TypeDef* ADCx, uint32_t ADC_AnalogWatchdog); +void ADC_AnalogWatchdogThresholdsConfig(ADC_TypeDef* ADCx, uint16_t HighThreshold, uint16_t LowThreshold); +void ADC_AnalogWatchdogSingleChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel); +void ADC_TempSensorVrefintCmd(FunctionalState NewState); +FlagStatus ADC_GetFlagStatus(ADC_TypeDef* ADCx, uint8_t ADC_FLAG); +void ADC_ClearFlag(ADC_TypeDef* ADCx, uint8_t ADC_FLAG); +ITStatus ADC_GetITStatus(ADC_TypeDef* ADCx, uint16_t ADC_IT); +void ADC_ClearITPendingBit(ADC_TypeDef* ADCx, uint16_t ADC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_ADC_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_bkp.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_bkp.h new file mode 100644 index 0000000..275c5e1 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_bkp.h @@ -0,0 +1,195 @@ +/** + ****************************************************************************** + * @file stm32f10x_bkp.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the BKP firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_BKP_H +#define __STM32F10x_BKP_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup BKP + * @{ + */ + +/** @defgroup BKP_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Exported_Constants + * @{ + */ + +/** @defgroup Tamper_Pin_active_level + * @{ + */ + +#define BKP_TamperPinLevel_High ((uint16_t)0x0000) +#define BKP_TamperPinLevel_Low ((uint16_t)0x0001) +#define IS_BKP_TAMPER_PIN_LEVEL(LEVEL) (((LEVEL) == BKP_TamperPinLevel_High) || \ + ((LEVEL) == BKP_TamperPinLevel_Low)) +/** + * @} + */ + +/** @defgroup RTC_output_source_to_output_on_the_Tamper_pin + * @{ + */ + +#define BKP_RTCOutputSource_None ((uint16_t)0x0000) +#define BKP_RTCOutputSource_CalibClock ((uint16_t)0x0080) +#define BKP_RTCOutputSource_Alarm ((uint16_t)0x0100) +#define BKP_RTCOutputSource_Second ((uint16_t)0x0300) +#define IS_BKP_RTC_OUTPUT_SOURCE(SOURCE) (((SOURCE) == BKP_RTCOutputSource_None) || \ + ((SOURCE) == BKP_RTCOutputSource_CalibClock) || \ + ((SOURCE) == BKP_RTCOutputSource_Alarm) || \ + ((SOURCE) == BKP_RTCOutputSource_Second)) +/** + * @} + */ + +/** @defgroup Data_Backup_Register + * @{ + */ + +#define BKP_DR1 ((uint16_t)0x0004) +#define BKP_DR2 ((uint16_t)0x0008) +#define BKP_DR3 ((uint16_t)0x000C) +#define BKP_DR4 ((uint16_t)0x0010) +#define BKP_DR5 ((uint16_t)0x0014) +#define BKP_DR6 ((uint16_t)0x0018) +#define BKP_DR7 ((uint16_t)0x001C) +#define BKP_DR8 ((uint16_t)0x0020) +#define BKP_DR9 ((uint16_t)0x0024) +#define BKP_DR10 ((uint16_t)0x0028) +#define BKP_DR11 ((uint16_t)0x0040) +#define BKP_DR12 ((uint16_t)0x0044) +#define BKP_DR13 ((uint16_t)0x0048) +#define BKP_DR14 ((uint16_t)0x004C) +#define BKP_DR15 ((uint16_t)0x0050) +#define BKP_DR16 ((uint16_t)0x0054) +#define BKP_DR17 ((uint16_t)0x0058) +#define BKP_DR18 ((uint16_t)0x005C) +#define BKP_DR19 ((uint16_t)0x0060) +#define BKP_DR20 ((uint16_t)0x0064) +#define BKP_DR21 ((uint16_t)0x0068) +#define BKP_DR22 ((uint16_t)0x006C) +#define BKP_DR23 ((uint16_t)0x0070) +#define BKP_DR24 ((uint16_t)0x0074) +#define BKP_DR25 ((uint16_t)0x0078) +#define BKP_DR26 ((uint16_t)0x007C) +#define BKP_DR27 ((uint16_t)0x0080) +#define BKP_DR28 ((uint16_t)0x0084) +#define BKP_DR29 ((uint16_t)0x0088) +#define BKP_DR30 ((uint16_t)0x008C) +#define BKP_DR31 ((uint16_t)0x0090) +#define BKP_DR32 ((uint16_t)0x0094) +#define BKP_DR33 ((uint16_t)0x0098) +#define BKP_DR34 ((uint16_t)0x009C) +#define BKP_DR35 ((uint16_t)0x00A0) +#define BKP_DR36 ((uint16_t)0x00A4) +#define BKP_DR37 ((uint16_t)0x00A8) +#define BKP_DR38 ((uint16_t)0x00AC) +#define BKP_DR39 ((uint16_t)0x00B0) +#define BKP_DR40 ((uint16_t)0x00B4) +#define BKP_DR41 ((uint16_t)0x00B8) +#define BKP_DR42 ((uint16_t)0x00BC) + +#define IS_BKP_DR(DR) (((DR) == BKP_DR1) || ((DR) == BKP_DR2) || ((DR) == BKP_DR3) || \ + ((DR) == BKP_DR4) || ((DR) == BKP_DR5) || ((DR) == BKP_DR6) || \ + ((DR) == BKP_DR7) || ((DR) == BKP_DR8) || ((DR) == BKP_DR9) || \ + ((DR) == BKP_DR10) || ((DR) == BKP_DR11) || ((DR) == BKP_DR12) || \ + ((DR) == BKP_DR13) || ((DR) == BKP_DR14) || ((DR) == BKP_DR15) || \ + ((DR) == BKP_DR16) || ((DR) == BKP_DR17) || ((DR) == BKP_DR18) || \ + ((DR) == BKP_DR19) || ((DR) == BKP_DR20) || ((DR) == BKP_DR21) || \ + ((DR) == BKP_DR22) || ((DR) == BKP_DR23) || ((DR) == BKP_DR24) || \ + ((DR) == BKP_DR25) || ((DR) == BKP_DR26) || ((DR) == BKP_DR27) || \ + ((DR) == BKP_DR28) || ((DR) == BKP_DR29) || ((DR) == BKP_DR30) || \ + ((DR) == BKP_DR31) || ((DR) == BKP_DR32) || ((DR) == BKP_DR33) || \ + ((DR) == BKP_DR34) || ((DR) == BKP_DR35) || ((DR) == BKP_DR36) || \ + ((DR) == BKP_DR37) || ((DR) == BKP_DR38) || ((DR) == BKP_DR39) || \ + ((DR) == BKP_DR40) || ((DR) == BKP_DR41) || ((DR) == BKP_DR42)) + +#define IS_BKP_CALIBRATION_VALUE(VALUE) ((VALUE) <= 0x7F) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup BKP_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Exported_Functions + * @{ + */ + +void BKP_DeInit(void); +void BKP_TamperPinLevelConfig(uint16_t BKP_TamperPinLevel); +void BKP_TamperPinCmd(FunctionalState NewState); +void BKP_ITConfig(FunctionalState NewState); +void BKP_RTCOutputConfig(uint16_t BKP_RTCOutputSource); +void BKP_SetRTCCalibrationValue(uint8_t CalibrationValue); +void BKP_WriteBackupRegister(uint16_t BKP_DR, uint16_t Data); +uint16_t BKP_ReadBackupRegister(uint16_t BKP_DR); +FlagStatus BKP_GetFlagStatus(void); +void BKP_ClearFlag(void); +ITStatus BKP_GetITStatus(void); +void BKP_ClearITPendingBit(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_BKP_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_can.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_can.h new file mode 100644 index 0000000..d185aa2 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_can.h @@ -0,0 +1,697 @@ +/** + ****************************************************************************** + * @file stm32f10x_can.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the CAN firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_CAN_H +#define __STM32F10x_CAN_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup CAN + * @{ + */ + +/** @defgroup CAN_Exported_Types + * @{ + */ + +#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \ + ((PERIPH) == CAN2)) + +/** + * @brief CAN init structure definition + */ + +typedef struct +{ + uint16_t CAN_Prescaler; /*!< Specifies the length of a time quantum. + It ranges from 1 to 1024. */ + + uint8_t CAN_Mode; /*!< Specifies the CAN operating mode. + This parameter can be a value of + @ref CAN_operating_mode */ + + uint8_t CAN_SJW; /*!< Specifies the maximum number of time quanta + the CAN hardware is allowed to lengthen or + shorten a bit to perform resynchronization. + This parameter can be a value of + @ref CAN_synchronisation_jump_width */ + + uint8_t CAN_BS1; /*!< Specifies the number of time quanta in Bit + Segment 1. This parameter can be a value of + @ref CAN_time_quantum_in_bit_segment_1 */ + + uint8_t CAN_BS2; /*!< Specifies the number of time quanta in Bit + Segment 2. + This parameter can be a value of + @ref CAN_time_quantum_in_bit_segment_2 */ + + FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered + communication mode. This parameter can be set + either to ENABLE or DISABLE. */ + + FunctionalState CAN_ABOM; /*!< Enable or disable the automatic bus-off + management. This parameter can be set either + to ENABLE or DISABLE. */ + + FunctionalState CAN_AWUM; /*!< Enable or disable the automatic wake-up mode. + This parameter can be set either to ENABLE or + DISABLE. */ + + FunctionalState CAN_NART; /*!< Enable or disable the no-automatic + retransmission mode. This parameter can be + set either to ENABLE or DISABLE. */ + + FunctionalState CAN_RFLM; /*!< Enable or disable the Receive FIFO Locked mode. + This parameter can be set either to ENABLE + or DISABLE. */ + + FunctionalState CAN_TXFP; /*!< Enable or disable the transmit FIFO priority. + This parameter can be set either to ENABLE + or DISABLE. */ +} CAN_InitTypeDef; + +/** + * @brief CAN filter init structure definition + */ + +typedef struct +{ + uint16_t CAN_FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit + configuration, first one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit + configuration, second one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number, + according to the mode (MSBs for a 32-bit configuration, + first one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterMaskIdLow; /*!< Specifies the filter mask number or identification number, + according to the mode (LSBs for a 32-bit configuration, + second one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter. + This parameter can be a value of @ref CAN_filter_FIFO */ + + uint8_t CAN_FilterNumber; /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */ + + uint8_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized. + This parameter can be a value of @ref CAN_filter_mode */ + + uint8_t CAN_FilterScale; /*!< Specifies the filter scale. + This parameter can be a value of @ref CAN_filter_scale */ + + FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter. + This parameter can be set either to ENABLE or DISABLE. */ +} CAN_FilterInitTypeDef; + +/** + * @brief CAN Tx message structure definition + */ + +typedef struct +{ + uint32_t StdId; /*!< Specifies the standard identifier. + This parameter can be a value between 0 to 0x7FF. */ + + uint32_t ExtId; /*!< Specifies the extended identifier. + This parameter can be a value between 0 to 0x1FFFFFFF. */ + + uint8_t IDE; /*!< Specifies the type of identifier for the message that + will be transmitted. This parameter can be a value + of @ref CAN_identifier_type */ + + uint8_t RTR; /*!< Specifies the type of frame for the message that will + be transmitted. This parameter can be a value of + @ref CAN_remote_transmission_request */ + + uint8_t DLC; /*!< Specifies the length of the frame that will be + transmitted. This parameter can be a value between + 0 to 8 */ + + uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 + to 0xFF. */ +} CanTxMsg; + +/** + * @brief CAN Rx message structure definition + */ + +typedef struct +{ + uint32_t StdId; /*!< Specifies the standard identifier. + This parameter can be a value between 0 to 0x7FF. */ + + uint32_t ExtId; /*!< Specifies the extended identifier. + This parameter can be a value between 0 to 0x1FFFFFFF. */ + + uint8_t IDE; /*!< Specifies the type of identifier for the message that + will be received. This parameter can be a value of + @ref CAN_identifier_type */ + + uint8_t RTR; /*!< Specifies the type of frame for the received message. + This parameter can be a value of + @ref CAN_remote_transmission_request */ + + uint8_t DLC; /*!< Specifies the length of the frame that will be received. + This parameter can be a value between 0 to 8 */ + + uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to + 0xFF. */ + + uint8_t FMI; /*!< Specifies the index of the filter the message stored in + the mailbox passes through. This parameter can be a + value between 0 to 0xFF */ +} CanRxMsg; + +/** + * @} + */ + +/** @defgroup CAN_Exported_Constants + * @{ + */ + +/** @defgroup CAN_sleep_constants + * @{ + */ + +#define CAN_InitStatus_Failed ((uint8_t)0x00) /*!< CAN initialization failed */ +#define CAN_InitStatus_Success ((uint8_t)0x01) /*!< CAN initialization OK */ + +/** + * @} + */ + +/** @defgroup CAN_Mode + * @{ + */ + +#define CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */ +#define CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */ +#define CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */ +#define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */ + +#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || \ + ((MODE) == CAN_Mode_LoopBack)|| \ + ((MODE) == CAN_Mode_Silent) || \ + ((MODE) == CAN_Mode_Silent_LoopBack)) +/** + * @} + */ + + +/** + * @defgroup CAN_Operating_Mode + * @{ + */ +#define CAN_OperatingMode_Initialization ((uint8_t)0x00) /*!< Initialization mode */ +#define CAN_OperatingMode_Normal ((uint8_t)0x01) /*!< Normal mode */ +#define CAN_OperatingMode_Sleep ((uint8_t)0x02) /*!< sleep mode */ + + +#define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\ + ((MODE) == CAN_OperatingMode_Normal)|| \ + ((MODE) == CAN_OperatingMode_Sleep)) +/** + * @} + */ + +/** + * @defgroup CAN_Mode_Status + * @{ + */ + +#define CAN_ModeStatus_Failed ((uint8_t)0x00) /*!< CAN entering the specific mode failed */ +#define CAN_ModeStatus_Success ((uint8_t)!CAN_ModeStatus_Failed) /*!< CAN entering the specific mode Succeed */ + + +/** + * @} + */ + +/** @defgroup CAN_synchronisation_jump_width + * @{ + */ + +#define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */ +#define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */ +#define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */ +#define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */ + +#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \ + ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq)) +/** + * @} + */ + +/** @defgroup CAN_time_quantum_in_bit_segment_1 + * @{ + */ + +#define CAN_BS1_1tq ((uint8_t)0x00) /*!< 1 time quantum */ +#define CAN_BS1_2tq ((uint8_t)0x01) /*!< 2 time quantum */ +#define CAN_BS1_3tq ((uint8_t)0x02) /*!< 3 time quantum */ +#define CAN_BS1_4tq ((uint8_t)0x03) /*!< 4 time quantum */ +#define CAN_BS1_5tq ((uint8_t)0x04) /*!< 5 time quantum */ +#define CAN_BS1_6tq ((uint8_t)0x05) /*!< 6 time quantum */ +#define CAN_BS1_7tq ((uint8_t)0x06) /*!< 7 time quantum */ +#define CAN_BS1_8tq ((uint8_t)0x07) /*!< 8 time quantum */ +#define CAN_BS1_9tq ((uint8_t)0x08) /*!< 9 time quantum */ +#define CAN_BS1_10tq ((uint8_t)0x09) /*!< 10 time quantum */ +#define CAN_BS1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */ +#define CAN_BS1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */ +#define CAN_BS1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */ +#define CAN_BS1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */ +#define CAN_BS1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */ +#define CAN_BS1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */ + +#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq) +/** + * @} + */ + +/** @defgroup CAN_time_quantum_in_bit_segment_2 + * @{ + */ + +#define CAN_BS2_1tq ((uint8_t)0x00) /*!< 1 time quantum */ +#define CAN_BS2_2tq ((uint8_t)0x01) /*!< 2 time quantum */ +#define CAN_BS2_3tq ((uint8_t)0x02) /*!< 3 time quantum */ +#define CAN_BS2_4tq ((uint8_t)0x03) /*!< 4 time quantum */ +#define CAN_BS2_5tq ((uint8_t)0x04) /*!< 5 time quantum */ +#define CAN_BS2_6tq ((uint8_t)0x05) /*!< 6 time quantum */ +#define CAN_BS2_7tq ((uint8_t)0x06) /*!< 7 time quantum */ +#define CAN_BS2_8tq ((uint8_t)0x07) /*!< 8 time quantum */ + +#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq) + +/** + * @} + */ + +/** @defgroup CAN_clock_prescaler + * @{ + */ + +#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024)) + +/** + * @} + */ + +/** @defgroup CAN_filter_number + * @{ + */ +#ifndef STM32F10X_CL + #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 13) +#else + #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27) +#endif /* STM32F10X_CL */ +/** + * @} + */ + +/** @defgroup CAN_filter_mode + * @{ + */ + +#define CAN_FilterMode_IdMask ((uint8_t)0x00) /*!< identifier/mask mode */ +#define CAN_FilterMode_IdList ((uint8_t)0x01) /*!< identifier list mode */ + +#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \ + ((MODE) == CAN_FilterMode_IdList)) +/** + * @} + */ + +/** @defgroup CAN_filter_scale + * @{ + */ + +#define CAN_FilterScale_16bit ((uint8_t)0x00) /*!< Two 16-bit filters */ +#define CAN_FilterScale_32bit ((uint8_t)0x01) /*!< One 32-bit filter */ + +#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \ + ((SCALE) == CAN_FilterScale_32bit)) + +/** + * @} + */ + +/** @defgroup CAN_filter_FIFO + * @{ + */ + +#define CAN_Filter_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */ +#define CAN_Filter_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */ +#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \ + ((FIFO) == CAN_FilterFIFO1)) +/** + * @} + */ + +/** @defgroup Start_bank_filter_for_slave_CAN + * @{ + */ +#define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27)) +/** + * @} + */ + +/** @defgroup CAN_Tx + * @{ + */ + +#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02)) +#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF)) +#define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF)) +#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08)) + +/** + * @} + */ + +/** @defgroup CAN_identifier_type + * @{ + */ + +#define CAN_Id_Standard ((uint32_t)0x00000000) /*!< Standard Id */ +#define CAN_Id_Extended ((uint32_t)0x00000004) /*!< Extended Id */ +#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \ + ((IDTYPE) == CAN_Id_Extended)) +/** + * @} + */ + +/** @defgroup CAN_remote_transmission_request + * @{ + */ + +#define CAN_RTR_Data ((uint32_t)0x00000000) /*!< Data frame */ +#define CAN_RTR_Remote ((uint32_t)0x00000002) /*!< Remote frame */ +#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote)) + +/** + * @} + */ + +/** @defgroup CAN_transmit_constants + * @{ + */ + +#define CAN_TxStatus_Failed ((uint8_t)0x00)/*!< CAN transmission failed */ +#define CAN_TxStatus_Ok ((uint8_t)0x01) /*!< CAN transmission succeeded */ +#define CAN_TxStatus_Pending ((uint8_t)0x02) /*!< CAN transmission pending */ +#define CAN_TxStatus_NoMailBox ((uint8_t)0x04) /*!< CAN cell did not provide an empty mailbox */ + +/** + * @} + */ + +/** @defgroup CAN_receive_FIFO_number_constants + * @{ + */ + +#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */ +#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */ + +#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1)) + +/** + * @} + */ + +/** @defgroup CAN_sleep_constants + * @{ + */ + +#define CAN_Sleep_Failed ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */ +#define CAN_Sleep_Ok ((uint8_t)0x01) /*!< CAN entered the sleep mode */ + +/** + * @} + */ + +/** @defgroup CAN_wake_up_constants + * @{ + */ + +#define CAN_WakeUp_Failed ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */ +#define CAN_WakeUp_Ok ((uint8_t)0x01) /*!< CAN leaved the sleep mode */ + +/** + * @} + */ + +/** + * @defgroup CAN_Error_Code_constants + * @{ + */ + +#define CAN_ErrorCode_NoErr ((uint8_t)0x00) /*!< No Error */ +#define CAN_ErrorCode_StuffErr ((uint8_t)0x10) /*!< Stuff Error */ +#define CAN_ErrorCode_FormErr ((uint8_t)0x20) /*!< Form Error */ +#define CAN_ErrorCode_ACKErr ((uint8_t)0x30) /*!< Acknowledgment Error */ +#define CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40) /*!< Bit Recessive Error */ +#define CAN_ErrorCode_BitDominantErr ((uint8_t)0x50) /*!< Bit Dominant Error */ +#define CAN_ErrorCode_CRCErr ((uint8_t)0x60) /*!< CRC Error */ +#define CAN_ErrorCode_SoftwareSetErr ((uint8_t)0x70) /*!< Software Set Error */ + + +/** + * @} + */ + +/** @defgroup CAN_flags + * @{ + */ +/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus() + and CAN_ClearFlag() functions. */ +/* If the flag is 0x1XXXXXXX, it means that it can only be used with CAN_GetFlagStatus() function. */ + +/* Transmit Flags */ +#define CAN_FLAG_RQCP0 ((uint32_t)0x38000001) /*!< Request MailBox0 Flag */ +#define CAN_FLAG_RQCP1 ((uint32_t)0x38000100) /*!< Request MailBox1 Flag */ +#define CAN_FLAG_RQCP2 ((uint32_t)0x38010000) /*!< Request MailBox2 Flag */ + +/* Receive Flags */ +#define CAN_FLAG_FMP0 ((uint32_t)0x12000003) /*!< FIFO 0 Message Pending Flag */ +#define CAN_FLAG_FF0 ((uint32_t)0x32000008) /*!< FIFO 0 Full Flag */ +#define CAN_FLAG_FOV0 ((uint32_t)0x32000010) /*!< FIFO 0 Overrun Flag */ +#define CAN_FLAG_FMP1 ((uint32_t)0x14000003) /*!< FIFO 1 Message Pending Flag */ +#define CAN_FLAG_FF1 ((uint32_t)0x34000008) /*!< FIFO 1 Full Flag */ +#define CAN_FLAG_FOV1 ((uint32_t)0x34000010) /*!< FIFO 1 Overrun Flag */ + +/* Operating Mode Flags */ +#define CAN_FLAG_WKU ((uint32_t)0x31000008) /*!< Wake up Flag */ +#define CAN_FLAG_SLAK ((uint32_t)0x31000012) /*!< Sleep acknowledge Flag */ +/* Note: When SLAK intterupt is disabled (SLKIE=0), no polling on SLAKI is possible. + In this case the SLAK bit can be polled.*/ + +/* Error Flags */ +#define CAN_FLAG_EWG ((uint32_t)0x10F00001) /*!< Error Warning Flag */ +#define CAN_FLAG_EPV ((uint32_t)0x10F00002) /*!< Error Passive Flag */ +#define CAN_FLAG_BOF ((uint32_t)0x10F00004) /*!< Bus-Off Flag */ +#define CAN_FLAG_LEC ((uint32_t)0x30F00070) /*!< Last error code Flag */ + +#define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_BOF) || \ + ((FLAG) == CAN_FLAG_EPV) || ((FLAG) == CAN_FLAG_EWG) || \ + ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_FOV0) || \ + ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FMP0) || \ + ((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1) || \ + ((FLAG) == CAN_FLAG_FMP1) || ((FLAG) == CAN_FLAG_RQCP2) || \ + ((FLAG) == CAN_FLAG_RQCP1)|| ((FLAG) == CAN_FLAG_RQCP0) || \ + ((FLAG) == CAN_FLAG_SLAK )) + +#define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_RQCP2) || \ + ((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0) || \ + ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FOV0) ||\ + ((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \ + ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_SLAK)) +/** + * @} + */ + + +/** @defgroup CAN_interrupts + * @{ + */ + + + +#define CAN_IT_TME ((uint32_t)0x00000001) /*!< Transmit mailbox empty Interrupt*/ + +/* Receive Interrupts */ +#define CAN_IT_FMP0 ((uint32_t)0x00000002) /*!< FIFO 0 message pending Interrupt*/ +#define CAN_IT_FF0 ((uint32_t)0x00000004) /*!< FIFO 0 full Interrupt*/ +#define CAN_IT_FOV0 ((uint32_t)0x00000008) /*!< FIFO 0 overrun Interrupt*/ +#define CAN_IT_FMP1 ((uint32_t)0x00000010) /*!< FIFO 1 message pending Interrupt*/ +#define CAN_IT_FF1 ((uint32_t)0x00000020) /*!< FIFO 1 full Interrupt*/ +#define CAN_IT_FOV1 ((uint32_t)0x00000040) /*!< FIFO 1 overrun Interrupt*/ + +/* Operating Mode Interrupts */ +#define CAN_IT_WKU ((uint32_t)0x00010000) /*!< Wake-up Interrupt*/ +#define CAN_IT_SLK ((uint32_t)0x00020000) /*!< Sleep acknowledge Interrupt*/ + +/* Error Interrupts */ +#define CAN_IT_EWG ((uint32_t)0x00000100) /*!< Error warning Interrupt*/ +#define CAN_IT_EPV ((uint32_t)0x00000200) /*!< Error passive Interrupt*/ +#define CAN_IT_BOF ((uint32_t)0x00000400) /*!< Bus-off Interrupt*/ +#define CAN_IT_LEC ((uint32_t)0x00000800) /*!< Last error code Interrupt*/ +#define CAN_IT_ERR ((uint32_t)0x00008000) /*!< Error Interrupt*/ + +/* Flags named as Interrupts : kept only for FW compatibility */ +#define CAN_IT_RQCP0 CAN_IT_TME +#define CAN_IT_RQCP1 CAN_IT_TME +#define CAN_IT_RQCP2 CAN_IT_TME + + +#define IS_CAN_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\ + ((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\ + ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\ + ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\ + ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\ + ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\ + ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK)) + +#define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0) ||\ + ((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1) ||\ + ((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG) ||\ + ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\ + ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\ + ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK)) + +/** + * @} + */ + +/** @defgroup CAN_Legacy + * @{ + */ +#define CANINITFAILED CAN_InitStatus_Failed +#define CANINITOK CAN_InitStatus_Success +#define CAN_FilterFIFO0 CAN_Filter_FIFO0 +#define CAN_FilterFIFO1 CAN_Filter_FIFO1 +#define CAN_ID_STD CAN_Id_Standard +#define CAN_ID_EXT CAN_Id_Extended +#define CAN_RTR_DATA CAN_RTR_Data +#define CAN_RTR_REMOTE CAN_RTR_Remote +#define CANTXFAILE CAN_TxStatus_Failed +#define CANTXOK CAN_TxStatus_Ok +#define CANTXPENDING CAN_TxStatus_Pending +#define CAN_NO_MB CAN_TxStatus_NoMailBox +#define CANSLEEPFAILED CAN_Sleep_Failed +#define CANSLEEPOK CAN_Sleep_Ok +#define CANWAKEUPFAILED CAN_WakeUp_Failed +#define CANWAKEUPOK CAN_WakeUp_Ok + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup CAN_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Exported_Functions + * @{ + */ +/* Function used to set the CAN configuration to the default reset state *****/ +void CAN_DeInit(CAN_TypeDef* CANx); + +/* Initialization and Configuration functions *********************************/ +uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct); +void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct); +void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct); +void CAN_SlaveStartBank(uint8_t CAN_BankNumber); +void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState); +void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState); + +/* Transmit functions *********************************************************/ +uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage); +uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox); +void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox); + +/* Receive functions **********************************************************/ +void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage); +void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber); +uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber); + + +/* Operation modes functions **************************************************/ +uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode); +uint8_t CAN_Sleep(CAN_TypeDef* CANx); +uint8_t CAN_WakeUp(CAN_TypeDef* CANx); + +/* Error management functions *************************************************/ +uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx); +uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx); +uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx); + +/* Interrupts and flags management functions **********************************/ +void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState); +FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG); +void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG); +ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT); +void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_CAN_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_cec.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_cec.h new file mode 100644 index 0000000..7ce6896 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_cec.h @@ -0,0 +1,210 @@ +/** + ****************************************************************************** + * @file stm32f10x_cec.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the CEC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_CEC_H +#define __STM32F10x_CEC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup CEC + * @{ + */ + + +/** @defgroup CEC_Exported_Types + * @{ + */ + +/** + * @brief CEC Init structure definition + */ +typedef struct +{ + uint16_t CEC_BitTimingMode; /*!< Configures the CEC Bit Timing Error Mode. + This parameter can be a value of @ref CEC_BitTiming_Mode */ + uint16_t CEC_BitPeriodMode; /*!< Configures the CEC Bit Period Error Mode. + This parameter can be a value of @ref CEC_BitPeriod_Mode */ +}CEC_InitTypeDef; + +/** + * @} + */ + +/** @defgroup CEC_Exported_Constants + * @{ + */ + +/** @defgroup CEC_BitTiming_Mode + * @{ + */ +#define CEC_BitTimingStdMode ((uint16_t)0x00) /*!< Bit timing error Standard Mode */ +#define CEC_BitTimingErrFreeMode CEC_CFGR_BTEM /*!< Bit timing error Free Mode */ + +#define IS_CEC_BIT_TIMING_ERROR_MODE(MODE) (((MODE) == CEC_BitTimingStdMode) || \ + ((MODE) == CEC_BitTimingErrFreeMode)) +/** + * @} + */ + +/** @defgroup CEC_BitPeriod_Mode + * @{ + */ +#define CEC_BitPeriodStdMode ((uint16_t)0x00) /*!< Bit period error Standard Mode */ +#define CEC_BitPeriodFlexibleMode CEC_CFGR_BPEM /*!< Bit period error Flexible Mode */ + +#define IS_CEC_BIT_PERIOD_ERROR_MODE(MODE) (((MODE) == CEC_BitPeriodStdMode) || \ + ((MODE) == CEC_BitPeriodFlexibleMode)) +/** + * @} + */ + + +/** @defgroup CEC_interrupts_definition + * @{ + */ +#define CEC_IT_TERR CEC_CSR_TERR +#define CEC_IT_TBTRF CEC_CSR_TBTRF +#define CEC_IT_RERR CEC_CSR_RERR +#define CEC_IT_RBTF CEC_CSR_RBTF +#define IS_CEC_GET_IT(IT) (((IT) == CEC_IT_TERR) || ((IT) == CEC_IT_TBTRF) || \ + ((IT) == CEC_IT_RERR) || ((IT) == CEC_IT_RBTF)) +/** + * @} + */ + + +/** @defgroup CEC_Own_Address + * @{ + */ +#define IS_CEC_ADDRESS(ADDRESS) ((ADDRESS) < 0x10) +/** + * @} + */ + +/** @defgroup CEC_Prescaler + * @{ + */ +#define IS_CEC_PRESCALER(PRESCALER) ((PRESCALER) <= 0x3FFF) + +/** + * @} + */ + +/** @defgroup CEC_flags_definition + * @{ + */ + +/** + * @brief ESR register flags + */ +#define CEC_FLAG_BTE ((uint32_t)0x10010000) +#define CEC_FLAG_BPE ((uint32_t)0x10020000) +#define CEC_FLAG_RBTFE ((uint32_t)0x10040000) +#define CEC_FLAG_SBE ((uint32_t)0x10080000) +#define CEC_FLAG_ACKE ((uint32_t)0x10100000) +#define CEC_FLAG_LINE ((uint32_t)0x10200000) +#define CEC_FLAG_TBTFE ((uint32_t)0x10400000) + +/** + * @brief CSR register flags + */ +#define CEC_FLAG_TEOM ((uint32_t)0x00000002) +#define CEC_FLAG_TERR ((uint32_t)0x00000004) +#define CEC_FLAG_TBTRF ((uint32_t)0x00000008) +#define CEC_FLAG_RSOM ((uint32_t)0x00000010) +#define CEC_FLAG_REOM ((uint32_t)0x00000020) +#define CEC_FLAG_RERR ((uint32_t)0x00000040) +#define CEC_FLAG_RBTF ((uint32_t)0x00000080) + +#define IS_CEC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFF03) == 0x00) && ((FLAG) != 0x00)) + +#define IS_CEC_GET_FLAG(FLAG) (((FLAG) == CEC_FLAG_BTE) || ((FLAG) == CEC_FLAG_BPE) || \ + ((FLAG) == CEC_FLAG_RBTFE) || ((FLAG)== CEC_FLAG_SBE) || \ + ((FLAG) == CEC_FLAG_ACKE) || ((FLAG) == CEC_FLAG_LINE) || \ + ((FLAG) == CEC_FLAG_TBTFE) || ((FLAG) == CEC_FLAG_TEOM) || \ + ((FLAG) == CEC_FLAG_TERR) || ((FLAG) == CEC_FLAG_TBTRF) || \ + ((FLAG) == CEC_FLAG_RSOM) || ((FLAG) == CEC_FLAG_REOM) || \ + ((FLAG) == CEC_FLAG_RERR) || ((FLAG) == CEC_FLAG_RBTF)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup CEC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CEC_Exported_Functions + * @{ + */ +void CEC_DeInit(void); +void CEC_Init(CEC_InitTypeDef* CEC_InitStruct); +void CEC_Cmd(FunctionalState NewState); +void CEC_ITConfig(FunctionalState NewState); +void CEC_OwnAddressConfig(uint8_t CEC_OwnAddress); +void CEC_SetPrescaler(uint16_t CEC_Prescaler); +void CEC_SendDataByte(uint8_t Data); +uint8_t CEC_ReceiveDataByte(void); +void CEC_StartOfMessage(void); +void CEC_EndOfMessageCmd(FunctionalState NewState); +FlagStatus CEC_GetFlagStatus(uint32_t CEC_FLAG); +void CEC_ClearFlag(uint32_t CEC_FLAG); +ITStatus CEC_GetITStatus(uint8_t CEC_IT); +void CEC_ClearITPendingBit(uint16_t CEC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_CEC_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_crc.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_crc.h new file mode 100644 index 0000000..3362fca --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_crc.h @@ -0,0 +1,94 @@ +/** + ****************************************************************************** + * @file stm32f10x_crc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the CRC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_CRC_H +#define __STM32F10x_CRC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup CRC + * @{ + */ + +/** @defgroup CRC_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Exported_Constants + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Exported_Functions + * @{ + */ + +void CRC_ResetDR(void); +uint32_t CRC_CalcCRC(uint32_t Data); +uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength); +uint32_t CRC_GetCRC(void); +void CRC_SetIDRegister(uint8_t IDValue); +uint8_t CRC_GetIDRegister(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_CRC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dac.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dac.h new file mode 100644 index 0000000..174773c --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dac.h @@ -0,0 +1,317 @@ +/** + ****************************************************************************** + * @file stm32f10x_dac.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the DAC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_DAC_H +#define __STM32F10x_DAC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup DAC + * @{ + */ + +/** @defgroup DAC_Exported_Types + * @{ + */ + +/** + * @brief DAC Init structure definition + */ + +typedef struct +{ + uint32_t DAC_Trigger; /*!< Specifies the external trigger for the selected DAC channel. + This parameter can be a value of @ref DAC_trigger_selection */ + + uint32_t DAC_WaveGeneration; /*!< Specifies whether DAC channel noise waves or triangle waves + are generated, or whether no wave is generated. + This parameter can be a value of @ref DAC_wave_generation */ + + uint32_t DAC_LFSRUnmask_TriangleAmplitude; /*!< Specifies the LFSR mask for noise wave generation or + the maximum amplitude triangle generation for the DAC channel. + This parameter can be a value of @ref DAC_lfsrunmask_triangleamplitude */ + + uint32_t DAC_OutputBuffer; /*!< Specifies whether the DAC channel output buffer is enabled or disabled. + This parameter can be a value of @ref DAC_output_buffer */ +}DAC_InitTypeDef; + +/** + * @} + */ + +/** @defgroup DAC_Exported_Constants + * @{ + */ + +/** @defgroup DAC_trigger_selection + * @{ + */ + +#define DAC_Trigger_None ((uint32_t)0x00000000) /*!< Conversion is automatic once the DAC1_DHRxxxx register + has been loaded, and not by external trigger */ +#define DAC_Trigger_T6_TRGO ((uint32_t)0x00000004) /*!< TIM6 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T8_TRGO ((uint32_t)0x0000000C) /*!< TIM8 TRGO selected as external conversion trigger for DAC channel + only in High-density devices*/ +#define DAC_Trigger_T3_TRGO ((uint32_t)0x0000000C) /*!< TIM8 TRGO selected as external conversion trigger for DAC channel + only in Connectivity line, Medium-density and Low-density Value Line devices */ +#define DAC_Trigger_T7_TRGO ((uint32_t)0x00000014) /*!< TIM7 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T5_TRGO ((uint32_t)0x0000001C) /*!< TIM5 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T15_TRGO ((uint32_t)0x0000001C) /*!< TIM15 TRGO selected as external conversion trigger for DAC channel + only in Medium-density and Low-density Value Line devices*/ +#define DAC_Trigger_T2_TRGO ((uint32_t)0x00000024) /*!< TIM2 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T4_TRGO ((uint32_t)0x0000002C) /*!< TIM4 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_Ext_IT9 ((uint32_t)0x00000034) /*!< EXTI Line9 event selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_Software ((uint32_t)0x0000003C) /*!< Conversion started by software trigger for DAC channel */ + +#define IS_DAC_TRIGGER(TRIGGER) (((TRIGGER) == DAC_Trigger_None) || \ + ((TRIGGER) == DAC_Trigger_T6_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T8_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T7_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T5_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T2_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T4_TRGO) || \ + ((TRIGGER) == DAC_Trigger_Ext_IT9) || \ + ((TRIGGER) == DAC_Trigger_Software)) + +/** + * @} + */ + +/** @defgroup DAC_wave_generation + * @{ + */ + +#define DAC_WaveGeneration_None ((uint32_t)0x00000000) +#define DAC_WaveGeneration_Noise ((uint32_t)0x00000040) +#define DAC_WaveGeneration_Triangle ((uint32_t)0x00000080) +#define IS_DAC_GENERATE_WAVE(WAVE) (((WAVE) == DAC_WaveGeneration_None) || \ + ((WAVE) == DAC_WaveGeneration_Noise) || \ + ((WAVE) == DAC_WaveGeneration_Triangle)) +/** + * @} + */ + +/** @defgroup DAC_lfsrunmask_triangleamplitude + * @{ + */ + +#define DAC_LFSRUnmask_Bit0 ((uint32_t)0x00000000) /*!< Unmask DAC channel LFSR bit0 for noise wave generation */ +#define DAC_LFSRUnmask_Bits1_0 ((uint32_t)0x00000100) /*!< Unmask DAC channel LFSR bit[1:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits2_0 ((uint32_t)0x00000200) /*!< Unmask DAC channel LFSR bit[2:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits3_0 ((uint32_t)0x00000300) /*!< Unmask DAC channel LFSR bit[3:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits4_0 ((uint32_t)0x00000400) /*!< Unmask DAC channel LFSR bit[4:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits5_0 ((uint32_t)0x00000500) /*!< Unmask DAC channel LFSR bit[5:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits6_0 ((uint32_t)0x00000600) /*!< Unmask DAC channel LFSR bit[6:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits7_0 ((uint32_t)0x00000700) /*!< Unmask DAC channel LFSR bit[7:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits8_0 ((uint32_t)0x00000800) /*!< Unmask DAC channel LFSR bit[8:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits9_0 ((uint32_t)0x00000900) /*!< Unmask DAC channel LFSR bit[9:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits10_0 ((uint32_t)0x00000A00) /*!< Unmask DAC channel LFSR bit[10:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits11_0 ((uint32_t)0x00000B00) /*!< Unmask DAC channel LFSR bit[11:0] for noise wave generation */ +#define DAC_TriangleAmplitude_1 ((uint32_t)0x00000000) /*!< Select max triangle amplitude of 1 */ +#define DAC_TriangleAmplitude_3 ((uint32_t)0x00000100) /*!< Select max triangle amplitude of 3 */ +#define DAC_TriangleAmplitude_7 ((uint32_t)0x00000200) /*!< Select max triangle amplitude of 7 */ +#define DAC_TriangleAmplitude_15 ((uint32_t)0x00000300) /*!< Select max triangle amplitude of 15 */ +#define DAC_TriangleAmplitude_31 ((uint32_t)0x00000400) /*!< Select max triangle amplitude of 31 */ +#define DAC_TriangleAmplitude_63 ((uint32_t)0x00000500) /*!< Select max triangle amplitude of 63 */ +#define DAC_TriangleAmplitude_127 ((uint32_t)0x00000600) /*!< Select max triangle amplitude of 127 */ +#define DAC_TriangleAmplitude_255 ((uint32_t)0x00000700) /*!< Select max triangle amplitude of 255 */ +#define DAC_TriangleAmplitude_511 ((uint32_t)0x00000800) /*!< Select max triangle amplitude of 511 */ +#define DAC_TriangleAmplitude_1023 ((uint32_t)0x00000900) /*!< Select max triangle amplitude of 1023 */ +#define DAC_TriangleAmplitude_2047 ((uint32_t)0x00000A00) /*!< Select max triangle amplitude of 2047 */ +#define DAC_TriangleAmplitude_4095 ((uint32_t)0x00000B00) /*!< Select max triangle amplitude of 4095 */ + +#define IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(VALUE) (((VALUE) == DAC_LFSRUnmask_Bit0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits1_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits2_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits3_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits4_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits5_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits6_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits7_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits8_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits9_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits10_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits11_0) || \ + ((VALUE) == DAC_TriangleAmplitude_1) || \ + ((VALUE) == DAC_TriangleAmplitude_3) || \ + ((VALUE) == DAC_TriangleAmplitude_7) || \ + ((VALUE) == DAC_TriangleAmplitude_15) || \ + ((VALUE) == DAC_TriangleAmplitude_31) || \ + ((VALUE) == DAC_TriangleAmplitude_63) || \ + ((VALUE) == DAC_TriangleAmplitude_127) || \ + ((VALUE) == DAC_TriangleAmplitude_255) || \ + ((VALUE) == DAC_TriangleAmplitude_511) || \ + ((VALUE) == DAC_TriangleAmplitude_1023) || \ + ((VALUE) == DAC_TriangleAmplitude_2047) || \ + ((VALUE) == DAC_TriangleAmplitude_4095)) +/** + * @} + */ + +/** @defgroup DAC_output_buffer + * @{ + */ + +#define DAC_OutputBuffer_Enable ((uint32_t)0x00000000) +#define DAC_OutputBuffer_Disable ((uint32_t)0x00000002) +#define IS_DAC_OUTPUT_BUFFER_STATE(STATE) (((STATE) == DAC_OutputBuffer_Enable) || \ + ((STATE) == DAC_OutputBuffer_Disable)) +/** + * @} + */ + +/** @defgroup DAC_Channel_selection + * @{ + */ + +#define DAC_Channel_1 ((uint32_t)0x00000000) +#define DAC_Channel_2 ((uint32_t)0x00000010) +#define IS_DAC_CHANNEL(CHANNEL) (((CHANNEL) == DAC_Channel_1) || \ + ((CHANNEL) == DAC_Channel_2)) +/** + * @} + */ + +/** @defgroup DAC_data_alignment + * @{ + */ + +#define DAC_Align_12b_R ((uint32_t)0x00000000) +#define DAC_Align_12b_L ((uint32_t)0x00000004) +#define DAC_Align_8b_R ((uint32_t)0x00000008) +#define IS_DAC_ALIGN(ALIGN) (((ALIGN) == DAC_Align_12b_R) || \ + ((ALIGN) == DAC_Align_12b_L) || \ + ((ALIGN) == DAC_Align_8b_R)) +/** + * @} + */ + +/** @defgroup DAC_wave_generation + * @{ + */ + +#define DAC_Wave_Noise ((uint32_t)0x00000040) +#define DAC_Wave_Triangle ((uint32_t)0x00000080) +#define IS_DAC_WAVE(WAVE) (((WAVE) == DAC_Wave_Noise) || \ + ((WAVE) == DAC_Wave_Triangle)) +/** + * @} + */ + +/** @defgroup DAC_data + * @{ + */ + +#define IS_DAC_DATA(DATA) ((DATA) <= 0xFFF0) +/** + * @} + */ +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/** @defgroup DAC_interrupts_definition + * @{ + */ + +#define DAC_IT_DMAUDR ((uint32_t)0x00002000) +#define IS_DAC_IT(IT) (((IT) == DAC_IT_DMAUDR)) + +/** + * @} + */ + +/** @defgroup DAC_flags_definition + * @{ + */ + +#define DAC_FLAG_DMAUDR ((uint32_t)0x00002000) +#define IS_DAC_FLAG(FLAG) (((FLAG) == DAC_FLAG_DMAUDR)) + +/** + * @} + */ +#endif + +/** + * @} + */ + +/** @defgroup DAC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Exported_Functions + * @{ + */ + +void DAC_DeInit(void); +void DAC_Init(uint32_t DAC_Channel, DAC_InitTypeDef* DAC_InitStruct); +void DAC_StructInit(DAC_InitTypeDef* DAC_InitStruct); +void DAC_Cmd(uint32_t DAC_Channel, FunctionalState NewState); +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +void DAC_ITConfig(uint32_t DAC_Channel, uint32_t DAC_IT, FunctionalState NewState); +#endif +void DAC_DMACmd(uint32_t DAC_Channel, FunctionalState NewState); +void DAC_SoftwareTriggerCmd(uint32_t DAC_Channel, FunctionalState NewState); +void DAC_DualSoftwareTriggerCmd(FunctionalState NewState); +void DAC_WaveGenerationCmd(uint32_t DAC_Channel, uint32_t DAC_Wave, FunctionalState NewState); +void DAC_SetChannel1Data(uint32_t DAC_Align, uint16_t Data); +void DAC_SetChannel2Data(uint32_t DAC_Align, uint16_t Data); +void DAC_SetDualChannelData(uint32_t DAC_Align, uint16_t Data2, uint16_t Data1); +uint16_t DAC_GetDataOutputValue(uint32_t DAC_Channel); +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +FlagStatus DAC_GetFlagStatus(uint32_t DAC_Channel, uint32_t DAC_FLAG); +void DAC_ClearFlag(uint32_t DAC_Channel, uint32_t DAC_FLAG); +ITStatus DAC_GetITStatus(uint32_t DAC_Channel, uint32_t DAC_IT); +void DAC_ClearITPendingBit(uint32_t DAC_Channel, uint32_t DAC_IT); +#endif + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_DAC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dbgmcu.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dbgmcu.h new file mode 100644 index 0000000..89ceb9a --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dbgmcu.h @@ -0,0 +1,119 @@ +/** + ****************************************************************************** + * @file stm32f10x_dbgmcu.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the DBGMCU + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_DBGMCU_H +#define __STM32F10x_DBGMCU_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup DBGMCU + * @{ + */ + +/** @defgroup DBGMCU_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Exported_Constants + * @{ + */ + +#define DBGMCU_SLEEP ((uint32_t)0x00000001) +#define DBGMCU_STOP ((uint32_t)0x00000002) +#define DBGMCU_STANDBY ((uint32_t)0x00000004) +#define DBGMCU_IWDG_STOP ((uint32_t)0x00000100) +#define DBGMCU_WWDG_STOP ((uint32_t)0x00000200) +#define DBGMCU_TIM1_STOP ((uint32_t)0x00000400) +#define DBGMCU_TIM2_STOP ((uint32_t)0x00000800) +#define DBGMCU_TIM3_STOP ((uint32_t)0x00001000) +#define DBGMCU_TIM4_STOP ((uint32_t)0x00002000) +#define DBGMCU_CAN1_STOP ((uint32_t)0x00004000) +#define DBGMCU_I2C1_SMBUS_TIMEOUT ((uint32_t)0x00008000) +#define DBGMCU_I2C2_SMBUS_TIMEOUT ((uint32_t)0x00010000) +#define DBGMCU_TIM8_STOP ((uint32_t)0x00020000) +#define DBGMCU_TIM5_STOP ((uint32_t)0x00040000) +#define DBGMCU_TIM6_STOP ((uint32_t)0x00080000) +#define DBGMCU_TIM7_STOP ((uint32_t)0x00100000) +#define DBGMCU_CAN2_STOP ((uint32_t)0x00200000) +#define DBGMCU_TIM15_STOP ((uint32_t)0x00400000) +#define DBGMCU_TIM16_STOP ((uint32_t)0x00800000) +#define DBGMCU_TIM17_STOP ((uint32_t)0x01000000) +#define DBGMCU_TIM12_STOP ((uint32_t)0x02000000) +#define DBGMCU_TIM13_STOP ((uint32_t)0x04000000) +#define DBGMCU_TIM14_STOP ((uint32_t)0x08000000) +#define DBGMCU_TIM9_STOP ((uint32_t)0x10000000) +#define DBGMCU_TIM10_STOP ((uint32_t)0x20000000) +#define DBGMCU_TIM11_STOP ((uint32_t)0x40000000) + +#define IS_DBGMCU_PERIPH(PERIPH) ((((PERIPH) & 0x800000F8) == 0x00) && ((PERIPH) != 0x00)) +/** + * @} + */ + +/** @defgroup DBGMCU_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Exported_Functions + * @{ + */ + +uint32_t DBGMCU_GetREVID(void); +uint32_t DBGMCU_GetDEVID(void); +void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_DBGMCU_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dma.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dma.h new file mode 100644 index 0000000..14275fe --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_dma.h @@ -0,0 +1,439 @@ +/** + ****************************************************************************** + * @file stm32f10x_dma.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the DMA firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_DMA_H +#define __STM32F10x_DMA_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup DMA + * @{ + */ + +/** @defgroup DMA_Exported_Types + * @{ + */ + +/** + * @brief DMA Init structure definition + */ + +typedef struct +{ + uint32_t DMA_PeripheralBaseAddr; /*!< Specifies the peripheral base address for DMAy Channelx. */ + + uint32_t DMA_MemoryBaseAddr; /*!< Specifies the memory base address for DMAy Channelx. */ + + uint32_t DMA_DIR; /*!< Specifies if the peripheral is the source or destination. + This parameter can be a value of @ref DMA_data_transfer_direction */ + + uint32_t DMA_BufferSize; /*!< Specifies the buffer size, in data unit, of the specified Channel. + The data unit is equal to the configuration set in DMA_PeripheralDataSize + or DMA_MemoryDataSize members depending in the transfer direction. */ + + uint32_t DMA_PeripheralInc; /*!< Specifies whether the Peripheral address register is incremented or not. + This parameter can be a value of @ref DMA_peripheral_incremented_mode */ + + uint32_t DMA_MemoryInc; /*!< Specifies whether the memory address register is incremented or not. + This parameter can be a value of @ref DMA_memory_incremented_mode */ + + uint32_t DMA_PeripheralDataSize; /*!< Specifies the Peripheral data width. + This parameter can be a value of @ref DMA_peripheral_data_size */ + + uint32_t DMA_MemoryDataSize; /*!< Specifies the Memory data width. + This parameter can be a value of @ref DMA_memory_data_size */ + + uint32_t DMA_Mode; /*!< Specifies the operation mode of the DMAy Channelx. + This parameter can be a value of @ref DMA_circular_normal_mode. + @note: The circular buffer mode cannot be used if the memory-to-memory + data transfer is configured on the selected Channel */ + + uint32_t DMA_Priority; /*!< Specifies the software priority for the DMAy Channelx. + This parameter can be a value of @ref DMA_priority_level */ + + uint32_t DMA_M2M; /*!< Specifies if the DMAy Channelx will be used in memory-to-memory transfer. + This parameter can be a value of @ref DMA_memory_to_memory */ +}DMA_InitTypeDef; + +/** + * @} + */ + +/** @defgroup DMA_Exported_Constants + * @{ + */ + +#define IS_DMA_ALL_PERIPH(PERIPH) (((PERIPH) == DMA1_Channel1) || \ + ((PERIPH) == DMA1_Channel2) || \ + ((PERIPH) == DMA1_Channel3) || \ + ((PERIPH) == DMA1_Channel4) || \ + ((PERIPH) == DMA1_Channel5) || \ + ((PERIPH) == DMA1_Channel6) || \ + ((PERIPH) == DMA1_Channel7) || \ + ((PERIPH) == DMA2_Channel1) || \ + ((PERIPH) == DMA2_Channel2) || \ + ((PERIPH) == DMA2_Channel3) || \ + ((PERIPH) == DMA2_Channel4) || \ + ((PERIPH) == DMA2_Channel5)) + +/** @defgroup DMA_data_transfer_direction + * @{ + */ + +#define DMA_DIR_PeripheralDST ((uint32_t)0x00000010) +#define DMA_DIR_PeripheralSRC ((uint32_t)0x00000000) +#define IS_DMA_DIR(DIR) (((DIR) == DMA_DIR_PeripheralDST) || \ + ((DIR) == DMA_DIR_PeripheralSRC)) +/** + * @} + */ + +/** @defgroup DMA_peripheral_incremented_mode + * @{ + */ + +#define DMA_PeripheralInc_Enable ((uint32_t)0x00000040) +#define DMA_PeripheralInc_Disable ((uint32_t)0x00000000) +#define IS_DMA_PERIPHERAL_INC_STATE(STATE) (((STATE) == DMA_PeripheralInc_Enable) || \ + ((STATE) == DMA_PeripheralInc_Disable)) +/** + * @} + */ + +/** @defgroup DMA_memory_incremented_mode + * @{ + */ + +#define DMA_MemoryInc_Enable ((uint32_t)0x00000080) +#define DMA_MemoryInc_Disable ((uint32_t)0x00000000) +#define IS_DMA_MEMORY_INC_STATE(STATE) (((STATE) == DMA_MemoryInc_Enable) || \ + ((STATE) == DMA_MemoryInc_Disable)) +/** + * @} + */ + +/** @defgroup DMA_peripheral_data_size + * @{ + */ + +#define DMA_PeripheralDataSize_Byte ((uint32_t)0x00000000) +#define DMA_PeripheralDataSize_HalfWord ((uint32_t)0x00000100) +#define DMA_PeripheralDataSize_Word ((uint32_t)0x00000200) +#define IS_DMA_PERIPHERAL_DATA_SIZE(SIZE) (((SIZE) == DMA_PeripheralDataSize_Byte) || \ + ((SIZE) == DMA_PeripheralDataSize_HalfWord) || \ + ((SIZE) == DMA_PeripheralDataSize_Word)) +/** + * @} + */ + +/** @defgroup DMA_memory_data_size + * @{ + */ + +#define DMA_MemoryDataSize_Byte ((uint32_t)0x00000000) +#define DMA_MemoryDataSize_HalfWord ((uint32_t)0x00000400) +#define DMA_MemoryDataSize_Word ((uint32_t)0x00000800) +#define IS_DMA_MEMORY_DATA_SIZE(SIZE) (((SIZE) == DMA_MemoryDataSize_Byte) || \ + ((SIZE) == DMA_MemoryDataSize_HalfWord) || \ + ((SIZE) == DMA_MemoryDataSize_Word)) +/** + * @} + */ + +/** @defgroup DMA_circular_normal_mode + * @{ + */ + +#define DMA_Mode_Circular ((uint32_t)0x00000020) +#define DMA_Mode_Normal ((uint32_t)0x00000000) +#define IS_DMA_MODE(MODE) (((MODE) == DMA_Mode_Circular) || ((MODE) == DMA_Mode_Normal)) +/** + * @} + */ + +/** @defgroup DMA_priority_level + * @{ + */ + +#define DMA_Priority_VeryHigh ((uint32_t)0x00003000) +#define DMA_Priority_High ((uint32_t)0x00002000) +#define DMA_Priority_Medium ((uint32_t)0x00001000) +#define DMA_Priority_Low ((uint32_t)0x00000000) +#define IS_DMA_PRIORITY(PRIORITY) (((PRIORITY) == DMA_Priority_VeryHigh) || \ + ((PRIORITY) == DMA_Priority_High) || \ + ((PRIORITY) == DMA_Priority_Medium) || \ + ((PRIORITY) == DMA_Priority_Low)) +/** + * @} + */ + +/** @defgroup DMA_memory_to_memory + * @{ + */ + +#define DMA_M2M_Enable ((uint32_t)0x00004000) +#define DMA_M2M_Disable ((uint32_t)0x00000000) +#define IS_DMA_M2M_STATE(STATE) (((STATE) == DMA_M2M_Enable) || ((STATE) == DMA_M2M_Disable)) + +/** + * @} + */ + +/** @defgroup DMA_interrupts_definition + * @{ + */ + +#define DMA_IT_TC ((uint32_t)0x00000002) +#define DMA_IT_HT ((uint32_t)0x00000004) +#define DMA_IT_TE ((uint32_t)0x00000008) +#define IS_DMA_CONFIG_IT(IT) ((((IT) & 0xFFFFFFF1) == 0x00) && ((IT) != 0x00)) + +#define DMA1_IT_GL1 ((uint32_t)0x00000001) +#define DMA1_IT_TC1 ((uint32_t)0x00000002) +#define DMA1_IT_HT1 ((uint32_t)0x00000004) +#define DMA1_IT_TE1 ((uint32_t)0x00000008) +#define DMA1_IT_GL2 ((uint32_t)0x00000010) +#define DMA1_IT_TC2 ((uint32_t)0x00000020) +#define DMA1_IT_HT2 ((uint32_t)0x00000040) +#define DMA1_IT_TE2 ((uint32_t)0x00000080) +#define DMA1_IT_GL3 ((uint32_t)0x00000100) +#define DMA1_IT_TC3 ((uint32_t)0x00000200) +#define DMA1_IT_HT3 ((uint32_t)0x00000400) +#define DMA1_IT_TE3 ((uint32_t)0x00000800) +#define DMA1_IT_GL4 ((uint32_t)0x00001000) +#define DMA1_IT_TC4 ((uint32_t)0x00002000) +#define DMA1_IT_HT4 ((uint32_t)0x00004000) +#define DMA1_IT_TE4 ((uint32_t)0x00008000) +#define DMA1_IT_GL5 ((uint32_t)0x00010000) +#define DMA1_IT_TC5 ((uint32_t)0x00020000) +#define DMA1_IT_HT5 ((uint32_t)0x00040000) +#define DMA1_IT_TE5 ((uint32_t)0x00080000) +#define DMA1_IT_GL6 ((uint32_t)0x00100000) +#define DMA1_IT_TC6 ((uint32_t)0x00200000) +#define DMA1_IT_HT6 ((uint32_t)0x00400000) +#define DMA1_IT_TE6 ((uint32_t)0x00800000) +#define DMA1_IT_GL7 ((uint32_t)0x01000000) +#define DMA1_IT_TC7 ((uint32_t)0x02000000) +#define DMA1_IT_HT7 ((uint32_t)0x04000000) +#define DMA1_IT_TE7 ((uint32_t)0x08000000) + +#define DMA2_IT_GL1 ((uint32_t)0x10000001) +#define DMA2_IT_TC1 ((uint32_t)0x10000002) +#define DMA2_IT_HT1 ((uint32_t)0x10000004) +#define DMA2_IT_TE1 ((uint32_t)0x10000008) +#define DMA2_IT_GL2 ((uint32_t)0x10000010) +#define DMA2_IT_TC2 ((uint32_t)0x10000020) +#define DMA2_IT_HT2 ((uint32_t)0x10000040) +#define DMA2_IT_TE2 ((uint32_t)0x10000080) +#define DMA2_IT_GL3 ((uint32_t)0x10000100) +#define DMA2_IT_TC3 ((uint32_t)0x10000200) +#define DMA2_IT_HT3 ((uint32_t)0x10000400) +#define DMA2_IT_TE3 ((uint32_t)0x10000800) +#define DMA2_IT_GL4 ((uint32_t)0x10001000) +#define DMA2_IT_TC4 ((uint32_t)0x10002000) +#define DMA2_IT_HT4 ((uint32_t)0x10004000) +#define DMA2_IT_TE4 ((uint32_t)0x10008000) +#define DMA2_IT_GL5 ((uint32_t)0x10010000) +#define DMA2_IT_TC5 ((uint32_t)0x10020000) +#define DMA2_IT_HT5 ((uint32_t)0x10040000) +#define DMA2_IT_TE5 ((uint32_t)0x10080000) + +#define IS_DMA_CLEAR_IT(IT) (((((IT) & 0xF0000000) == 0x00) || (((IT) & 0xEFF00000) == 0x00)) && ((IT) != 0x00)) + +#define IS_DMA_GET_IT(IT) (((IT) == DMA1_IT_GL1) || ((IT) == DMA1_IT_TC1) || \ + ((IT) == DMA1_IT_HT1) || ((IT) == DMA1_IT_TE1) || \ + ((IT) == DMA1_IT_GL2) || ((IT) == DMA1_IT_TC2) || \ + ((IT) == DMA1_IT_HT2) || ((IT) == DMA1_IT_TE2) || \ + ((IT) == DMA1_IT_GL3) || ((IT) == DMA1_IT_TC3) || \ + ((IT) == DMA1_IT_HT3) || ((IT) == DMA1_IT_TE3) || \ + ((IT) == DMA1_IT_GL4) || ((IT) == DMA1_IT_TC4) || \ + ((IT) == DMA1_IT_HT4) || ((IT) == DMA1_IT_TE4) || \ + ((IT) == DMA1_IT_GL5) || ((IT) == DMA1_IT_TC5) || \ + ((IT) == DMA1_IT_HT5) || ((IT) == DMA1_IT_TE5) || \ + ((IT) == DMA1_IT_GL6) || ((IT) == DMA1_IT_TC6) || \ + ((IT) == DMA1_IT_HT6) || ((IT) == DMA1_IT_TE6) || \ + ((IT) == DMA1_IT_GL7) || ((IT) == DMA1_IT_TC7) || \ + ((IT) == DMA1_IT_HT7) || ((IT) == DMA1_IT_TE7) || \ + ((IT) == DMA2_IT_GL1) || ((IT) == DMA2_IT_TC1) || \ + ((IT) == DMA2_IT_HT1) || ((IT) == DMA2_IT_TE1) || \ + ((IT) == DMA2_IT_GL2) || ((IT) == DMA2_IT_TC2) || \ + ((IT) == DMA2_IT_HT2) || ((IT) == DMA2_IT_TE2) || \ + ((IT) == DMA2_IT_GL3) || ((IT) == DMA2_IT_TC3) || \ + ((IT) == DMA2_IT_HT3) || ((IT) == DMA2_IT_TE3) || \ + ((IT) == DMA2_IT_GL4) || ((IT) == DMA2_IT_TC4) || \ + ((IT) == DMA2_IT_HT4) || ((IT) == DMA2_IT_TE4) || \ + ((IT) == DMA2_IT_GL5) || ((IT) == DMA2_IT_TC5) || \ + ((IT) == DMA2_IT_HT5) || ((IT) == DMA2_IT_TE5)) + +/** + * @} + */ + +/** @defgroup DMA_flags_definition + * @{ + */ +#define DMA1_FLAG_GL1 ((uint32_t)0x00000001) +#define DMA1_FLAG_TC1 ((uint32_t)0x00000002) +#define DMA1_FLAG_HT1 ((uint32_t)0x00000004) +#define DMA1_FLAG_TE1 ((uint32_t)0x00000008) +#define DMA1_FLAG_GL2 ((uint32_t)0x00000010) +#define DMA1_FLAG_TC2 ((uint32_t)0x00000020) +#define DMA1_FLAG_HT2 ((uint32_t)0x00000040) +#define DMA1_FLAG_TE2 ((uint32_t)0x00000080) +#define DMA1_FLAG_GL3 ((uint32_t)0x00000100) +#define DMA1_FLAG_TC3 ((uint32_t)0x00000200) +#define DMA1_FLAG_HT3 ((uint32_t)0x00000400) +#define DMA1_FLAG_TE3 ((uint32_t)0x00000800) +#define DMA1_FLAG_GL4 ((uint32_t)0x00001000) +#define DMA1_FLAG_TC4 ((uint32_t)0x00002000) +#define DMA1_FLAG_HT4 ((uint32_t)0x00004000) +#define DMA1_FLAG_TE4 ((uint32_t)0x00008000) +#define DMA1_FLAG_GL5 ((uint32_t)0x00010000) +#define DMA1_FLAG_TC5 ((uint32_t)0x00020000) +#define DMA1_FLAG_HT5 ((uint32_t)0x00040000) +#define DMA1_FLAG_TE5 ((uint32_t)0x00080000) +#define DMA1_FLAG_GL6 ((uint32_t)0x00100000) +#define DMA1_FLAG_TC6 ((uint32_t)0x00200000) +#define DMA1_FLAG_HT6 ((uint32_t)0x00400000) +#define DMA1_FLAG_TE6 ((uint32_t)0x00800000) +#define DMA1_FLAG_GL7 ((uint32_t)0x01000000) +#define DMA1_FLAG_TC7 ((uint32_t)0x02000000) +#define DMA1_FLAG_HT7 ((uint32_t)0x04000000) +#define DMA1_FLAG_TE7 ((uint32_t)0x08000000) + +#define DMA2_FLAG_GL1 ((uint32_t)0x10000001) +#define DMA2_FLAG_TC1 ((uint32_t)0x10000002) +#define DMA2_FLAG_HT1 ((uint32_t)0x10000004) +#define DMA2_FLAG_TE1 ((uint32_t)0x10000008) +#define DMA2_FLAG_GL2 ((uint32_t)0x10000010) +#define DMA2_FLAG_TC2 ((uint32_t)0x10000020) +#define DMA2_FLAG_HT2 ((uint32_t)0x10000040) +#define DMA2_FLAG_TE2 ((uint32_t)0x10000080) +#define DMA2_FLAG_GL3 ((uint32_t)0x10000100) +#define DMA2_FLAG_TC3 ((uint32_t)0x10000200) +#define DMA2_FLAG_HT3 ((uint32_t)0x10000400) +#define DMA2_FLAG_TE3 ((uint32_t)0x10000800) +#define DMA2_FLAG_GL4 ((uint32_t)0x10001000) +#define DMA2_FLAG_TC4 ((uint32_t)0x10002000) +#define DMA2_FLAG_HT4 ((uint32_t)0x10004000) +#define DMA2_FLAG_TE4 ((uint32_t)0x10008000) +#define DMA2_FLAG_GL5 ((uint32_t)0x10010000) +#define DMA2_FLAG_TC5 ((uint32_t)0x10020000) +#define DMA2_FLAG_HT5 ((uint32_t)0x10040000) +#define DMA2_FLAG_TE5 ((uint32_t)0x10080000) + +#define IS_DMA_CLEAR_FLAG(FLAG) (((((FLAG) & 0xF0000000) == 0x00) || (((FLAG) & 0xEFF00000) == 0x00)) && ((FLAG) != 0x00)) + +#define IS_DMA_GET_FLAG(FLAG) (((FLAG) == DMA1_FLAG_GL1) || ((FLAG) == DMA1_FLAG_TC1) || \ + ((FLAG) == DMA1_FLAG_HT1) || ((FLAG) == DMA1_FLAG_TE1) || \ + ((FLAG) == DMA1_FLAG_GL2) || ((FLAG) == DMA1_FLAG_TC2) || \ + ((FLAG) == DMA1_FLAG_HT2) || ((FLAG) == DMA1_FLAG_TE2) || \ + ((FLAG) == DMA1_FLAG_GL3) || ((FLAG) == DMA1_FLAG_TC3) || \ + ((FLAG) == DMA1_FLAG_HT3) || ((FLAG) == DMA1_FLAG_TE3) || \ + ((FLAG) == DMA1_FLAG_GL4) || ((FLAG) == DMA1_FLAG_TC4) || \ + ((FLAG) == DMA1_FLAG_HT4) || ((FLAG) == DMA1_FLAG_TE4) || \ + ((FLAG) == DMA1_FLAG_GL5) || ((FLAG) == DMA1_FLAG_TC5) || \ + ((FLAG) == DMA1_FLAG_HT5) || ((FLAG) == DMA1_FLAG_TE5) || \ + ((FLAG) == DMA1_FLAG_GL6) || ((FLAG) == DMA1_FLAG_TC6) || \ + ((FLAG) == DMA1_FLAG_HT6) || ((FLAG) == DMA1_FLAG_TE6) || \ + ((FLAG) == DMA1_FLAG_GL7) || ((FLAG) == DMA1_FLAG_TC7) || \ + ((FLAG) == DMA1_FLAG_HT7) || ((FLAG) == DMA1_FLAG_TE7) || \ + ((FLAG) == DMA2_FLAG_GL1) || ((FLAG) == DMA2_FLAG_TC1) || \ + ((FLAG) == DMA2_FLAG_HT1) || ((FLAG) == DMA2_FLAG_TE1) || \ + ((FLAG) == DMA2_FLAG_GL2) || ((FLAG) == DMA2_FLAG_TC2) || \ + ((FLAG) == DMA2_FLAG_HT2) || ((FLAG) == DMA2_FLAG_TE2) || \ + ((FLAG) == DMA2_FLAG_GL3) || ((FLAG) == DMA2_FLAG_TC3) || \ + ((FLAG) == DMA2_FLAG_HT3) || ((FLAG) == DMA2_FLAG_TE3) || \ + ((FLAG) == DMA2_FLAG_GL4) || ((FLAG) == DMA2_FLAG_TC4) || \ + ((FLAG) == DMA2_FLAG_HT4) || ((FLAG) == DMA2_FLAG_TE4) || \ + ((FLAG) == DMA2_FLAG_GL5) || ((FLAG) == DMA2_FLAG_TC5) || \ + ((FLAG) == DMA2_FLAG_HT5) || ((FLAG) == DMA2_FLAG_TE5)) +/** + * @} + */ + +/** @defgroup DMA_Buffer_Size + * @{ + */ + +#define IS_DMA_BUFFER_SIZE(SIZE) (((SIZE) >= 0x1) && ((SIZE) < 0x10000)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup DMA_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Exported_Functions + * @{ + */ + +void DMA_DeInit(DMA_Channel_TypeDef* DMAy_Channelx); +void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, DMA_InitTypeDef* DMA_InitStruct); +void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct); +void DMA_Cmd(DMA_Channel_TypeDef* DMAy_Channelx, FunctionalState NewState); +void DMA_ITConfig(DMA_Channel_TypeDef* DMAy_Channelx, uint32_t DMA_IT, FunctionalState NewState); +void DMA_SetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx, uint16_t DataNumber); +uint16_t DMA_GetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx); +FlagStatus DMA_GetFlagStatus(uint32_t DMAy_FLAG); +void DMA_ClearFlag(uint32_t DMAy_FLAG); +ITStatus DMA_GetITStatus(uint32_t DMAy_IT); +void DMA_ClearITPendingBit(uint32_t DMAy_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_DMA_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_exti.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_exti.h new file mode 100644 index 0000000..bb9d7f6 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_exti.h @@ -0,0 +1,184 @@ +/** + ****************************************************************************** + * @file stm32f10x_exti.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the EXTI firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_EXTI_H +#define __STM32F10x_EXTI_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup EXTI + * @{ + */ + +/** @defgroup EXTI_Exported_Types + * @{ + */ + +/** + * @brief EXTI mode enumeration + */ + +typedef enum +{ + EXTI_Mode_Interrupt = 0x00, + EXTI_Mode_Event = 0x04 +}EXTIMode_TypeDef; + +#define IS_EXTI_MODE(MODE) (((MODE) == EXTI_Mode_Interrupt) || ((MODE) == EXTI_Mode_Event)) + +/** + * @brief EXTI Trigger enumeration + */ + +typedef enum +{ + EXTI_Trigger_Rising = 0x08, + EXTI_Trigger_Falling = 0x0C, + EXTI_Trigger_Rising_Falling = 0x10 +}EXTITrigger_TypeDef; + +#define IS_EXTI_TRIGGER(TRIGGER) (((TRIGGER) == EXTI_Trigger_Rising) || \ + ((TRIGGER) == EXTI_Trigger_Falling) || \ + ((TRIGGER) == EXTI_Trigger_Rising_Falling)) +/** + * @brief EXTI Init Structure definition + */ + +typedef struct +{ + uint32_t EXTI_Line; /*!< Specifies the EXTI lines to be enabled or disabled. + This parameter can be any combination of @ref EXTI_Lines */ + + EXTIMode_TypeDef EXTI_Mode; /*!< Specifies the mode for the EXTI lines. + This parameter can be a value of @ref EXTIMode_TypeDef */ + + EXTITrigger_TypeDef EXTI_Trigger; /*!< Specifies the trigger signal active edge for the EXTI lines. + This parameter can be a value of @ref EXTIMode_TypeDef */ + + FunctionalState EXTI_LineCmd; /*!< Specifies the new state of the selected EXTI lines. + This parameter can be set either to ENABLE or DISABLE */ +}EXTI_InitTypeDef; + +/** + * @} + */ + +/** @defgroup EXTI_Exported_Constants + * @{ + */ + +/** @defgroup EXTI_Lines + * @{ + */ + +#define EXTI_Line0 ((uint32_t)0x00001) /*!< External interrupt line 0 */ +#define EXTI_Line1 ((uint32_t)0x00002) /*!< External interrupt line 1 */ +#define EXTI_Line2 ((uint32_t)0x00004) /*!< External interrupt line 2 */ +#define EXTI_Line3 ((uint32_t)0x00008) /*!< External interrupt line 3 */ +#define EXTI_Line4 ((uint32_t)0x00010) /*!< External interrupt line 4 */ +#define EXTI_Line5 ((uint32_t)0x00020) /*!< External interrupt line 5 */ +#define EXTI_Line6 ((uint32_t)0x00040) /*!< External interrupt line 6 */ +#define EXTI_Line7 ((uint32_t)0x00080) /*!< External interrupt line 7 */ +#define EXTI_Line8 ((uint32_t)0x00100) /*!< External interrupt line 8 */ +#define EXTI_Line9 ((uint32_t)0x00200) /*!< External interrupt line 9 */ +#define EXTI_Line10 ((uint32_t)0x00400) /*!< External interrupt line 10 */ +#define EXTI_Line11 ((uint32_t)0x00800) /*!< External interrupt line 11 */ +#define EXTI_Line12 ((uint32_t)0x01000) /*!< External interrupt line 12 */ +#define EXTI_Line13 ((uint32_t)0x02000) /*!< External interrupt line 13 */ +#define EXTI_Line14 ((uint32_t)0x04000) /*!< External interrupt line 14 */ +#define EXTI_Line15 ((uint32_t)0x08000) /*!< External interrupt line 15 */ +#define EXTI_Line16 ((uint32_t)0x10000) /*!< External interrupt line 16 Connected to the PVD Output */ +#define EXTI_Line17 ((uint32_t)0x20000) /*!< External interrupt line 17 Connected to the RTC Alarm event */ +#define EXTI_Line18 ((uint32_t)0x40000) /*!< External interrupt line 18 Connected to the USB Device/USB OTG FS + Wakeup from suspend event */ +#define EXTI_Line19 ((uint32_t)0x80000) /*!< External interrupt line 19 Connected to the Ethernet Wakeup event */ + +#define IS_EXTI_LINE(LINE) ((((LINE) & (uint32_t)0xFFF00000) == 0x00) && ((LINE) != (uint16_t)0x00)) +#define IS_GET_EXTI_LINE(LINE) (((LINE) == EXTI_Line0) || ((LINE) == EXTI_Line1) || \ + ((LINE) == EXTI_Line2) || ((LINE) == EXTI_Line3) || \ + ((LINE) == EXTI_Line4) || ((LINE) == EXTI_Line5) || \ + ((LINE) == EXTI_Line6) || ((LINE) == EXTI_Line7) || \ + ((LINE) == EXTI_Line8) || ((LINE) == EXTI_Line9) || \ + ((LINE) == EXTI_Line10) || ((LINE) == EXTI_Line11) || \ + ((LINE) == EXTI_Line12) || ((LINE) == EXTI_Line13) || \ + ((LINE) == EXTI_Line14) || ((LINE) == EXTI_Line15) || \ + ((LINE) == EXTI_Line16) || ((LINE) == EXTI_Line17) || \ + ((LINE) == EXTI_Line18) || ((LINE) == EXTI_Line19)) + + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup EXTI_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Exported_Functions + * @{ + */ + +void EXTI_DeInit(void); +void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct); +void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct); +void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line); +FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line); +void EXTI_ClearFlag(uint32_t EXTI_Line); +ITStatus EXTI_GetITStatus(uint32_t EXTI_Line); +void EXTI_ClearITPendingBit(uint32_t EXTI_Line); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_EXTI_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_flash.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_flash.h new file mode 100644 index 0000000..63720de --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_flash.h @@ -0,0 +1,426 @@ +/** + ****************************************************************************** + * @file stm32f10x_flash.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the FLASH + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_FLASH_H +#define __STM32F10x_FLASH_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup FLASH + * @{ + */ + +/** @defgroup FLASH_Exported_Types + * @{ + */ + +/** + * @brief FLASH Status + */ + +typedef enum +{ + FLASH_BUSY = 1, + FLASH_ERROR_PG, + FLASH_ERROR_WRP, + FLASH_COMPLETE, + FLASH_TIMEOUT +}FLASH_Status; + +/** + * @} + */ + +/** @defgroup FLASH_Exported_Constants + * @{ + */ + +/** @defgroup Flash_Latency + * @{ + */ + +#define FLASH_Latency_0 ((uint32_t)0x00000000) /*!< FLASH Zero Latency cycle */ +#define FLASH_Latency_1 ((uint32_t)0x00000001) /*!< FLASH One Latency cycle */ +#define FLASH_Latency_2 ((uint32_t)0x00000002) /*!< FLASH Two Latency cycles */ +#define IS_FLASH_LATENCY(LATENCY) (((LATENCY) == FLASH_Latency_0) || \ + ((LATENCY) == FLASH_Latency_1) || \ + ((LATENCY) == FLASH_Latency_2)) +/** + * @} + */ + +/** @defgroup Half_Cycle_Enable_Disable + * @{ + */ + +#define FLASH_HalfCycleAccess_Enable ((uint32_t)0x00000008) /*!< FLASH Half Cycle Enable */ +#define FLASH_HalfCycleAccess_Disable ((uint32_t)0x00000000) /*!< FLASH Half Cycle Disable */ +#define IS_FLASH_HALFCYCLEACCESS_STATE(STATE) (((STATE) == FLASH_HalfCycleAccess_Enable) || \ + ((STATE) == FLASH_HalfCycleAccess_Disable)) +/** + * @} + */ + +/** @defgroup Prefetch_Buffer_Enable_Disable + * @{ + */ + +#define FLASH_PrefetchBuffer_Enable ((uint32_t)0x00000010) /*!< FLASH Prefetch Buffer Enable */ +#define FLASH_PrefetchBuffer_Disable ((uint32_t)0x00000000) /*!< FLASH Prefetch Buffer Disable */ +#define IS_FLASH_PREFETCHBUFFER_STATE(STATE) (((STATE) == FLASH_PrefetchBuffer_Enable) || \ + ((STATE) == FLASH_PrefetchBuffer_Disable)) +/** + * @} + */ + +/** @defgroup Option_Bytes_Write_Protection + * @{ + */ + +/* Values to be used with STM32 Low and Medium density devices */ +#define FLASH_WRProt_Pages0to3 ((uint32_t)0x00000001) /*!< STM32 Low and Medium density devices: Write protection of page 0 to 3 */ +#define FLASH_WRProt_Pages4to7 ((uint32_t)0x00000002) /*!< STM32 Low and Medium density devices: Write protection of page 4 to 7 */ +#define FLASH_WRProt_Pages8to11 ((uint32_t)0x00000004) /*!< STM32 Low and Medium density devices: Write protection of page 8 to 11 */ +#define FLASH_WRProt_Pages12to15 ((uint32_t)0x00000008) /*!< STM32 Low and Medium density devices: Write protection of page 12 to 15 */ +#define FLASH_WRProt_Pages16to19 ((uint32_t)0x00000010) /*!< STM32 Low and Medium density devices: Write protection of page 16 to 19 */ +#define FLASH_WRProt_Pages20to23 ((uint32_t)0x00000020) /*!< STM32 Low and Medium density devices: Write protection of page 20 to 23 */ +#define FLASH_WRProt_Pages24to27 ((uint32_t)0x00000040) /*!< STM32 Low and Medium density devices: Write protection of page 24 to 27 */ +#define FLASH_WRProt_Pages28to31 ((uint32_t)0x00000080) /*!< STM32 Low and Medium density devices: Write protection of page 28 to 31 */ + +/* Values to be used with STM32 Medium-density devices */ +#define FLASH_WRProt_Pages32to35 ((uint32_t)0x00000100) /*!< STM32 Medium-density devices: Write protection of page 32 to 35 */ +#define FLASH_WRProt_Pages36to39 ((uint32_t)0x00000200) /*!< STM32 Medium-density devices: Write protection of page 36 to 39 */ +#define FLASH_WRProt_Pages40to43 ((uint32_t)0x00000400) /*!< STM32 Medium-density devices: Write protection of page 40 to 43 */ +#define FLASH_WRProt_Pages44to47 ((uint32_t)0x00000800) /*!< STM32 Medium-density devices: Write protection of page 44 to 47 */ +#define FLASH_WRProt_Pages48to51 ((uint32_t)0x00001000) /*!< STM32 Medium-density devices: Write protection of page 48 to 51 */ +#define FLASH_WRProt_Pages52to55 ((uint32_t)0x00002000) /*!< STM32 Medium-density devices: Write protection of page 52 to 55 */ +#define FLASH_WRProt_Pages56to59 ((uint32_t)0x00004000) /*!< STM32 Medium-density devices: Write protection of page 56 to 59 */ +#define FLASH_WRProt_Pages60to63 ((uint32_t)0x00008000) /*!< STM32 Medium-density devices: Write protection of page 60 to 63 */ +#define FLASH_WRProt_Pages64to67 ((uint32_t)0x00010000) /*!< STM32 Medium-density devices: Write protection of page 64 to 67 */ +#define FLASH_WRProt_Pages68to71 ((uint32_t)0x00020000) /*!< STM32 Medium-density devices: Write protection of page 68 to 71 */ +#define FLASH_WRProt_Pages72to75 ((uint32_t)0x00040000) /*!< STM32 Medium-density devices: Write protection of page 72 to 75 */ +#define FLASH_WRProt_Pages76to79 ((uint32_t)0x00080000) /*!< STM32 Medium-density devices: Write protection of page 76 to 79 */ +#define FLASH_WRProt_Pages80to83 ((uint32_t)0x00100000) /*!< STM32 Medium-density devices: Write protection of page 80 to 83 */ +#define FLASH_WRProt_Pages84to87 ((uint32_t)0x00200000) /*!< STM32 Medium-density devices: Write protection of page 84 to 87 */ +#define FLASH_WRProt_Pages88to91 ((uint32_t)0x00400000) /*!< STM32 Medium-density devices: Write protection of page 88 to 91 */ +#define FLASH_WRProt_Pages92to95 ((uint32_t)0x00800000) /*!< STM32 Medium-density devices: Write protection of page 92 to 95 */ +#define FLASH_WRProt_Pages96to99 ((uint32_t)0x01000000) /*!< STM32 Medium-density devices: Write protection of page 96 to 99 */ +#define FLASH_WRProt_Pages100to103 ((uint32_t)0x02000000) /*!< STM32 Medium-density devices: Write protection of page 100 to 103 */ +#define FLASH_WRProt_Pages104to107 ((uint32_t)0x04000000) /*!< STM32 Medium-density devices: Write protection of page 104 to 107 */ +#define FLASH_WRProt_Pages108to111 ((uint32_t)0x08000000) /*!< STM32 Medium-density devices: Write protection of page 108 to 111 */ +#define FLASH_WRProt_Pages112to115 ((uint32_t)0x10000000) /*!< STM32 Medium-density devices: Write protection of page 112 to 115 */ +#define FLASH_WRProt_Pages116to119 ((uint32_t)0x20000000) /*!< STM32 Medium-density devices: Write protection of page 115 to 119 */ +#define FLASH_WRProt_Pages120to123 ((uint32_t)0x40000000) /*!< STM32 Medium-density devices: Write protection of page 120 to 123 */ +#define FLASH_WRProt_Pages124to127 ((uint32_t)0x80000000) /*!< STM32 Medium-density devices: Write protection of page 124 to 127 */ + +/* Values to be used with STM32 High-density and STM32F10X Connectivity line devices */ +#define FLASH_WRProt_Pages0to1 ((uint32_t)0x00000001) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 0 to 1 */ +#define FLASH_WRProt_Pages2to3 ((uint32_t)0x00000002) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 2 to 3 */ +#define FLASH_WRProt_Pages4to5 ((uint32_t)0x00000004) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 4 to 5 */ +#define FLASH_WRProt_Pages6to7 ((uint32_t)0x00000008) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 6 to 7 */ +#define FLASH_WRProt_Pages8to9 ((uint32_t)0x00000010) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 8 to 9 */ +#define FLASH_WRProt_Pages10to11 ((uint32_t)0x00000020) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 10 to 11 */ +#define FLASH_WRProt_Pages12to13 ((uint32_t)0x00000040) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 12 to 13 */ +#define FLASH_WRProt_Pages14to15 ((uint32_t)0x00000080) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 14 to 15 */ +#define FLASH_WRProt_Pages16to17 ((uint32_t)0x00000100) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 16 to 17 */ +#define FLASH_WRProt_Pages18to19 ((uint32_t)0x00000200) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 18 to 19 */ +#define FLASH_WRProt_Pages20to21 ((uint32_t)0x00000400) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 20 to 21 */ +#define FLASH_WRProt_Pages22to23 ((uint32_t)0x00000800) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 22 to 23 */ +#define FLASH_WRProt_Pages24to25 ((uint32_t)0x00001000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 24 to 25 */ +#define FLASH_WRProt_Pages26to27 ((uint32_t)0x00002000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 26 to 27 */ +#define FLASH_WRProt_Pages28to29 ((uint32_t)0x00004000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 28 to 29 */ +#define FLASH_WRProt_Pages30to31 ((uint32_t)0x00008000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 30 to 31 */ +#define FLASH_WRProt_Pages32to33 ((uint32_t)0x00010000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 32 to 33 */ +#define FLASH_WRProt_Pages34to35 ((uint32_t)0x00020000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 34 to 35 */ +#define FLASH_WRProt_Pages36to37 ((uint32_t)0x00040000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 36 to 37 */ +#define FLASH_WRProt_Pages38to39 ((uint32_t)0x00080000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 38 to 39 */ +#define FLASH_WRProt_Pages40to41 ((uint32_t)0x00100000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 40 to 41 */ +#define FLASH_WRProt_Pages42to43 ((uint32_t)0x00200000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 42 to 43 */ +#define FLASH_WRProt_Pages44to45 ((uint32_t)0x00400000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 44 to 45 */ +#define FLASH_WRProt_Pages46to47 ((uint32_t)0x00800000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 46 to 47 */ +#define FLASH_WRProt_Pages48to49 ((uint32_t)0x01000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 48 to 49 */ +#define FLASH_WRProt_Pages50to51 ((uint32_t)0x02000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 50 to 51 */ +#define FLASH_WRProt_Pages52to53 ((uint32_t)0x04000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 52 to 53 */ +#define FLASH_WRProt_Pages54to55 ((uint32_t)0x08000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 54 to 55 */ +#define FLASH_WRProt_Pages56to57 ((uint32_t)0x10000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 56 to 57 */ +#define FLASH_WRProt_Pages58to59 ((uint32_t)0x20000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 58 to 59 */ +#define FLASH_WRProt_Pages60to61 ((uint32_t)0x40000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 60 to 61 */ +#define FLASH_WRProt_Pages62to127 ((uint32_t)0x80000000) /*!< STM32 Connectivity line devices: Write protection of page 62 to 127 */ +#define FLASH_WRProt_Pages62to255 ((uint32_t)0x80000000) /*!< STM32 Medium-density devices: Write protection of page 62 to 255 */ +#define FLASH_WRProt_Pages62to511 ((uint32_t)0x80000000) /*!< STM32 XL-density devices: Write protection of page 62 to 511 */ + +#define FLASH_WRProt_AllPages ((uint32_t)0xFFFFFFFF) /*!< Write protection of all Pages */ + +#define IS_FLASH_WRPROT_PAGE(PAGE) (((PAGE) != 0x00000000)) + +#define IS_FLASH_ADDRESS(ADDRESS) (((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) + +#define IS_OB_DATA_ADDRESS(ADDRESS) (((ADDRESS) == 0x1FFFF804) || ((ADDRESS) == 0x1FFFF806)) + +/** + * @} + */ + +/** @defgroup Option_Bytes_IWatchdog + * @{ + */ + +#define OB_IWDG_SW ((uint16_t)0x0001) /*!< Software IWDG selected */ +#define OB_IWDG_HW ((uint16_t)0x0000) /*!< Hardware IWDG selected */ +#define IS_OB_IWDG_SOURCE(SOURCE) (((SOURCE) == OB_IWDG_SW) || ((SOURCE) == OB_IWDG_HW)) + +/** + * @} + */ + +/** @defgroup Option_Bytes_nRST_STOP + * @{ + */ + +#define OB_STOP_NoRST ((uint16_t)0x0002) /*!< No reset generated when entering in STOP */ +#define OB_STOP_RST ((uint16_t)0x0000) /*!< Reset generated when entering in STOP */ +#define IS_OB_STOP_SOURCE(SOURCE) (((SOURCE) == OB_STOP_NoRST) || ((SOURCE) == OB_STOP_RST)) + +/** + * @} + */ + +/** @defgroup Option_Bytes_nRST_STDBY + * @{ + */ + +#define OB_STDBY_NoRST ((uint16_t)0x0004) /*!< No reset generated when entering in STANDBY */ +#define OB_STDBY_RST ((uint16_t)0x0000) /*!< Reset generated when entering in STANDBY */ +#define IS_OB_STDBY_SOURCE(SOURCE) (((SOURCE) == OB_STDBY_NoRST) || ((SOURCE) == OB_STDBY_RST)) + +#ifdef STM32F10X_XL +/** + * @} + */ +/** @defgroup FLASH_Boot + * @{ + */ +#define FLASH_BOOT_Bank1 ((uint16_t)0x0000) /*!< At startup, if boot pins are set in boot from user Flash position + and this parameter is selected the device will boot from Bank1(Default) */ +#define FLASH_BOOT_Bank2 ((uint16_t)0x0001) /*!< At startup, if boot pins are set in boot from user Flash position + and this parameter is selected the device will boot from Bank 2 or Bank 1, + depending on the activation of the bank */ +#define IS_FLASH_BOOT(BOOT) (((BOOT) == FLASH_BOOT_Bank1) || ((BOOT) == FLASH_BOOT_Bank2)) +#endif +/** + * @} + */ +/** @defgroup FLASH_Interrupts + * @{ + */ +#ifdef STM32F10X_XL +#define FLASH_IT_BANK2_ERROR ((uint32_t)0x80000400) /*!< FPEC BANK2 error interrupt source */ +#define FLASH_IT_BANK2_EOP ((uint32_t)0x80001000) /*!< End of FLASH BANK2 Operation Interrupt source */ + +#define FLASH_IT_BANK1_ERROR FLASH_IT_ERROR /*!< FPEC BANK1 error interrupt source */ +#define FLASH_IT_BANK1_EOP FLASH_IT_EOP /*!< End of FLASH BANK1 Operation Interrupt source */ + +#define FLASH_IT_ERROR ((uint32_t)0x00000400) /*!< FPEC BANK1 error interrupt source */ +#define FLASH_IT_EOP ((uint32_t)0x00001000) /*!< End of FLASH BANK1 Operation Interrupt source */ +#define IS_FLASH_IT(IT) ((((IT) & (uint32_t)0x7FFFEBFF) == 0x00000000) && (((IT) != 0x00000000))) +#else +#define FLASH_IT_ERROR ((uint32_t)0x00000400) /*!< FPEC error interrupt source */ +#define FLASH_IT_EOP ((uint32_t)0x00001000) /*!< End of FLASH Operation Interrupt source */ +#define FLASH_IT_BANK1_ERROR FLASH_IT_ERROR /*!< FPEC BANK1 error interrupt source */ +#define FLASH_IT_BANK1_EOP FLASH_IT_EOP /*!< End of FLASH BANK1 Operation Interrupt source */ + +#define IS_FLASH_IT(IT) ((((IT) & (uint32_t)0xFFFFEBFF) == 0x00000000) && (((IT) != 0x00000000))) +#endif + +/** + * @} + */ + +/** @defgroup FLASH_Flags + * @{ + */ +#ifdef STM32F10X_XL +#define FLASH_FLAG_BANK2_BSY ((uint32_t)0x80000001) /*!< FLASH BANK2 Busy flag */ +#define FLASH_FLAG_BANK2_EOP ((uint32_t)0x80000020) /*!< FLASH BANK2 End of Operation flag */ +#define FLASH_FLAG_BANK2_PGERR ((uint32_t)0x80000004) /*!< FLASH BANK2 Program error flag */ +#define FLASH_FLAG_BANK2_WRPRTERR ((uint32_t)0x80000010) /*!< FLASH BANK2 Write protected error flag */ + +#define FLASH_FLAG_BANK1_BSY FLASH_FLAG_BSY /*!< FLASH BANK1 Busy flag*/ +#define FLASH_FLAG_BANK1_EOP FLASH_FLAG_EOP /*!< FLASH BANK1 End of Operation flag */ +#define FLASH_FLAG_BANK1_PGERR FLASH_FLAG_PGERR /*!< FLASH BANK1 Program error flag */ +#define FLASH_FLAG_BANK1_WRPRTERR FLASH_FLAG_WRPRTERR /*!< FLASH BANK1 Write protected error flag */ + +#define FLASH_FLAG_BSY ((uint32_t)0x00000001) /*!< FLASH Busy flag */ +#define FLASH_FLAG_EOP ((uint32_t)0x00000020) /*!< FLASH End of Operation flag */ +#define FLASH_FLAG_PGERR ((uint32_t)0x00000004) /*!< FLASH Program error flag */ +#define FLASH_FLAG_WRPRTERR ((uint32_t)0x00000010) /*!< FLASH Write protected error flag */ +#define FLASH_FLAG_OPTERR ((uint32_t)0x00000001) /*!< FLASH Option Byte error flag */ + +#define IS_FLASH_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0x7FFFFFCA) == 0x00000000) && ((FLAG) != 0x00000000)) +#define IS_FLASH_GET_FLAG(FLAG) (((FLAG) == FLASH_FLAG_BSY) || ((FLAG) == FLASH_FLAG_EOP) || \ + ((FLAG) == FLASH_FLAG_PGERR) || ((FLAG) == FLASH_FLAG_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_OPTERR)|| \ + ((FLAG) == FLASH_FLAG_BANK1_BSY) || ((FLAG) == FLASH_FLAG_BANK1_EOP) || \ + ((FLAG) == FLASH_FLAG_BANK1_PGERR) || ((FLAG) == FLASH_FLAG_BANK1_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_BANK2_BSY) || ((FLAG) == FLASH_FLAG_BANK2_EOP) || \ + ((FLAG) == FLASH_FLAG_BANK2_PGERR) || ((FLAG) == FLASH_FLAG_BANK2_WRPRTERR)) +#else +#define FLASH_FLAG_BSY ((uint32_t)0x00000001) /*!< FLASH Busy flag */ +#define FLASH_FLAG_EOP ((uint32_t)0x00000020) /*!< FLASH End of Operation flag */ +#define FLASH_FLAG_PGERR ((uint32_t)0x00000004) /*!< FLASH Program error flag */ +#define FLASH_FLAG_WRPRTERR ((uint32_t)0x00000010) /*!< FLASH Write protected error flag */ +#define FLASH_FLAG_OPTERR ((uint32_t)0x00000001) /*!< FLASH Option Byte error flag */ + +#define FLASH_FLAG_BANK1_BSY FLASH_FLAG_BSY /*!< FLASH BANK1 Busy flag*/ +#define FLASH_FLAG_BANK1_EOP FLASH_FLAG_EOP /*!< FLASH BANK1 End of Operation flag */ +#define FLASH_FLAG_BANK1_PGERR FLASH_FLAG_PGERR /*!< FLASH BANK1 Program error flag */ +#define FLASH_FLAG_BANK1_WRPRTERR FLASH_FLAG_WRPRTERR /*!< FLASH BANK1 Write protected error flag */ + +#define IS_FLASH_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFFCA) == 0x00000000) && ((FLAG) != 0x00000000)) +#define IS_FLASH_GET_FLAG(FLAG) (((FLAG) == FLASH_FLAG_BSY) || ((FLAG) == FLASH_FLAG_EOP) || \ + ((FLAG) == FLASH_FLAG_PGERR) || ((FLAG) == FLASH_FLAG_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_BANK1_BSY) || ((FLAG) == FLASH_FLAG_BANK1_EOP) || \ + ((FLAG) == FLASH_FLAG_BANK1_PGERR) || ((FLAG) == FLASH_FLAG_BANK1_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_OPTERR)) +#endif + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup FLASH_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Exported_Functions + * @{ + */ + +/*------------ Functions used for all STM32F10x devices -----*/ +void FLASH_SetLatency(uint32_t FLASH_Latency); +void FLASH_HalfCycleAccessCmd(uint32_t FLASH_HalfCycleAccess); +void FLASH_PrefetchBufferCmd(uint32_t FLASH_PrefetchBuffer); +void FLASH_Unlock(void); +void FLASH_Lock(void); +FLASH_Status FLASH_ErasePage(uint32_t Page_Address); +FLASH_Status FLASH_EraseAllPages(void); +FLASH_Status FLASH_EraseOptionBytes(void); +FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data); +FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data); +FLASH_Status FLASH_ProgramOptionByteData(uint32_t Address, uint8_t Data); +FLASH_Status FLASH_EnableWriteProtection(uint32_t FLASH_Pages); +FLASH_Status FLASH_ReadOutProtection(FunctionalState NewState); +FLASH_Status FLASH_UserOptionByteConfig(uint16_t OB_IWDG, uint16_t OB_STOP, uint16_t OB_STDBY); +uint32_t FLASH_GetUserOptionByte(void); +uint32_t FLASH_GetWriteProtectionOptionByte(void); +FlagStatus FLASH_GetReadOutProtectionStatus(void); +FlagStatus FLASH_GetPrefetchBufferStatus(void); +void FLASH_ITConfig(uint32_t FLASH_IT, FunctionalState NewState); +FlagStatus FLASH_GetFlagStatus(uint32_t FLASH_FLAG); +void FLASH_ClearFlag(uint32_t FLASH_FLAG); +FLASH_Status FLASH_GetStatus(void); +FLASH_Status FLASH_WaitForLastOperation(uint32_t Timeout); + +/*------------ New function used for all STM32F10x devices -----*/ +void FLASH_UnlockBank1(void); +void FLASH_LockBank1(void); +FLASH_Status FLASH_EraseAllBank1Pages(void); +FLASH_Status FLASH_GetBank1Status(void); +FLASH_Status FLASH_WaitForLastBank1Operation(uint32_t Timeout); + +#ifdef STM32F10X_XL +/*---- New Functions used only with STM32F10x_XL density devices -----*/ +void FLASH_UnlockBank2(void); +void FLASH_LockBank2(void); +FLASH_Status FLASH_EraseAllBank2Pages(void); +FLASH_Status FLASH_GetBank2Status(void); +FLASH_Status FLASH_WaitForLastBank2Operation(uint32_t Timeout); +FLASH_Status FLASH_BootConfig(uint16_t FLASH_BOOT); +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_FLASH_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_fsmc.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_fsmc.h new file mode 100644 index 0000000..6e1769d --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_fsmc.h @@ -0,0 +1,733 @@ +/** + ****************************************************************************** + * @file stm32f10x_fsmc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the FSMC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_FSMC_H +#define __STM32F10x_FSMC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup FSMC + * @{ + */ + +/** @defgroup FSMC_Exported_Types + * @{ + */ + +/** + * @brief Timing parameters For NOR/SRAM Banks + */ + +typedef struct +{ + uint32_t FSMC_AddressSetupTime; /*!< Defines the number of HCLK cycles to configure + the duration of the address setup time. + This parameter can be a value between 0 and 0xF. + @note: It is not used with synchronous NOR Flash memories. */ + + uint32_t FSMC_AddressHoldTime; /*!< Defines the number of HCLK cycles to configure + the duration of the address hold time. + This parameter can be a value between 0 and 0xF. + @note: It is not used with synchronous NOR Flash memories.*/ + + uint32_t FSMC_DataSetupTime; /*!< Defines the number of HCLK cycles to configure + the duration of the data setup time. + This parameter can be a value between 0 and 0xFF. + @note: It is used for SRAMs, ROMs and asynchronous multiplexed NOR Flash memories. */ + + uint32_t FSMC_BusTurnAroundDuration; /*!< Defines the number of HCLK cycles to configure + the duration of the bus turnaround. + This parameter can be a value between 0 and 0xF. + @note: It is only used for multiplexed NOR Flash memories. */ + + uint32_t FSMC_CLKDivision; /*!< Defines the period of CLK clock output signal, expressed in number of HCLK cycles. + This parameter can be a value between 1 and 0xF. + @note: This parameter is not used for asynchronous NOR Flash, SRAM or ROM accesses. */ + + uint32_t FSMC_DataLatency; /*!< Defines the number of memory clock cycles to issue + to the memory before getting the first data. + The value of this parameter depends on the memory type as shown below: + - It must be set to 0 in case of a CRAM + - It is don't care in asynchronous NOR, SRAM or ROM accesses + - It may assume a value between 0 and 0xF in NOR Flash memories + with synchronous burst mode enable */ + + uint32_t FSMC_AccessMode; /*!< Specifies the asynchronous access mode. + This parameter can be a value of @ref FSMC_Access_Mode */ +}FSMC_NORSRAMTimingInitTypeDef; + +/** + * @brief FSMC NOR/SRAM Init structure definition + */ + +typedef struct +{ + uint32_t FSMC_Bank; /*!< Specifies the NOR/SRAM memory bank that will be used. + This parameter can be a value of @ref FSMC_NORSRAM_Bank */ + + uint32_t FSMC_DataAddressMux; /*!< Specifies whether the address and data values are + multiplexed on the databus or not. + This parameter can be a value of @ref FSMC_Data_Address_Bus_Multiplexing */ + + uint32_t FSMC_MemoryType; /*!< Specifies the type of external memory attached to + the corresponding memory bank. + This parameter can be a value of @ref FSMC_Memory_Type */ + + uint32_t FSMC_MemoryDataWidth; /*!< Specifies the external memory device width. + This parameter can be a value of @ref FSMC_Data_Width */ + + uint32_t FSMC_BurstAccessMode; /*!< Enables or disables the burst access mode for Flash memory, + valid only with synchronous burst Flash memories. + This parameter can be a value of @ref FSMC_Burst_Access_Mode */ + + uint32_t FSMC_AsynchronousWait; /*!< Enables or disables wait signal during asynchronous transfers, + valid only with asynchronous Flash memories. + This parameter can be a value of @ref FSMC_AsynchronousWait */ + + uint32_t FSMC_WaitSignalPolarity; /*!< Specifies the wait signal polarity, valid only when accessing + the Flash memory in burst mode. + This parameter can be a value of @ref FSMC_Wait_Signal_Polarity */ + + uint32_t FSMC_WrapMode; /*!< Enables or disables the Wrapped burst access mode for Flash + memory, valid only when accessing Flash memories in burst mode. + This parameter can be a value of @ref FSMC_Wrap_Mode */ + + uint32_t FSMC_WaitSignalActive; /*!< Specifies if the wait signal is asserted by the memory one + clock cycle before the wait state or during the wait state, + valid only when accessing memories in burst mode. + This parameter can be a value of @ref FSMC_Wait_Timing */ + + uint32_t FSMC_WriteOperation; /*!< Enables or disables the write operation in the selected bank by the FSMC. + This parameter can be a value of @ref FSMC_Write_Operation */ + + uint32_t FSMC_WaitSignal; /*!< Enables or disables the wait-state insertion via wait + signal, valid for Flash memory access in burst mode. + This parameter can be a value of @ref FSMC_Wait_Signal */ + + uint32_t FSMC_ExtendedMode; /*!< Enables or disables the extended mode. + This parameter can be a value of @ref FSMC_Extended_Mode */ + + uint32_t FSMC_WriteBurst; /*!< Enables or disables the write burst operation. + This parameter can be a value of @ref FSMC_Write_Burst */ + + FSMC_NORSRAMTimingInitTypeDef* FSMC_ReadWriteTimingStruct; /*!< Timing Parameters for write and read access if the ExtendedMode is not used*/ + + FSMC_NORSRAMTimingInitTypeDef* FSMC_WriteTimingStruct; /*!< Timing Parameters for write access if the ExtendedMode is used*/ +}FSMC_NORSRAMInitTypeDef; + +/** + * @brief Timing parameters For FSMC NAND and PCCARD Banks + */ + +typedef struct +{ + uint32_t FSMC_SetupTime; /*!< Defines the number of HCLK cycles to setup address before + the command assertion for NAND-Flash read or write access + to common/Attribute or I/O memory space (depending on + the memory space timing to be configured). + This parameter can be a value between 0 and 0xFF.*/ + + uint32_t FSMC_WaitSetupTime; /*!< Defines the minimum number of HCLK cycles to assert the + command for NAND-Flash read or write access to + common/Attribute or I/O memory space (depending on the + memory space timing to be configured). + This parameter can be a number between 0x00 and 0xFF */ + + uint32_t FSMC_HoldSetupTime; /*!< Defines the number of HCLK clock cycles to hold address + (and data for write access) after the command deassertion + for NAND-Flash read or write access to common/Attribute + or I/O memory space (depending on the memory space timing + to be configured). + This parameter can be a number between 0x00 and 0xFF */ + + uint32_t FSMC_HiZSetupTime; /*!< Defines the number of HCLK clock cycles during which the + databus is kept in HiZ after the start of a NAND-Flash + write access to common/Attribute or I/O memory space (depending + on the memory space timing to be configured). + This parameter can be a number between 0x00 and 0xFF */ +}FSMC_NAND_PCCARDTimingInitTypeDef; + +/** + * @brief FSMC NAND Init structure definition + */ + +typedef struct +{ + uint32_t FSMC_Bank; /*!< Specifies the NAND memory bank that will be used. + This parameter can be a value of @ref FSMC_NAND_Bank */ + + uint32_t FSMC_Waitfeature; /*!< Enables or disables the Wait feature for the NAND Memory Bank. + This parameter can be any value of @ref FSMC_Wait_feature */ + + uint32_t FSMC_MemoryDataWidth; /*!< Specifies the external memory device width. + This parameter can be any value of @ref FSMC_Data_Width */ + + uint32_t FSMC_ECC; /*!< Enables or disables the ECC computation. + This parameter can be any value of @ref FSMC_ECC */ + + uint32_t FSMC_ECCPageSize; /*!< Defines the page size for the extended ECC. + This parameter can be any value of @ref FSMC_ECC_Page_Size */ + + uint32_t FSMC_TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between CLE low and RE low. + This parameter can be a value between 0 and 0xFF. */ + + uint32_t FSMC_TARSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between ALE low and RE low. + This parameter can be a number between 0x0 and 0xFF */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_CommonSpaceTimingStruct; /*!< FSMC Common Space Timing */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_AttributeSpaceTimingStruct; /*!< FSMC Attribute Space Timing */ +}FSMC_NANDInitTypeDef; + +/** + * @brief FSMC PCCARD Init structure definition + */ + +typedef struct +{ + uint32_t FSMC_Waitfeature; /*!< Enables or disables the Wait feature for the Memory Bank. + This parameter can be any value of @ref FSMC_Wait_feature */ + + uint32_t FSMC_TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between CLE low and RE low. + This parameter can be a value between 0 and 0xFF. */ + + uint32_t FSMC_TARSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between ALE low and RE low. + This parameter can be a number between 0x0 and 0xFF */ + + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_CommonSpaceTimingStruct; /*!< FSMC Common Space Timing */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_AttributeSpaceTimingStruct; /*!< FSMC Attribute Space Timing */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_IOSpaceTimingStruct; /*!< FSMC IO Space Timing */ +}FSMC_PCCARDInitTypeDef; + +/** + * @} + */ + +/** @defgroup FSMC_Exported_Constants + * @{ + */ + +/** @defgroup FSMC_NORSRAM_Bank + * @{ + */ +#define FSMC_Bank1_NORSRAM1 ((uint32_t)0x00000000) +#define FSMC_Bank1_NORSRAM2 ((uint32_t)0x00000002) +#define FSMC_Bank1_NORSRAM3 ((uint32_t)0x00000004) +#define FSMC_Bank1_NORSRAM4 ((uint32_t)0x00000006) +/** + * @} + */ + +/** @defgroup FSMC_NAND_Bank + * @{ + */ +#define FSMC_Bank2_NAND ((uint32_t)0x00000010) +#define FSMC_Bank3_NAND ((uint32_t)0x00000100) +/** + * @} + */ + +/** @defgroup FSMC_PCCARD_Bank + * @{ + */ +#define FSMC_Bank4_PCCARD ((uint32_t)0x00001000) +/** + * @} + */ + +#define IS_FSMC_NORSRAM_BANK(BANK) (((BANK) == FSMC_Bank1_NORSRAM1) || \ + ((BANK) == FSMC_Bank1_NORSRAM2) || \ + ((BANK) == FSMC_Bank1_NORSRAM3) || \ + ((BANK) == FSMC_Bank1_NORSRAM4)) + +#define IS_FSMC_NAND_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \ + ((BANK) == FSMC_Bank3_NAND)) + +#define IS_FSMC_GETFLAG_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \ + ((BANK) == FSMC_Bank3_NAND) || \ + ((BANK) == FSMC_Bank4_PCCARD)) + +#define IS_FSMC_IT_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \ + ((BANK) == FSMC_Bank3_NAND) || \ + ((BANK) == FSMC_Bank4_PCCARD)) + +/** @defgroup NOR_SRAM_Controller + * @{ + */ + +/** @defgroup FSMC_Data_Address_Bus_Multiplexing + * @{ + */ + +#define FSMC_DataAddressMux_Disable ((uint32_t)0x00000000) +#define FSMC_DataAddressMux_Enable ((uint32_t)0x00000002) +#define IS_FSMC_MUX(MUX) (((MUX) == FSMC_DataAddressMux_Disable) || \ + ((MUX) == FSMC_DataAddressMux_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Memory_Type + * @{ + */ + +#define FSMC_MemoryType_SRAM ((uint32_t)0x00000000) +#define FSMC_MemoryType_PSRAM ((uint32_t)0x00000004) +#define FSMC_MemoryType_NOR ((uint32_t)0x00000008) +#define IS_FSMC_MEMORY(MEMORY) (((MEMORY) == FSMC_MemoryType_SRAM) || \ + ((MEMORY) == FSMC_MemoryType_PSRAM)|| \ + ((MEMORY) == FSMC_MemoryType_NOR)) + +/** + * @} + */ + +/** @defgroup FSMC_Data_Width + * @{ + */ + +#define FSMC_MemoryDataWidth_8b ((uint32_t)0x00000000) +#define FSMC_MemoryDataWidth_16b ((uint32_t)0x00000010) +#define IS_FSMC_MEMORY_WIDTH(WIDTH) (((WIDTH) == FSMC_MemoryDataWidth_8b) || \ + ((WIDTH) == FSMC_MemoryDataWidth_16b)) + +/** + * @} + */ + +/** @defgroup FSMC_Burst_Access_Mode + * @{ + */ + +#define FSMC_BurstAccessMode_Disable ((uint32_t)0x00000000) +#define FSMC_BurstAccessMode_Enable ((uint32_t)0x00000100) +#define IS_FSMC_BURSTMODE(STATE) (((STATE) == FSMC_BurstAccessMode_Disable) || \ + ((STATE) == FSMC_BurstAccessMode_Enable)) +/** + * @} + */ + +/** @defgroup FSMC_AsynchronousWait + * @{ + */ +#define FSMC_AsynchronousWait_Disable ((uint32_t)0x00000000) +#define FSMC_AsynchronousWait_Enable ((uint32_t)0x00008000) +#define IS_FSMC_ASYNWAIT(STATE) (((STATE) == FSMC_AsynchronousWait_Disable) || \ + ((STATE) == FSMC_AsynchronousWait_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Signal_Polarity + * @{ + */ + +#define FSMC_WaitSignalPolarity_Low ((uint32_t)0x00000000) +#define FSMC_WaitSignalPolarity_High ((uint32_t)0x00000200) +#define IS_FSMC_WAIT_POLARITY(POLARITY) (((POLARITY) == FSMC_WaitSignalPolarity_Low) || \ + ((POLARITY) == FSMC_WaitSignalPolarity_High)) + +/** + * @} + */ + +/** @defgroup FSMC_Wrap_Mode + * @{ + */ + +#define FSMC_WrapMode_Disable ((uint32_t)0x00000000) +#define FSMC_WrapMode_Enable ((uint32_t)0x00000400) +#define IS_FSMC_WRAP_MODE(MODE) (((MODE) == FSMC_WrapMode_Disable) || \ + ((MODE) == FSMC_WrapMode_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Timing + * @{ + */ + +#define FSMC_WaitSignalActive_BeforeWaitState ((uint32_t)0x00000000) +#define FSMC_WaitSignalActive_DuringWaitState ((uint32_t)0x00000800) +#define IS_FSMC_WAIT_SIGNAL_ACTIVE(ACTIVE) (((ACTIVE) == FSMC_WaitSignalActive_BeforeWaitState) || \ + ((ACTIVE) == FSMC_WaitSignalActive_DuringWaitState)) + +/** + * @} + */ + +/** @defgroup FSMC_Write_Operation + * @{ + */ + +#define FSMC_WriteOperation_Disable ((uint32_t)0x00000000) +#define FSMC_WriteOperation_Enable ((uint32_t)0x00001000) +#define IS_FSMC_WRITE_OPERATION(OPERATION) (((OPERATION) == FSMC_WriteOperation_Disable) || \ + ((OPERATION) == FSMC_WriteOperation_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Signal + * @{ + */ + +#define FSMC_WaitSignal_Disable ((uint32_t)0x00000000) +#define FSMC_WaitSignal_Enable ((uint32_t)0x00002000) +#define IS_FSMC_WAITE_SIGNAL(SIGNAL) (((SIGNAL) == FSMC_WaitSignal_Disable) || \ + ((SIGNAL) == FSMC_WaitSignal_Enable)) +/** + * @} + */ + +/** @defgroup FSMC_Extended_Mode + * @{ + */ + +#define FSMC_ExtendedMode_Disable ((uint32_t)0x00000000) +#define FSMC_ExtendedMode_Enable ((uint32_t)0x00004000) + +#define IS_FSMC_EXTENDED_MODE(MODE) (((MODE) == FSMC_ExtendedMode_Disable) || \ + ((MODE) == FSMC_ExtendedMode_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Write_Burst + * @{ + */ + +#define FSMC_WriteBurst_Disable ((uint32_t)0x00000000) +#define FSMC_WriteBurst_Enable ((uint32_t)0x00080000) +#define IS_FSMC_WRITE_BURST(BURST) (((BURST) == FSMC_WriteBurst_Disable) || \ + ((BURST) == FSMC_WriteBurst_Enable)) +/** + * @} + */ + +/** @defgroup FSMC_Address_Setup_Time + * @{ + */ + +#define IS_FSMC_ADDRESS_SETUP_TIME(TIME) ((TIME) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Address_Hold_Time + * @{ + */ + +#define IS_FSMC_ADDRESS_HOLD_TIME(TIME) ((TIME) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Data_Setup_Time + * @{ + */ + +#define IS_FSMC_DATASETUP_TIME(TIME) (((TIME) > 0) && ((TIME) <= 0xFF)) + +/** + * @} + */ + +/** @defgroup FSMC_Bus_Turn_around_Duration + * @{ + */ + +#define IS_FSMC_TURNAROUND_TIME(TIME) ((TIME) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_CLK_Division + * @{ + */ + +#define IS_FSMC_CLK_DIV(DIV) ((DIV) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Data_Latency + * @{ + */ + +#define IS_FSMC_DATA_LATENCY(LATENCY) ((LATENCY) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Access_Mode + * @{ + */ + +#define FSMC_AccessMode_A ((uint32_t)0x00000000) +#define FSMC_AccessMode_B ((uint32_t)0x10000000) +#define FSMC_AccessMode_C ((uint32_t)0x20000000) +#define FSMC_AccessMode_D ((uint32_t)0x30000000) +#define IS_FSMC_ACCESS_MODE(MODE) (((MODE) == FSMC_AccessMode_A) || \ + ((MODE) == FSMC_AccessMode_B) || \ + ((MODE) == FSMC_AccessMode_C) || \ + ((MODE) == FSMC_AccessMode_D)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup NAND_PCCARD_Controller + * @{ + */ + +/** @defgroup FSMC_Wait_feature + * @{ + */ + +#define FSMC_Waitfeature_Disable ((uint32_t)0x00000000) +#define FSMC_Waitfeature_Enable ((uint32_t)0x00000002) +#define IS_FSMC_WAIT_FEATURE(FEATURE) (((FEATURE) == FSMC_Waitfeature_Disable) || \ + ((FEATURE) == FSMC_Waitfeature_Enable)) + +/** + * @} + */ + + +/** @defgroup FSMC_ECC + * @{ + */ + +#define FSMC_ECC_Disable ((uint32_t)0x00000000) +#define FSMC_ECC_Enable ((uint32_t)0x00000040) +#define IS_FSMC_ECC_STATE(STATE) (((STATE) == FSMC_ECC_Disable) || \ + ((STATE) == FSMC_ECC_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_ECC_Page_Size + * @{ + */ + +#define FSMC_ECCPageSize_256Bytes ((uint32_t)0x00000000) +#define FSMC_ECCPageSize_512Bytes ((uint32_t)0x00020000) +#define FSMC_ECCPageSize_1024Bytes ((uint32_t)0x00040000) +#define FSMC_ECCPageSize_2048Bytes ((uint32_t)0x00060000) +#define FSMC_ECCPageSize_4096Bytes ((uint32_t)0x00080000) +#define FSMC_ECCPageSize_8192Bytes ((uint32_t)0x000A0000) +#define IS_FSMC_ECCPAGE_SIZE(SIZE) (((SIZE) == FSMC_ECCPageSize_256Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_512Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_1024Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_2048Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_4096Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_8192Bytes)) + +/** + * @} + */ + +/** @defgroup FSMC_TCLR_Setup_Time + * @{ + */ + +#define IS_FSMC_TCLR_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_TAR_Setup_Time + * @{ + */ + +#define IS_FSMC_TAR_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Setup_Time + * @{ + */ + +#define IS_FSMC_SETUP_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Setup_Time + * @{ + */ + +#define IS_FSMC_WAIT_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Hold_Setup_Time + * @{ + */ + +#define IS_FSMC_HOLD_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_HiZ_Setup_Time + * @{ + */ + +#define IS_FSMC_HIZ_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Interrupt_sources + * @{ + */ + +#define FSMC_IT_RisingEdge ((uint32_t)0x00000008) +#define FSMC_IT_Level ((uint32_t)0x00000010) +#define FSMC_IT_FallingEdge ((uint32_t)0x00000020) +#define IS_FSMC_IT(IT) ((((IT) & (uint32_t)0xFFFFFFC7) == 0x00000000) && ((IT) != 0x00000000)) +#define IS_FSMC_GET_IT(IT) (((IT) == FSMC_IT_RisingEdge) || \ + ((IT) == FSMC_IT_Level) || \ + ((IT) == FSMC_IT_FallingEdge)) +/** + * @} + */ + +/** @defgroup FSMC_Flags + * @{ + */ + +#define FSMC_FLAG_RisingEdge ((uint32_t)0x00000001) +#define FSMC_FLAG_Level ((uint32_t)0x00000002) +#define FSMC_FLAG_FallingEdge ((uint32_t)0x00000004) +#define FSMC_FLAG_FEMPT ((uint32_t)0x00000040) +#define IS_FSMC_GET_FLAG(FLAG) (((FLAG) == FSMC_FLAG_RisingEdge) || \ + ((FLAG) == FSMC_FLAG_Level) || \ + ((FLAG) == FSMC_FLAG_FallingEdge) || \ + ((FLAG) == FSMC_FLAG_FEMPT)) + +#define IS_FSMC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFFF8) == 0x00000000) && ((FLAG) != 0x00000000)) + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup FSMC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Exported_Functions + * @{ + */ + +void FSMC_NORSRAMDeInit(uint32_t FSMC_Bank); +void FSMC_NANDDeInit(uint32_t FSMC_Bank); +void FSMC_PCCARDDeInit(void); +void FSMC_NORSRAMInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct); +void FSMC_NANDInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct); +void FSMC_PCCARDInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct); +void FSMC_NORSRAMStructInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct); +void FSMC_NANDStructInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct); +void FSMC_PCCARDStructInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct); +void FSMC_NORSRAMCmd(uint32_t FSMC_Bank, FunctionalState NewState); +void FSMC_NANDCmd(uint32_t FSMC_Bank, FunctionalState NewState); +void FSMC_PCCARDCmd(FunctionalState NewState); +void FSMC_NANDECCCmd(uint32_t FSMC_Bank, FunctionalState NewState); +uint32_t FSMC_GetECC(uint32_t FSMC_Bank); +void FSMC_ITConfig(uint32_t FSMC_Bank, uint32_t FSMC_IT, FunctionalState NewState); +FlagStatus FSMC_GetFlagStatus(uint32_t FSMC_Bank, uint32_t FSMC_FLAG); +void FSMC_ClearFlag(uint32_t FSMC_Bank, uint32_t FSMC_FLAG); +ITStatus FSMC_GetITStatus(uint32_t FSMC_Bank, uint32_t FSMC_IT); +void FSMC_ClearITPendingBit(uint32_t FSMC_Bank, uint32_t FSMC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_FSMC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_gpio.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_gpio.h new file mode 100644 index 0000000..dd28da8 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_gpio.h @@ -0,0 +1,385 @@ +/** + ****************************************************************************** + * @file stm32f10x_gpio.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the GPIO + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_GPIO_H +#define __STM32F10x_GPIO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup GPIO + * @{ + */ + +/** @defgroup GPIO_Exported_Types + * @{ + */ + +#define IS_GPIO_ALL_PERIPH(PERIPH) (((PERIPH) == GPIOA) || \ + ((PERIPH) == GPIOB) || \ + ((PERIPH) == GPIOC) || \ + ((PERIPH) == GPIOD) || \ + ((PERIPH) == GPIOE) || \ + ((PERIPH) == GPIOF) || \ + ((PERIPH) == GPIOG)) + +/** + * @brief Output Maximum frequency selection + */ + +typedef enum +{ + GPIO_Speed_10MHz = 1, + GPIO_Speed_2MHz, + GPIO_Speed_50MHz +}GPIOSpeed_TypeDef; +#define IS_GPIO_SPEED(SPEED) (((SPEED) == GPIO_Speed_10MHz) || ((SPEED) == GPIO_Speed_2MHz) || \ + ((SPEED) == GPIO_Speed_50MHz)) + +/** + * @brief Configuration Mode enumeration + */ + +typedef enum +{ GPIO_Mode_AIN = 0x0, + GPIO_Mode_IN_FLOATING = 0x04, + GPIO_Mode_IPD = 0x28, + GPIO_Mode_IPU = 0x48, + GPIO_Mode_Out_OD = 0x14, + GPIO_Mode_Out_PP = 0x10, + GPIO_Mode_AF_OD = 0x1C, + GPIO_Mode_AF_PP = 0x18 +}GPIOMode_TypeDef; + +#define IS_GPIO_MODE(MODE) (((MODE) == GPIO_Mode_AIN) || ((MODE) == GPIO_Mode_IN_FLOATING) || \ + ((MODE) == GPIO_Mode_IPD) || ((MODE) == GPIO_Mode_IPU) || \ + ((MODE) == GPIO_Mode_Out_OD) || ((MODE) == GPIO_Mode_Out_PP) || \ + ((MODE) == GPIO_Mode_AF_OD) || ((MODE) == GPIO_Mode_AF_PP)) + +/** + * @brief GPIO Init structure definition + */ + +typedef struct +{ + uint16_t GPIO_Pin; /*!< Specifies the GPIO pins to be configured. + This parameter can be any value of @ref GPIO_pins_define */ + + GPIOSpeed_TypeDef GPIO_Speed; /*!< Specifies the speed for the selected pins. + This parameter can be a value of @ref GPIOSpeed_TypeDef */ + + GPIOMode_TypeDef GPIO_Mode; /*!< Specifies the operating mode for the selected pins. + This parameter can be a value of @ref GPIOMode_TypeDef */ +}GPIO_InitTypeDef; + + +/** + * @brief Bit_SET and Bit_RESET enumeration + */ + +typedef enum +{ Bit_RESET = 0, + Bit_SET +}BitAction; + +#define IS_GPIO_BIT_ACTION(ACTION) (((ACTION) == Bit_RESET) || ((ACTION) == Bit_SET)) + +/** + * @} + */ + +/** @defgroup GPIO_Exported_Constants + * @{ + */ + +/** @defgroup GPIO_pins_define + * @{ + */ + +#define GPIO_Pin_0 ((uint16_t)0x0001) /*!< Pin 0 selected */ +#define GPIO_Pin_1 ((uint16_t)0x0002) /*!< Pin 1 selected */ +#define GPIO_Pin_2 ((uint16_t)0x0004) /*!< Pin 2 selected */ +#define GPIO_Pin_3 ((uint16_t)0x0008) /*!< Pin 3 selected */ +#define GPIO_Pin_4 ((uint16_t)0x0010) /*!< Pin 4 selected */ +#define GPIO_Pin_5 ((uint16_t)0x0020) /*!< Pin 5 selected */ +#define GPIO_Pin_6 ((uint16_t)0x0040) /*!< Pin 6 selected */ +#define GPIO_Pin_7 ((uint16_t)0x0080) /*!< Pin 7 selected */ +#define GPIO_Pin_8 ((uint16_t)0x0100) /*!< Pin 8 selected */ +#define GPIO_Pin_9 ((uint16_t)0x0200) /*!< Pin 9 selected */ +#define GPIO_Pin_10 ((uint16_t)0x0400) /*!< Pin 10 selected */ +#define GPIO_Pin_11 ((uint16_t)0x0800) /*!< Pin 11 selected */ +#define GPIO_Pin_12 ((uint16_t)0x1000) /*!< Pin 12 selected */ +#define GPIO_Pin_13 ((uint16_t)0x2000) /*!< Pin 13 selected */ +#define GPIO_Pin_14 ((uint16_t)0x4000) /*!< Pin 14 selected */ +#define GPIO_Pin_15 ((uint16_t)0x8000) /*!< Pin 15 selected */ +#define GPIO_Pin_All ((uint16_t)0xFFFF) /*!< All pins selected */ + +#define IS_GPIO_PIN(PIN) ((((PIN) & (uint16_t)0x00) == 0x00) && ((PIN) != (uint16_t)0x00)) + +#define IS_GET_GPIO_PIN(PIN) (((PIN) == GPIO_Pin_0) || \ + ((PIN) == GPIO_Pin_1) || \ + ((PIN) == GPIO_Pin_2) || \ + ((PIN) == GPIO_Pin_3) || \ + ((PIN) == GPIO_Pin_4) || \ + ((PIN) == GPIO_Pin_5) || \ + ((PIN) == GPIO_Pin_6) || \ + ((PIN) == GPIO_Pin_7) || \ + ((PIN) == GPIO_Pin_8) || \ + ((PIN) == GPIO_Pin_9) || \ + ((PIN) == GPIO_Pin_10) || \ + ((PIN) == GPIO_Pin_11) || \ + ((PIN) == GPIO_Pin_12) || \ + ((PIN) == GPIO_Pin_13) || \ + ((PIN) == GPIO_Pin_14) || \ + ((PIN) == GPIO_Pin_15)) + +/** + * @} + */ + +/** @defgroup GPIO_Remap_define + * @{ + */ + +#define GPIO_Remap_SPI1 ((uint32_t)0x00000001) /*!< SPI1 Alternate Function mapping */ +#define GPIO_Remap_I2C1 ((uint32_t)0x00000002) /*!< I2C1 Alternate Function mapping */ +#define GPIO_Remap_USART1 ((uint32_t)0x00000004) /*!< USART1 Alternate Function mapping */ +#define GPIO_Remap_USART2 ((uint32_t)0x00000008) /*!< USART2 Alternate Function mapping */ +#define GPIO_PartialRemap_USART3 ((uint32_t)0x00140010) /*!< USART3 Partial Alternate Function mapping */ +#define GPIO_FullRemap_USART3 ((uint32_t)0x00140030) /*!< USART3 Full Alternate Function mapping */ +#define GPIO_PartialRemap_TIM1 ((uint32_t)0x00160040) /*!< TIM1 Partial Alternate Function mapping */ +#define GPIO_FullRemap_TIM1 ((uint32_t)0x001600C0) /*!< TIM1 Full Alternate Function mapping */ +#define GPIO_PartialRemap1_TIM2 ((uint32_t)0x00180100) /*!< TIM2 Partial1 Alternate Function mapping */ +#define GPIO_PartialRemap2_TIM2 ((uint32_t)0x00180200) /*!< TIM2 Partial2 Alternate Function mapping */ +#define GPIO_FullRemap_TIM2 ((uint32_t)0x00180300) /*!< TIM2 Full Alternate Function mapping */ +#define GPIO_PartialRemap_TIM3 ((uint32_t)0x001A0800) /*!< TIM3 Partial Alternate Function mapping */ +#define GPIO_FullRemap_TIM3 ((uint32_t)0x001A0C00) /*!< TIM3 Full Alternate Function mapping */ +#define GPIO_Remap_TIM4 ((uint32_t)0x00001000) /*!< TIM4 Alternate Function mapping */ +#define GPIO_Remap1_CAN1 ((uint32_t)0x001D4000) /*!< CAN1 Alternate Function mapping */ +#define GPIO_Remap2_CAN1 ((uint32_t)0x001D6000) /*!< CAN1 Alternate Function mapping */ +#define GPIO_Remap_PD01 ((uint32_t)0x00008000) /*!< PD01 Alternate Function mapping */ +#define GPIO_Remap_TIM5CH4_LSI ((uint32_t)0x00200001) /*!< LSI connected to TIM5 Channel4 input capture for calibration */ +#define GPIO_Remap_ADC1_ETRGINJ ((uint32_t)0x00200002) /*!< ADC1 External Trigger Injected Conversion remapping */ +#define GPIO_Remap_ADC1_ETRGREG ((uint32_t)0x00200004) /*!< ADC1 External Trigger Regular Conversion remapping */ +#define GPIO_Remap_ADC2_ETRGINJ ((uint32_t)0x00200008) /*!< ADC2 External Trigger Injected Conversion remapping */ +#define GPIO_Remap_ADC2_ETRGREG ((uint32_t)0x00200010) /*!< ADC2 External Trigger Regular Conversion remapping */ +#define GPIO_Remap_ETH ((uint32_t)0x00200020) /*!< Ethernet remapping (only for Connectivity line devices) */ +#define GPIO_Remap_CAN2 ((uint32_t)0x00200040) /*!< CAN2 remapping (only for Connectivity line devices) */ +#define GPIO_Remap_SWJ_NoJTRST ((uint32_t)0x00300100) /*!< Full SWJ Enabled (JTAG-DP + SW-DP) but without JTRST */ +#define GPIO_Remap_SWJ_JTAGDisable ((uint32_t)0x00300200) /*!< JTAG-DP Disabled and SW-DP Enabled */ +#define GPIO_Remap_SWJ_Disable ((uint32_t)0x00300400) /*!< Full SWJ Disabled (JTAG-DP + SW-DP) */ +#define GPIO_Remap_SPI3 ((uint32_t)0x00201100) /*!< SPI3/I2S3 Alternate Function mapping (only for Connectivity line devices) */ +#define GPIO_Remap_TIM2ITR1_PTP_SOF ((uint32_t)0x00202000) /*!< Ethernet PTP output or USB OTG SOF (Start of Frame) connected + to TIM2 Internal Trigger 1 for calibration + (only for Connectivity line devices) */ +#define GPIO_Remap_PTP_PPS ((uint32_t)0x00204000) /*!< Ethernet MAC PPS_PTS output on PB05 (only for Connectivity line devices) */ + +#define GPIO_Remap_TIM15 ((uint32_t)0x80000001) /*!< TIM15 Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_TIM16 ((uint32_t)0x80000002) /*!< TIM16 Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_TIM17 ((uint32_t)0x80000004) /*!< TIM17 Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_CEC ((uint32_t)0x80000008) /*!< CEC Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_TIM1_DMA ((uint32_t)0x80000010) /*!< TIM1 DMA requests mapping (only for Value line devices) */ + +#define GPIO_Remap_TIM9 ((uint32_t)0x80000020) /*!< TIM9 Alternate Function mapping (only for XL-density devices) */ +#define GPIO_Remap_TIM10 ((uint32_t)0x80000040) /*!< TIM10 Alternate Function mapping (only for XL-density devices) */ +#define GPIO_Remap_TIM11 ((uint32_t)0x80000080) /*!< TIM11 Alternate Function mapping (only for XL-density devices) */ +#define GPIO_Remap_TIM13 ((uint32_t)0x80000100) /*!< TIM13 Alternate Function mapping (only for High density Value line and XL-density devices) */ +#define GPIO_Remap_TIM14 ((uint32_t)0x80000200) /*!< TIM14 Alternate Function mapping (only for High density Value line and XL-density devices) */ +#define GPIO_Remap_FSMC_NADV ((uint32_t)0x80000400) /*!< FSMC_NADV Alternate Function mapping (only for High density Value line and XL-density devices) */ + +#define GPIO_Remap_TIM67_DAC_DMA ((uint32_t)0x80000800) /*!< TIM6/TIM7 and DAC DMA requests remapping (only for High density Value line devices) */ +#define GPIO_Remap_TIM12 ((uint32_t)0x80001000) /*!< TIM12 Alternate Function mapping (only for High density Value line devices) */ +#define GPIO_Remap_MISC ((uint32_t)0x80002000) /*!< Miscellaneous Remap (DMA2 Channel5 Position and DAC Trigger remapping, + only for High density Value line devices) */ + +#define IS_GPIO_REMAP(REMAP) (((REMAP) == GPIO_Remap_SPI1) || ((REMAP) == GPIO_Remap_I2C1) || \ + ((REMAP) == GPIO_Remap_USART1) || ((REMAP) == GPIO_Remap_USART2) || \ + ((REMAP) == GPIO_PartialRemap_USART3) || ((REMAP) == GPIO_FullRemap_USART3) || \ + ((REMAP) == GPIO_PartialRemap_TIM1) || ((REMAP) == GPIO_FullRemap_TIM1) || \ + ((REMAP) == GPIO_PartialRemap1_TIM2) || ((REMAP) == GPIO_PartialRemap2_TIM2) || \ + ((REMAP) == GPIO_FullRemap_TIM2) || ((REMAP) == GPIO_PartialRemap_TIM3) || \ + ((REMAP) == GPIO_FullRemap_TIM3) || ((REMAP) == GPIO_Remap_TIM4) || \ + ((REMAP) == GPIO_Remap1_CAN1) || ((REMAP) == GPIO_Remap2_CAN1) || \ + ((REMAP) == GPIO_Remap_PD01) || ((REMAP) == GPIO_Remap_TIM5CH4_LSI) || \ + ((REMAP) == GPIO_Remap_ADC1_ETRGINJ) ||((REMAP) == GPIO_Remap_ADC1_ETRGREG) || \ + ((REMAP) == GPIO_Remap_ADC2_ETRGINJ) ||((REMAP) == GPIO_Remap_ADC2_ETRGREG) || \ + ((REMAP) == GPIO_Remap_ETH) ||((REMAP) == GPIO_Remap_CAN2) || \ + ((REMAP) == GPIO_Remap_SWJ_NoJTRST) || ((REMAP) == GPIO_Remap_SWJ_JTAGDisable) || \ + ((REMAP) == GPIO_Remap_SWJ_Disable)|| ((REMAP) == GPIO_Remap_SPI3) || \ + ((REMAP) == GPIO_Remap_TIM2ITR1_PTP_SOF) || ((REMAP) == GPIO_Remap_PTP_PPS) || \ + ((REMAP) == GPIO_Remap_TIM15) || ((REMAP) == GPIO_Remap_TIM16) || \ + ((REMAP) == GPIO_Remap_TIM17) || ((REMAP) == GPIO_Remap_CEC) || \ + ((REMAP) == GPIO_Remap_TIM1_DMA) || ((REMAP) == GPIO_Remap_TIM9) || \ + ((REMAP) == GPIO_Remap_TIM10) || ((REMAP) == GPIO_Remap_TIM11) || \ + ((REMAP) == GPIO_Remap_TIM13) || ((REMAP) == GPIO_Remap_TIM14) || \ + ((REMAP) == GPIO_Remap_FSMC_NADV) || ((REMAP) == GPIO_Remap_TIM67_DAC_DMA) || \ + ((REMAP) == GPIO_Remap_TIM12) || ((REMAP) == GPIO_Remap_MISC)) + +/** + * @} + */ + +/** @defgroup GPIO_Port_Sources + * @{ + */ + +#define GPIO_PortSourceGPIOA ((uint8_t)0x00) +#define GPIO_PortSourceGPIOB ((uint8_t)0x01) +#define GPIO_PortSourceGPIOC ((uint8_t)0x02) +#define GPIO_PortSourceGPIOD ((uint8_t)0x03) +#define GPIO_PortSourceGPIOE ((uint8_t)0x04) +#define GPIO_PortSourceGPIOF ((uint8_t)0x05) +#define GPIO_PortSourceGPIOG ((uint8_t)0x06) +#define IS_GPIO_EVENTOUT_PORT_SOURCE(PORTSOURCE) (((PORTSOURCE) == GPIO_PortSourceGPIOA) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOB) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOC) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOD) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOE)) + +#define IS_GPIO_EXTI_PORT_SOURCE(PORTSOURCE) (((PORTSOURCE) == GPIO_PortSourceGPIOA) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOB) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOC) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOD) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOE) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOF) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOG)) + +/** + * @} + */ + +/** @defgroup GPIO_Pin_sources + * @{ + */ + +#define GPIO_PinSource0 ((uint8_t)0x00) +#define GPIO_PinSource1 ((uint8_t)0x01) +#define GPIO_PinSource2 ((uint8_t)0x02) +#define GPIO_PinSource3 ((uint8_t)0x03) +#define GPIO_PinSource4 ((uint8_t)0x04) +#define GPIO_PinSource5 ((uint8_t)0x05) +#define GPIO_PinSource6 ((uint8_t)0x06) +#define GPIO_PinSource7 ((uint8_t)0x07) +#define GPIO_PinSource8 ((uint8_t)0x08) +#define GPIO_PinSource9 ((uint8_t)0x09) +#define GPIO_PinSource10 ((uint8_t)0x0A) +#define GPIO_PinSource11 ((uint8_t)0x0B) +#define GPIO_PinSource12 ((uint8_t)0x0C) +#define GPIO_PinSource13 ((uint8_t)0x0D) +#define GPIO_PinSource14 ((uint8_t)0x0E) +#define GPIO_PinSource15 ((uint8_t)0x0F) + +#define IS_GPIO_PIN_SOURCE(PINSOURCE) (((PINSOURCE) == GPIO_PinSource0) || \ + ((PINSOURCE) == GPIO_PinSource1) || \ + ((PINSOURCE) == GPIO_PinSource2) || \ + ((PINSOURCE) == GPIO_PinSource3) || \ + ((PINSOURCE) == GPIO_PinSource4) || \ + ((PINSOURCE) == GPIO_PinSource5) || \ + ((PINSOURCE) == GPIO_PinSource6) || \ + ((PINSOURCE) == GPIO_PinSource7) || \ + ((PINSOURCE) == GPIO_PinSource8) || \ + ((PINSOURCE) == GPIO_PinSource9) || \ + ((PINSOURCE) == GPIO_PinSource10) || \ + ((PINSOURCE) == GPIO_PinSource11) || \ + ((PINSOURCE) == GPIO_PinSource12) || \ + ((PINSOURCE) == GPIO_PinSource13) || \ + ((PINSOURCE) == GPIO_PinSource14) || \ + ((PINSOURCE) == GPIO_PinSource15)) + +/** + * @} + */ + +/** @defgroup Ethernet_Media_Interface + * @{ + */ +#define GPIO_ETH_MediaInterface_MII ((u32)0x00000000) +#define GPIO_ETH_MediaInterface_RMII ((u32)0x00000001) + +#define IS_GPIO_ETH_MEDIA_INTERFACE(INTERFACE) (((INTERFACE) == GPIO_ETH_MediaInterface_MII) || \ + ((INTERFACE) == GPIO_ETH_MediaInterface_RMII)) + +/** + * @} + */ +/** + * @} + */ + +/** @defgroup GPIO_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Exported_Functions + * @{ + */ + +void GPIO_DeInit(GPIO_TypeDef* GPIOx); +void GPIO_AFIODeInit(void); +void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct); +void GPIO_StructInit(GPIO_InitTypeDef* GPIO_InitStruct); +uint8_t GPIO_ReadInputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +uint16_t GPIO_ReadInputData(GPIO_TypeDef* GPIOx); +uint8_t GPIO_ReadOutputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +uint16_t GPIO_ReadOutputData(GPIO_TypeDef* GPIOx); +void GPIO_SetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +void GPIO_ResetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +void GPIO_WriteBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, BitAction BitVal); +void GPIO_Write(GPIO_TypeDef* GPIOx, uint16_t PortVal); +void GPIO_PinLockConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +void GPIO_EventOutputConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource); +void GPIO_EventOutputCmd(FunctionalState NewState); +void GPIO_PinRemapConfig(uint32_t GPIO_Remap, FunctionalState NewState); +void GPIO_EXTILineConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource); +void GPIO_ETH_MediaInterfaceConfig(uint32_t GPIO_ETH_MediaInterface); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_GPIO_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_i2c.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_i2c.h new file mode 100644 index 0000000..60e4b14 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_i2c.h @@ -0,0 +1,684 @@ +/** + ****************************************************************************** + * @file stm32f10x_i2c.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the I2C firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_I2C_H +#define __STM32F10x_I2C_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup I2C + * @{ + */ + +/** @defgroup I2C_Exported_Types + * @{ + */ + +/** + * @brief I2C Init structure definition + */ + +typedef struct +{ + uint32_t I2C_ClockSpeed; /*!< Specifies the clock frequency. + This parameter must be set to a value lower than 400kHz */ + + uint16_t I2C_Mode; /*!< Specifies the I2C mode. + This parameter can be a value of @ref I2C_mode */ + + uint16_t I2C_DutyCycle; /*!< Specifies the I2C fast mode duty cycle. + This parameter can be a value of @ref I2C_duty_cycle_in_fast_mode */ + + uint16_t I2C_OwnAddress1; /*!< Specifies the first device own address. + This parameter can be a 7-bit or 10-bit address. */ + + uint16_t I2C_Ack; /*!< Enables or disables the acknowledgement. + This parameter can be a value of @ref I2C_acknowledgement */ + + uint16_t I2C_AcknowledgedAddress; /*!< Specifies if 7-bit or 10-bit address is acknowledged. + This parameter can be a value of @ref I2C_acknowledged_address */ +}I2C_InitTypeDef; + +/** + * @} + */ + + +/** @defgroup I2C_Exported_Constants + * @{ + */ + +#define IS_I2C_ALL_PERIPH(PERIPH) (((PERIPH) == I2C1) || \ + ((PERIPH) == I2C2)) +/** @defgroup I2C_mode + * @{ + */ + +#define I2C_Mode_I2C ((uint16_t)0x0000) +#define I2C_Mode_SMBusDevice ((uint16_t)0x0002) +#define I2C_Mode_SMBusHost ((uint16_t)0x000A) +#define IS_I2C_MODE(MODE) (((MODE) == I2C_Mode_I2C) || \ + ((MODE) == I2C_Mode_SMBusDevice) || \ + ((MODE) == I2C_Mode_SMBusHost)) +/** + * @} + */ + +/** @defgroup I2C_duty_cycle_in_fast_mode + * @{ + */ + +#define I2C_DutyCycle_16_9 ((uint16_t)0x4000) /*!< I2C fast mode Tlow/Thigh = 16/9 */ +#define I2C_DutyCycle_2 ((uint16_t)0xBFFF) /*!< I2C fast mode Tlow/Thigh = 2 */ +#define IS_I2C_DUTY_CYCLE(CYCLE) (((CYCLE) == I2C_DutyCycle_16_9) || \ + ((CYCLE) == I2C_DutyCycle_2)) +/** + * @} + */ + +/** @defgroup I2C_acknowledgement + * @{ + */ + +#define I2C_Ack_Enable ((uint16_t)0x0400) +#define I2C_Ack_Disable ((uint16_t)0x0000) +#define IS_I2C_ACK_STATE(STATE) (((STATE) == I2C_Ack_Enable) || \ + ((STATE) == I2C_Ack_Disable)) +/** + * @} + */ + +/** @defgroup I2C_transfer_direction + * @{ + */ + +#define I2C_Direction_Transmitter ((uint8_t)0x00) +#define I2C_Direction_Receiver ((uint8_t)0x01) +#define IS_I2C_DIRECTION(DIRECTION) (((DIRECTION) == I2C_Direction_Transmitter) || \ + ((DIRECTION) == I2C_Direction_Receiver)) +/** + * @} + */ + +/** @defgroup I2C_acknowledged_address + * @{ + */ + +#define I2C_AcknowledgedAddress_7bit ((uint16_t)0x4000) +#define I2C_AcknowledgedAddress_10bit ((uint16_t)0xC000) +#define IS_I2C_ACKNOWLEDGE_ADDRESS(ADDRESS) (((ADDRESS) == I2C_AcknowledgedAddress_7bit) || \ + ((ADDRESS) == I2C_AcknowledgedAddress_10bit)) +/** + * @} + */ + +/** @defgroup I2C_registers + * @{ + */ + +#define I2C_Register_CR1 ((uint8_t)0x00) +#define I2C_Register_CR2 ((uint8_t)0x04) +#define I2C_Register_OAR1 ((uint8_t)0x08) +#define I2C_Register_OAR2 ((uint8_t)0x0C) +#define I2C_Register_DR ((uint8_t)0x10) +#define I2C_Register_SR1 ((uint8_t)0x14) +#define I2C_Register_SR2 ((uint8_t)0x18) +#define I2C_Register_CCR ((uint8_t)0x1C) +#define I2C_Register_TRISE ((uint8_t)0x20) +#define IS_I2C_REGISTER(REGISTER) (((REGISTER) == I2C_Register_CR1) || \ + ((REGISTER) == I2C_Register_CR2) || \ + ((REGISTER) == I2C_Register_OAR1) || \ + ((REGISTER) == I2C_Register_OAR2) || \ + ((REGISTER) == I2C_Register_DR) || \ + ((REGISTER) == I2C_Register_SR1) || \ + ((REGISTER) == I2C_Register_SR2) || \ + ((REGISTER) == I2C_Register_CCR) || \ + ((REGISTER) == I2C_Register_TRISE)) +/** + * @} + */ + +/** @defgroup I2C_SMBus_alert_pin_level + * @{ + */ + +#define I2C_SMBusAlert_Low ((uint16_t)0x2000) +#define I2C_SMBusAlert_High ((uint16_t)0xDFFF) +#define IS_I2C_SMBUS_ALERT(ALERT) (((ALERT) == I2C_SMBusAlert_Low) || \ + ((ALERT) == I2C_SMBusAlert_High)) +/** + * @} + */ + +/** @defgroup I2C_PEC_position + * @{ + */ + +#define I2C_PECPosition_Next ((uint16_t)0x0800) +#define I2C_PECPosition_Current ((uint16_t)0xF7FF) +#define IS_I2C_PEC_POSITION(POSITION) (((POSITION) == I2C_PECPosition_Next) || \ + ((POSITION) == I2C_PECPosition_Current)) +/** + * @} + */ + +/** @defgroup I2C_NCAK_position + * @{ + */ + +#define I2C_NACKPosition_Next ((uint16_t)0x0800) +#define I2C_NACKPosition_Current ((uint16_t)0xF7FF) +#define IS_I2C_NACK_POSITION(POSITION) (((POSITION) == I2C_NACKPosition_Next) || \ + ((POSITION) == I2C_NACKPosition_Current)) +/** + * @} + */ + +/** @defgroup I2C_interrupts_definition + * @{ + */ + +#define I2C_IT_BUF ((uint16_t)0x0400) +#define I2C_IT_EVT ((uint16_t)0x0200) +#define I2C_IT_ERR ((uint16_t)0x0100) +#define IS_I2C_CONFIG_IT(IT) ((((IT) & (uint16_t)0xF8FF) == 0x00) && ((IT) != 0x00)) +/** + * @} + */ + +/** @defgroup I2C_interrupts_definition + * @{ + */ + +#define I2C_IT_SMBALERT ((uint32_t)0x01008000) +#define I2C_IT_TIMEOUT ((uint32_t)0x01004000) +#define I2C_IT_PECERR ((uint32_t)0x01001000) +#define I2C_IT_OVR ((uint32_t)0x01000800) +#define I2C_IT_AF ((uint32_t)0x01000400) +#define I2C_IT_ARLO ((uint32_t)0x01000200) +#define I2C_IT_BERR ((uint32_t)0x01000100) +#define I2C_IT_TXE ((uint32_t)0x06000080) +#define I2C_IT_RXNE ((uint32_t)0x06000040) +#define I2C_IT_STOPF ((uint32_t)0x02000010) +#define I2C_IT_ADD10 ((uint32_t)0x02000008) +#define I2C_IT_BTF ((uint32_t)0x02000004) +#define I2C_IT_ADDR ((uint32_t)0x02000002) +#define I2C_IT_SB ((uint32_t)0x02000001) + +#define IS_I2C_CLEAR_IT(IT) ((((IT) & (uint16_t)0x20FF) == 0x00) && ((IT) != (uint16_t)0x00)) + +#define IS_I2C_GET_IT(IT) (((IT) == I2C_IT_SMBALERT) || ((IT) == I2C_IT_TIMEOUT) || \ + ((IT) == I2C_IT_PECERR) || ((IT) == I2C_IT_OVR) || \ + ((IT) == I2C_IT_AF) || ((IT) == I2C_IT_ARLO) || \ + ((IT) == I2C_IT_BERR) || ((IT) == I2C_IT_TXE) || \ + ((IT) == I2C_IT_RXNE) || ((IT) == I2C_IT_STOPF) || \ + ((IT) == I2C_IT_ADD10) || ((IT) == I2C_IT_BTF) || \ + ((IT) == I2C_IT_ADDR) || ((IT) == I2C_IT_SB)) +/** + * @} + */ + +/** @defgroup I2C_flags_definition + * @{ + */ + +/** + * @brief SR2 register flags + */ + +#define I2C_FLAG_DUALF ((uint32_t)0x00800000) +#define I2C_FLAG_SMBHOST ((uint32_t)0x00400000) +#define I2C_FLAG_SMBDEFAULT ((uint32_t)0x00200000) +#define I2C_FLAG_GENCALL ((uint32_t)0x00100000) +#define I2C_FLAG_TRA ((uint32_t)0x00040000) +#define I2C_FLAG_BUSY ((uint32_t)0x00020000) +#define I2C_FLAG_MSL ((uint32_t)0x00010000) + +/** + * @brief SR1 register flags + */ + +#define I2C_FLAG_SMBALERT ((uint32_t)0x10008000) +#define I2C_FLAG_TIMEOUT ((uint32_t)0x10004000) +#define I2C_FLAG_PECERR ((uint32_t)0x10001000) +#define I2C_FLAG_OVR ((uint32_t)0x10000800) +#define I2C_FLAG_AF ((uint32_t)0x10000400) +#define I2C_FLAG_ARLO ((uint32_t)0x10000200) +#define I2C_FLAG_BERR ((uint32_t)0x10000100) +#define I2C_FLAG_TXE ((uint32_t)0x10000080) +#define I2C_FLAG_RXNE ((uint32_t)0x10000040) +#define I2C_FLAG_STOPF ((uint32_t)0x10000010) +#define I2C_FLAG_ADD10 ((uint32_t)0x10000008) +#define I2C_FLAG_BTF ((uint32_t)0x10000004) +#define I2C_FLAG_ADDR ((uint32_t)0x10000002) +#define I2C_FLAG_SB ((uint32_t)0x10000001) + +#define IS_I2C_CLEAR_FLAG(FLAG) ((((FLAG) & (uint16_t)0x20FF) == 0x00) && ((FLAG) != (uint16_t)0x00)) + +#define IS_I2C_GET_FLAG(FLAG) (((FLAG) == I2C_FLAG_DUALF) || ((FLAG) == I2C_FLAG_SMBHOST) || \ + ((FLAG) == I2C_FLAG_SMBDEFAULT) || ((FLAG) == I2C_FLAG_GENCALL) || \ + ((FLAG) == I2C_FLAG_TRA) || ((FLAG) == I2C_FLAG_BUSY) || \ + ((FLAG) == I2C_FLAG_MSL) || ((FLAG) == I2C_FLAG_SMBALERT) || \ + ((FLAG) == I2C_FLAG_TIMEOUT) || ((FLAG) == I2C_FLAG_PECERR) || \ + ((FLAG) == I2C_FLAG_OVR) || ((FLAG) == I2C_FLAG_AF) || \ + ((FLAG) == I2C_FLAG_ARLO) || ((FLAG) == I2C_FLAG_BERR) || \ + ((FLAG) == I2C_FLAG_TXE) || ((FLAG) == I2C_FLAG_RXNE) || \ + ((FLAG) == I2C_FLAG_STOPF) || ((FLAG) == I2C_FLAG_ADD10) || \ + ((FLAG) == I2C_FLAG_BTF) || ((FLAG) == I2C_FLAG_ADDR) || \ + ((FLAG) == I2C_FLAG_SB)) +/** + * @} + */ + +/** @defgroup I2C_Events + * @{ + */ + +/*======================================== + + I2C Master Events (Events grouped in order of communication) + ==========================================*/ +/** + * @brief Communication start + * + * After sending the START condition (I2C_GenerateSTART() function) the master + * has to wait for this event. It means that the Start condition has been correctly + * released on the I2C bus (the bus is free, no other devices is communicating). + * + */ +/* --EV5 */ +#define I2C_EVENT_MASTER_MODE_SELECT ((uint32_t)0x00030001) /* BUSY, MSL and SB flag */ + +/** + * @brief Address Acknowledge + * + * After checking on EV5 (start condition correctly released on the bus), the + * master sends the address of the slave(s) with which it will communicate + * (I2C_Send7bitAddress() function, it also determines the direction of the communication: + * Master transmitter or Receiver). Then the master has to wait that a slave acknowledges + * his address. If an acknowledge is sent on the bus, one of the following events will + * be set: + * + * 1) In case of Master Receiver (7-bit addressing): the I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED + * event is set. + * + * 2) In case of Master Transmitter (7-bit addressing): the I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED + * is set + * + * 3) In case of 10-Bit addressing mode, the master (just after generating the START + * and checking on EV5) has to send the header of 10-bit addressing mode (I2C_SendData() + * function). Then master should wait on EV9. It means that the 10-bit addressing + * header has been correctly sent on the bus. Then master should send the second part of + * the 10-bit address (LSB) using the function I2C_Send7bitAddress(). Then master + * should wait for event EV6. + * + */ + +/* --EV6 */ +#define I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ((uint32_t)0x00070082) /* BUSY, MSL, ADDR, TXE and TRA flags */ +#define I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED ((uint32_t)0x00030002) /* BUSY, MSL and ADDR flags */ +/* --EV9 */ +#define I2C_EVENT_MASTER_MODE_ADDRESS10 ((uint32_t)0x00030008) /* BUSY, MSL and ADD10 flags */ + +/** + * @brief Communication events + * + * If a communication is established (START condition generated and slave address + * acknowledged) then the master has to check on one of the following events for + * communication procedures: + * + * 1) Master Receiver mode: The master has to wait on the event EV7 then to read + * the data received from the slave (I2C_ReceiveData() function). + * + * 2) Master Transmitter mode: The master has to send data (I2C_SendData() + * function) then to wait on event EV8 or EV8_2. + * These two events are similar: + * - EV8 means that the data has been written in the data register and is + * being shifted out. + * - EV8_2 means that the data has been physically shifted out and output + * on the bus. + * In most cases, using EV8 is sufficient for the application. + * Using EV8_2 leads to a slower communication but ensure more reliable test. + * EV8_2 is also more suitable than EV8 for testing on the last data transmission + * (before Stop condition generation). + * + * @note In case the user software does not guarantee that this event EV7 is + * managed before the current byte end of transfer, then user may check on EV7 + * and BTF flag at the same time (ie. (I2C_EVENT_MASTER_BYTE_RECEIVED | I2C_FLAG_BTF)). + * In this case the communication may be slower. + * + */ + +/* Master RECEIVER mode -----------------------------*/ +/* --EV7 */ +#define I2C_EVENT_MASTER_BYTE_RECEIVED ((uint32_t)0x00030040) /* BUSY, MSL and RXNE flags */ + +/* Master TRANSMITTER mode --------------------------*/ +/* --EV8 */ +#define I2C_EVENT_MASTER_BYTE_TRANSMITTING ((uint32_t)0x00070080) /* TRA, BUSY, MSL, TXE flags */ +/* --EV8_2 */ +#define I2C_EVENT_MASTER_BYTE_TRANSMITTED ((uint32_t)0x00070084) /* TRA, BUSY, MSL, TXE and BTF flags */ + + +/*======================================== + + I2C Slave Events (Events grouped in order of communication) + ==========================================*/ + +/** + * @brief Communication start events + * + * Wait on one of these events at the start of the communication. It means that + * the I2C peripheral detected a Start condition on the bus (generated by master + * device) followed by the peripheral address. The peripheral generates an ACK + * condition on the bus (if the acknowledge feature is enabled through function + * I2C_AcknowledgeConfig()) and the events listed above are set : + * + * 1) In normal case (only one address managed by the slave), when the address + * sent by the master matches the own address of the peripheral (configured by + * I2C_OwnAddress1 field) the I2C_EVENT_SLAVE_XXX_ADDRESS_MATCHED event is set + * (where XXX could be TRANSMITTER or RECEIVER). + * + * 2) In case the address sent by the master matches the second address of the + * peripheral (configured by the function I2C_OwnAddress2Config() and enabled + * by the function I2C_DualAddressCmd()) the events I2C_EVENT_SLAVE_XXX_SECONDADDRESS_MATCHED + * (where XXX could be TRANSMITTER or RECEIVER) are set. + * + * 3) In case the address sent by the master is General Call (address 0x00) and + * if the General Call is enabled for the peripheral (using function I2C_GeneralCallCmd()) + * the following event is set I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED. + * + */ + +/* --EV1 (all the events below are variants of EV1) */ +/* 1) Case of One Single Address managed by the slave */ +#define I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED ((uint32_t)0x00020002) /* BUSY and ADDR flags */ +#define I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED ((uint32_t)0x00060082) /* TRA, BUSY, TXE and ADDR flags */ + +/* 2) Case of Dual address managed by the slave */ +#define I2C_EVENT_SLAVE_RECEIVER_SECONDADDRESS_MATCHED ((uint32_t)0x00820000) /* DUALF and BUSY flags */ +#define I2C_EVENT_SLAVE_TRANSMITTER_SECONDADDRESS_MATCHED ((uint32_t)0x00860080) /* DUALF, TRA, BUSY and TXE flags */ + +/* 3) Case of General Call enabled for the slave */ +#define I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED ((uint32_t)0x00120000) /* GENCALL and BUSY flags */ + +/** + * @brief Communication events + * + * Wait on one of these events when EV1 has already been checked and: + * + * - Slave RECEIVER mode: + * - EV2: When the application is expecting a data byte to be received. + * - EV4: When the application is expecting the end of the communication: master + * sends a stop condition and data transmission is stopped. + * + * - Slave Transmitter mode: + * - EV3: When a byte has been transmitted by the slave and the application is expecting + * the end of the byte transmission. The two events I2C_EVENT_SLAVE_BYTE_TRANSMITTED and + * I2C_EVENT_SLAVE_BYTE_TRANSMITTING are similar. The second one can optionally be + * used when the user software doesn't guarantee the EV3 is managed before the + * current byte end of transfer. + * - EV3_2: When the master sends a NACK in order to tell slave that data transmission + * shall end (before sending the STOP condition). In this case slave has to stop sending + * data bytes and expect a Stop condition on the bus. + * + * @note In case the user software does not guarantee that the event EV2 is + * managed before the current byte end of transfer, then user may check on EV2 + * and BTF flag at the same time (ie. (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_BTF)). + * In this case the communication may be slower. + * + */ + +/* Slave RECEIVER mode --------------------------*/ +/* --EV2 */ +#define I2C_EVENT_SLAVE_BYTE_RECEIVED ((uint32_t)0x00020040) /* BUSY and RXNE flags */ +/* --EV4 */ +#define I2C_EVENT_SLAVE_STOP_DETECTED ((uint32_t)0x00000010) /* STOPF flag */ + +/* Slave TRANSMITTER mode -----------------------*/ +/* --EV3 */ +#define I2C_EVENT_SLAVE_BYTE_TRANSMITTED ((uint32_t)0x00060084) /* TRA, BUSY, TXE and BTF flags */ +#define I2C_EVENT_SLAVE_BYTE_TRANSMITTING ((uint32_t)0x00060080) /* TRA, BUSY and TXE flags */ +/* --EV3_2 */ +#define I2C_EVENT_SLAVE_ACK_FAILURE ((uint32_t)0x00000400) /* AF flag */ + +/*=========================== End of Events Description ==========================================*/ + +#define IS_I2C_EVENT(EVENT) (((EVENT) == I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_TRANSMITTER_SECONDADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_RECEIVER_SECONDADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_BYTE_RECEIVED) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_DUALF)) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_GENCALL)) || \ + ((EVENT) == I2C_EVENT_SLAVE_BYTE_TRANSMITTED) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_DUALF)) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_GENCALL)) || \ + ((EVENT) == I2C_EVENT_SLAVE_STOP_DETECTED) || \ + ((EVENT) == I2C_EVENT_MASTER_MODE_SELECT) || \ + ((EVENT) == I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) || \ + ((EVENT) == I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) || \ + ((EVENT) == I2C_EVENT_MASTER_BYTE_RECEIVED) || \ + ((EVENT) == I2C_EVENT_MASTER_BYTE_TRANSMITTED) || \ + ((EVENT) == I2C_EVENT_MASTER_BYTE_TRANSMITTING) || \ + ((EVENT) == I2C_EVENT_MASTER_MODE_ADDRESS10) || \ + ((EVENT) == I2C_EVENT_SLAVE_ACK_FAILURE)) +/** + * @} + */ + +/** @defgroup I2C_own_address1 + * @{ + */ + +#define IS_I2C_OWN_ADDRESS1(ADDRESS1) ((ADDRESS1) <= 0x3FF) +/** + * @} + */ + +/** @defgroup I2C_clock_speed + * @{ + */ + +#define IS_I2C_CLOCK_SPEED(SPEED) (((SPEED) >= 0x1) && ((SPEED) <= 400000)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup I2C_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Exported_Functions + * @{ + */ + +void I2C_DeInit(I2C_TypeDef* I2Cx); +void I2C_Init(I2C_TypeDef* I2Cx, I2C_InitTypeDef* I2C_InitStruct); +void I2C_StructInit(I2C_InitTypeDef* I2C_InitStruct); +void I2C_Cmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_DMACmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_DMALastTransferCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_GenerateSTART(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_GenerateSTOP(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_AcknowledgeConfig(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_OwnAddress2Config(I2C_TypeDef* I2Cx, uint8_t Address); +void I2C_DualAddressCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_GeneralCallCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_ITConfig(I2C_TypeDef* I2Cx, uint16_t I2C_IT, FunctionalState NewState); +void I2C_SendData(I2C_TypeDef* I2Cx, uint8_t Data); +uint8_t I2C_ReceiveData(I2C_TypeDef* I2Cx); +void I2C_Send7bitAddress(I2C_TypeDef* I2Cx, uint8_t Address, uint8_t I2C_Direction); +uint16_t I2C_ReadRegister(I2C_TypeDef* I2Cx, uint8_t I2C_Register); +void I2C_SoftwareResetCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_NACKPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_NACKPosition); +void I2C_SMBusAlertConfig(I2C_TypeDef* I2Cx, uint16_t I2C_SMBusAlert); +void I2C_TransmitPEC(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_PECPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_PECPosition); +void I2C_CalculatePEC(I2C_TypeDef* I2Cx, FunctionalState NewState); +uint8_t I2C_GetPEC(I2C_TypeDef* I2Cx); +void I2C_ARPCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_StretchClockCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_FastModeDutyCycleConfig(I2C_TypeDef* I2Cx, uint16_t I2C_DutyCycle); + +/** + * @brief + **************************************************************************************** + * + * I2C State Monitoring Functions + * + **************************************************************************************** + * This I2C driver provides three different ways for I2C state monitoring + * depending on the application requirements and constraints: + * + * + * 1) Basic state monitoring: + * Using I2C_CheckEvent() function: + * It compares the status registers (SR1 and SR2) content to a given event + * (can be the combination of one or more flags). + * It returns SUCCESS if the current status includes the given flags + * and returns ERROR if one or more flags are missing in the current status. + * - When to use: + * - This function is suitable for most applications as well as for startup + * activity since the events are fully described in the product reference manual + * (RM0008). + * - It is also suitable for users who need to define their own events. + * - Limitations: + * - If an error occurs (ie. error flags are set besides to the monitored flags), + * the I2C_CheckEvent() function may return SUCCESS despite the communication + * hold or corrupted real state. + * In this case, it is advised to use error interrupts to monitor the error + * events and handle them in the interrupt IRQ handler. + * + * @note + * For error management, it is advised to use the following functions: + * - I2C_ITConfig() to configure and enable the error interrupts (I2C_IT_ERR). + * - I2Cx_ER_IRQHandler() which is called when the error interrupt occurs. + * Where x is the peripheral instance (I2C1, I2C2 ...) + * - I2C_GetFlagStatus() or I2C_GetITStatus() to be called into I2Cx_ER_IRQHandler() + * in order to determine which error occurred. + * - I2C_ClearFlag() or I2C_ClearITPendingBit() and/or I2C_SoftwareResetCmd() + * and/or I2C_GenerateStop() in order to clear the error flag and source, + * and return to correct communication status. + * + * + * 2) Advanced state monitoring: + * Using the function I2C_GetLastEvent() which returns the image of both status + * registers in a single word (uint32_t) (Status Register 2 value is shifted left + * by 16 bits and concatenated to Status Register 1). + * - When to use: + * - This function is suitable for the same applications above but it allows to + * overcome the limitations of I2C_GetFlagStatus() function (see below). + * The returned value could be compared to events already defined in the + * library (stm32f10x_i2c.h) or to custom values defined by user. + * - This function is suitable when multiple flags are monitored at the same time. + * - At the opposite of I2C_CheckEvent() function, this function allows user to + * choose when an event is accepted (when all events flags are set and no + * other flags are set or just when the needed flags are set like + * I2C_CheckEvent() function). + * - Limitations: + * - User may need to define his own events. + * - Same remark concerning the error management is applicable for this + * function if user decides to check only regular communication flags (and + * ignores error flags). + * + * + * 3) Flag-based state monitoring: + * Using the function I2C_GetFlagStatus() which simply returns the status of + * one single flag (ie. I2C_FLAG_RXNE ...). + * - When to use: + * - This function could be used for specific applications or in debug phase. + * - It is suitable when only one flag checking is needed (most I2C events + * are monitored through multiple flags). + * - Limitations: + * - When calling this function, the Status register is accessed. Some flags are + * cleared when the status register is accessed. So checking the status + * of one Flag, may clear other ones. + * - Function may need to be called twice or more in order to monitor one + * single event. + * + */ + +/** + * + * 1) Basic state monitoring + ******************************************************************************* + */ +ErrorStatus I2C_CheckEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT); +/** + * + * 2) Advanced state monitoring + ******************************************************************************* + */ +uint32_t I2C_GetLastEvent(I2C_TypeDef* I2Cx); +/** + * + * 3) Flag-based state monitoring + ******************************************************************************* + */ +FlagStatus I2C_GetFlagStatus(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG); +/** + * + ******************************************************************************* + */ + +void I2C_ClearFlag(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG); +ITStatus I2C_GetITStatus(I2C_TypeDef* I2Cx, uint32_t I2C_IT); +void I2C_ClearITPendingBit(I2C_TypeDef* I2Cx, uint32_t I2C_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_I2C_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_iwdg.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_iwdg.h new file mode 100644 index 0000000..25b0bb5 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_iwdg.h @@ -0,0 +1,140 @@ +/** + ****************************************************************************** + * @file stm32f10x_iwdg.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the IWDG + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_IWDG_H +#define __STM32F10x_IWDG_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup IWDG + * @{ + */ + +/** @defgroup IWDG_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Exported_Constants + * @{ + */ + +/** @defgroup IWDG_WriteAccess + * @{ + */ + +#define IWDG_WriteAccess_Enable ((uint16_t)0x5555) +#define IWDG_WriteAccess_Disable ((uint16_t)0x0000) +#define IS_IWDG_WRITE_ACCESS(ACCESS) (((ACCESS) == IWDG_WriteAccess_Enable) || \ + ((ACCESS) == IWDG_WriteAccess_Disable)) +/** + * @} + */ + +/** @defgroup IWDG_prescaler + * @{ + */ + +#define IWDG_Prescaler_4 ((uint8_t)0x00) +#define IWDG_Prescaler_8 ((uint8_t)0x01) +#define IWDG_Prescaler_16 ((uint8_t)0x02) +#define IWDG_Prescaler_32 ((uint8_t)0x03) +#define IWDG_Prescaler_64 ((uint8_t)0x04) +#define IWDG_Prescaler_128 ((uint8_t)0x05) +#define IWDG_Prescaler_256 ((uint8_t)0x06) +#define IS_IWDG_PRESCALER(PRESCALER) (((PRESCALER) == IWDG_Prescaler_4) || \ + ((PRESCALER) == IWDG_Prescaler_8) || \ + ((PRESCALER) == IWDG_Prescaler_16) || \ + ((PRESCALER) == IWDG_Prescaler_32) || \ + ((PRESCALER) == IWDG_Prescaler_64) || \ + ((PRESCALER) == IWDG_Prescaler_128)|| \ + ((PRESCALER) == IWDG_Prescaler_256)) +/** + * @} + */ + +/** @defgroup IWDG_Flag + * @{ + */ + +#define IWDG_FLAG_PVU ((uint16_t)0x0001) +#define IWDG_FLAG_RVU ((uint16_t)0x0002) +#define IS_IWDG_FLAG(FLAG) (((FLAG) == IWDG_FLAG_PVU) || ((FLAG) == IWDG_FLAG_RVU)) +#define IS_IWDG_RELOAD(RELOAD) ((RELOAD) <= 0xFFF) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup IWDG_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Exported_Functions + * @{ + */ + +void IWDG_WriteAccessCmd(uint16_t IWDG_WriteAccess); +void IWDG_SetPrescaler(uint8_t IWDG_Prescaler); +void IWDG_SetReload(uint16_t Reload); +void IWDG_ReloadCounter(void); +void IWDG_Enable(void); +FlagStatus IWDG_GetFlagStatus(uint16_t IWDG_FLAG); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_IWDG_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_pwr.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_pwr.h new file mode 100644 index 0000000..1c025e2 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_pwr.h @@ -0,0 +1,156 @@ +/** + ****************************************************************************** + * @file stm32f10x_pwr.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the PWR firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_PWR_H +#define __STM32F10x_PWR_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup PWR + * @{ + */ + +/** @defgroup PWR_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Exported_Constants + * @{ + */ + +/** @defgroup PVD_detection_level + * @{ + */ + +#define PWR_PVDLevel_2V2 ((uint32_t)0x00000000) +#define PWR_PVDLevel_2V3 ((uint32_t)0x00000020) +#define PWR_PVDLevel_2V4 ((uint32_t)0x00000040) +#define PWR_PVDLevel_2V5 ((uint32_t)0x00000060) +#define PWR_PVDLevel_2V6 ((uint32_t)0x00000080) +#define PWR_PVDLevel_2V7 ((uint32_t)0x000000A0) +#define PWR_PVDLevel_2V8 ((uint32_t)0x000000C0) +#define PWR_PVDLevel_2V9 ((uint32_t)0x000000E0) +#define IS_PWR_PVD_LEVEL(LEVEL) (((LEVEL) == PWR_PVDLevel_2V2) || ((LEVEL) == PWR_PVDLevel_2V3)|| \ + ((LEVEL) == PWR_PVDLevel_2V4) || ((LEVEL) == PWR_PVDLevel_2V5)|| \ + ((LEVEL) == PWR_PVDLevel_2V6) || ((LEVEL) == PWR_PVDLevel_2V7)|| \ + ((LEVEL) == PWR_PVDLevel_2V8) || ((LEVEL) == PWR_PVDLevel_2V9)) +/** + * @} + */ + +/** @defgroup Regulator_state_is_STOP_mode + * @{ + */ + +#define PWR_Regulator_ON ((uint32_t)0x00000000) +#define PWR_Regulator_LowPower ((uint32_t)0x00000001) +#define IS_PWR_REGULATOR(REGULATOR) (((REGULATOR) == PWR_Regulator_ON) || \ + ((REGULATOR) == PWR_Regulator_LowPower)) +/** + * @} + */ + +/** @defgroup STOP_mode_entry + * @{ + */ + +#define PWR_STOPEntry_WFI ((uint8_t)0x01) +#define PWR_STOPEntry_WFE ((uint8_t)0x02) +#define IS_PWR_STOP_ENTRY(ENTRY) (((ENTRY) == PWR_STOPEntry_WFI) || ((ENTRY) == PWR_STOPEntry_WFE)) + +/** + * @} + */ + +/** @defgroup PWR_Flag + * @{ + */ + +#define PWR_FLAG_WU ((uint32_t)0x00000001) +#define PWR_FLAG_SB ((uint32_t)0x00000002) +#define PWR_FLAG_PVDO ((uint32_t)0x00000004) +#define IS_PWR_GET_FLAG(FLAG) (((FLAG) == PWR_FLAG_WU) || ((FLAG) == PWR_FLAG_SB) || \ + ((FLAG) == PWR_FLAG_PVDO)) + +#define IS_PWR_CLEAR_FLAG(FLAG) (((FLAG) == PWR_FLAG_WU) || ((FLAG) == PWR_FLAG_SB)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup PWR_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Exported_Functions + * @{ + */ + +void PWR_DeInit(void); +void PWR_BackupAccessCmd(FunctionalState NewState); +void PWR_PVDCmd(FunctionalState NewState); +void PWR_PVDLevelConfig(uint32_t PWR_PVDLevel); +void PWR_WakeUpPinCmd(FunctionalState NewState); +void PWR_EnterSTOPMode(uint32_t PWR_Regulator, uint8_t PWR_STOPEntry); +void PWR_EnterSTANDBYMode(void); +FlagStatus PWR_GetFlagStatus(uint32_t PWR_FLAG); +void PWR_ClearFlag(uint32_t PWR_FLAG); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_PWR_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_rcc.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_rcc.h new file mode 100644 index 0000000..1149c34 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_rcc.h @@ -0,0 +1,727 @@ +/** + ****************************************************************************** + * @file stm32f10x_rcc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the RCC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_RCC_H +#define __STM32F10x_RCC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup RCC + * @{ + */ + +/** @defgroup RCC_Exported_Types + * @{ + */ + +typedef struct +{ + uint32_t SYSCLK_Frequency; /*!< returns SYSCLK clock frequency expressed in Hz */ + uint32_t HCLK_Frequency; /*!< returns HCLK clock frequency expressed in Hz */ + uint32_t PCLK1_Frequency; /*!< returns PCLK1 clock frequency expressed in Hz */ + uint32_t PCLK2_Frequency; /*!< returns PCLK2 clock frequency expressed in Hz */ + uint32_t ADCCLK_Frequency; /*!< returns ADCCLK clock frequency expressed in Hz */ +}RCC_ClocksTypeDef; + +/** + * @} + */ + +/** @defgroup RCC_Exported_Constants + * @{ + */ + +/** @defgroup HSE_configuration + * @{ + */ + +#define RCC_HSE_OFF ((uint32_t)0x00000000) +#define RCC_HSE_ON ((uint32_t)0x00010000) +#define RCC_HSE_Bypass ((uint32_t)0x00040000) +#define IS_RCC_HSE(HSE) (((HSE) == RCC_HSE_OFF) || ((HSE) == RCC_HSE_ON) || \ + ((HSE) == RCC_HSE_Bypass)) + +/** + * @} + */ + +/** @defgroup PLL_entry_clock_source + * @{ + */ + +#define RCC_PLLSource_HSI_Div2 ((uint32_t)0x00000000) + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) && !defined (STM32F10X_CL) + #define RCC_PLLSource_HSE_Div1 ((uint32_t)0x00010000) + #define RCC_PLLSource_HSE_Div2 ((uint32_t)0x00030000) + #define IS_RCC_PLL_SOURCE(SOURCE) (((SOURCE) == RCC_PLLSource_HSI_Div2) || \ + ((SOURCE) == RCC_PLLSource_HSE_Div1) || \ + ((SOURCE) == RCC_PLLSource_HSE_Div2)) +#else + #define RCC_PLLSource_PREDIV1 ((uint32_t)0x00010000) + #define IS_RCC_PLL_SOURCE(SOURCE) (((SOURCE) == RCC_PLLSource_HSI_Div2) || \ + ((SOURCE) == RCC_PLLSource_PREDIV1)) +#endif /* STM32F10X_CL */ + +/** + * @} + */ + +/** @defgroup PLL_multiplication_factor + * @{ + */ +#ifndef STM32F10X_CL + #define RCC_PLLMul_2 ((uint32_t)0x00000000) + #define RCC_PLLMul_3 ((uint32_t)0x00040000) + #define RCC_PLLMul_4 ((uint32_t)0x00080000) + #define RCC_PLLMul_5 ((uint32_t)0x000C0000) + #define RCC_PLLMul_6 ((uint32_t)0x00100000) + #define RCC_PLLMul_7 ((uint32_t)0x00140000) + #define RCC_PLLMul_8 ((uint32_t)0x00180000) + #define RCC_PLLMul_9 ((uint32_t)0x001C0000) + #define RCC_PLLMul_10 ((uint32_t)0x00200000) + #define RCC_PLLMul_11 ((uint32_t)0x00240000) + #define RCC_PLLMul_12 ((uint32_t)0x00280000) + #define RCC_PLLMul_13 ((uint32_t)0x002C0000) + #define RCC_PLLMul_14 ((uint32_t)0x00300000) + #define RCC_PLLMul_15 ((uint32_t)0x00340000) + #define RCC_PLLMul_16 ((uint32_t)0x00380000) + #define IS_RCC_PLL_MUL(MUL) (((MUL) == RCC_PLLMul_2) || ((MUL) == RCC_PLLMul_3) || \ + ((MUL) == RCC_PLLMul_4) || ((MUL) == RCC_PLLMul_5) || \ + ((MUL) == RCC_PLLMul_6) || ((MUL) == RCC_PLLMul_7) || \ + ((MUL) == RCC_PLLMul_8) || ((MUL) == RCC_PLLMul_9) || \ + ((MUL) == RCC_PLLMul_10) || ((MUL) == RCC_PLLMul_11) || \ + ((MUL) == RCC_PLLMul_12) || ((MUL) == RCC_PLLMul_13) || \ + ((MUL) == RCC_PLLMul_14) || ((MUL) == RCC_PLLMul_15) || \ + ((MUL) == RCC_PLLMul_16)) + +#else + #define RCC_PLLMul_4 ((uint32_t)0x00080000) + #define RCC_PLLMul_5 ((uint32_t)0x000C0000) + #define RCC_PLLMul_6 ((uint32_t)0x00100000) + #define RCC_PLLMul_7 ((uint32_t)0x00140000) + #define RCC_PLLMul_8 ((uint32_t)0x00180000) + #define RCC_PLLMul_9 ((uint32_t)0x001C0000) + #define RCC_PLLMul_6_5 ((uint32_t)0x00340000) + + #define IS_RCC_PLL_MUL(MUL) (((MUL) == RCC_PLLMul_4) || ((MUL) == RCC_PLLMul_5) || \ + ((MUL) == RCC_PLLMul_6) || ((MUL) == RCC_PLLMul_7) || \ + ((MUL) == RCC_PLLMul_8) || ((MUL) == RCC_PLLMul_9) || \ + ((MUL) == RCC_PLLMul_6_5)) +#endif /* STM32F10X_CL */ +/** + * @} + */ + +/** @defgroup PREDIV1_division_factor + * @{ + */ +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) + #define RCC_PREDIV1_Div1 ((uint32_t)0x00000000) + #define RCC_PREDIV1_Div2 ((uint32_t)0x00000001) + #define RCC_PREDIV1_Div3 ((uint32_t)0x00000002) + #define RCC_PREDIV1_Div4 ((uint32_t)0x00000003) + #define RCC_PREDIV1_Div5 ((uint32_t)0x00000004) + #define RCC_PREDIV1_Div6 ((uint32_t)0x00000005) + #define RCC_PREDIV1_Div7 ((uint32_t)0x00000006) + #define RCC_PREDIV1_Div8 ((uint32_t)0x00000007) + #define RCC_PREDIV1_Div9 ((uint32_t)0x00000008) + #define RCC_PREDIV1_Div10 ((uint32_t)0x00000009) + #define RCC_PREDIV1_Div11 ((uint32_t)0x0000000A) + #define RCC_PREDIV1_Div12 ((uint32_t)0x0000000B) + #define RCC_PREDIV1_Div13 ((uint32_t)0x0000000C) + #define RCC_PREDIV1_Div14 ((uint32_t)0x0000000D) + #define RCC_PREDIV1_Div15 ((uint32_t)0x0000000E) + #define RCC_PREDIV1_Div16 ((uint32_t)0x0000000F) + + #define IS_RCC_PREDIV1(PREDIV1) (((PREDIV1) == RCC_PREDIV1_Div1) || ((PREDIV1) == RCC_PREDIV1_Div2) || \ + ((PREDIV1) == RCC_PREDIV1_Div3) || ((PREDIV1) == RCC_PREDIV1_Div4) || \ + ((PREDIV1) == RCC_PREDIV1_Div5) || ((PREDIV1) == RCC_PREDIV1_Div6) || \ + ((PREDIV1) == RCC_PREDIV1_Div7) || ((PREDIV1) == RCC_PREDIV1_Div8) || \ + ((PREDIV1) == RCC_PREDIV1_Div9) || ((PREDIV1) == RCC_PREDIV1_Div10) || \ + ((PREDIV1) == RCC_PREDIV1_Div11) || ((PREDIV1) == RCC_PREDIV1_Div12) || \ + ((PREDIV1) == RCC_PREDIV1_Div13) || ((PREDIV1) == RCC_PREDIV1_Div14) || \ + ((PREDIV1) == RCC_PREDIV1_Div15) || ((PREDIV1) == RCC_PREDIV1_Div16)) +#endif +/** + * @} + */ + + +/** @defgroup PREDIV1_clock_source + * @{ + */ +#ifdef STM32F10X_CL +/* PREDIV1 clock source (for STM32 connectivity line devices) */ + #define RCC_PREDIV1_Source_HSE ((uint32_t)0x00000000) + #define RCC_PREDIV1_Source_PLL2 ((uint32_t)0x00010000) + + #define IS_RCC_PREDIV1_SOURCE(SOURCE) (((SOURCE) == RCC_PREDIV1_Source_HSE) || \ + ((SOURCE) == RCC_PREDIV1_Source_PLL2)) +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/* PREDIV1 clock source (for STM32 Value line devices) */ + #define RCC_PREDIV1_Source_HSE ((uint32_t)0x00000000) + + #define IS_RCC_PREDIV1_SOURCE(SOURCE) (((SOURCE) == RCC_PREDIV1_Source_HSE)) +#endif +/** + * @} + */ + +#ifdef STM32F10X_CL +/** @defgroup PREDIV2_division_factor + * @{ + */ + + #define RCC_PREDIV2_Div1 ((uint32_t)0x00000000) + #define RCC_PREDIV2_Div2 ((uint32_t)0x00000010) + #define RCC_PREDIV2_Div3 ((uint32_t)0x00000020) + #define RCC_PREDIV2_Div4 ((uint32_t)0x00000030) + #define RCC_PREDIV2_Div5 ((uint32_t)0x00000040) + #define RCC_PREDIV2_Div6 ((uint32_t)0x00000050) + #define RCC_PREDIV2_Div7 ((uint32_t)0x00000060) + #define RCC_PREDIV2_Div8 ((uint32_t)0x00000070) + #define RCC_PREDIV2_Div9 ((uint32_t)0x00000080) + #define RCC_PREDIV2_Div10 ((uint32_t)0x00000090) + #define RCC_PREDIV2_Div11 ((uint32_t)0x000000A0) + #define RCC_PREDIV2_Div12 ((uint32_t)0x000000B0) + #define RCC_PREDIV2_Div13 ((uint32_t)0x000000C0) + #define RCC_PREDIV2_Div14 ((uint32_t)0x000000D0) + #define RCC_PREDIV2_Div15 ((uint32_t)0x000000E0) + #define RCC_PREDIV2_Div16 ((uint32_t)0x000000F0) + + #define IS_RCC_PREDIV2(PREDIV2) (((PREDIV2) == RCC_PREDIV2_Div1) || ((PREDIV2) == RCC_PREDIV2_Div2) || \ + ((PREDIV2) == RCC_PREDIV2_Div3) || ((PREDIV2) == RCC_PREDIV2_Div4) || \ + ((PREDIV2) == RCC_PREDIV2_Div5) || ((PREDIV2) == RCC_PREDIV2_Div6) || \ + ((PREDIV2) == RCC_PREDIV2_Div7) || ((PREDIV2) == RCC_PREDIV2_Div8) || \ + ((PREDIV2) == RCC_PREDIV2_Div9) || ((PREDIV2) == RCC_PREDIV2_Div10) || \ + ((PREDIV2) == RCC_PREDIV2_Div11) || ((PREDIV2) == RCC_PREDIV2_Div12) || \ + ((PREDIV2) == RCC_PREDIV2_Div13) || ((PREDIV2) == RCC_PREDIV2_Div14) || \ + ((PREDIV2) == RCC_PREDIV2_Div15) || ((PREDIV2) == RCC_PREDIV2_Div16)) +/** + * @} + */ + + +/** @defgroup PLL2_multiplication_factor + * @{ + */ + + #define RCC_PLL2Mul_8 ((uint32_t)0x00000600) + #define RCC_PLL2Mul_9 ((uint32_t)0x00000700) + #define RCC_PLL2Mul_10 ((uint32_t)0x00000800) + #define RCC_PLL2Mul_11 ((uint32_t)0x00000900) + #define RCC_PLL2Mul_12 ((uint32_t)0x00000A00) + #define RCC_PLL2Mul_13 ((uint32_t)0x00000B00) + #define RCC_PLL2Mul_14 ((uint32_t)0x00000C00) + #define RCC_PLL2Mul_16 ((uint32_t)0x00000E00) + #define RCC_PLL2Mul_20 ((uint32_t)0x00000F00) + + #define IS_RCC_PLL2_MUL(MUL) (((MUL) == RCC_PLL2Mul_8) || ((MUL) == RCC_PLL2Mul_9) || \ + ((MUL) == RCC_PLL2Mul_10) || ((MUL) == RCC_PLL2Mul_11) || \ + ((MUL) == RCC_PLL2Mul_12) || ((MUL) == RCC_PLL2Mul_13) || \ + ((MUL) == RCC_PLL2Mul_14) || ((MUL) == RCC_PLL2Mul_16) || \ + ((MUL) == RCC_PLL2Mul_20)) +/** + * @} + */ + + +/** @defgroup PLL3_multiplication_factor + * @{ + */ + + #define RCC_PLL3Mul_8 ((uint32_t)0x00006000) + #define RCC_PLL3Mul_9 ((uint32_t)0x00007000) + #define RCC_PLL3Mul_10 ((uint32_t)0x00008000) + #define RCC_PLL3Mul_11 ((uint32_t)0x00009000) + #define RCC_PLL3Mul_12 ((uint32_t)0x0000A000) + #define RCC_PLL3Mul_13 ((uint32_t)0x0000B000) + #define RCC_PLL3Mul_14 ((uint32_t)0x0000C000) + #define RCC_PLL3Mul_16 ((uint32_t)0x0000E000) + #define RCC_PLL3Mul_20 ((uint32_t)0x0000F000) + + #define IS_RCC_PLL3_MUL(MUL) (((MUL) == RCC_PLL3Mul_8) || ((MUL) == RCC_PLL3Mul_9) || \ + ((MUL) == RCC_PLL3Mul_10) || ((MUL) == RCC_PLL3Mul_11) || \ + ((MUL) == RCC_PLL3Mul_12) || ((MUL) == RCC_PLL3Mul_13) || \ + ((MUL) == RCC_PLL3Mul_14) || ((MUL) == RCC_PLL3Mul_16) || \ + ((MUL) == RCC_PLL3Mul_20)) +/** + * @} + */ + +#endif /* STM32F10X_CL */ + + +/** @defgroup System_clock_source + * @{ + */ + +#define RCC_SYSCLKSource_HSI ((uint32_t)0x00000000) +#define RCC_SYSCLKSource_HSE ((uint32_t)0x00000001) +#define RCC_SYSCLKSource_PLLCLK ((uint32_t)0x00000002) +#define IS_RCC_SYSCLK_SOURCE(SOURCE) (((SOURCE) == RCC_SYSCLKSource_HSI) || \ + ((SOURCE) == RCC_SYSCLKSource_HSE) || \ + ((SOURCE) == RCC_SYSCLKSource_PLLCLK)) +/** + * @} + */ + +/** @defgroup AHB_clock_source + * @{ + */ + +#define RCC_SYSCLK_Div1 ((uint32_t)0x00000000) +#define RCC_SYSCLK_Div2 ((uint32_t)0x00000080) +#define RCC_SYSCLK_Div4 ((uint32_t)0x00000090) +#define RCC_SYSCLK_Div8 ((uint32_t)0x000000A0) +#define RCC_SYSCLK_Div16 ((uint32_t)0x000000B0) +#define RCC_SYSCLK_Div64 ((uint32_t)0x000000C0) +#define RCC_SYSCLK_Div128 ((uint32_t)0x000000D0) +#define RCC_SYSCLK_Div256 ((uint32_t)0x000000E0) +#define RCC_SYSCLK_Div512 ((uint32_t)0x000000F0) +#define IS_RCC_HCLK(HCLK) (((HCLK) == RCC_SYSCLK_Div1) || ((HCLK) == RCC_SYSCLK_Div2) || \ + ((HCLK) == RCC_SYSCLK_Div4) || ((HCLK) == RCC_SYSCLK_Div8) || \ + ((HCLK) == RCC_SYSCLK_Div16) || ((HCLK) == RCC_SYSCLK_Div64) || \ + ((HCLK) == RCC_SYSCLK_Div128) || ((HCLK) == RCC_SYSCLK_Div256) || \ + ((HCLK) == RCC_SYSCLK_Div512)) +/** + * @} + */ + +/** @defgroup APB1_APB2_clock_source + * @{ + */ + +#define RCC_HCLK_Div1 ((uint32_t)0x00000000) +#define RCC_HCLK_Div2 ((uint32_t)0x00000400) +#define RCC_HCLK_Div4 ((uint32_t)0x00000500) +#define RCC_HCLK_Div8 ((uint32_t)0x00000600) +#define RCC_HCLK_Div16 ((uint32_t)0x00000700) +#define IS_RCC_PCLK(PCLK) (((PCLK) == RCC_HCLK_Div1) || ((PCLK) == RCC_HCLK_Div2) || \ + ((PCLK) == RCC_HCLK_Div4) || ((PCLK) == RCC_HCLK_Div8) || \ + ((PCLK) == RCC_HCLK_Div16)) +/** + * @} + */ + +/** @defgroup RCC_Interrupt_source + * @{ + */ + +#define RCC_IT_LSIRDY ((uint8_t)0x01) +#define RCC_IT_LSERDY ((uint8_t)0x02) +#define RCC_IT_HSIRDY ((uint8_t)0x04) +#define RCC_IT_HSERDY ((uint8_t)0x08) +#define RCC_IT_PLLRDY ((uint8_t)0x10) +#define RCC_IT_CSS ((uint8_t)0x80) + +#ifndef STM32F10X_CL + #define IS_RCC_IT(IT) ((((IT) & (uint8_t)0xE0) == 0x00) && ((IT) != 0x00)) + #define IS_RCC_GET_IT(IT) (((IT) == RCC_IT_LSIRDY) || ((IT) == RCC_IT_LSERDY) || \ + ((IT) == RCC_IT_HSIRDY) || ((IT) == RCC_IT_HSERDY) || \ + ((IT) == RCC_IT_PLLRDY) || ((IT) == RCC_IT_CSS)) + #define IS_RCC_CLEAR_IT(IT) ((((IT) & (uint8_t)0x60) == 0x00) && ((IT) != 0x00)) +#else + #define RCC_IT_PLL2RDY ((uint8_t)0x20) + #define RCC_IT_PLL3RDY ((uint8_t)0x40) + #define IS_RCC_IT(IT) ((((IT) & (uint8_t)0x80) == 0x00) && ((IT) != 0x00)) + #define IS_RCC_GET_IT(IT) (((IT) == RCC_IT_LSIRDY) || ((IT) == RCC_IT_LSERDY) || \ + ((IT) == RCC_IT_HSIRDY) || ((IT) == RCC_IT_HSERDY) || \ + ((IT) == RCC_IT_PLLRDY) || ((IT) == RCC_IT_CSS) || \ + ((IT) == RCC_IT_PLL2RDY) || ((IT) == RCC_IT_PLL3RDY)) + #define IS_RCC_CLEAR_IT(IT) ((IT) != 0x00) +#endif /* STM32F10X_CL */ + + +/** + * @} + */ + +#ifndef STM32F10X_CL +/** @defgroup USB_Device_clock_source + * @{ + */ + + #define RCC_USBCLKSource_PLLCLK_1Div5 ((uint8_t)0x00) + #define RCC_USBCLKSource_PLLCLK_Div1 ((uint8_t)0x01) + + #define IS_RCC_USBCLK_SOURCE(SOURCE) (((SOURCE) == RCC_USBCLKSource_PLLCLK_1Div5) || \ + ((SOURCE) == RCC_USBCLKSource_PLLCLK_Div1)) +/** + * @} + */ +#else +/** @defgroup USB_OTG_FS_clock_source + * @{ + */ + #define RCC_OTGFSCLKSource_PLLVCO_Div3 ((uint8_t)0x00) + #define RCC_OTGFSCLKSource_PLLVCO_Div2 ((uint8_t)0x01) + + #define IS_RCC_OTGFSCLK_SOURCE(SOURCE) (((SOURCE) == RCC_OTGFSCLKSource_PLLVCO_Div3) || \ + ((SOURCE) == RCC_OTGFSCLKSource_PLLVCO_Div2)) +/** + * @} + */ +#endif /* STM32F10X_CL */ + + +#ifdef STM32F10X_CL +/** @defgroup I2S2_clock_source + * @{ + */ + #define RCC_I2S2CLKSource_SYSCLK ((uint8_t)0x00) + #define RCC_I2S2CLKSource_PLL3_VCO ((uint8_t)0x01) + + #define IS_RCC_I2S2CLK_SOURCE(SOURCE) (((SOURCE) == RCC_I2S2CLKSource_SYSCLK) || \ + ((SOURCE) == RCC_I2S2CLKSource_PLL3_VCO)) +/** + * @} + */ + +/** @defgroup I2S3_clock_source + * @{ + */ + #define RCC_I2S3CLKSource_SYSCLK ((uint8_t)0x00) + #define RCC_I2S3CLKSource_PLL3_VCO ((uint8_t)0x01) + + #define IS_RCC_I2S3CLK_SOURCE(SOURCE) (((SOURCE) == RCC_I2S3CLKSource_SYSCLK) || \ + ((SOURCE) == RCC_I2S3CLKSource_PLL3_VCO)) +/** + * @} + */ +#endif /* STM32F10X_CL */ + + +/** @defgroup ADC_clock_source + * @{ + */ + +#define RCC_PCLK2_Div2 ((uint32_t)0x00000000) +#define RCC_PCLK2_Div4 ((uint32_t)0x00004000) +#define RCC_PCLK2_Div6 ((uint32_t)0x00008000) +#define RCC_PCLK2_Div8 ((uint32_t)0x0000C000) +#define IS_RCC_ADCCLK(ADCCLK) (((ADCCLK) == RCC_PCLK2_Div2) || ((ADCCLK) == RCC_PCLK2_Div4) || \ + ((ADCCLK) == RCC_PCLK2_Div6) || ((ADCCLK) == RCC_PCLK2_Div8)) +/** + * @} + */ + +/** @defgroup LSE_configuration + * @{ + */ + +#define RCC_LSE_OFF ((uint8_t)0x00) +#define RCC_LSE_ON ((uint8_t)0x01) +#define RCC_LSE_Bypass ((uint8_t)0x04) +#define IS_RCC_LSE(LSE) (((LSE) == RCC_LSE_OFF) || ((LSE) == RCC_LSE_ON) || \ + ((LSE) == RCC_LSE_Bypass)) +/** + * @} + */ + +/** @defgroup RTC_clock_source + * @{ + */ + +#define RCC_RTCCLKSource_LSE ((uint32_t)0x00000100) +#define RCC_RTCCLKSource_LSI ((uint32_t)0x00000200) +#define RCC_RTCCLKSource_HSE_Div128 ((uint32_t)0x00000300) +#define IS_RCC_RTCCLK_SOURCE(SOURCE) (((SOURCE) == RCC_RTCCLKSource_LSE) || \ + ((SOURCE) == RCC_RTCCLKSource_LSI) || \ + ((SOURCE) == RCC_RTCCLKSource_HSE_Div128)) +/** + * @} + */ + +/** @defgroup AHB_peripheral + * @{ + */ + +#define RCC_AHBPeriph_DMA1 ((uint32_t)0x00000001) +#define RCC_AHBPeriph_DMA2 ((uint32_t)0x00000002) +#define RCC_AHBPeriph_SRAM ((uint32_t)0x00000004) +#define RCC_AHBPeriph_FLITF ((uint32_t)0x00000010) +#define RCC_AHBPeriph_CRC ((uint32_t)0x00000040) + +#ifndef STM32F10X_CL + #define RCC_AHBPeriph_FSMC ((uint32_t)0x00000100) + #define RCC_AHBPeriph_SDIO ((uint32_t)0x00000400) + #define IS_RCC_AHB_PERIPH(PERIPH) ((((PERIPH) & 0xFFFFFAA8) == 0x00) && ((PERIPH) != 0x00)) +#else + #define RCC_AHBPeriph_OTG_FS ((uint32_t)0x00001000) + #define RCC_AHBPeriph_ETH_MAC ((uint32_t)0x00004000) + #define RCC_AHBPeriph_ETH_MAC_Tx ((uint32_t)0x00008000) + #define RCC_AHBPeriph_ETH_MAC_Rx ((uint32_t)0x00010000) + + #define IS_RCC_AHB_PERIPH(PERIPH) ((((PERIPH) & 0xFFFE2FA8) == 0x00) && ((PERIPH) != 0x00)) + #define IS_RCC_AHB_PERIPH_RESET(PERIPH) ((((PERIPH) & 0xFFFFAFFF) == 0x00) && ((PERIPH) != 0x00)) +#endif /* STM32F10X_CL */ +/** + * @} + */ + +/** @defgroup APB2_peripheral + * @{ + */ + +#define RCC_APB2Periph_AFIO ((uint32_t)0x00000001) +#define RCC_APB2Periph_GPIOA ((uint32_t)0x00000004) +#define RCC_APB2Periph_GPIOB ((uint32_t)0x00000008) +#define RCC_APB2Periph_GPIOC ((uint32_t)0x00000010) +#define RCC_APB2Periph_GPIOD ((uint32_t)0x00000020) +#define RCC_APB2Periph_GPIOE ((uint32_t)0x00000040) +#define RCC_APB2Periph_GPIOF ((uint32_t)0x00000080) +#define RCC_APB2Periph_GPIOG ((uint32_t)0x00000100) +#define RCC_APB2Periph_ADC1 ((uint32_t)0x00000200) +#define RCC_APB2Periph_ADC2 ((uint32_t)0x00000400) +#define RCC_APB2Periph_TIM1 ((uint32_t)0x00000800) +#define RCC_APB2Periph_SPI1 ((uint32_t)0x00001000) +#define RCC_APB2Periph_TIM8 ((uint32_t)0x00002000) +#define RCC_APB2Periph_USART1 ((uint32_t)0x00004000) +#define RCC_APB2Periph_ADC3 ((uint32_t)0x00008000) +#define RCC_APB2Periph_TIM15 ((uint32_t)0x00010000) +#define RCC_APB2Periph_TIM16 ((uint32_t)0x00020000) +#define RCC_APB2Periph_TIM17 ((uint32_t)0x00040000) +#define RCC_APB2Periph_TIM9 ((uint32_t)0x00080000) +#define RCC_APB2Periph_TIM10 ((uint32_t)0x00100000) +#define RCC_APB2Periph_TIM11 ((uint32_t)0x00200000) + +#define IS_RCC_APB2_PERIPH(PERIPH) ((((PERIPH) & 0xFFC00002) == 0x00) && ((PERIPH) != 0x00)) +/** + * @} + */ + +/** @defgroup APB1_peripheral + * @{ + */ + +#define RCC_APB1Periph_TIM2 ((uint32_t)0x00000001) +#define RCC_APB1Periph_TIM3 ((uint32_t)0x00000002) +#define RCC_APB1Periph_TIM4 ((uint32_t)0x00000004) +#define RCC_APB1Periph_TIM5 ((uint32_t)0x00000008) +#define RCC_APB1Periph_TIM6 ((uint32_t)0x00000010) +#define RCC_APB1Periph_TIM7 ((uint32_t)0x00000020) +#define RCC_APB1Periph_TIM12 ((uint32_t)0x00000040) +#define RCC_APB1Periph_TIM13 ((uint32_t)0x00000080) +#define RCC_APB1Periph_TIM14 ((uint32_t)0x00000100) +#define RCC_APB1Periph_WWDG ((uint32_t)0x00000800) +#define RCC_APB1Periph_SPI2 ((uint32_t)0x00004000) +#define RCC_APB1Periph_SPI3 ((uint32_t)0x00008000) +#define RCC_APB1Periph_USART2 ((uint32_t)0x00020000) +#define RCC_APB1Periph_USART3 ((uint32_t)0x00040000) +#define RCC_APB1Periph_UART4 ((uint32_t)0x00080000) +#define RCC_APB1Periph_UART5 ((uint32_t)0x00100000) +#define RCC_APB1Periph_I2C1 ((uint32_t)0x00200000) +#define RCC_APB1Periph_I2C2 ((uint32_t)0x00400000) +#define RCC_APB1Periph_USB ((uint32_t)0x00800000) +#define RCC_APB1Periph_CAN1 ((uint32_t)0x02000000) +#define RCC_APB1Periph_CAN2 ((uint32_t)0x04000000) +#define RCC_APB1Periph_BKP ((uint32_t)0x08000000) +#define RCC_APB1Periph_PWR ((uint32_t)0x10000000) +#define RCC_APB1Periph_DAC ((uint32_t)0x20000000) +#define RCC_APB1Periph_CEC ((uint32_t)0x40000000) + +#define IS_RCC_APB1_PERIPH(PERIPH) ((((PERIPH) & 0x81013600) == 0x00) && ((PERIPH) != 0x00)) + +/** + * @} + */ + +/** @defgroup Clock_source_to_output_on_MCO_pin + * @{ + */ + +#define RCC_MCO_NoClock ((uint8_t)0x00) +#define RCC_MCO_SYSCLK ((uint8_t)0x04) +#define RCC_MCO_HSI ((uint8_t)0x05) +#define RCC_MCO_HSE ((uint8_t)0x06) +#define RCC_MCO_PLLCLK_Div2 ((uint8_t)0x07) + +#ifndef STM32F10X_CL + #define IS_RCC_MCO(MCO) (((MCO) == RCC_MCO_NoClock) || ((MCO) == RCC_MCO_HSI) || \ + ((MCO) == RCC_MCO_SYSCLK) || ((MCO) == RCC_MCO_HSE) || \ + ((MCO) == RCC_MCO_PLLCLK_Div2)) +#else + #define RCC_MCO_PLL2CLK ((uint8_t)0x08) + #define RCC_MCO_PLL3CLK_Div2 ((uint8_t)0x09) + #define RCC_MCO_XT1 ((uint8_t)0x0A) + #define RCC_MCO_PLL3CLK ((uint8_t)0x0B) + + #define IS_RCC_MCO(MCO) (((MCO) == RCC_MCO_NoClock) || ((MCO) == RCC_MCO_HSI) || \ + ((MCO) == RCC_MCO_SYSCLK) || ((MCO) == RCC_MCO_HSE) || \ + ((MCO) == RCC_MCO_PLLCLK_Div2) || ((MCO) == RCC_MCO_PLL2CLK) || \ + ((MCO) == RCC_MCO_PLL3CLK_Div2) || ((MCO) == RCC_MCO_XT1) || \ + ((MCO) == RCC_MCO_PLL3CLK)) +#endif /* STM32F10X_CL */ + +/** + * @} + */ + +/** @defgroup RCC_Flag + * @{ + */ + +#define RCC_FLAG_HSIRDY ((uint8_t)0x21) +#define RCC_FLAG_HSERDY ((uint8_t)0x31) +#define RCC_FLAG_PLLRDY ((uint8_t)0x39) +#define RCC_FLAG_LSERDY ((uint8_t)0x41) +#define RCC_FLAG_LSIRDY ((uint8_t)0x61) +#define RCC_FLAG_PINRST ((uint8_t)0x7A) +#define RCC_FLAG_PORRST ((uint8_t)0x7B) +#define RCC_FLAG_SFTRST ((uint8_t)0x7C) +#define RCC_FLAG_IWDGRST ((uint8_t)0x7D) +#define RCC_FLAG_WWDGRST ((uint8_t)0x7E) +#define RCC_FLAG_LPWRRST ((uint8_t)0x7F) + +#ifndef STM32F10X_CL + #define IS_RCC_FLAG(FLAG) (((FLAG) == RCC_FLAG_HSIRDY) || ((FLAG) == RCC_FLAG_HSERDY) || \ + ((FLAG) == RCC_FLAG_PLLRDY) || ((FLAG) == RCC_FLAG_LSERDY) || \ + ((FLAG) == RCC_FLAG_LSIRDY) || ((FLAG) == RCC_FLAG_PINRST) || \ + ((FLAG) == RCC_FLAG_PORRST) || ((FLAG) == RCC_FLAG_SFTRST) || \ + ((FLAG) == RCC_FLAG_IWDGRST)|| ((FLAG) == RCC_FLAG_WWDGRST)|| \ + ((FLAG) == RCC_FLAG_LPWRRST)) +#else + #define RCC_FLAG_PLL2RDY ((uint8_t)0x3B) + #define RCC_FLAG_PLL3RDY ((uint8_t)0x3D) + #define IS_RCC_FLAG(FLAG) (((FLAG) == RCC_FLAG_HSIRDY) || ((FLAG) == RCC_FLAG_HSERDY) || \ + ((FLAG) == RCC_FLAG_PLLRDY) || ((FLAG) == RCC_FLAG_LSERDY) || \ + ((FLAG) == RCC_FLAG_PLL2RDY) || ((FLAG) == RCC_FLAG_PLL3RDY) || \ + ((FLAG) == RCC_FLAG_LSIRDY) || ((FLAG) == RCC_FLAG_PINRST) || \ + ((FLAG) == RCC_FLAG_PORRST) || ((FLAG) == RCC_FLAG_SFTRST) || \ + ((FLAG) == RCC_FLAG_IWDGRST)|| ((FLAG) == RCC_FLAG_WWDGRST)|| \ + ((FLAG) == RCC_FLAG_LPWRRST)) +#endif /* STM32F10X_CL */ + +#define IS_RCC_CALIBRATION_VALUE(VALUE) ((VALUE) <= 0x1F) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup RCC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Exported_Functions + * @{ + */ + +void RCC_DeInit(void); +void RCC_HSEConfig(uint32_t RCC_HSE); +ErrorStatus RCC_WaitForHSEStartUp(void); +void RCC_AdjustHSICalibrationValue(uint8_t HSICalibrationValue); +void RCC_HSICmd(FunctionalState NewState); +void RCC_PLLConfig(uint32_t RCC_PLLSource, uint32_t RCC_PLLMul); +void RCC_PLLCmd(FunctionalState NewState); + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) + void RCC_PREDIV1Config(uint32_t RCC_PREDIV1_Source, uint32_t RCC_PREDIV1_Div); +#endif + +#ifdef STM32F10X_CL + void RCC_PREDIV2Config(uint32_t RCC_PREDIV2_Div); + void RCC_PLL2Config(uint32_t RCC_PLL2Mul); + void RCC_PLL2Cmd(FunctionalState NewState); + void RCC_PLL3Config(uint32_t RCC_PLL3Mul); + void RCC_PLL3Cmd(FunctionalState NewState); +#endif /* STM32F10X_CL */ + +void RCC_SYSCLKConfig(uint32_t RCC_SYSCLKSource); +uint8_t RCC_GetSYSCLKSource(void); +void RCC_HCLKConfig(uint32_t RCC_SYSCLK); +void RCC_PCLK1Config(uint32_t RCC_HCLK); +void RCC_PCLK2Config(uint32_t RCC_HCLK); +void RCC_ITConfig(uint8_t RCC_IT, FunctionalState NewState); + +#ifndef STM32F10X_CL + void RCC_USBCLKConfig(uint32_t RCC_USBCLKSource); +#else + void RCC_OTGFSCLKConfig(uint32_t RCC_OTGFSCLKSource); +#endif /* STM32F10X_CL */ + +void RCC_ADCCLKConfig(uint32_t RCC_PCLK2); + +#ifdef STM32F10X_CL + void RCC_I2S2CLKConfig(uint32_t RCC_I2S2CLKSource); + void RCC_I2S3CLKConfig(uint32_t RCC_I2S3CLKSource); +#endif /* STM32F10X_CL */ + +void RCC_LSEConfig(uint8_t RCC_LSE); +void RCC_LSICmd(FunctionalState NewState); +void RCC_RTCCLKConfig(uint32_t RCC_RTCCLKSource); +void RCC_RTCCLKCmd(FunctionalState NewState); +void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks); +void RCC_AHBPeriphClockCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState); +void RCC_APB2PeriphClockCmd(uint32_t RCC_APB2Periph, FunctionalState NewState); +void RCC_APB1PeriphClockCmd(uint32_t RCC_APB1Periph, FunctionalState NewState); + +#ifdef STM32F10X_CL +void RCC_AHBPeriphResetCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState); +#endif /* STM32F10X_CL */ + +void RCC_APB2PeriphResetCmd(uint32_t RCC_APB2Periph, FunctionalState NewState); +void RCC_APB1PeriphResetCmd(uint32_t RCC_APB1Periph, FunctionalState NewState); +void RCC_BackupResetCmd(FunctionalState NewState); +void RCC_ClockSecuritySystemCmd(FunctionalState NewState); +void RCC_MCOConfig(uint8_t RCC_MCO); +FlagStatus RCC_GetFlagStatus(uint8_t RCC_FLAG); +void RCC_ClearFlag(void); +ITStatus RCC_GetITStatus(uint8_t RCC_IT); +void RCC_ClearITPendingBit(uint8_t RCC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_RCC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_rtc.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_rtc.h new file mode 100644 index 0000000..fd8beb5 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_rtc.h @@ -0,0 +1,135 @@ +/** + ****************************************************************************** + * @file stm32f10x_rtc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the RTC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_RTC_H +#define __STM32F10x_RTC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup RTC + * @{ + */ + +/** @defgroup RTC_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Exported_Constants + * @{ + */ + +/** @defgroup RTC_interrupts_define + * @{ + */ + +#define RTC_IT_OW ((uint16_t)0x0004) /*!< Overflow interrupt */ +#define RTC_IT_ALR ((uint16_t)0x0002) /*!< Alarm interrupt */ +#define RTC_IT_SEC ((uint16_t)0x0001) /*!< Second interrupt */ +#define IS_RTC_IT(IT) ((((IT) & (uint16_t)0xFFF8) == 0x00) && ((IT) != 0x00)) +#define IS_RTC_GET_IT(IT) (((IT) == RTC_IT_OW) || ((IT) == RTC_IT_ALR) || \ + ((IT) == RTC_IT_SEC)) +/** + * @} + */ + +/** @defgroup RTC_interrupts_flags + * @{ + */ + +#define RTC_FLAG_RTOFF ((uint16_t)0x0020) /*!< RTC Operation OFF flag */ +#define RTC_FLAG_RSF ((uint16_t)0x0008) /*!< Registers Synchronized flag */ +#define RTC_FLAG_OW ((uint16_t)0x0004) /*!< Overflow flag */ +#define RTC_FLAG_ALR ((uint16_t)0x0002) /*!< Alarm flag */ +#define RTC_FLAG_SEC ((uint16_t)0x0001) /*!< Second flag */ +#define IS_RTC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint16_t)0xFFF0) == 0x00) && ((FLAG) != 0x00)) +#define IS_RTC_GET_FLAG(FLAG) (((FLAG) == RTC_FLAG_RTOFF) || ((FLAG) == RTC_FLAG_RSF) || \ + ((FLAG) == RTC_FLAG_OW) || ((FLAG) == RTC_FLAG_ALR) || \ + ((FLAG) == RTC_FLAG_SEC)) +#define IS_RTC_PRESCALER(PRESCALER) ((PRESCALER) <= 0xFFFFF) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup RTC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Exported_Functions + * @{ + */ + +void RTC_ITConfig(uint16_t RTC_IT, FunctionalState NewState); +void RTC_EnterConfigMode(void); +void RTC_ExitConfigMode(void); +uint32_t RTC_GetCounter(void); +void RTC_SetCounter(uint32_t CounterValue); +void RTC_SetPrescaler(uint32_t PrescalerValue); +void RTC_SetAlarm(uint32_t AlarmValue); +uint32_t RTC_GetDivider(void); +void RTC_WaitForLastTask(void); +void RTC_WaitForSynchro(void); +FlagStatus RTC_GetFlagStatus(uint16_t RTC_FLAG); +void RTC_ClearFlag(uint16_t RTC_FLAG); +ITStatus RTC_GetITStatus(uint16_t RTC_IT); +void RTC_ClearITPendingBit(uint16_t RTC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_RTC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_sdio.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_sdio.h new file mode 100644 index 0000000..81c058a --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_sdio.h @@ -0,0 +1,531 @@ +/** + ****************************************************************************** + * @file stm32f10x_sdio.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the SDIO firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_SDIO_H +#define __STM32F10x_SDIO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup SDIO + * @{ + */ + +/** @defgroup SDIO_Exported_Types + * @{ + */ + +typedef struct +{ + uint32_t SDIO_ClockEdge; /*!< Specifies the clock transition on which the bit capture is made. + This parameter can be a value of @ref SDIO_Clock_Edge */ + + uint32_t SDIO_ClockBypass; /*!< Specifies whether the SDIO Clock divider bypass is + enabled or disabled. + This parameter can be a value of @ref SDIO_Clock_Bypass */ + + uint32_t SDIO_ClockPowerSave; /*!< Specifies whether SDIO Clock output is enabled or + disabled when the bus is idle. + This parameter can be a value of @ref SDIO_Clock_Power_Save */ + + uint32_t SDIO_BusWide; /*!< Specifies the SDIO bus width. + This parameter can be a value of @ref SDIO_Bus_Wide */ + + uint32_t SDIO_HardwareFlowControl; /*!< Specifies whether the SDIO hardware flow control is enabled or disabled. + This parameter can be a value of @ref SDIO_Hardware_Flow_Control */ + + uint8_t SDIO_ClockDiv; /*!< Specifies the clock frequency of the SDIO controller. + This parameter can be a value between 0x00 and 0xFF. */ + +} SDIO_InitTypeDef; + +typedef struct +{ + uint32_t SDIO_Argument; /*!< Specifies the SDIO command argument which is sent + to a card as part of a command message. If a command + contains an argument, it must be loaded into this register + before writing the command to the command register */ + + uint32_t SDIO_CmdIndex; /*!< Specifies the SDIO command index. It must be lower than 0x40. */ + + uint32_t SDIO_Response; /*!< Specifies the SDIO response type. + This parameter can be a value of @ref SDIO_Response_Type */ + + uint32_t SDIO_Wait; /*!< Specifies whether SDIO wait-for-interrupt request is enabled or disabled. + This parameter can be a value of @ref SDIO_Wait_Interrupt_State */ + + uint32_t SDIO_CPSM; /*!< Specifies whether SDIO Command path state machine (CPSM) + is enabled or disabled. + This parameter can be a value of @ref SDIO_CPSM_State */ +} SDIO_CmdInitTypeDef; + +typedef struct +{ + uint32_t SDIO_DataTimeOut; /*!< Specifies the data timeout period in card bus clock periods. */ + + uint32_t SDIO_DataLength; /*!< Specifies the number of data bytes to be transferred. */ + + uint32_t SDIO_DataBlockSize; /*!< Specifies the data block size for block transfer. + This parameter can be a value of @ref SDIO_Data_Block_Size */ + + uint32_t SDIO_TransferDir; /*!< Specifies the data transfer direction, whether the transfer + is a read or write. + This parameter can be a value of @ref SDIO_Transfer_Direction */ + + uint32_t SDIO_TransferMode; /*!< Specifies whether data transfer is in stream or block mode. + This parameter can be a value of @ref SDIO_Transfer_Type */ + + uint32_t SDIO_DPSM; /*!< Specifies whether SDIO Data path state machine (DPSM) + is enabled or disabled. + This parameter can be a value of @ref SDIO_DPSM_State */ +} SDIO_DataInitTypeDef; + +/** + * @} + */ + +/** @defgroup SDIO_Exported_Constants + * @{ + */ + +/** @defgroup SDIO_Clock_Edge + * @{ + */ + +#define SDIO_ClockEdge_Rising ((uint32_t)0x00000000) +#define SDIO_ClockEdge_Falling ((uint32_t)0x00002000) +#define IS_SDIO_CLOCK_EDGE(EDGE) (((EDGE) == SDIO_ClockEdge_Rising) || \ + ((EDGE) == SDIO_ClockEdge_Falling)) +/** + * @} + */ + +/** @defgroup SDIO_Clock_Bypass + * @{ + */ + +#define SDIO_ClockBypass_Disable ((uint32_t)0x00000000) +#define SDIO_ClockBypass_Enable ((uint32_t)0x00000400) +#define IS_SDIO_CLOCK_BYPASS(BYPASS) (((BYPASS) == SDIO_ClockBypass_Disable) || \ + ((BYPASS) == SDIO_ClockBypass_Enable)) +/** + * @} + */ + +/** @defgroup SDIO_Clock_Power_Save + * @{ + */ + +#define SDIO_ClockPowerSave_Disable ((uint32_t)0x00000000) +#define SDIO_ClockPowerSave_Enable ((uint32_t)0x00000200) +#define IS_SDIO_CLOCK_POWER_SAVE(SAVE) (((SAVE) == SDIO_ClockPowerSave_Disable) || \ + ((SAVE) == SDIO_ClockPowerSave_Enable)) +/** + * @} + */ + +/** @defgroup SDIO_Bus_Wide + * @{ + */ + +#define SDIO_BusWide_1b ((uint32_t)0x00000000) +#define SDIO_BusWide_4b ((uint32_t)0x00000800) +#define SDIO_BusWide_8b ((uint32_t)0x00001000) +#define IS_SDIO_BUS_WIDE(WIDE) (((WIDE) == SDIO_BusWide_1b) || ((WIDE) == SDIO_BusWide_4b) || \ + ((WIDE) == SDIO_BusWide_8b)) + +/** + * @} + */ + +/** @defgroup SDIO_Hardware_Flow_Control + * @{ + */ + +#define SDIO_HardwareFlowControl_Disable ((uint32_t)0x00000000) +#define SDIO_HardwareFlowControl_Enable ((uint32_t)0x00004000) +#define IS_SDIO_HARDWARE_FLOW_CONTROL(CONTROL) (((CONTROL) == SDIO_HardwareFlowControl_Disable) || \ + ((CONTROL) == SDIO_HardwareFlowControl_Enable)) +/** + * @} + */ + +/** @defgroup SDIO_Power_State + * @{ + */ + +#define SDIO_PowerState_OFF ((uint32_t)0x00000000) +#define SDIO_PowerState_ON ((uint32_t)0x00000003) +#define IS_SDIO_POWER_STATE(STATE) (((STATE) == SDIO_PowerState_OFF) || ((STATE) == SDIO_PowerState_ON)) +/** + * @} + */ + + +/** @defgroup SDIO_Interrupt_sources + * @{ + */ + +#define SDIO_IT_CCRCFAIL ((uint32_t)0x00000001) +#define SDIO_IT_DCRCFAIL ((uint32_t)0x00000002) +#define SDIO_IT_CTIMEOUT ((uint32_t)0x00000004) +#define SDIO_IT_DTIMEOUT ((uint32_t)0x00000008) +#define SDIO_IT_TXUNDERR ((uint32_t)0x00000010) +#define SDIO_IT_RXOVERR ((uint32_t)0x00000020) +#define SDIO_IT_CMDREND ((uint32_t)0x00000040) +#define SDIO_IT_CMDSENT ((uint32_t)0x00000080) +#define SDIO_IT_DATAEND ((uint32_t)0x00000100) +#define SDIO_IT_STBITERR ((uint32_t)0x00000200) +#define SDIO_IT_DBCKEND ((uint32_t)0x00000400) +#define SDIO_IT_CMDACT ((uint32_t)0x00000800) +#define SDIO_IT_TXACT ((uint32_t)0x00001000) +#define SDIO_IT_RXACT ((uint32_t)0x00002000) +#define SDIO_IT_TXFIFOHE ((uint32_t)0x00004000) +#define SDIO_IT_RXFIFOHF ((uint32_t)0x00008000) +#define SDIO_IT_TXFIFOF ((uint32_t)0x00010000) +#define SDIO_IT_RXFIFOF ((uint32_t)0x00020000) +#define SDIO_IT_TXFIFOE ((uint32_t)0x00040000) +#define SDIO_IT_RXFIFOE ((uint32_t)0x00080000) +#define SDIO_IT_TXDAVL ((uint32_t)0x00100000) +#define SDIO_IT_RXDAVL ((uint32_t)0x00200000) +#define SDIO_IT_SDIOIT ((uint32_t)0x00400000) +#define SDIO_IT_CEATAEND ((uint32_t)0x00800000) +#define IS_SDIO_IT(IT) ((((IT) & (uint32_t)0xFF000000) == 0x00) && ((IT) != (uint32_t)0x00)) +/** + * @} + */ + +/** @defgroup SDIO_Command_Index + * @{ + */ + +#define IS_SDIO_CMD_INDEX(INDEX) ((INDEX) < 0x40) +/** + * @} + */ + +/** @defgroup SDIO_Response_Type + * @{ + */ + +#define SDIO_Response_No ((uint32_t)0x00000000) +#define SDIO_Response_Short ((uint32_t)0x00000040) +#define SDIO_Response_Long ((uint32_t)0x000000C0) +#define IS_SDIO_RESPONSE(RESPONSE) (((RESPONSE) == SDIO_Response_No) || \ + ((RESPONSE) == SDIO_Response_Short) || \ + ((RESPONSE) == SDIO_Response_Long)) +/** + * @} + */ + +/** @defgroup SDIO_Wait_Interrupt_State + * @{ + */ + +#define SDIO_Wait_No ((uint32_t)0x00000000) /*!< SDIO No Wait, TimeOut is enabled */ +#define SDIO_Wait_IT ((uint32_t)0x00000100) /*!< SDIO Wait Interrupt Request */ +#define SDIO_Wait_Pend ((uint32_t)0x00000200) /*!< SDIO Wait End of transfer */ +#define IS_SDIO_WAIT(WAIT) (((WAIT) == SDIO_Wait_No) || ((WAIT) == SDIO_Wait_IT) || \ + ((WAIT) == SDIO_Wait_Pend)) +/** + * @} + */ + +/** @defgroup SDIO_CPSM_State + * @{ + */ + +#define SDIO_CPSM_Disable ((uint32_t)0x00000000) +#define SDIO_CPSM_Enable ((uint32_t)0x00000400) +#define IS_SDIO_CPSM(CPSM) (((CPSM) == SDIO_CPSM_Enable) || ((CPSM) == SDIO_CPSM_Disable)) +/** + * @} + */ + +/** @defgroup SDIO_Response_Registers + * @{ + */ + +#define SDIO_RESP1 ((uint32_t)0x00000000) +#define SDIO_RESP2 ((uint32_t)0x00000004) +#define SDIO_RESP3 ((uint32_t)0x00000008) +#define SDIO_RESP4 ((uint32_t)0x0000000C) +#define IS_SDIO_RESP(RESP) (((RESP) == SDIO_RESP1) || ((RESP) == SDIO_RESP2) || \ + ((RESP) == SDIO_RESP3) || ((RESP) == SDIO_RESP4)) +/** + * @} + */ + +/** @defgroup SDIO_Data_Length + * @{ + */ + +#define IS_SDIO_DATA_LENGTH(LENGTH) ((LENGTH) <= 0x01FFFFFF) +/** + * @} + */ + +/** @defgroup SDIO_Data_Block_Size + * @{ + */ + +#define SDIO_DataBlockSize_1b ((uint32_t)0x00000000) +#define SDIO_DataBlockSize_2b ((uint32_t)0x00000010) +#define SDIO_DataBlockSize_4b ((uint32_t)0x00000020) +#define SDIO_DataBlockSize_8b ((uint32_t)0x00000030) +#define SDIO_DataBlockSize_16b ((uint32_t)0x00000040) +#define SDIO_DataBlockSize_32b ((uint32_t)0x00000050) +#define SDIO_DataBlockSize_64b ((uint32_t)0x00000060) +#define SDIO_DataBlockSize_128b ((uint32_t)0x00000070) +#define SDIO_DataBlockSize_256b ((uint32_t)0x00000080) +#define SDIO_DataBlockSize_512b ((uint32_t)0x00000090) +#define SDIO_DataBlockSize_1024b ((uint32_t)0x000000A0) +#define SDIO_DataBlockSize_2048b ((uint32_t)0x000000B0) +#define SDIO_DataBlockSize_4096b ((uint32_t)0x000000C0) +#define SDIO_DataBlockSize_8192b ((uint32_t)0x000000D0) +#define SDIO_DataBlockSize_16384b ((uint32_t)0x000000E0) +#define IS_SDIO_BLOCK_SIZE(SIZE) (((SIZE) == SDIO_DataBlockSize_1b) || \ + ((SIZE) == SDIO_DataBlockSize_2b) || \ + ((SIZE) == SDIO_DataBlockSize_4b) || \ + ((SIZE) == SDIO_DataBlockSize_8b) || \ + ((SIZE) == SDIO_DataBlockSize_16b) || \ + ((SIZE) == SDIO_DataBlockSize_32b) || \ + ((SIZE) == SDIO_DataBlockSize_64b) || \ + ((SIZE) == SDIO_DataBlockSize_128b) || \ + ((SIZE) == SDIO_DataBlockSize_256b) || \ + ((SIZE) == SDIO_DataBlockSize_512b) || \ + ((SIZE) == SDIO_DataBlockSize_1024b) || \ + ((SIZE) == SDIO_DataBlockSize_2048b) || \ + ((SIZE) == SDIO_DataBlockSize_4096b) || \ + ((SIZE) == SDIO_DataBlockSize_8192b) || \ + ((SIZE) == SDIO_DataBlockSize_16384b)) +/** + * @} + */ + +/** @defgroup SDIO_Transfer_Direction + * @{ + */ + +#define SDIO_TransferDir_ToCard ((uint32_t)0x00000000) +#define SDIO_TransferDir_ToSDIO ((uint32_t)0x00000002) +#define IS_SDIO_TRANSFER_DIR(DIR) (((DIR) == SDIO_TransferDir_ToCard) || \ + ((DIR) == SDIO_TransferDir_ToSDIO)) +/** + * @} + */ + +/** @defgroup SDIO_Transfer_Type + * @{ + */ + +#define SDIO_TransferMode_Block ((uint32_t)0x00000000) +#define SDIO_TransferMode_Stream ((uint32_t)0x00000004) +#define IS_SDIO_TRANSFER_MODE(MODE) (((MODE) == SDIO_TransferMode_Stream) || \ + ((MODE) == SDIO_TransferMode_Block)) +/** + * @} + */ + +/** @defgroup SDIO_DPSM_State + * @{ + */ + +#define SDIO_DPSM_Disable ((uint32_t)0x00000000) +#define SDIO_DPSM_Enable ((uint32_t)0x00000001) +#define IS_SDIO_DPSM(DPSM) (((DPSM) == SDIO_DPSM_Enable) || ((DPSM) == SDIO_DPSM_Disable)) +/** + * @} + */ + +/** @defgroup SDIO_Flags + * @{ + */ + +#define SDIO_FLAG_CCRCFAIL ((uint32_t)0x00000001) +#define SDIO_FLAG_DCRCFAIL ((uint32_t)0x00000002) +#define SDIO_FLAG_CTIMEOUT ((uint32_t)0x00000004) +#define SDIO_FLAG_DTIMEOUT ((uint32_t)0x00000008) +#define SDIO_FLAG_TXUNDERR ((uint32_t)0x00000010) +#define SDIO_FLAG_RXOVERR ((uint32_t)0x00000020) +#define SDIO_FLAG_CMDREND ((uint32_t)0x00000040) +#define SDIO_FLAG_CMDSENT ((uint32_t)0x00000080) +#define SDIO_FLAG_DATAEND ((uint32_t)0x00000100) +#define SDIO_FLAG_STBITERR ((uint32_t)0x00000200) +#define SDIO_FLAG_DBCKEND ((uint32_t)0x00000400) +#define SDIO_FLAG_CMDACT ((uint32_t)0x00000800) +#define SDIO_FLAG_TXACT ((uint32_t)0x00001000) +#define SDIO_FLAG_RXACT ((uint32_t)0x00002000) +#define SDIO_FLAG_TXFIFOHE ((uint32_t)0x00004000) +#define SDIO_FLAG_RXFIFOHF ((uint32_t)0x00008000) +#define SDIO_FLAG_TXFIFOF ((uint32_t)0x00010000) +#define SDIO_FLAG_RXFIFOF ((uint32_t)0x00020000) +#define SDIO_FLAG_TXFIFOE ((uint32_t)0x00040000) +#define SDIO_FLAG_RXFIFOE ((uint32_t)0x00080000) +#define SDIO_FLAG_TXDAVL ((uint32_t)0x00100000) +#define SDIO_FLAG_RXDAVL ((uint32_t)0x00200000) +#define SDIO_FLAG_SDIOIT ((uint32_t)0x00400000) +#define SDIO_FLAG_CEATAEND ((uint32_t)0x00800000) +#define IS_SDIO_FLAG(FLAG) (((FLAG) == SDIO_FLAG_CCRCFAIL) || \ + ((FLAG) == SDIO_FLAG_DCRCFAIL) || \ + ((FLAG) == SDIO_FLAG_CTIMEOUT) || \ + ((FLAG) == SDIO_FLAG_DTIMEOUT) || \ + ((FLAG) == SDIO_FLAG_TXUNDERR) || \ + ((FLAG) == SDIO_FLAG_RXOVERR) || \ + ((FLAG) == SDIO_FLAG_CMDREND) || \ + ((FLAG) == SDIO_FLAG_CMDSENT) || \ + ((FLAG) == SDIO_FLAG_DATAEND) || \ + ((FLAG) == SDIO_FLAG_STBITERR) || \ + ((FLAG) == SDIO_FLAG_DBCKEND) || \ + ((FLAG) == SDIO_FLAG_CMDACT) || \ + ((FLAG) == SDIO_FLAG_TXACT) || \ + ((FLAG) == SDIO_FLAG_RXACT) || \ + ((FLAG) == SDIO_FLAG_TXFIFOHE) || \ + ((FLAG) == SDIO_FLAG_RXFIFOHF) || \ + ((FLAG) == SDIO_FLAG_TXFIFOF) || \ + ((FLAG) == SDIO_FLAG_RXFIFOF) || \ + ((FLAG) == SDIO_FLAG_TXFIFOE) || \ + ((FLAG) == SDIO_FLAG_RXFIFOE) || \ + ((FLAG) == SDIO_FLAG_TXDAVL) || \ + ((FLAG) == SDIO_FLAG_RXDAVL) || \ + ((FLAG) == SDIO_FLAG_SDIOIT) || \ + ((FLAG) == SDIO_FLAG_CEATAEND)) + +#define IS_SDIO_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFF3FF800) == 0x00) && ((FLAG) != (uint32_t)0x00)) + +#define IS_SDIO_GET_IT(IT) (((IT) == SDIO_IT_CCRCFAIL) || \ + ((IT) == SDIO_IT_DCRCFAIL) || \ + ((IT) == SDIO_IT_CTIMEOUT) || \ + ((IT) == SDIO_IT_DTIMEOUT) || \ + ((IT) == SDIO_IT_TXUNDERR) || \ + ((IT) == SDIO_IT_RXOVERR) || \ + ((IT) == SDIO_IT_CMDREND) || \ + ((IT) == SDIO_IT_CMDSENT) || \ + ((IT) == SDIO_IT_DATAEND) || \ + ((IT) == SDIO_IT_STBITERR) || \ + ((IT) == SDIO_IT_DBCKEND) || \ + ((IT) == SDIO_IT_CMDACT) || \ + ((IT) == SDIO_IT_TXACT) || \ + ((IT) == SDIO_IT_RXACT) || \ + ((IT) == SDIO_IT_TXFIFOHE) || \ + ((IT) == SDIO_IT_RXFIFOHF) || \ + ((IT) == SDIO_IT_TXFIFOF) || \ + ((IT) == SDIO_IT_RXFIFOF) || \ + ((IT) == SDIO_IT_TXFIFOE) || \ + ((IT) == SDIO_IT_RXFIFOE) || \ + ((IT) == SDIO_IT_TXDAVL) || \ + ((IT) == SDIO_IT_RXDAVL) || \ + ((IT) == SDIO_IT_SDIOIT) || \ + ((IT) == SDIO_IT_CEATAEND)) + +#define IS_SDIO_CLEAR_IT(IT) ((((IT) & (uint32_t)0xFF3FF800) == 0x00) && ((IT) != (uint32_t)0x00)) + +/** + * @} + */ + +/** @defgroup SDIO_Read_Wait_Mode + * @{ + */ + +#define SDIO_ReadWaitMode_CLK ((uint32_t)0x00000001) +#define SDIO_ReadWaitMode_DATA2 ((uint32_t)0x00000000) +#define IS_SDIO_READWAIT_MODE(MODE) (((MODE) == SDIO_ReadWaitMode_CLK) || \ + ((MODE) == SDIO_ReadWaitMode_DATA2)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup SDIO_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Exported_Functions + * @{ + */ + +void SDIO_DeInit(void); +void SDIO_Init(SDIO_InitTypeDef* SDIO_InitStruct); +void SDIO_StructInit(SDIO_InitTypeDef* SDIO_InitStruct); +void SDIO_ClockCmd(FunctionalState NewState); +void SDIO_SetPowerState(uint32_t SDIO_PowerState); +uint32_t SDIO_GetPowerState(void); +void SDIO_ITConfig(uint32_t SDIO_IT, FunctionalState NewState); +void SDIO_DMACmd(FunctionalState NewState); +void SDIO_SendCommand(SDIO_CmdInitTypeDef *SDIO_CmdInitStruct); +void SDIO_CmdStructInit(SDIO_CmdInitTypeDef* SDIO_CmdInitStruct); +uint8_t SDIO_GetCommandResponse(void); +uint32_t SDIO_GetResponse(uint32_t SDIO_RESP); +void SDIO_DataConfig(SDIO_DataInitTypeDef* SDIO_DataInitStruct); +void SDIO_DataStructInit(SDIO_DataInitTypeDef* SDIO_DataInitStruct); +uint32_t SDIO_GetDataCounter(void); +uint32_t SDIO_ReadData(void); +void SDIO_WriteData(uint32_t Data); +uint32_t SDIO_GetFIFOCount(void); +void SDIO_StartSDIOReadWait(FunctionalState NewState); +void SDIO_StopSDIOReadWait(FunctionalState NewState); +void SDIO_SetSDIOReadWaitMode(uint32_t SDIO_ReadWaitMode); +void SDIO_SetSDIOOperation(FunctionalState NewState); +void SDIO_SendSDIOSuspendCmd(FunctionalState NewState); +void SDIO_CommandCompletionCmd(FunctionalState NewState); +void SDIO_CEATAITCmd(FunctionalState NewState); +void SDIO_SendCEATACmd(FunctionalState NewState); +FlagStatus SDIO_GetFlagStatus(uint32_t SDIO_FLAG); +void SDIO_ClearFlag(uint32_t SDIO_FLAG); +ITStatus SDIO_GetITStatus(uint32_t SDIO_IT); +void SDIO_ClearITPendingBit(uint32_t SDIO_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_SDIO_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_spi.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_spi.h new file mode 100644 index 0000000..23cc26d --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_spi.h @@ -0,0 +1,487 @@ +/** + ****************************************************************************** + * @file stm32f10x_spi.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the SPI firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_SPI_H +#define __STM32F10x_SPI_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup SPI + * @{ + */ + +/** @defgroup SPI_Exported_Types + * @{ + */ + +/** + * @brief SPI Init structure definition + */ + +typedef struct +{ + uint16_t SPI_Direction; /*!< Specifies the SPI unidirectional or bidirectional data mode. + This parameter can be a value of @ref SPI_data_direction */ + + uint16_t SPI_Mode; /*!< Specifies the SPI operating mode. + This parameter can be a value of @ref SPI_mode */ + + uint16_t SPI_DataSize; /*!< Specifies the SPI data size. + This parameter can be a value of @ref SPI_data_size */ + + uint16_t SPI_CPOL; /*!< Specifies the serial clock steady state. + This parameter can be a value of @ref SPI_Clock_Polarity */ + + uint16_t SPI_CPHA; /*!< Specifies the clock active edge for the bit capture. + This parameter can be a value of @ref SPI_Clock_Phase */ + + uint16_t SPI_NSS; /*!< Specifies whether the NSS signal is managed by + hardware (NSS pin) or by software using the SSI bit. + This parameter can be a value of @ref SPI_Slave_Select_management */ + + uint16_t SPI_BaudRatePrescaler; /*!< Specifies the Baud Rate prescaler value which will be + used to configure the transmit and receive SCK clock. + This parameter can be a value of @ref SPI_BaudRate_Prescaler. + @note The communication clock is derived from the master + clock. The slave clock does not need to be set. */ + + uint16_t SPI_FirstBit; /*!< Specifies whether data transfers start from MSB or LSB bit. + This parameter can be a value of @ref SPI_MSB_LSB_transmission */ + + uint16_t SPI_CRCPolynomial; /*!< Specifies the polynomial used for the CRC calculation. */ +}SPI_InitTypeDef; + +/** + * @brief I2S Init structure definition + */ + +typedef struct +{ + + uint16_t I2S_Mode; /*!< Specifies the I2S operating mode. + This parameter can be a value of @ref I2S_Mode */ + + uint16_t I2S_Standard; /*!< Specifies the standard used for the I2S communication. + This parameter can be a value of @ref I2S_Standard */ + + uint16_t I2S_DataFormat; /*!< Specifies the data format for the I2S communication. + This parameter can be a value of @ref I2S_Data_Format */ + + uint16_t I2S_MCLKOutput; /*!< Specifies whether the I2S MCLK output is enabled or not. + This parameter can be a value of @ref I2S_MCLK_Output */ + + uint32_t I2S_AudioFreq; /*!< Specifies the frequency selected for the I2S communication. + This parameter can be a value of @ref I2S_Audio_Frequency */ + + uint16_t I2S_CPOL; /*!< Specifies the idle state of the I2S clock. + This parameter can be a value of @ref I2S_Clock_Polarity */ +}I2S_InitTypeDef; + +/** + * @} + */ + +/** @defgroup SPI_Exported_Constants + * @{ + */ + +#define IS_SPI_ALL_PERIPH(PERIPH) (((PERIPH) == SPI1) || \ + ((PERIPH) == SPI2) || \ + ((PERIPH) == SPI3)) + +#define IS_SPI_23_PERIPH(PERIPH) (((PERIPH) == SPI2) || \ + ((PERIPH) == SPI3)) + +/** @defgroup SPI_data_direction + * @{ + */ + +#define SPI_Direction_2Lines_FullDuplex ((uint16_t)0x0000) +#define SPI_Direction_2Lines_RxOnly ((uint16_t)0x0400) +#define SPI_Direction_1Line_Rx ((uint16_t)0x8000) +#define SPI_Direction_1Line_Tx ((uint16_t)0xC000) +#define IS_SPI_DIRECTION_MODE(MODE) (((MODE) == SPI_Direction_2Lines_FullDuplex) || \ + ((MODE) == SPI_Direction_2Lines_RxOnly) || \ + ((MODE) == SPI_Direction_1Line_Rx) || \ + ((MODE) == SPI_Direction_1Line_Tx)) +/** + * @} + */ + +/** @defgroup SPI_mode + * @{ + */ + +#define SPI_Mode_Master ((uint16_t)0x0104) +#define SPI_Mode_Slave ((uint16_t)0x0000) +#define IS_SPI_MODE(MODE) (((MODE) == SPI_Mode_Master) || \ + ((MODE) == SPI_Mode_Slave)) +/** + * @} + */ + +/** @defgroup SPI_data_size + * @{ + */ + +#define SPI_DataSize_16b ((uint16_t)0x0800) +#define SPI_DataSize_8b ((uint16_t)0x0000) +#define IS_SPI_DATASIZE(DATASIZE) (((DATASIZE) == SPI_DataSize_16b) || \ + ((DATASIZE) == SPI_DataSize_8b)) +/** + * @} + */ + +/** @defgroup SPI_Clock_Polarity + * @{ + */ + +#define SPI_CPOL_Low ((uint16_t)0x0000) +#define SPI_CPOL_High ((uint16_t)0x0002) +#define IS_SPI_CPOL(CPOL) (((CPOL) == SPI_CPOL_Low) || \ + ((CPOL) == SPI_CPOL_High)) +/** + * @} + */ + +/** @defgroup SPI_Clock_Phase + * @{ + */ + +#define SPI_CPHA_1Edge ((uint16_t)0x0000) +#define SPI_CPHA_2Edge ((uint16_t)0x0001) +#define IS_SPI_CPHA(CPHA) (((CPHA) == SPI_CPHA_1Edge) || \ + ((CPHA) == SPI_CPHA_2Edge)) +/** + * @} + */ + +/** @defgroup SPI_Slave_Select_management + * @{ + */ + +#define SPI_NSS_Soft ((uint16_t)0x0200) +#define SPI_NSS_Hard ((uint16_t)0x0000) +#define IS_SPI_NSS(NSS) (((NSS) == SPI_NSS_Soft) || \ + ((NSS) == SPI_NSS_Hard)) +/** + * @} + */ + +/** @defgroup SPI_BaudRate_Prescaler + * @{ + */ + +#define SPI_BaudRatePrescaler_2 ((uint16_t)0x0000) +#define SPI_BaudRatePrescaler_4 ((uint16_t)0x0008) +#define SPI_BaudRatePrescaler_8 ((uint16_t)0x0010) +#define SPI_BaudRatePrescaler_16 ((uint16_t)0x0018) +#define SPI_BaudRatePrescaler_32 ((uint16_t)0x0020) +#define SPI_BaudRatePrescaler_64 ((uint16_t)0x0028) +#define SPI_BaudRatePrescaler_128 ((uint16_t)0x0030) +#define SPI_BaudRatePrescaler_256 ((uint16_t)0x0038) +#define IS_SPI_BAUDRATE_PRESCALER(PRESCALER) (((PRESCALER) == SPI_BaudRatePrescaler_2) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_4) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_8) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_16) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_32) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_64) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_128) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_256)) +/** + * @} + */ + +/** @defgroup SPI_MSB_LSB_transmission + * @{ + */ + +#define SPI_FirstBit_MSB ((uint16_t)0x0000) +#define SPI_FirstBit_LSB ((uint16_t)0x0080) +#define IS_SPI_FIRST_BIT(BIT) (((BIT) == SPI_FirstBit_MSB) || \ + ((BIT) == SPI_FirstBit_LSB)) +/** + * @} + */ + +/** @defgroup I2S_Mode + * @{ + */ + +#define I2S_Mode_SlaveTx ((uint16_t)0x0000) +#define I2S_Mode_SlaveRx ((uint16_t)0x0100) +#define I2S_Mode_MasterTx ((uint16_t)0x0200) +#define I2S_Mode_MasterRx ((uint16_t)0x0300) +#define IS_I2S_MODE(MODE) (((MODE) == I2S_Mode_SlaveTx) || \ + ((MODE) == I2S_Mode_SlaveRx) || \ + ((MODE) == I2S_Mode_MasterTx) || \ + ((MODE) == I2S_Mode_MasterRx) ) +/** + * @} + */ + +/** @defgroup I2S_Standard + * @{ + */ + +#define I2S_Standard_Phillips ((uint16_t)0x0000) +#define I2S_Standard_MSB ((uint16_t)0x0010) +#define I2S_Standard_LSB ((uint16_t)0x0020) +#define I2S_Standard_PCMShort ((uint16_t)0x0030) +#define I2S_Standard_PCMLong ((uint16_t)0x00B0) +#define IS_I2S_STANDARD(STANDARD) (((STANDARD) == I2S_Standard_Phillips) || \ + ((STANDARD) == I2S_Standard_MSB) || \ + ((STANDARD) == I2S_Standard_LSB) || \ + ((STANDARD) == I2S_Standard_PCMShort) || \ + ((STANDARD) == I2S_Standard_PCMLong)) +/** + * @} + */ + +/** @defgroup I2S_Data_Format + * @{ + */ + +#define I2S_DataFormat_16b ((uint16_t)0x0000) +#define I2S_DataFormat_16bextended ((uint16_t)0x0001) +#define I2S_DataFormat_24b ((uint16_t)0x0003) +#define I2S_DataFormat_32b ((uint16_t)0x0005) +#define IS_I2S_DATA_FORMAT(FORMAT) (((FORMAT) == I2S_DataFormat_16b) || \ + ((FORMAT) == I2S_DataFormat_16bextended) || \ + ((FORMAT) == I2S_DataFormat_24b) || \ + ((FORMAT) == I2S_DataFormat_32b)) +/** + * @} + */ + +/** @defgroup I2S_MCLK_Output + * @{ + */ + +#define I2S_MCLKOutput_Enable ((uint16_t)0x0200) +#define I2S_MCLKOutput_Disable ((uint16_t)0x0000) +#define IS_I2S_MCLK_OUTPUT(OUTPUT) (((OUTPUT) == I2S_MCLKOutput_Enable) || \ + ((OUTPUT) == I2S_MCLKOutput_Disable)) +/** + * @} + */ + +/** @defgroup I2S_Audio_Frequency + * @{ + */ + +#define I2S_AudioFreq_192k ((uint32_t)192000) +#define I2S_AudioFreq_96k ((uint32_t)96000) +#define I2S_AudioFreq_48k ((uint32_t)48000) +#define I2S_AudioFreq_44k ((uint32_t)44100) +#define I2S_AudioFreq_32k ((uint32_t)32000) +#define I2S_AudioFreq_22k ((uint32_t)22050) +#define I2S_AudioFreq_16k ((uint32_t)16000) +#define I2S_AudioFreq_11k ((uint32_t)11025) +#define I2S_AudioFreq_8k ((uint32_t)8000) +#define I2S_AudioFreq_Default ((uint32_t)2) + +#define IS_I2S_AUDIO_FREQ(FREQ) ((((FREQ) >= I2S_AudioFreq_8k) && \ + ((FREQ) <= I2S_AudioFreq_192k)) || \ + ((FREQ) == I2S_AudioFreq_Default)) +/** + * @} + */ + +/** @defgroup I2S_Clock_Polarity + * @{ + */ + +#define I2S_CPOL_Low ((uint16_t)0x0000) +#define I2S_CPOL_High ((uint16_t)0x0008) +#define IS_I2S_CPOL(CPOL) (((CPOL) == I2S_CPOL_Low) || \ + ((CPOL) == I2S_CPOL_High)) +/** + * @} + */ + +/** @defgroup SPI_I2S_DMA_transfer_requests + * @{ + */ + +#define SPI_I2S_DMAReq_Tx ((uint16_t)0x0002) +#define SPI_I2S_DMAReq_Rx ((uint16_t)0x0001) +#define IS_SPI_I2S_DMAREQ(DMAREQ) ((((DMAREQ) & (uint16_t)0xFFFC) == 0x00) && ((DMAREQ) != 0x00)) +/** + * @} + */ + +/** @defgroup SPI_NSS_internal_software_management + * @{ + */ + +#define SPI_NSSInternalSoft_Set ((uint16_t)0x0100) +#define SPI_NSSInternalSoft_Reset ((uint16_t)0xFEFF) +#define IS_SPI_NSS_INTERNAL(INTERNAL) (((INTERNAL) == SPI_NSSInternalSoft_Set) || \ + ((INTERNAL) == SPI_NSSInternalSoft_Reset)) +/** + * @} + */ + +/** @defgroup SPI_CRC_Transmit_Receive + * @{ + */ + +#define SPI_CRC_Tx ((uint8_t)0x00) +#define SPI_CRC_Rx ((uint8_t)0x01) +#define IS_SPI_CRC(CRC) (((CRC) == SPI_CRC_Tx) || ((CRC) == SPI_CRC_Rx)) +/** + * @} + */ + +/** @defgroup SPI_direction_transmit_receive + * @{ + */ + +#define SPI_Direction_Rx ((uint16_t)0xBFFF) +#define SPI_Direction_Tx ((uint16_t)0x4000) +#define IS_SPI_DIRECTION(DIRECTION) (((DIRECTION) == SPI_Direction_Rx) || \ + ((DIRECTION) == SPI_Direction_Tx)) +/** + * @} + */ + +/** @defgroup SPI_I2S_interrupts_definition + * @{ + */ + +#define SPI_I2S_IT_TXE ((uint8_t)0x71) +#define SPI_I2S_IT_RXNE ((uint8_t)0x60) +#define SPI_I2S_IT_ERR ((uint8_t)0x50) +#define IS_SPI_I2S_CONFIG_IT(IT) (((IT) == SPI_I2S_IT_TXE) || \ + ((IT) == SPI_I2S_IT_RXNE) || \ + ((IT) == SPI_I2S_IT_ERR)) +#define SPI_I2S_IT_OVR ((uint8_t)0x56) +#define SPI_IT_MODF ((uint8_t)0x55) +#define SPI_IT_CRCERR ((uint8_t)0x54) +#define I2S_IT_UDR ((uint8_t)0x53) +#define IS_SPI_I2S_CLEAR_IT(IT) (((IT) == SPI_IT_CRCERR)) +#define IS_SPI_I2S_GET_IT(IT) (((IT) == SPI_I2S_IT_RXNE) || ((IT) == SPI_I2S_IT_TXE) || \ + ((IT) == I2S_IT_UDR) || ((IT) == SPI_IT_CRCERR) || \ + ((IT) == SPI_IT_MODF) || ((IT) == SPI_I2S_IT_OVR)) +/** + * @} + */ + +/** @defgroup SPI_I2S_flags_definition + * @{ + */ + +#define SPI_I2S_FLAG_RXNE ((uint16_t)0x0001) +#define SPI_I2S_FLAG_TXE ((uint16_t)0x0002) +#define I2S_FLAG_CHSIDE ((uint16_t)0x0004) +#define I2S_FLAG_UDR ((uint16_t)0x0008) +#define SPI_FLAG_CRCERR ((uint16_t)0x0010) +#define SPI_FLAG_MODF ((uint16_t)0x0020) +#define SPI_I2S_FLAG_OVR ((uint16_t)0x0040) +#define SPI_I2S_FLAG_BSY ((uint16_t)0x0080) +#define IS_SPI_I2S_CLEAR_FLAG(FLAG) (((FLAG) == SPI_FLAG_CRCERR)) +#define IS_SPI_I2S_GET_FLAG(FLAG) (((FLAG) == SPI_I2S_FLAG_BSY) || ((FLAG) == SPI_I2S_FLAG_OVR) || \ + ((FLAG) == SPI_FLAG_MODF) || ((FLAG) == SPI_FLAG_CRCERR) || \ + ((FLAG) == I2S_FLAG_UDR) || ((FLAG) == I2S_FLAG_CHSIDE) || \ + ((FLAG) == SPI_I2S_FLAG_TXE) || ((FLAG) == SPI_I2S_FLAG_RXNE)) +/** + * @} + */ + +/** @defgroup SPI_CRC_polynomial + * @{ + */ + +#define IS_SPI_CRC_POLYNOMIAL(POLYNOMIAL) ((POLYNOMIAL) >= 0x1) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup SPI_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Exported_Functions + * @{ + */ + +void SPI_I2S_DeInit(SPI_TypeDef* SPIx); +void SPI_Init(SPI_TypeDef* SPIx, SPI_InitTypeDef* SPI_InitStruct); +void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct); +void SPI_StructInit(SPI_InitTypeDef* SPI_InitStruct); +void I2S_StructInit(I2S_InitTypeDef* I2S_InitStruct); +void SPI_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState); +void I2S_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState); +void SPI_I2S_ITConfig(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT, FunctionalState NewState); +void SPI_I2S_DMACmd(SPI_TypeDef* SPIx, uint16_t SPI_I2S_DMAReq, FunctionalState NewState); +void SPI_I2S_SendData(SPI_TypeDef* SPIx, uint16_t Data); +uint16_t SPI_I2S_ReceiveData(SPI_TypeDef* SPIx); +void SPI_NSSInternalSoftwareConfig(SPI_TypeDef* SPIx, uint16_t SPI_NSSInternalSoft); +void SPI_SSOutputCmd(SPI_TypeDef* SPIx, FunctionalState NewState); +void SPI_DataSizeConfig(SPI_TypeDef* SPIx, uint16_t SPI_DataSize); +void SPI_TransmitCRC(SPI_TypeDef* SPIx); +void SPI_CalculateCRC(SPI_TypeDef* SPIx, FunctionalState NewState); +uint16_t SPI_GetCRC(SPI_TypeDef* SPIx, uint8_t SPI_CRC); +uint16_t SPI_GetCRCPolynomial(SPI_TypeDef* SPIx); +void SPI_BiDirectionalLineConfig(SPI_TypeDef* SPIx, uint16_t SPI_Direction); +FlagStatus SPI_I2S_GetFlagStatus(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG); +void SPI_I2S_ClearFlag(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG); +ITStatus SPI_I2S_GetITStatus(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT); +void SPI_I2S_ClearITPendingBit(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_SPI_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_tim.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_tim.h new file mode 100644 index 0000000..65bf76a --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_tim.h @@ -0,0 +1,1164 @@ +/** + ****************************************************************************** + * @file stm32f10x_tim.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the TIM firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_TIM_H +#define __STM32F10x_TIM_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup TIM + * @{ + */ + +/** @defgroup TIM_Exported_Types + * @{ + */ + +/** + * @brief TIM Time Base Init structure definition + * @note This structure is used with all TIMx except for TIM6 and TIM7. + */ + +typedef struct +{ + uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock. + This parameter can be a number between 0x0000 and 0xFFFF */ + + uint16_t TIM_CounterMode; /*!< Specifies the counter mode. + This parameter can be a value of @ref TIM_Counter_Mode */ + + uint16_t TIM_Period; /*!< Specifies the period value to be loaded into the active + Auto-Reload Register at the next update event. + This parameter must be a number between 0x0000 and 0xFFFF. */ + + uint16_t TIM_ClockDivision; /*!< Specifies the clock division. + This parameter can be a value of @ref TIM_Clock_Division_CKD */ + + uint8_t TIM_RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter + reaches zero, an update event is generated and counting restarts + from the RCR value (N). + This means in PWM mode that (N+1) corresponds to: + - the number of PWM periods in edge-aligned mode + - the number of half PWM period in center-aligned mode + This parameter must be a number between 0x00 and 0xFF. + @note This parameter is valid only for TIM1 and TIM8. */ +} TIM_TimeBaseInitTypeDef; + +/** + * @brief TIM Output Compare Init structure definition + */ + +typedef struct +{ + uint16_t TIM_OCMode; /*!< Specifies the TIM mode. + This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */ + + uint16_t TIM_OutputState; /*!< Specifies the TIM Output Compare state. + This parameter can be a value of @ref TIM_Output_Compare_state */ + + uint16_t TIM_OutputNState; /*!< Specifies the TIM complementary Output Compare state. + This parameter can be a value of @ref TIM_Output_Compare_N_state + @note This parameter is valid only for TIM1 and TIM8. */ + + uint16_t TIM_Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register. + This parameter can be a number between 0x0000 and 0xFFFF */ + + uint16_t TIM_OCPolarity; /*!< Specifies the output polarity. + This parameter can be a value of @ref TIM_Output_Compare_Polarity */ + + uint16_t TIM_OCNPolarity; /*!< Specifies the complementary output polarity. + This parameter can be a value of @ref TIM_Output_Compare_N_Polarity + @note This parameter is valid only for TIM1 and TIM8. */ + + uint16_t TIM_OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. + This parameter can be a value of @ref TIM_Output_Compare_Idle_State + @note This parameter is valid only for TIM1 and TIM8. */ + + uint16_t TIM_OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. + This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State + @note This parameter is valid only for TIM1 and TIM8. */ +} TIM_OCInitTypeDef; + +/** + * @brief TIM Input Capture Init structure definition + */ + +typedef struct +{ + + uint16_t TIM_Channel; /*!< Specifies the TIM channel. + This parameter can be a value of @ref TIM_Channel */ + + uint16_t TIM_ICPolarity; /*!< Specifies the active edge of the input signal. + This parameter can be a value of @ref TIM_Input_Capture_Polarity */ + + uint16_t TIM_ICSelection; /*!< Specifies the input. + This parameter can be a value of @ref TIM_Input_Capture_Selection */ + + uint16_t TIM_ICPrescaler; /*!< Specifies the Input Capture Prescaler. + This parameter can be a value of @ref TIM_Input_Capture_Prescaler */ + + uint16_t TIM_ICFilter; /*!< Specifies the input capture filter. + This parameter can be a number between 0x0 and 0xF */ +} TIM_ICInitTypeDef; + +/** + * @brief BDTR structure definition + * @note This structure is used only with TIM1 and TIM8. + */ + +typedef struct +{ + + uint16_t TIM_OSSRState; /*!< Specifies the Off-State selection used in Run mode. + This parameter can be a value of @ref OSSR_Off_State_Selection_for_Run_mode_state */ + + uint16_t TIM_OSSIState; /*!< Specifies the Off-State used in Idle state. + This parameter can be a value of @ref OSSI_Off_State_Selection_for_Idle_mode_state */ + + uint16_t TIM_LOCKLevel; /*!< Specifies the LOCK level parameters. + This parameter can be a value of @ref Lock_level */ + + uint16_t TIM_DeadTime; /*!< Specifies the delay time between the switching-off and the + switching-on of the outputs. + This parameter can be a number between 0x00 and 0xFF */ + + uint16_t TIM_Break; /*!< Specifies whether the TIM Break input is enabled or not. + This parameter can be a value of @ref Break_Input_enable_disable */ + + uint16_t TIM_BreakPolarity; /*!< Specifies the TIM Break Input pin polarity. + This parameter can be a value of @ref Break_Polarity */ + + uint16_t TIM_AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not. + This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */ +} TIM_BDTRInitTypeDef; + +/** @defgroup TIM_Exported_constants + * @{ + */ + +#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM6) || \ + ((PERIPH) == TIM7) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM10)|| \ + ((PERIPH) == TIM11)|| \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM13)|| \ + ((PERIPH) == TIM14)|| \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST1: TIM 1 and 8 */ +#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM8)) + +/* LIST2: TIM 1, 8, 15 16 and 17 */ +#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST3: TIM 1, 2, 3, 4, 5 and 8 */ +#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8)) + +/* LIST4: TIM 1, 2, 3, 4, 5, 8, 15, 16 and 17 */ +#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST5: TIM 1, 2, 3, 4, 5, 8 and 15 */ +#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)) + +/* LIST6: TIM 1, 2, 3, 4, 5, 8, 9, 12 and 15 */ +#define IS_TIM_LIST6_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM15)) + +/* LIST7: TIM 1, 2, 3, 4, 5, 6, 7, 8, 9, 12 and 15 */ +#define IS_TIM_LIST7_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM6) || \ + ((PERIPH) == TIM7) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM15)) + +/* LIST8: TIM 1, 2, 3, 4, 5, 8, 9, 10, 11, 12, 13, 14, 15, 16 and 17 */ +#define IS_TIM_LIST8_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM10)|| \ + ((PERIPH) == TIM11)|| \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM13)|| \ + ((PERIPH) == TIM14)|| \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST9: TIM 1, 2, 3, 4, 5, 6, 7, 8, 15, 16, and 17 */ +#define IS_TIM_LIST9_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM6) || \ + ((PERIPH) == TIM7) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_and_PWM_modes + * @{ + */ + +#define TIM_OCMode_Timing ((uint16_t)0x0000) +#define TIM_OCMode_Active ((uint16_t)0x0010) +#define TIM_OCMode_Inactive ((uint16_t)0x0020) +#define TIM_OCMode_Toggle ((uint16_t)0x0030) +#define TIM_OCMode_PWM1 ((uint16_t)0x0060) +#define TIM_OCMode_PWM2 ((uint16_t)0x0070) +#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \ + ((MODE) == TIM_OCMode_Active) || \ + ((MODE) == TIM_OCMode_Inactive) || \ + ((MODE) == TIM_OCMode_Toggle)|| \ + ((MODE) == TIM_OCMode_PWM1) || \ + ((MODE) == TIM_OCMode_PWM2)) +#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) || \ + ((MODE) == TIM_OCMode_Active) || \ + ((MODE) == TIM_OCMode_Inactive) || \ + ((MODE) == TIM_OCMode_Toggle)|| \ + ((MODE) == TIM_OCMode_PWM1) || \ + ((MODE) == TIM_OCMode_PWM2) || \ + ((MODE) == TIM_ForcedAction_Active) || \ + ((MODE) == TIM_ForcedAction_InActive)) +/** + * @} + */ + +/** @defgroup TIM_One_Pulse_Mode + * @{ + */ + +#define TIM_OPMode_Single ((uint16_t)0x0008) +#define TIM_OPMode_Repetitive ((uint16_t)0x0000) +#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \ + ((MODE) == TIM_OPMode_Repetitive)) +/** + * @} + */ + +/** @defgroup TIM_Channel + * @{ + */ + +#define TIM_Channel_1 ((uint16_t)0x0000) +#define TIM_Channel_2 ((uint16_t)0x0004) +#define TIM_Channel_3 ((uint16_t)0x0008) +#define TIM_Channel_4 ((uint16_t)0x000C) +#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \ + ((CHANNEL) == TIM_Channel_2) || \ + ((CHANNEL) == TIM_Channel_3) || \ + ((CHANNEL) == TIM_Channel_4)) +#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \ + ((CHANNEL) == TIM_Channel_2)) +#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \ + ((CHANNEL) == TIM_Channel_2) || \ + ((CHANNEL) == TIM_Channel_3)) +/** + * @} + */ + +/** @defgroup TIM_Clock_Division_CKD + * @{ + */ + +#define TIM_CKD_DIV1 ((uint16_t)0x0000) +#define TIM_CKD_DIV2 ((uint16_t)0x0100) +#define TIM_CKD_DIV4 ((uint16_t)0x0200) +#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \ + ((DIV) == TIM_CKD_DIV2) || \ + ((DIV) == TIM_CKD_DIV4)) +/** + * @} + */ + +/** @defgroup TIM_Counter_Mode + * @{ + */ + +#define TIM_CounterMode_Up ((uint16_t)0x0000) +#define TIM_CounterMode_Down ((uint16_t)0x0010) +#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020) +#define TIM_CounterMode_CenterAligned2 ((uint16_t)0x0040) +#define TIM_CounterMode_CenterAligned3 ((uint16_t)0x0060) +#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) || \ + ((MODE) == TIM_CounterMode_Down) || \ + ((MODE) == TIM_CounterMode_CenterAligned1) || \ + ((MODE) == TIM_CounterMode_CenterAligned2) || \ + ((MODE) == TIM_CounterMode_CenterAligned3)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Polarity + * @{ + */ + +#define TIM_OCPolarity_High ((uint16_t)0x0000) +#define TIM_OCPolarity_Low ((uint16_t)0x0002) +#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \ + ((POLARITY) == TIM_OCPolarity_Low)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_N_Polarity + * @{ + */ + +#define TIM_OCNPolarity_High ((uint16_t)0x0000) +#define TIM_OCNPolarity_Low ((uint16_t)0x0008) +#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \ + ((POLARITY) == TIM_OCNPolarity_Low)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_state + * @{ + */ + +#define TIM_OutputState_Disable ((uint16_t)0x0000) +#define TIM_OutputState_Enable ((uint16_t)0x0001) +#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \ + ((STATE) == TIM_OutputState_Enable)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_N_state + * @{ + */ + +#define TIM_OutputNState_Disable ((uint16_t)0x0000) +#define TIM_OutputNState_Enable ((uint16_t)0x0004) +#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \ + ((STATE) == TIM_OutputNState_Enable)) +/** + * @} + */ + +/** @defgroup TIM_Capture_Compare_state + * @{ + */ + +#define TIM_CCx_Enable ((uint16_t)0x0001) +#define TIM_CCx_Disable ((uint16_t)0x0000) +#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \ + ((CCX) == TIM_CCx_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Capture_Compare_N_state + * @{ + */ + +#define TIM_CCxN_Enable ((uint16_t)0x0004) +#define TIM_CCxN_Disable ((uint16_t)0x0000) +#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \ + ((CCXN) == TIM_CCxN_Disable)) +/** + * @} + */ + +/** @defgroup Break_Input_enable_disable + * @{ + */ + +#define TIM_Break_Enable ((uint16_t)0x1000) +#define TIM_Break_Disable ((uint16_t)0x0000) +#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \ + ((STATE) == TIM_Break_Disable)) +/** + * @} + */ + +/** @defgroup Break_Polarity + * @{ + */ + +#define TIM_BreakPolarity_Low ((uint16_t)0x0000) +#define TIM_BreakPolarity_High ((uint16_t)0x2000) +#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \ + ((POLARITY) == TIM_BreakPolarity_High)) +/** + * @} + */ + +/** @defgroup TIM_AOE_Bit_Set_Reset + * @{ + */ + +#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000) +#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000) +#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \ + ((STATE) == TIM_AutomaticOutput_Disable)) +/** + * @} + */ + +/** @defgroup Lock_level + * @{ + */ + +#define TIM_LOCKLevel_OFF ((uint16_t)0x0000) +#define TIM_LOCKLevel_1 ((uint16_t)0x0100) +#define TIM_LOCKLevel_2 ((uint16_t)0x0200) +#define TIM_LOCKLevel_3 ((uint16_t)0x0300) +#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \ + ((LEVEL) == TIM_LOCKLevel_1) || \ + ((LEVEL) == TIM_LOCKLevel_2) || \ + ((LEVEL) == TIM_LOCKLevel_3)) +/** + * @} + */ + +/** @defgroup OSSI_Off_State_Selection_for_Idle_mode_state + * @{ + */ + +#define TIM_OSSIState_Enable ((uint16_t)0x0400) +#define TIM_OSSIState_Disable ((uint16_t)0x0000) +#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \ + ((STATE) == TIM_OSSIState_Disable)) +/** + * @} + */ + +/** @defgroup OSSR_Off_State_Selection_for_Run_mode_state + * @{ + */ + +#define TIM_OSSRState_Enable ((uint16_t)0x0800) +#define TIM_OSSRState_Disable ((uint16_t)0x0000) +#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \ + ((STATE) == TIM_OSSRState_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Idle_State + * @{ + */ + +#define TIM_OCIdleState_Set ((uint16_t)0x0100) +#define TIM_OCIdleState_Reset ((uint16_t)0x0000) +#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \ + ((STATE) == TIM_OCIdleState_Reset)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_N_Idle_State + * @{ + */ + +#define TIM_OCNIdleState_Set ((uint16_t)0x0200) +#define TIM_OCNIdleState_Reset ((uint16_t)0x0000) +#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \ + ((STATE) == TIM_OCNIdleState_Reset)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Polarity + * @{ + */ + +#define TIM_ICPolarity_Rising ((uint16_t)0x0000) +#define TIM_ICPolarity_Falling ((uint16_t)0x0002) +#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A) +#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \ + ((POLARITY) == TIM_ICPolarity_Falling)) +#define IS_TIM_IC_POLARITY_LITE(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \ + ((POLARITY) == TIM_ICPolarity_Falling)|| \ + ((POLARITY) == TIM_ICPolarity_BothEdge)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Selection + * @{ + */ + +#define TIM_ICSelection_DirectTI ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be + connected to IC1, IC2, IC3 or IC4, respectively */ +#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be + connected to IC2, IC1, IC4 or IC3, respectively. */ +#define TIM_ICSelection_TRC ((uint16_t)0x0003) /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */ +#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \ + ((SELECTION) == TIM_ICSelection_IndirectTI) || \ + ((SELECTION) == TIM_ICSelection_TRC)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Prescaler + * @{ + */ + +#define TIM_ICPSC_DIV1 ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */ +#define TIM_ICPSC_DIV2 ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */ +#define TIM_ICPSC_DIV4 ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */ +#define TIM_ICPSC_DIV8 ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */ +#define IS_TIM_IC_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ICPSC_DIV1) || \ + ((PRESCALER) == TIM_ICPSC_DIV2) || \ + ((PRESCALER) == TIM_ICPSC_DIV4) || \ + ((PRESCALER) == TIM_ICPSC_DIV8)) +/** + * @} + */ + +/** @defgroup TIM_interrupt_sources + * @{ + */ + +#define TIM_IT_Update ((uint16_t)0x0001) +#define TIM_IT_CC1 ((uint16_t)0x0002) +#define TIM_IT_CC2 ((uint16_t)0x0004) +#define TIM_IT_CC3 ((uint16_t)0x0008) +#define TIM_IT_CC4 ((uint16_t)0x0010) +#define TIM_IT_COM ((uint16_t)0x0020) +#define TIM_IT_Trigger ((uint16_t)0x0040) +#define TIM_IT_Break ((uint16_t)0x0080) +#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000)) + +#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) || \ + ((IT) == TIM_IT_CC1) || \ + ((IT) == TIM_IT_CC2) || \ + ((IT) == TIM_IT_CC3) || \ + ((IT) == TIM_IT_CC4) || \ + ((IT) == TIM_IT_COM) || \ + ((IT) == TIM_IT_Trigger) || \ + ((IT) == TIM_IT_Break)) +/** + * @} + */ + +/** @defgroup TIM_DMA_Base_address + * @{ + */ + +#define TIM_DMABase_CR1 ((uint16_t)0x0000) +#define TIM_DMABase_CR2 ((uint16_t)0x0001) +#define TIM_DMABase_SMCR ((uint16_t)0x0002) +#define TIM_DMABase_DIER ((uint16_t)0x0003) +#define TIM_DMABase_SR ((uint16_t)0x0004) +#define TIM_DMABase_EGR ((uint16_t)0x0005) +#define TIM_DMABase_CCMR1 ((uint16_t)0x0006) +#define TIM_DMABase_CCMR2 ((uint16_t)0x0007) +#define TIM_DMABase_CCER ((uint16_t)0x0008) +#define TIM_DMABase_CNT ((uint16_t)0x0009) +#define TIM_DMABase_PSC ((uint16_t)0x000A) +#define TIM_DMABase_ARR ((uint16_t)0x000B) +#define TIM_DMABase_RCR ((uint16_t)0x000C) +#define TIM_DMABase_CCR1 ((uint16_t)0x000D) +#define TIM_DMABase_CCR2 ((uint16_t)0x000E) +#define TIM_DMABase_CCR3 ((uint16_t)0x000F) +#define TIM_DMABase_CCR4 ((uint16_t)0x0010) +#define TIM_DMABase_BDTR ((uint16_t)0x0011) +#define TIM_DMABase_DCR ((uint16_t)0x0012) +#define IS_TIM_DMA_BASE(BASE) (((BASE) == TIM_DMABase_CR1) || \ + ((BASE) == TIM_DMABase_CR2) || \ + ((BASE) == TIM_DMABase_SMCR) || \ + ((BASE) == TIM_DMABase_DIER) || \ + ((BASE) == TIM_DMABase_SR) || \ + ((BASE) == TIM_DMABase_EGR) || \ + ((BASE) == TIM_DMABase_CCMR1) || \ + ((BASE) == TIM_DMABase_CCMR2) || \ + ((BASE) == TIM_DMABase_CCER) || \ + ((BASE) == TIM_DMABase_CNT) || \ + ((BASE) == TIM_DMABase_PSC) || \ + ((BASE) == TIM_DMABase_ARR) || \ + ((BASE) == TIM_DMABase_RCR) || \ + ((BASE) == TIM_DMABase_CCR1) || \ + ((BASE) == TIM_DMABase_CCR2) || \ + ((BASE) == TIM_DMABase_CCR3) || \ + ((BASE) == TIM_DMABase_CCR4) || \ + ((BASE) == TIM_DMABase_BDTR) || \ + ((BASE) == TIM_DMABase_DCR)) +/** + * @} + */ + +/** @defgroup TIM_DMA_Burst_Length + * @{ + */ + +#define TIM_DMABurstLength_1Transfer ((uint16_t)0x0000) +#define TIM_DMABurstLength_2Transfers ((uint16_t)0x0100) +#define TIM_DMABurstLength_3Transfers ((uint16_t)0x0200) +#define TIM_DMABurstLength_4Transfers ((uint16_t)0x0300) +#define TIM_DMABurstLength_5Transfers ((uint16_t)0x0400) +#define TIM_DMABurstLength_6Transfers ((uint16_t)0x0500) +#define TIM_DMABurstLength_7Transfers ((uint16_t)0x0600) +#define TIM_DMABurstLength_8Transfers ((uint16_t)0x0700) +#define TIM_DMABurstLength_9Transfers ((uint16_t)0x0800) +#define TIM_DMABurstLength_10Transfers ((uint16_t)0x0900) +#define TIM_DMABurstLength_11Transfers ((uint16_t)0x0A00) +#define TIM_DMABurstLength_12Transfers ((uint16_t)0x0B00) +#define TIM_DMABurstLength_13Transfers ((uint16_t)0x0C00) +#define TIM_DMABurstLength_14Transfers ((uint16_t)0x0D00) +#define TIM_DMABurstLength_15Transfers ((uint16_t)0x0E00) +#define TIM_DMABurstLength_16Transfers ((uint16_t)0x0F00) +#define TIM_DMABurstLength_17Transfers ((uint16_t)0x1000) +#define TIM_DMABurstLength_18Transfers ((uint16_t)0x1100) +#define IS_TIM_DMA_LENGTH(LENGTH) (((LENGTH) == TIM_DMABurstLength_1Transfer) || \ + ((LENGTH) == TIM_DMABurstLength_2Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_3Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_4Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_5Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_6Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_7Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_8Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_9Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_10Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_11Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_12Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_13Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_14Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_15Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_16Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_17Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_18Transfers)) +/** + * @} + */ + +/** @defgroup TIM_DMA_sources + * @{ + */ + +#define TIM_DMA_Update ((uint16_t)0x0100) +#define TIM_DMA_CC1 ((uint16_t)0x0200) +#define TIM_DMA_CC2 ((uint16_t)0x0400) +#define TIM_DMA_CC3 ((uint16_t)0x0800) +#define TIM_DMA_CC4 ((uint16_t)0x1000) +#define TIM_DMA_COM ((uint16_t)0x2000) +#define TIM_DMA_Trigger ((uint16_t)0x4000) +#define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000)) + +/** + * @} + */ + +/** @defgroup TIM_External_Trigger_Prescaler + * @{ + */ + +#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000) +#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000) +#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000) +#define TIM_ExtTRGPSC_DIV8 ((uint16_t)0x3000) +#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) || \ + ((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \ + ((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \ + ((PRESCALER) == TIM_ExtTRGPSC_DIV8)) +/** + * @} + */ + +/** @defgroup TIM_Internal_Trigger_Selection + * @{ + */ + +#define TIM_TS_ITR0 ((uint16_t)0x0000) +#define TIM_TS_ITR1 ((uint16_t)0x0010) +#define TIM_TS_ITR2 ((uint16_t)0x0020) +#define TIM_TS_ITR3 ((uint16_t)0x0030) +#define TIM_TS_TI1F_ED ((uint16_t)0x0040) +#define TIM_TS_TI1FP1 ((uint16_t)0x0050) +#define TIM_TS_TI2FP2 ((uint16_t)0x0060) +#define TIM_TS_ETRF ((uint16_t)0x0070) +#define IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \ + ((SELECTION) == TIM_TS_ITR1) || \ + ((SELECTION) == TIM_TS_ITR2) || \ + ((SELECTION) == TIM_TS_ITR3) || \ + ((SELECTION) == TIM_TS_TI1F_ED) || \ + ((SELECTION) == TIM_TS_TI1FP1) || \ + ((SELECTION) == TIM_TS_TI2FP2) || \ + ((SELECTION) == TIM_TS_ETRF)) +#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \ + ((SELECTION) == TIM_TS_ITR1) || \ + ((SELECTION) == TIM_TS_ITR2) || \ + ((SELECTION) == TIM_TS_ITR3)) +/** + * @} + */ + +/** @defgroup TIM_TIx_External_Clock_Source + * @{ + */ + +#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050) +#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060) +#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040) +#define IS_TIM_TIXCLK_SOURCE(SOURCE) (((SOURCE) == TIM_TIxExternalCLK1Source_TI1) || \ + ((SOURCE) == TIM_TIxExternalCLK1Source_TI2) || \ + ((SOURCE) == TIM_TIxExternalCLK1Source_TI1ED)) +/** + * @} + */ + +/** @defgroup TIM_External_Trigger_Polarity + * @{ + */ +#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000) +#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000) +#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \ + ((POLARITY) == TIM_ExtTRGPolarity_NonInverted)) +/** + * @} + */ + +/** @defgroup TIM_Prescaler_Reload_Mode + * @{ + */ + +#define TIM_PSCReloadMode_Update ((uint16_t)0x0000) +#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001) +#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \ + ((RELOAD) == TIM_PSCReloadMode_Immediate)) +/** + * @} + */ + +/** @defgroup TIM_Forced_Action + * @{ + */ + +#define TIM_ForcedAction_Active ((uint16_t)0x0050) +#define TIM_ForcedAction_InActive ((uint16_t)0x0040) +#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \ + ((ACTION) == TIM_ForcedAction_InActive)) +/** + * @} + */ + +/** @defgroup TIM_Encoder_Mode + * @{ + */ + +#define TIM_EncoderMode_TI1 ((uint16_t)0x0001) +#define TIM_EncoderMode_TI2 ((uint16_t)0x0002) +#define TIM_EncoderMode_TI12 ((uint16_t)0x0003) +#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \ + ((MODE) == TIM_EncoderMode_TI2) || \ + ((MODE) == TIM_EncoderMode_TI12)) +/** + * @} + */ + + +/** @defgroup TIM_Event_Source + * @{ + */ + +#define TIM_EventSource_Update ((uint16_t)0x0001) +#define TIM_EventSource_CC1 ((uint16_t)0x0002) +#define TIM_EventSource_CC2 ((uint16_t)0x0004) +#define TIM_EventSource_CC3 ((uint16_t)0x0008) +#define TIM_EventSource_CC4 ((uint16_t)0x0010) +#define TIM_EventSource_COM ((uint16_t)0x0020) +#define TIM_EventSource_Trigger ((uint16_t)0x0040) +#define TIM_EventSource_Break ((uint16_t)0x0080) +#define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000)) + +/** + * @} + */ + +/** @defgroup TIM_Update_Source + * @{ + */ + +#define TIM_UpdateSource_Global ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow + or the setting of UG bit, or an update generation + through the slave mode controller. */ +#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */ +#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \ + ((SOURCE) == TIM_UpdateSource_Regular)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Preload_State + * @{ + */ + +#define TIM_OCPreload_Enable ((uint16_t)0x0008) +#define TIM_OCPreload_Disable ((uint16_t)0x0000) +#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \ + ((STATE) == TIM_OCPreload_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Fast_State + * @{ + */ + +#define TIM_OCFast_Enable ((uint16_t)0x0004) +#define TIM_OCFast_Disable ((uint16_t)0x0000) +#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \ + ((STATE) == TIM_OCFast_Disable)) + +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Clear_State + * @{ + */ + +#define TIM_OCClear_Enable ((uint16_t)0x0080) +#define TIM_OCClear_Disable ((uint16_t)0x0000) +#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \ + ((STATE) == TIM_OCClear_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Trigger_Output_Source + * @{ + */ + +#define TIM_TRGOSource_Reset ((uint16_t)0x0000) +#define TIM_TRGOSource_Enable ((uint16_t)0x0010) +#define TIM_TRGOSource_Update ((uint16_t)0x0020) +#define TIM_TRGOSource_OC1 ((uint16_t)0x0030) +#define TIM_TRGOSource_OC1Ref ((uint16_t)0x0040) +#define TIM_TRGOSource_OC2Ref ((uint16_t)0x0050) +#define TIM_TRGOSource_OC3Ref ((uint16_t)0x0060) +#define TIM_TRGOSource_OC4Ref ((uint16_t)0x0070) +#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \ + ((SOURCE) == TIM_TRGOSource_Enable) || \ + ((SOURCE) == TIM_TRGOSource_Update) || \ + ((SOURCE) == TIM_TRGOSource_OC1) || \ + ((SOURCE) == TIM_TRGOSource_OC1Ref) || \ + ((SOURCE) == TIM_TRGOSource_OC2Ref) || \ + ((SOURCE) == TIM_TRGOSource_OC3Ref) || \ + ((SOURCE) == TIM_TRGOSource_OC4Ref)) +/** + * @} + */ + +/** @defgroup TIM_Slave_Mode + * @{ + */ + +#define TIM_SlaveMode_Reset ((uint16_t)0x0004) +#define TIM_SlaveMode_Gated ((uint16_t)0x0005) +#define TIM_SlaveMode_Trigger ((uint16_t)0x0006) +#define TIM_SlaveMode_External1 ((uint16_t)0x0007) +#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \ + ((MODE) == TIM_SlaveMode_Gated) || \ + ((MODE) == TIM_SlaveMode_Trigger) || \ + ((MODE) == TIM_SlaveMode_External1)) +/** + * @} + */ + +/** @defgroup TIM_Master_Slave_Mode + * @{ + */ + +#define TIM_MasterSlaveMode_Enable ((uint16_t)0x0080) +#define TIM_MasterSlaveMode_Disable ((uint16_t)0x0000) +#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \ + ((STATE) == TIM_MasterSlaveMode_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Flags + * @{ + */ + +#define TIM_FLAG_Update ((uint16_t)0x0001) +#define TIM_FLAG_CC1 ((uint16_t)0x0002) +#define TIM_FLAG_CC2 ((uint16_t)0x0004) +#define TIM_FLAG_CC3 ((uint16_t)0x0008) +#define TIM_FLAG_CC4 ((uint16_t)0x0010) +#define TIM_FLAG_COM ((uint16_t)0x0020) +#define TIM_FLAG_Trigger ((uint16_t)0x0040) +#define TIM_FLAG_Break ((uint16_t)0x0080) +#define TIM_FLAG_CC1OF ((uint16_t)0x0200) +#define TIM_FLAG_CC2OF ((uint16_t)0x0400) +#define TIM_FLAG_CC3OF ((uint16_t)0x0800) +#define TIM_FLAG_CC4OF ((uint16_t)0x1000) +#define IS_TIM_GET_FLAG(FLAG) (((FLAG) == TIM_FLAG_Update) || \ + ((FLAG) == TIM_FLAG_CC1) || \ + ((FLAG) == TIM_FLAG_CC2) || \ + ((FLAG) == TIM_FLAG_CC3) || \ + ((FLAG) == TIM_FLAG_CC4) || \ + ((FLAG) == TIM_FLAG_COM) || \ + ((FLAG) == TIM_FLAG_Trigger) || \ + ((FLAG) == TIM_FLAG_Break) || \ + ((FLAG) == TIM_FLAG_CC1OF) || \ + ((FLAG) == TIM_FLAG_CC2OF) || \ + ((FLAG) == TIM_FLAG_CC3OF) || \ + ((FLAG) == TIM_FLAG_CC4OF)) + + +#define IS_TIM_CLEAR_FLAG(TIM_FLAG) ((((TIM_FLAG) & (uint16_t)0xE100) == 0x0000) && ((TIM_FLAG) != 0x0000)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Filer_Value + * @{ + */ + +#define IS_TIM_IC_FILTER(ICFILTER) ((ICFILTER) <= 0xF) +/** + * @} + */ + +/** @defgroup TIM_External_Trigger_Filter + * @{ + */ + +#define IS_TIM_EXT_FILTER(EXTFILTER) ((EXTFILTER) <= 0xF) +/** + * @} + */ + +/** @defgroup TIM_Legacy + * @{ + */ + +#define TIM_DMABurstLength_1Byte TIM_DMABurstLength_1Transfer +#define TIM_DMABurstLength_2Bytes TIM_DMABurstLength_2Transfers +#define TIM_DMABurstLength_3Bytes TIM_DMABurstLength_3Transfers +#define TIM_DMABurstLength_4Bytes TIM_DMABurstLength_4Transfers +#define TIM_DMABurstLength_5Bytes TIM_DMABurstLength_5Transfers +#define TIM_DMABurstLength_6Bytes TIM_DMABurstLength_6Transfers +#define TIM_DMABurstLength_7Bytes TIM_DMABurstLength_7Transfers +#define TIM_DMABurstLength_8Bytes TIM_DMABurstLength_8Transfers +#define TIM_DMABurstLength_9Bytes TIM_DMABurstLength_9Transfers +#define TIM_DMABurstLength_10Bytes TIM_DMABurstLength_10Transfers +#define TIM_DMABurstLength_11Bytes TIM_DMABurstLength_11Transfers +#define TIM_DMABurstLength_12Bytes TIM_DMABurstLength_12Transfers +#define TIM_DMABurstLength_13Bytes TIM_DMABurstLength_13Transfers +#define TIM_DMABurstLength_14Bytes TIM_DMABurstLength_14Transfers +#define TIM_DMABurstLength_15Bytes TIM_DMABurstLength_15Transfers +#define TIM_DMABurstLength_16Bytes TIM_DMABurstLength_16Transfers +#define TIM_DMABurstLength_17Bytes TIM_DMABurstLength_17Transfers +#define TIM_DMABurstLength_18Bytes TIM_DMABurstLength_18Transfers +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup TIM_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Exported_Functions + * @{ + */ + +void TIM_DeInit(TIM_TypeDef* TIMx); +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); +void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct); +void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); +void TIM_OCStructInit(TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_ICStructInit(TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_BDTRStructInit(TIM_BDTRInitTypeDef* TIM_BDTRInitStruct); +void TIM_Cmd(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_ITConfig(TIM_TypeDef* TIMx, uint16_t TIM_IT, FunctionalState NewState); +void TIM_GenerateEvent(TIM_TypeDef* TIMx, uint16_t TIM_EventSource); +void TIM_DMAConfig(TIM_TypeDef* TIMx, uint16_t TIM_DMABase, uint16_t TIM_DMABurstLength); +void TIM_DMACmd(TIM_TypeDef* TIMx, uint16_t TIM_DMASource, FunctionalState NewState); +void TIM_InternalClockConfig(TIM_TypeDef* TIMx); +void TIM_ITRxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource); +void TIM_TIxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_TIxExternalCLKSource, + uint16_t TIM_ICPolarity, uint16_t ICFilter); +void TIM_ETRClockMode1Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter); +void TIM_ETRClockMode2Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, + uint16_t TIM_ExtTRGPolarity, uint16_t ExtTRGFilter); +void TIM_ETRConfig(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter); +void TIM_PrescalerConfig(TIM_TypeDef* TIMx, uint16_t Prescaler, uint16_t TIM_PSCReloadMode); +void TIM_CounterModeConfig(TIM_TypeDef* TIMx, uint16_t TIM_CounterMode); +void TIM_SelectInputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource); +void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode, + uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity); +void TIM_ForcedOC1Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ForcedOC2Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ForcedOC3Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ForcedOC4Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ARRPreloadConfig(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_SelectCOM(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_SelectCCDMA(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_CCPreloadControl(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_OC1PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC2PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC3PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC4PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC1FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_OC2FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_OC3FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_OC4FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_ClearOC1Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_ClearOC2Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_ClearOC3Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_ClearOC4Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_OC1PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_OC1NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity); +void TIM_OC2PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_OC2NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity); +void TIM_OC3PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_OC3NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity); +void TIM_OC4PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_CCxCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCx); +void TIM_CCxNCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCxN); +void TIM_SelectOCxM(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode); +void TIM_UpdateDisableConfig(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_UpdateRequestConfig(TIM_TypeDef* TIMx, uint16_t TIM_UpdateSource); +void TIM_SelectHallSensor(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_SelectOnePulseMode(TIM_TypeDef* TIMx, uint16_t TIM_OPMode); +void TIM_SelectOutputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_TRGOSource); +void TIM_SelectSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_SlaveMode); +void TIM_SelectMasterSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_MasterSlaveMode); +void TIM_SetCounter(TIM_TypeDef* TIMx, uint16_t Counter); +void TIM_SetAutoreload(TIM_TypeDef* TIMx, uint16_t Autoreload); +void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare1); +void TIM_SetCompare2(TIM_TypeDef* TIMx, uint16_t Compare2); +void TIM_SetCompare3(TIM_TypeDef* TIMx, uint16_t Compare3); +void TIM_SetCompare4(TIM_TypeDef* TIMx, uint16_t Compare4); +void TIM_SetIC1Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetIC2Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetIC3Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetIC4Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetClockDivision(TIM_TypeDef* TIMx, uint16_t TIM_CKD); +uint16_t TIM_GetCapture1(TIM_TypeDef* TIMx); +uint16_t TIM_GetCapture2(TIM_TypeDef* TIMx); +uint16_t TIM_GetCapture3(TIM_TypeDef* TIMx); +uint16_t TIM_GetCapture4(TIM_TypeDef* TIMx); +uint16_t TIM_GetCounter(TIM_TypeDef* TIMx); +uint16_t TIM_GetPrescaler(TIM_TypeDef* TIMx); +FlagStatus TIM_GetFlagStatus(TIM_TypeDef* TIMx, uint16_t TIM_FLAG); +void TIM_ClearFlag(TIM_TypeDef* TIMx, uint16_t TIM_FLAG); +ITStatus TIM_GetITStatus(TIM_TypeDef* TIMx, uint16_t TIM_IT); +void TIM_ClearITPendingBit(TIM_TypeDef* TIMx, uint16_t TIM_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_TIM_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_usart.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_usart.h new file mode 100644 index 0000000..162fa87 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_usart.h @@ -0,0 +1,412 @@ +/** + ****************************************************************************** + * @file stm32f10x_usart.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the USART + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_USART_H +#define __STM32F10x_USART_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup USART + * @{ + */ + +/** @defgroup USART_Exported_Types + * @{ + */ + +/** + * @brief USART Init Structure definition + */ + +typedef struct +{ + uint32_t USART_BaudRate; /*!< This member configures the USART communication baud rate. + The baud rate is computed using the following formula: + - IntegerDivider = ((PCLKx) / (16 * (USART_InitStruct->USART_BaudRate))) + - FractionalDivider = ((IntegerDivider - ((u32) IntegerDivider)) * 16) + 0.5 */ + + uint16_t USART_WordLength; /*!< Specifies the number of data bits transmitted or received in a frame. + This parameter can be a value of @ref USART_Word_Length */ + + uint16_t USART_StopBits; /*!< Specifies the number of stop bits transmitted. + This parameter can be a value of @ref USART_Stop_Bits */ + + uint16_t USART_Parity; /*!< Specifies the parity mode. + This parameter can be a value of @ref USART_Parity + @note When parity is enabled, the computed parity is inserted + at the MSB position of the transmitted data (9th bit when + the word length is set to 9 data bits; 8th bit when the + word length is set to 8 data bits). */ + + uint16_t USART_Mode; /*!< Specifies wether the Receive or Transmit mode is enabled or disabled. + This parameter can be a value of @ref USART_Mode */ + + uint16_t USART_HardwareFlowControl; /*!< Specifies wether the hardware flow control mode is enabled + or disabled. + This parameter can be a value of @ref USART_Hardware_Flow_Control */ +} USART_InitTypeDef; + +/** + * @brief USART Clock Init Structure definition + */ + +typedef struct +{ + + uint16_t USART_Clock; /*!< Specifies whether the USART clock is enabled or disabled. + This parameter can be a value of @ref USART_Clock */ + + uint16_t USART_CPOL; /*!< Specifies the steady state value of the serial clock. + This parameter can be a value of @ref USART_Clock_Polarity */ + + uint16_t USART_CPHA; /*!< Specifies the clock transition on which the bit capture is made. + This parameter can be a value of @ref USART_Clock_Phase */ + + uint16_t USART_LastBit; /*!< Specifies whether the clock pulse corresponding to the last transmitted + data bit (MSB) has to be output on the SCLK pin in synchronous mode. + This parameter can be a value of @ref USART_Last_Bit */ +} USART_ClockInitTypeDef; + +/** + * @} + */ + +/** @defgroup USART_Exported_Constants + * @{ + */ + +#define IS_USART_ALL_PERIPH(PERIPH) (((PERIPH) == USART1) || \ + ((PERIPH) == USART2) || \ + ((PERIPH) == USART3) || \ + ((PERIPH) == UART4) || \ + ((PERIPH) == UART5)) + +#define IS_USART_123_PERIPH(PERIPH) (((PERIPH) == USART1) || \ + ((PERIPH) == USART2) || \ + ((PERIPH) == USART3)) + +#define IS_USART_1234_PERIPH(PERIPH) (((PERIPH) == USART1) || \ + ((PERIPH) == USART2) || \ + ((PERIPH) == USART3) || \ + ((PERIPH) == UART4)) +/** @defgroup USART_Word_Length + * @{ + */ + +#define USART_WordLength_8b ((uint16_t)0x0000) +#define USART_WordLength_9b ((uint16_t)0x1000) + +#define IS_USART_WORD_LENGTH(LENGTH) (((LENGTH) == USART_WordLength_8b) || \ + ((LENGTH) == USART_WordLength_9b)) +/** + * @} + */ + +/** @defgroup USART_Stop_Bits + * @{ + */ + +#define USART_StopBits_1 ((uint16_t)0x0000) +#define USART_StopBits_0_5 ((uint16_t)0x1000) +#define USART_StopBits_2 ((uint16_t)0x2000) +#define USART_StopBits_1_5 ((uint16_t)0x3000) +#define IS_USART_STOPBITS(STOPBITS) (((STOPBITS) == USART_StopBits_1) || \ + ((STOPBITS) == USART_StopBits_0_5) || \ + ((STOPBITS) == USART_StopBits_2) || \ + ((STOPBITS) == USART_StopBits_1_5)) +/** + * @} + */ + +/** @defgroup USART_Parity + * @{ + */ + +#define USART_Parity_No ((uint16_t)0x0000) +#define USART_Parity_Even ((uint16_t)0x0400) +#define USART_Parity_Odd ((uint16_t)0x0600) +#define IS_USART_PARITY(PARITY) (((PARITY) == USART_Parity_No) || \ + ((PARITY) == USART_Parity_Even) || \ + ((PARITY) == USART_Parity_Odd)) +/** + * @} + */ + +/** @defgroup USART_Mode + * @{ + */ + +#define USART_Mode_Rx ((uint16_t)0x0004) +#define USART_Mode_Tx ((uint16_t)0x0008) +#define IS_USART_MODE(MODE) ((((MODE) & (uint16_t)0xFFF3) == 0x00) && ((MODE) != (uint16_t)0x00)) +/** + * @} + */ + +/** @defgroup USART_Hardware_Flow_Control + * @{ + */ +#define USART_HardwareFlowControl_None ((uint16_t)0x0000) +#define USART_HardwareFlowControl_RTS ((uint16_t)0x0100) +#define USART_HardwareFlowControl_CTS ((uint16_t)0x0200) +#define USART_HardwareFlowControl_RTS_CTS ((uint16_t)0x0300) +#define IS_USART_HARDWARE_FLOW_CONTROL(CONTROL)\ + (((CONTROL) == USART_HardwareFlowControl_None) || \ + ((CONTROL) == USART_HardwareFlowControl_RTS) || \ + ((CONTROL) == USART_HardwareFlowControl_CTS) || \ + ((CONTROL) == USART_HardwareFlowControl_RTS_CTS)) +/** + * @} + */ + +/** @defgroup USART_Clock + * @{ + */ +#define USART_Clock_Disable ((uint16_t)0x0000) +#define USART_Clock_Enable ((uint16_t)0x0800) +#define IS_USART_CLOCK(CLOCK) (((CLOCK) == USART_Clock_Disable) || \ + ((CLOCK) == USART_Clock_Enable)) +/** + * @} + */ + +/** @defgroup USART_Clock_Polarity + * @{ + */ + +#define USART_CPOL_Low ((uint16_t)0x0000) +#define USART_CPOL_High ((uint16_t)0x0400) +#define IS_USART_CPOL(CPOL) (((CPOL) == USART_CPOL_Low) || ((CPOL) == USART_CPOL_High)) + +/** + * @} + */ + +/** @defgroup USART_Clock_Phase + * @{ + */ + +#define USART_CPHA_1Edge ((uint16_t)0x0000) +#define USART_CPHA_2Edge ((uint16_t)0x0200) +#define IS_USART_CPHA(CPHA) (((CPHA) == USART_CPHA_1Edge) || ((CPHA) == USART_CPHA_2Edge)) + +/** + * @} + */ + +/** @defgroup USART_Last_Bit + * @{ + */ + +#define USART_LastBit_Disable ((uint16_t)0x0000) +#define USART_LastBit_Enable ((uint16_t)0x0100) +#define IS_USART_LASTBIT(LASTBIT) (((LASTBIT) == USART_LastBit_Disable) || \ + ((LASTBIT) == USART_LastBit_Enable)) +/** + * @} + */ + +/** @defgroup USART_Interrupt_definition + * @{ + */ + +#define USART_IT_PE ((uint16_t)0x0028) +#define USART_IT_TXE ((uint16_t)0x0727) +#define USART_IT_TC ((uint16_t)0x0626) +#define USART_IT_RXNE ((uint16_t)0x0525) +#define USART_IT_IDLE ((uint16_t)0x0424) +#define USART_IT_LBD ((uint16_t)0x0846) +#define USART_IT_CTS ((uint16_t)0x096A) +#define USART_IT_ERR ((uint16_t)0x0060) +#define USART_IT_ORE ((uint16_t)0x0360) +#define USART_IT_NE ((uint16_t)0x0260) +#define USART_IT_FE ((uint16_t)0x0160) +#define IS_USART_CONFIG_IT(IT) (((IT) == USART_IT_PE) || ((IT) == USART_IT_TXE) || \ + ((IT) == USART_IT_TC) || ((IT) == USART_IT_RXNE) || \ + ((IT) == USART_IT_IDLE) || ((IT) == USART_IT_LBD) || \ + ((IT) == USART_IT_CTS) || ((IT) == USART_IT_ERR)) +#define IS_USART_GET_IT(IT) (((IT) == USART_IT_PE) || ((IT) == USART_IT_TXE) || \ + ((IT) == USART_IT_TC) || ((IT) == USART_IT_RXNE) || \ + ((IT) == USART_IT_IDLE) || ((IT) == USART_IT_LBD) || \ + ((IT) == USART_IT_CTS) || ((IT) == USART_IT_ORE) || \ + ((IT) == USART_IT_NE) || ((IT) == USART_IT_FE)) +#define IS_USART_CLEAR_IT(IT) (((IT) == USART_IT_TC) || ((IT) == USART_IT_RXNE) || \ + ((IT) == USART_IT_LBD) || ((IT) == USART_IT_CTS)) +/** + * @} + */ + +/** @defgroup USART_DMA_Requests + * @{ + */ + +#define USART_DMAReq_Tx ((uint16_t)0x0080) +#define USART_DMAReq_Rx ((uint16_t)0x0040) +#define IS_USART_DMAREQ(DMAREQ) ((((DMAREQ) & (uint16_t)0xFF3F) == 0x00) && ((DMAREQ) != (uint16_t)0x00)) + +/** + * @} + */ + +/** @defgroup USART_WakeUp_methods + * @{ + */ + +#define USART_WakeUp_IdleLine ((uint16_t)0x0000) +#define USART_WakeUp_AddressMark ((uint16_t)0x0800) +#define IS_USART_WAKEUP(WAKEUP) (((WAKEUP) == USART_WakeUp_IdleLine) || \ + ((WAKEUP) == USART_WakeUp_AddressMark)) +/** + * @} + */ + +/** @defgroup USART_LIN_Break_Detection_Length + * @{ + */ + +#define USART_LINBreakDetectLength_10b ((uint16_t)0x0000) +#define USART_LINBreakDetectLength_11b ((uint16_t)0x0020) +#define IS_USART_LIN_BREAK_DETECT_LENGTH(LENGTH) \ + (((LENGTH) == USART_LINBreakDetectLength_10b) || \ + ((LENGTH) == USART_LINBreakDetectLength_11b)) +/** + * @} + */ + +/** @defgroup USART_IrDA_Low_Power + * @{ + */ + +#define USART_IrDAMode_LowPower ((uint16_t)0x0004) +#define USART_IrDAMode_Normal ((uint16_t)0x0000) +#define IS_USART_IRDA_MODE(MODE) (((MODE) == USART_IrDAMode_LowPower) || \ + ((MODE) == USART_IrDAMode_Normal)) +/** + * @} + */ + +/** @defgroup USART_Flags + * @{ + */ + +#define USART_FLAG_CTS ((uint16_t)0x0200) +#define USART_FLAG_LBD ((uint16_t)0x0100) +#define USART_FLAG_TXE ((uint16_t)0x0080) +#define USART_FLAG_TC ((uint16_t)0x0040) +#define USART_FLAG_RXNE ((uint16_t)0x0020) +#define USART_FLAG_IDLE ((uint16_t)0x0010) +#define USART_FLAG_ORE ((uint16_t)0x0008) +#define USART_FLAG_NE ((uint16_t)0x0004) +#define USART_FLAG_FE ((uint16_t)0x0002) +#define USART_FLAG_PE ((uint16_t)0x0001) +#define IS_USART_FLAG(FLAG) (((FLAG) == USART_FLAG_PE) || ((FLAG) == USART_FLAG_TXE) || \ + ((FLAG) == USART_FLAG_TC) || ((FLAG) == USART_FLAG_RXNE) || \ + ((FLAG) == USART_FLAG_IDLE) || ((FLAG) == USART_FLAG_LBD) || \ + ((FLAG) == USART_FLAG_CTS) || ((FLAG) == USART_FLAG_ORE) || \ + ((FLAG) == USART_FLAG_NE) || ((FLAG) == USART_FLAG_FE)) + +#define IS_USART_CLEAR_FLAG(FLAG) ((((FLAG) & (uint16_t)0xFC9F) == 0x00) && ((FLAG) != (uint16_t)0x00)) +#define IS_USART_PERIPH_FLAG(PERIPH, USART_FLAG) ((((*(uint32_t*)&(PERIPH)) != UART4_BASE) &&\ + ((*(uint32_t*)&(PERIPH)) != UART5_BASE)) \ + || ((USART_FLAG) != USART_FLAG_CTS)) +#define IS_USART_BAUDRATE(BAUDRATE) (((BAUDRATE) > 0) && ((BAUDRATE) < 0x0044AA21)) +#define IS_USART_ADDRESS(ADDRESS) ((ADDRESS) <= 0xF) +#define IS_USART_DATA(DATA) ((DATA) <= 0x1FF) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup USART_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Exported_Functions + * @{ + */ + +void USART_DeInit(USART_TypeDef* USARTx); +void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct); +void USART_StructInit(USART_InitTypeDef* USART_InitStruct); +void USART_ClockInit(USART_TypeDef* USARTx, USART_ClockInitTypeDef* USART_ClockInitStruct); +void USART_ClockStructInit(USART_ClockInitTypeDef* USART_ClockInitStruct); +void USART_Cmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_ITConfig(USART_TypeDef* USARTx, uint16_t USART_IT, FunctionalState NewState); +void USART_DMACmd(USART_TypeDef* USARTx, uint16_t USART_DMAReq, FunctionalState NewState); +void USART_SetAddress(USART_TypeDef* USARTx, uint8_t USART_Address); +void USART_WakeUpConfig(USART_TypeDef* USARTx, uint16_t USART_WakeUp); +void USART_ReceiverWakeUpCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_LINBreakDetectLengthConfig(USART_TypeDef* USARTx, uint16_t USART_LINBreakDetectLength); +void USART_LINCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_SendData(USART_TypeDef* USARTx, uint16_t Data); +uint16_t USART_ReceiveData(USART_TypeDef* USARTx); +void USART_SendBreak(USART_TypeDef* USARTx); +void USART_SetGuardTime(USART_TypeDef* USARTx, uint8_t USART_GuardTime); +void USART_SetPrescaler(USART_TypeDef* USARTx, uint8_t USART_Prescaler); +void USART_SmartCardCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_SmartCardNACKCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_HalfDuplexCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_OverSampling8Cmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_OneBitMethodCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_IrDAConfig(USART_TypeDef* USARTx, uint16_t USART_IrDAMode); +void USART_IrDACmd(USART_TypeDef* USARTx, FunctionalState NewState); +FlagStatus USART_GetFlagStatus(USART_TypeDef* USARTx, uint16_t USART_FLAG); +void USART_ClearFlag(USART_TypeDef* USARTx, uint16_t USART_FLAG); +ITStatus USART_GetITStatus(USART_TypeDef* USARTx, uint16_t USART_IT); +void USART_ClearITPendingBit(USART_TypeDef* USARTx, uint16_t USART_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_USART_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_wwdg.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_wwdg.h new file mode 100644 index 0000000..bdfa177 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/inc/stm32f10x_wwdg.h @@ -0,0 +1,115 @@ +/** + ****************************************************************************** + * @file stm32f10x_wwdg.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the WWDG firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_WWDG_H +#define __STM32F10x_WWDG_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup WWDG + * @{ + */ + +/** @defgroup WWDG_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Exported_Constants + * @{ + */ + +/** @defgroup WWDG_Prescaler + * @{ + */ + +#define WWDG_Prescaler_1 ((uint32_t)0x00000000) +#define WWDG_Prescaler_2 ((uint32_t)0x00000080) +#define WWDG_Prescaler_4 ((uint32_t)0x00000100) +#define WWDG_Prescaler_8 ((uint32_t)0x00000180) +#define IS_WWDG_PRESCALER(PRESCALER) (((PRESCALER) == WWDG_Prescaler_1) || \ + ((PRESCALER) == WWDG_Prescaler_2) || \ + ((PRESCALER) == WWDG_Prescaler_4) || \ + ((PRESCALER) == WWDG_Prescaler_8)) +#define IS_WWDG_WINDOW_VALUE(VALUE) ((VALUE) <= 0x7F) +#define IS_WWDG_COUNTER(COUNTER) (((COUNTER) >= 0x40) && ((COUNTER) <= 0x7F)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup WWDG_Exported_Macros + * @{ + */ +/** + * @} + */ + +/** @defgroup WWDG_Exported_Functions + * @{ + */ + +void WWDG_DeInit(void); +void WWDG_SetPrescaler(uint32_t WWDG_Prescaler); +void WWDG_SetWindowValue(uint8_t WindowValue); +void WWDG_EnableIT(void); +void WWDG_SetCounter(uint8_t Counter); +void WWDG_Enable(uint8_t Counter); +FlagStatus WWDG_GetFlagStatus(void); +void WWDG_ClearFlag(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_WWDG_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/misc.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/misc.c new file mode 100644 index 0000000..c0a5e11 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/misc.c @@ -0,0 +1,225 @@ +/** + ****************************************************************************** + * @file misc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the miscellaneous firmware functions (add-on + * to CMSIS functions). + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "misc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup MISC + * @brief MISC driver modules + * @{ + */ + +/** @defgroup MISC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_Defines + * @{ + */ + +#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000) +/** + * @} + */ + +/** @defgroup MISC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_Functions + * @{ + */ + +/** + * @brief Configures the priority grouping: pre-emption priority and subpriority. + * @param NVIC_PriorityGroup: specifies the priority grouping bits length. + * This parameter can be one of the following values: + * @arg NVIC_PriorityGroup_0: 0 bits for pre-emption priority + * 4 bits for subpriority + * @arg NVIC_PriorityGroup_1: 1 bits for pre-emption priority + * 3 bits for subpriority + * @arg NVIC_PriorityGroup_2: 2 bits for pre-emption priority + * 2 bits for subpriority + * @arg NVIC_PriorityGroup_3: 3 bits for pre-emption priority + * 1 bits for subpriority + * @arg NVIC_PriorityGroup_4: 4 bits for pre-emption priority + * 0 bits for subpriority + * @retval None + */ +void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup) +{ + /* Check the parameters */ + assert_param(IS_NVIC_PRIORITY_GROUP(NVIC_PriorityGroup)); + + /* Set the PRIGROUP[10:8] bits according to NVIC_PriorityGroup value */ + SCB->AIRCR = AIRCR_VECTKEY_MASK | NVIC_PriorityGroup; +} + +/** + * @brief Initializes the NVIC peripheral according to the specified + * parameters in the NVIC_InitStruct. + * @param NVIC_InitStruct: pointer to a NVIC_InitTypeDef structure that contains + * the configuration information for the specified NVIC peripheral. + * @retval None + */ +void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct) +{ + uint32_t tmppriority = 0x00, tmppre = 0x00, tmpsub = 0x0F; + + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NVIC_InitStruct->NVIC_IRQChannelCmd)); + assert_param(IS_NVIC_PREEMPTION_PRIORITY(NVIC_InitStruct->NVIC_IRQChannelPreemptionPriority)); + assert_param(IS_NVIC_SUB_PRIORITY(NVIC_InitStruct->NVIC_IRQChannelSubPriority)); + + if (NVIC_InitStruct->NVIC_IRQChannelCmd != DISABLE) + { + /* Compute the Corresponding IRQ Priority --------------------------------*/ + tmppriority = (0x700 - ((SCB->AIRCR) & (uint32_t)0x700))>> 0x08; + tmppre = (0x4 - tmppriority); + tmpsub = tmpsub >> tmppriority; + + tmppriority = (uint32_t)NVIC_InitStruct->NVIC_IRQChannelPreemptionPriority << tmppre; + tmppriority |= NVIC_InitStruct->NVIC_IRQChannelSubPriority & tmpsub; + tmppriority = tmppriority << 0x04; + + NVIC->IP[NVIC_InitStruct->NVIC_IRQChannel] = tmppriority; + + /* Enable the Selected IRQ Channels --------------------------------------*/ + NVIC->ISER[NVIC_InitStruct->NVIC_IRQChannel >> 0x05] = + (uint32_t)0x01 << (NVIC_InitStruct->NVIC_IRQChannel & (uint8_t)0x1F); + } + else + { + /* Disable the Selected IRQ Channels -------------------------------------*/ + NVIC->ICER[NVIC_InitStruct->NVIC_IRQChannel >> 0x05] = + (uint32_t)0x01 << (NVIC_InitStruct->NVIC_IRQChannel & (uint8_t)0x1F); + } +} + +/** + * @brief Sets the vector table location and Offset. + * @param NVIC_VectTab: specifies if the vector table is in RAM or FLASH memory. + * This parameter can be one of the following values: + * @arg NVIC_VectTab_RAM + * @arg NVIC_VectTab_FLASH + * @param Offset: Vector Table base offset field. This value must be a multiple + * of 0x200. + * @retval None + */ +void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset) +{ + /* Check the parameters */ + assert_param(IS_NVIC_VECTTAB(NVIC_VectTab)); + assert_param(IS_NVIC_OFFSET(Offset)); + + SCB->VTOR = NVIC_VectTab | (Offset & (uint32_t)0x1FFFFF80); +} + +/** + * @brief Selects the condition for the system to enter low power mode. + * @param LowPowerMode: Specifies the new mode for the system to enter low power mode. + * This parameter can be one of the following values: + * @arg NVIC_LP_SEVONPEND + * @arg NVIC_LP_SLEEPDEEP + * @arg NVIC_LP_SLEEPONEXIT + * @param NewState: new state of LP condition. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_NVIC_LP(LowPowerMode)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + SCB->SCR |= LowPowerMode; + } + else + { + SCB->SCR &= (uint32_t)(~(uint32_t)LowPowerMode); + } +} + +/** + * @brief Configures the SysTick clock source. + * @param SysTick_CLKSource: specifies the SysTick clock source. + * This parameter can be one of the following values: + * @arg SysTick_CLKSource_HCLK_Div8: AHB clock divided by 8 selected as SysTick clock source. + * @arg SysTick_CLKSource_HCLK: AHB clock selected as SysTick clock source. + * @retval None + */ +void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource) +{ + /* Check the parameters */ + assert_param(IS_SYSTICK_CLK_SOURCE(SysTick_CLKSource)); + if (SysTick_CLKSource == SysTick_CLKSource_HCLK) + { + SysTick->CTRL |= SysTick_CLKSource_HCLK; + } + else + { + SysTick->CTRL &= SysTick_CLKSource_HCLK_Div8; + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_adc.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_adc.c new file mode 100644 index 0000000..8155dc9 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_adc.c @@ -0,0 +1,1307 @@ +/** + ****************************************************************************** + * @file stm32f10x_adc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the ADC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_adc.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup ADC + * @brief ADC driver modules + * @{ + */ + +/** @defgroup ADC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_Defines + * @{ + */ + +/* ADC DISCNUM mask */ +#define CR1_DISCNUM_Reset ((uint32_t)0xFFFF1FFF) + +/* ADC DISCEN mask */ +#define CR1_DISCEN_Set ((uint32_t)0x00000800) +#define CR1_DISCEN_Reset ((uint32_t)0xFFFFF7FF) + +/* ADC JAUTO mask */ +#define CR1_JAUTO_Set ((uint32_t)0x00000400) +#define CR1_JAUTO_Reset ((uint32_t)0xFFFFFBFF) + +/* ADC JDISCEN mask */ +#define CR1_JDISCEN_Set ((uint32_t)0x00001000) +#define CR1_JDISCEN_Reset ((uint32_t)0xFFFFEFFF) + +/* ADC AWDCH mask */ +#define CR1_AWDCH_Reset ((uint32_t)0xFFFFFFE0) + +/* ADC Analog watchdog enable mode mask */ +#define CR1_AWDMode_Reset ((uint32_t)0xFF3FFDFF) + +/* CR1 register Mask */ +#define CR1_CLEAR_Mask ((uint32_t)0xFFF0FEFF) + +/* ADC ADON mask */ +#define CR2_ADON_Set ((uint32_t)0x00000001) +#define CR2_ADON_Reset ((uint32_t)0xFFFFFFFE) + +/* ADC DMA mask */ +#define CR2_DMA_Set ((uint32_t)0x00000100) +#define CR2_DMA_Reset ((uint32_t)0xFFFFFEFF) + +/* ADC RSTCAL mask */ +#define CR2_RSTCAL_Set ((uint32_t)0x00000008) + +/* ADC CAL mask */ +#define CR2_CAL_Set ((uint32_t)0x00000004) + +/* ADC SWSTART mask */ +#define CR2_SWSTART_Set ((uint32_t)0x00400000) + +/* ADC EXTTRIG mask */ +#define CR2_EXTTRIG_Set ((uint32_t)0x00100000) +#define CR2_EXTTRIG_Reset ((uint32_t)0xFFEFFFFF) + +/* ADC Software start mask */ +#define CR2_EXTTRIG_SWSTART_Set ((uint32_t)0x00500000) +#define CR2_EXTTRIG_SWSTART_Reset ((uint32_t)0xFFAFFFFF) + +/* ADC JEXTSEL mask */ +#define CR2_JEXTSEL_Reset ((uint32_t)0xFFFF8FFF) + +/* ADC JEXTTRIG mask */ +#define CR2_JEXTTRIG_Set ((uint32_t)0x00008000) +#define CR2_JEXTTRIG_Reset ((uint32_t)0xFFFF7FFF) + +/* ADC JSWSTART mask */ +#define CR2_JSWSTART_Set ((uint32_t)0x00200000) + +/* ADC injected software start mask */ +#define CR2_JEXTTRIG_JSWSTART_Set ((uint32_t)0x00208000) +#define CR2_JEXTTRIG_JSWSTART_Reset ((uint32_t)0xFFDF7FFF) + +/* ADC TSPD mask */ +#define CR2_TSVREFE_Set ((uint32_t)0x00800000) +#define CR2_TSVREFE_Reset ((uint32_t)0xFF7FFFFF) + +/* CR2 register Mask */ +#define CR2_CLEAR_Mask ((uint32_t)0xFFF1F7FD) + +/* ADC SQx mask */ +#define SQR3_SQ_Set ((uint32_t)0x0000001F) +#define SQR2_SQ_Set ((uint32_t)0x0000001F) +#define SQR1_SQ_Set ((uint32_t)0x0000001F) + +/* SQR1 register Mask */ +#define SQR1_CLEAR_Mask ((uint32_t)0xFF0FFFFF) + +/* ADC JSQx mask */ +#define JSQR_JSQ_Set ((uint32_t)0x0000001F) + +/* ADC JL mask */ +#define JSQR_JL_Set ((uint32_t)0x00300000) +#define JSQR_JL_Reset ((uint32_t)0xFFCFFFFF) + +/* ADC SMPx mask */ +#define SMPR1_SMP_Set ((uint32_t)0x00000007) +#define SMPR2_SMP_Set ((uint32_t)0x00000007) + +/* ADC JDRx registers offset */ +#define JDR_Offset ((uint8_t)0x28) + +/* ADC1 DR register base address */ +#define DR_ADDRESS ((uint32_t)0x4001244C) + +/** + * @} + */ + +/** @defgroup ADC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the ADCx peripheral registers to their default reset values. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval None + */ +void ADC_DeInit(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + + if (ADCx == ADC1) + { + /* Enable ADC1 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1, ENABLE); + /* Release ADC1 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1, DISABLE); + } + else if (ADCx == ADC2) + { + /* Enable ADC2 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC2, ENABLE); + /* Release ADC2 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC2, DISABLE); + } + else + { + if (ADCx == ADC3) + { + /* Enable ADC3 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC3, ENABLE); + /* Release ADC3 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC3, DISABLE); + } + } +} + +/** + * @brief Initializes the ADCx peripheral according to the specified parameters + * in the ADC_InitStruct. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_InitStruct: pointer to an ADC_InitTypeDef structure that contains + * the configuration information for the specified ADC peripheral. + * @retval None + */ +void ADC_Init(ADC_TypeDef* ADCx, ADC_InitTypeDef* ADC_InitStruct) +{ + uint32_t tmpreg1 = 0; + uint8_t tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_MODE(ADC_InitStruct->ADC_Mode)); + assert_param(IS_FUNCTIONAL_STATE(ADC_InitStruct->ADC_ScanConvMode)); + assert_param(IS_FUNCTIONAL_STATE(ADC_InitStruct->ADC_ContinuousConvMode)); + assert_param(IS_ADC_EXT_TRIG(ADC_InitStruct->ADC_ExternalTrigConv)); + assert_param(IS_ADC_DATA_ALIGN(ADC_InitStruct->ADC_DataAlign)); + assert_param(IS_ADC_REGULAR_LENGTH(ADC_InitStruct->ADC_NbrOfChannel)); + + /*---------------------------- ADCx CR1 Configuration -----------------*/ + /* Get the ADCx CR1 value */ + tmpreg1 = ADCx->CR1; + /* Clear DUALMOD and SCAN bits */ + tmpreg1 &= CR1_CLEAR_Mask; + /* Configure ADCx: Dual mode and scan conversion mode */ + /* Set DUALMOD bits according to ADC_Mode value */ + /* Set SCAN bit according to ADC_ScanConvMode value */ + tmpreg1 |= (uint32_t)(ADC_InitStruct->ADC_Mode | ((uint32_t)ADC_InitStruct->ADC_ScanConvMode << 8)); + /* Write to ADCx CR1 */ + ADCx->CR1 = tmpreg1; + + /*---------------------------- ADCx CR2 Configuration -----------------*/ + /* Get the ADCx CR2 value */ + tmpreg1 = ADCx->CR2; + /* Clear CONT, ALIGN and EXTSEL bits */ + tmpreg1 &= CR2_CLEAR_Mask; + /* Configure ADCx: external trigger event and continuous conversion mode */ + /* Set ALIGN bit according to ADC_DataAlign value */ + /* Set EXTSEL bits according to ADC_ExternalTrigConv value */ + /* Set CONT bit according to ADC_ContinuousConvMode value */ + tmpreg1 |= (uint32_t)(ADC_InitStruct->ADC_DataAlign | ADC_InitStruct->ADC_ExternalTrigConv | + ((uint32_t)ADC_InitStruct->ADC_ContinuousConvMode << 1)); + /* Write to ADCx CR2 */ + ADCx->CR2 = tmpreg1; + + /*---------------------------- ADCx SQR1 Configuration -----------------*/ + /* Get the ADCx SQR1 value */ + tmpreg1 = ADCx->SQR1; + /* Clear L bits */ + tmpreg1 &= SQR1_CLEAR_Mask; + /* Configure ADCx: regular channel sequence length */ + /* Set L bits according to ADC_NbrOfChannel value */ + tmpreg2 |= (uint8_t) (ADC_InitStruct->ADC_NbrOfChannel - (uint8_t)1); + tmpreg1 |= (uint32_t)tmpreg2 << 20; + /* Write to ADCx SQR1 */ + ADCx->SQR1 = tmpreg1; +} + +/** + * @brief Fills each ADC_InitStruct member with its default value. + * @param ADC_InitStruct : pointer to an ADC_InitTypeDef structure which will be initialized. + * @retval None + */ +void ADC_StructInit(ADC_InitTypeDef* ADC_InitStruct) +{ + /* Reset ADC init structure parameters values */ + /* Initialize the ADC_Mode member */ + ADC_InitStruct->ADC_Mode = ADC_Mode_Independent; + /* initialize the ADC_ScanConvMode member */ + ADC_InitStruct->ADC_ScanConvMode = DISABLE; + /* Initialize the ADC_ContinuousConvMode member */ + ADC_InitStruct->ADC_ContinuousConvMode = DISABLE; + /* Initialize the ADC_ExternalTrigConv member */ + ADC_InitStruct->ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1; + /* Initialize the ADC_DataAlign member */ + ADC_InitStruct->ADC_DataAlign = ADC_DataAlign_Right; + /* Initialize the ADC_NbrOfChannel member */ + ADC_InitStruct->ADC_NbrOfChannel = 1; +} + +/** + * @brief Enables or disables the specified ADC peripheral. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the ADCx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_Cmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the ADON bit to wake up the ADC from power down mode */ + ADCx->CR2 |= CR2_ADON_Set; + } + else + { + /* Disable the selected ADC peripheral */ + ADCx->CR2 &= CR2_ADON_Reset; + } +} + +/** + * @brief Enables or disables the specified ADC DMA request. + * @param ADCx: where x can be 1 or 3 to select the ADC peripheral. + * Note: ADC2 hasn't a DMA capability. + * @param NewState: new state of the selected ADC DMA transfer. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_DMACmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_DMA_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC DMA request */ + ADCx->CR2 |= CR2_DMA_Set; + } + else + { + /* Disable the selected ADC DMA request */ + ADCx->CR2 &= CR2_DMA_Reset; + } +} + +/** + * @brief Enables or disables the specified ADC interrupts. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_IT: specifies the ADC interrupt sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg ADC_IT_EOC: End of conversion interrupt mask + * @arg ADC_IT_AWD: Analog watchdog interrupt mask + * @arg ADC_IT_JEOC: End of injected conversion interrupt mask + * @param NewState: new state of the specified ADC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_ITConfig(ADC_TypeDef* ADCx, uint16_t ADC_IT, FunctionalState NewState) +{ + uint8_t itmask = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_ADC_IT(ADC_IT)); + /* Get the ADC IT index */ + itmask = (uint8_t)ADC_IT; + if (NewState != DISABLE) + { + /* Enable the selected ADC interrupts */ + ADCx->CR1 |= itmask; + } + else + { + /* Disable the selected ADC interrupts */ + ADCx->CR1 &= (~(uint32_t)itmask); + } +} + +/** + * @brief Resets the selected ADC calibration registers. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval None + */ +void ADC_ResetCalibration(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Resets the selected ADC calibration registers */ + ADCx->CR2 |= CR2_RSTCAL_Set; +} + +/** + * @brief Gets the selected ADC reset calibration registers status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC reset calibration registers (SET or RESET). + */ +FlagStatus ADC_GetResetCalibrationStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of RSTCAL bit */ + if ((ADCx->CR2 & CR2_RSTCAL_Set) != (uint32_t)RESET) + { + /* RSTCAL bit is set */ + bitstatus = SET; + } + else + { + /* RSTCAL bit is reset */ + bitstatus = RESET; + } + /* Return the RSTCAL bit status */ + return bitstatus; +} + +/** + * @brief Starts the selected ADC calibration process. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval None + */ +void ADC_StartCalibration(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Enable the selected ADC calibration process */ + ADCx->CR2 |= CR2_CAL_Set; +} + +/** + * @brief Gets the selected ADC calibration status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC calibration (SET or RESET). + */ +FlagStatus ADC_GetCalibrationStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of CAL bit */ + if ((ADCx->CR2 & CR2_CAL_Set) != (uint32_t)RESET) + { + /* CAL bit is set: calibration on going */ + bitstatus = SET; + } + else + { + /* CAL bit is reset: end of calibration */ + bitstatus = RESET; + } + /* Return the CAL bit status */ + return bitstatus; +} + +/** + * @brief Enables or disables the selected ADC software start conversion . + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC software start conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_SoftwareStartConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC conversion on external event and start the selected + ADC conversion */ + ADCx->CR2 |= CR2_EXTTRIG_SWSTART_Set; + } + else + { + /* Disable the selected ADC conversion on external event and stop the selected + ADC conversion */ + ADCx->CR2 &= CR2_EXTTRIG_SWSTART_Reset; + } +} + +/** + * @brief Gets the selected ADC Software start conversion Status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC software start conversion (SET or RESET). + */ +FlagStatus ADC_GetSoftwareStartConvStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of SWSTART bit */ + if ((ADCx->CR2 & CR2_SWSTART_Set) != (uint32_t)RESET) + { + /* SWSTART bit is set */ + bitstatus = SET; + } + else + { + /* SWSTART bit is reset */ + bitstatus = RESET; + } + /* Return the SWSTART bit status */ + return bitstatus; +} + +/** + * @brief Configures the discontinuous mode for the selected ADC regular + * group channel. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param Number: specifies the discontinuous mode regular channel + * count value. This number must be between 1 and 8. + * @retval None + */ +void ADC_DiscModeChannelCountConfig(ADC_TypeDef* ADCx, uint8_t Number) +{ + uint32_t tmpreg1 = 0; + uint32_t tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_REGULAR_DISC_NUMBER(Number)); + /* Get the old register value */ + tmpreg1 = ADCx->CR1; + /* Clear the old discontinuous mode channel count */ + tmpreg1 &= CR1_DISCNUM_Reset; + /* Set the discontinuous mode channel count */ + tmpreg2 = Number - 1; + tmpreg1 |= tmpreg2 << 13; + /* Store the new register value */ + ADCx->CR1 = tmpreg1; +} + +/** + * @brief Enables or disables the discontinuous mode on regular group + * channel for the specified ADC + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC discontinuous mode + * on regular group channel. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_DiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC regular discontinuous mode */ + ADCx->CR1 |= CR1_DISCEN_Set; + } + else + { + /* Disable the selected ADC regular discontinuous mode */ + ADCx->CR1 &= CR1_DISCEN_Reset; + } +} + +/** + * @brief Configures for the selected ADC regular channel its corresponding + * rank in the sequencer and its sample time. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_Channel: the ADC channel to configure. + * This parameter can be one of the following values: + * @arg ADC_Channel_0: ADC Channel0 selected + * @arg ADC_Channel_1: ADC Channel1 selected + * @arg ADC_Channel_2: ADC Channel2 selected + * @arg ADC_Channel_3: ADC Channel3 selected + * @arg ADC_Channel_4: ADC Channel4 selected + * @arg ADC_Channel_5: ADC Channel5 selected + * @arg ADC_Channel_6: ADC Channel6 selected + * @arg ADC_Channel_7: ADC Channel7 selected + * @arg ADC_Channel_8: ADC Channel8 selected + * @arg ADC_Channel_9: ADC Channel9 selected + * @arg ADC_Channel_10: ADC Channel10 selected + * @arg ADC_Channel_11: ADC Channel11 selected + * @arg ADC_Channel_12: ADC Channel12 selected + * @arg ADC_Channel_13: ADC Channel13 selected + * @arg ADC_Channel_14: ADC Channel14 selected + * @arg ADC_Channel_15: ADC Channel15 selected + * @arg ADC_Channel_16: ADC Channel16 selected + * @arg ADC_Channel_17: ADC Channel17 selected + * @param Rank: The rank in the regular group sequencer. This parameter must be between 1 to 16. + * @param ADC_SampleTime: The sample time value to be set for the selected channel. + * This parameter can be one of the following values: + * @arg ADC_SampleTime_1Cycles5: Sample time equal to 1.5 cycles + * @arg ADC_SampleTime_7Cycles5: Sample time equal to 7.5 cycles + * @arg ADC_SampleTime_13Cycles5: Sample time equal to 13.5 cycles + * @arg ADC_SampleTime_28Cycles5: Sample time equal to 28.5 cycles + * @arg ADC_SampleTime_41Cycles5: Sample time equal to 41.5 cycles + * @arg ADC_SampleTime_55Cycles5: Sample time equal to 55.5 cycles + * @arg ADC_SampleTime_71Cycles5: Sample time equal to 71.5 cycles + * @arg ADC_SampleTime_239Cycles5: Sample time equal to 239.5 cycles + * @retval None + */ +void ADC_RegularChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime) +{ + uint32_t tmpreg1 = 0, tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CHANNEL(ADC_Channel)); + assert_param(IS_ADC_REGULAR_RANK(Rank)); + assert_param(IS_ADC_SAMPLE_TIME(ADC_SampleTime)); + /* if ADC_Channel_10 ... ADC_Channel_17 is selected */ + if (ADC_Channel > ADC_Channel_9) + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR1; + /* Calculate the mask to clear */ + tmpreg2 = SMPR1_SMP_Set << (3 * (ADC_Channel - 10)); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * (ADC_Channel - 10)); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR1 = tmpreg1; + } + else /* ADC_Channel include in ADC_Channel_[0..9] */ + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR2; + /* Calculate the mask to clear */ + tmpreg2 = SMPR2_SMP_Set << (3 * ADC_Channel); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * ADC_Channel); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR2 = tmpreg1; + } + /* For Rank 1 to 6 */ + if (Rank < 7) + { + /* Get the old register value */ + tmpreg1 = ADCx->SQR3; + /* Calculate the mask to clear */ + tmpreg2 = SQR3_SQ_Set << (5 * (Rank - 1)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 1)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SQR3 = tmpreg1; + } + /* For Rank 7 to 12 */ + else if (Rank < 13) + { + /* Get the old register value */ + tmpreg1 = ADCx->SQR2; + /* Calculate the mask to clear */ + tmpreg2 = SQR2_SQ_Set << (5 * (Rank - 7)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 7)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SQR2 = tmpreg1; + } + /* For Rank 13 to 16 */ + else + { + /* Get the old register value */ + tmpreg1 = ADCx->SQR1; + /* Calculate the mask to clear */ + tmpreg2 = SQR1_SQ_Set << (5 * (Rank - 13)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 13)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SQR1 = tmpreg1; + } +} + +/** + * @brief Enables or disables the ADCx conversion through external trigger. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC external trigger start of conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_ExternalTrigConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC conversion on external event */ + ADCx->CR2 |= CR2_EXTTRIG_Set; + } + else + { + /* Disable the selected ADC conversion on external event */ + ADCx->CR2 &= CR2_EXTTRIG_Reset; + } +} + +/** + * @brief Returns the last ADCx conversion result data for regular channel. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The Data conversion value. + */ +uint16_t ADC_GetConversionValue(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Return the selected ADC conversion value */ + return (uint16_t) ADCx->DR; +} + +/** + * @brief Returns the last ADC1 and ADC2 conversion result data in dual mode. + * @retval The Data conversion value. + */ +uint32_t ADC_GetDualModeConversionValue(void) +{ + /* Return the dual mode conversion value */ + return (*(__IO uint32_t *) DR_ADDRESS); +} + +/** + * @brief Enables or disables the selected ADC automatic injected group + * conversion after regular one. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC auto injected conversion + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_AutoInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC automatic injected group conversion */ + ADCx->CR1 |= CR1_JAUTO_Set; + } + else + { + /* Disable the selected ADC automatic injected group conversion */ + ADCx->CR1 &= CR1_JAUTO_Reset; + } +} + +/** + * @brief Enables or disables the discontinuous mode for injected group + * channel for the specified ADC + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC discontinuous mode + * on injected group channel. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_InjectedDiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC injected discontinuous mode */ + ADCx->CR1 |= CR1_JDISCEN_Set; + } + else + { + /* Disable the selected ADC injected discontinuous mode */ + ADCx->CR1 &= CR1_JDISCEN_Reset; + } +} + +/** + * @brief Configures the ADCx external trigger for injected channels conversion. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_ExternalTrigInjecConv: specifies the ADC trigger to start injected conversion. + * This parameter can be one of the following values: + * @arg ADC_ExternalTrigInjecConv_T1_TRGO: Timer1 TRGO event selected (for ADC1, ADC2 and ADC3) + * @arg ADC_ExternalTrigInjecConv_T1_CC4: Timer1 capture compare4 selected (for ADC1, ADC2 and ADC3) + * @arg ADC_ExternalTrigInjecConv_T2_TRGO: Timer2 TRGO event selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T2_CC1: Timer2 capture compare1 selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T3_CC4: Timer3 capture compare4 selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T4_TRGO: Timer4 TRGO event selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_Ext_IT15_TIM8_CC4: External interrupt line 15 or Timer8 + * capture compare4 event selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T4_CC3: Timer4 capture compare3 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T8_CC2: Timer8 capture compare2 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T8_CC4: Timer8 capture compare4 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T5_TRGO: Timer5 TRGO event selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T5_CC4: Timer5 capture compare4 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_None: Injected conversion started by software and not + * by external trigger (for ADC1, ADC2 and ADC3) + * @retval None + */ +void ADC_ExternalTrigInjectedConvConfig(ADC_TypeDef* ADCx, uint32_t ADC_ExternalTrigInjecConv) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_EXT_INJEC_TRIG(ADC_ExternalTrigInjecConv)); + /* Get the old register value */ + tmpreg = ADCx->CR2; + /* Clear the old external event selection for injected group */ + tmpreg &= CR2_JEXTSEL_Reset; + /* Set the external event selection for injected group */ + tmpreg |= ADC_ExternalTrigInjecConv; + /* Store the new register value */ + ADCx->CR2 = tmpreg; +} + +/** + * @brief Enables or disables the ADCx injected channels conversion through + * external trigger + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC external trigger start of + * injected conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_ExternalTrigInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC external event selection for injected group */ + ADCx->CR2 |= CR2_JEXTTRIG_Set; + } + else + { + /* Disable the selected ADC external event selection for injected group */ + ADCx->CR2 &= CR2_JEXTTRIG_Reset; + } +} + +/** + * @brief Enables or disables the selected ADC start of the injected + * channels conversion. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC software start injected conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_SoftwareStartInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC conversion for injected group on external event and start the selected + ADC injected conversion */ + ADCx->CR2 |= CR2_JEXTTRIG_JSWSTART_Set; + } + else + { + /* Disable the selected ADC conversion on external event for injected group and stop the selected + ADC injected conversion */ + ADCx->CR2 &= CR2_JEXTTRIG_JSWSTART_Reset; + } +} + +/** + * @brief Gets the selected ADC Software start injected conversion Status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC software start injected conversion (SET or RESET). + */ +FlagStatus ADC_GetSoftwareStartInjectedConvCmdStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of JSWSTART bit */ + if ((ADCx->CR2 & CR2_JSWSTART_Set) != (uint32_t)RESET) + { + /* JSWSTART bit is set */ + bitstatus = SET; + } + else + { + /* JSWSTART bit is reset */ + bitstatus = RESET; + } + /* Return the JSWSTART bit status */ + return bitstatus; +} + +/** + * @brief Configures for the selected ADC injected channel its corresponding + * rank in the sequencer and its sample time. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_Channel: the ADC channel to configure. + * This parameter can be one of the following values: + * @arg ADC_Channel_0: ADC Channel0 selected + * @arg ADC_Channel_1: ADC Channel1 selected + * @arg ADC_Channel_2: ADC Channel2 selected + * @arg ADC_Channel_3: ADC Channel3 selected + * @arg ADC_Channel_4: ADC Channel4 selected + * @arg ADC_Channel_5: ADC Channel5 selected + * @arg ADC_Channel_6: ADC Channel6 selected + * @arg ADC_Channel_7: ADC Channel7 selected + * @arg ADC_Channel_8: ADC Channel8 selected + * @arg ADC_Channel_9: ADC Channel9 selected + * @arg ADC_Channel_10: ADC Channel10 selected + * @arg ADC_Channel_11: ADC Channel11 selected + * @arg ADC_Channel_12: ADC Channel12 selected + * @arg ADC_Channel_13: ADC Channel13 selected + * @arg ADC_Channel_14: ADC Channel14 selected + * @arg ADC_Channel_15: ADC Channel15 selected + * @arg ADC_Channel_16: ADC Channel16 selected + * @arg ADC_Channel_17: ADC Channel17 selected + * @param Rank: The rank in the injected group sequencer. This parameter must be between 1 and 4. + * @param ADC_SampleTime: The sample time value to be set for the selected channel. + * This parameter can be one of the following values: + * @arg ADC_SampleTime_1Cycles5: Sample time equal to 1.5 cycles + * @arg ADC_SampleTime_7Cycles5: Sample time equal to 7.5 cycles + * @arg ADC_SampleTime_13Cycles5: Sample time equal to 13.5 cycles + * @arg ADC_SampleTime_28Cycles5: Sample time equal to 28.5 cycles + * @arg ADC_SampleTime_41Cycles5: Sample time equal to 41.5 cycles + * @arg ADC_SampleTime_55Cycles5: Sample time equal to 55.5 cycles + * @arg ADC_SampleTime_71Cycles5: Sample time equal to 71.5 cycles + * @arg ADC_SampleTime_239Cycles5: Sample time equal to 239.5 cycles + * @retval None + */ +void ADC_InjectedChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime) +{ + uint32_t tmpreg1 = 0, tmpreg2 = 0, tmpreg3 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CHANNEL(ADC_Channel)); + assert_param(IS_ADC_INJECTED_RANK(Rank)); + assert_param(IS_ADC_SAMPLE_TIME(ADC_SampleTime)); + /* if ADC_Channel_10 ... ADC_Channel_17 is selected */ + if (ADC_Channel > ADC_Channel_9) + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR1; + /* Calculate the mask to clear */ + tmpreg2 = SMPR1_SMP_Set << (3*(ADC_Channel - 10)); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3*(ADC_Channel - 10)); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR1 = tmpreg1; + } + else /* ADC_Channel include in ADC_Channel_[0..9] */ + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR2; + /* Calculate the mask to clear */ + tmpreg2 = SMPR2_SMP_Set << (3 * ADC_Channel); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * ADC_Channel); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR2 = tmpreg1; + } + /* Rank configuration */ + /* Get the old register value */ + tmpreg1 = ADCx->JSQR; + /* Get JL value: Number = JL+1 */ + tmpreg3 = (tmpreg1 & JSQR_JL_Set)>> 20; + /* Calculate the mask to clear: ((Rank-1)+(4-JL-1)) */ + tmpreg2 = JSQR_JSQ_Set << (5 * (uint8_t)((Rank + 3) - (tmpreg3 + 1))); + /* Clear the old JSQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set: ((Rank-1)+(4-JL-1)) */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (uint8_t)((Rank + 3) - (tmpreg3 + 1))); + /* Set the JSQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->JSQR = tmpreg1; +} + +/** + * @brief Configures the sequencer length for injected channels + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param Length: The sequencer length. + * This parameter must be a number between 1 to 4. + * @retval None + */ +void ADC_InjectedSequencerLengthConfig(ADC_TypeDef* ADCx, uint8_t Length) +{ + uint32_t tmpreg1 = 0; + uint32_t tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_INJECTED_LENGTH(Length)); + + /* Get the old register value */ + tmpreg1 = ADCx->JSQR; + /* Clear the old injected sequnence lenght JL bits */ + tmpreg1 &= JSQR_JL_Reset; + /* Set the injected sequnence lenght JL bits */ + tmpreg2 = Length - 1; + tmpreg1 |= tmpreg2 << 20; + /* Store the new register value */ + ADCx->JSQR = tmpreg1; +} + +/** + * @brief Set the injected channels conversion value offset + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_InjectedChannel: the ADC injected channel to set its offset. + * This parameter can be one of the following values: + * @arg ADC_InjectedChannel_1: Injected Channel1 selected + * @arg ADC_InjectedChannel_2: Injected Channel2 selected + * @arg ADC_InjectedChannel_3: Injected Channel3 selected + * @arg ADC_InjectedChannel_4: Injected Channel4 selected + * @param Offset: the offset value for the selected ADC injected channel + * This parameter must be a 12bit value. + * @retval None + */ +void ADC_SetInjectedOffset(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel, uint16_t Offset) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_INJECTED_CHANNEL(ADC_InjectedChannel)); + assert_param(IS_ADC_OFFSET(Offset)); + + tmp = (uint32_t)ADCx; + tmp += ADC_InjectedChannel; + + /* Set the selected injected channel data offset */ + *(__IO uint32_t *) tmp = (uint32_t)Offset; +} + +/** + * @brief Returns the ADC injected channel conversion result + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_InjectedChannel: the converted ADC injected channel. + * This parameter can be one of the following values: + * @arg ADC_InjectedChannel_1: Injected Channel1 selected + * @arg ADC_InjectedChannel_2: Injected Channel2 selected + * @arg ADC_InjectedChannel_3: Injected Channel3 selected + * @arg ADC_InjectedChannel_4: Injected Channel4 selected + * @retval The Data conversion value. + */ +uint16_t ADC_GetInjectedConversionValue(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_INJECTED_CHANNEL(ADC_InjectedChannel)); + + tmp = (uint32_t)ADCx; + tmp += ADC_InjectedChannel + JDR_Offset; + + /* Returns the selected injected channel conversion data value */ + return (uint16_t) (*(__IO uint32_t*) tmp); +} + +/** + * @brief Enables or disables the analog watchdog on single/all regular + * or injected channels + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_AnalogWatchdog: the ADC analog watchdog configuration. + * This parameter can be one of the following values: + * @arg ADC_AnalogWatchdog_SingleRegEnable: Analog watchdog on a single regular channel + * @arg ADC_AnalogWatchdog_SingleInjecEnable: Analog watchdog on a single injected channel + * @arg ADC_AnalogWatchdog_SingleRegOrInjecEnable: Analog watchdog on a single regular or injected channel + * @arg ADC_AnalogWatchdog_AllRegEnable: Analog watchdog on all regular channel + * @arg ADC_AnalogWatchdog_AllInjecEnable: Analog watchdog on all injected channel + * @arg ADC_AnalogWatchdog_AllRegAllInjecEnable: Analog watchdog on all regular and injected channels + * @arg ADC_AnalogWatchdog_None: No channel guarded by the analog watchdog + * @retval None + */ +void ADC_AnalogWatchdogCmd(ADC_TypeDef* ADCx, uint32_t ADC_AnalogWatchdog) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_ANALOG_WATCHDOG(ADC_AnalogWatchdog)); + /* Get the old register value */ + tmpreg = ADCx->CR1; + /* Clear AWDEN, AWDENJ and AWDSGL bits */ + tmpreg &= CR1_AWDMode_Reset; + /* Set the analog watchdog enable mode */ + tmpreg |= ADC_AnalogWatchdog; + /* Store the new register value */ + ADCx->CR1 = tmpreg; +} + +/** + * @brief Configures the high and low thresholds of the analog watchdog. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param HighThreshold: the ADC analog watchdog High threshold value. + * This parameter must be a 12bit value. + * @param LowThreshold: the ADC analog watchdog Low threshold value. + * This parameter must be a 12bit value. + * @retval None + */ +void ADC_AnalogWatchdogThresholdsConfig(ADC_TypeDef* ADCx, uint16_t HighThreshold, + uint16_t LowThreshold) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_THRESHOLD(HighThreshold)); + assert_param(IS_ADC_THRESHOLD(LowThreshold)); + /* Set the ADCx high threshold */ + ADCx->HTR = HighThreshold; + /* Set the ADCx low threshold */ + ADCx->LTR = LowThreshold; +} + +/** + * @brief Configures the analog watchdog guarded single channel + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_Channel: the ADC channel to configure for the analog watchdog. + * This parameter can be one of the following values: + * @arg ADC_Channel_0: ADC Channel0 selected + * @arg ADC_Channel_1: ADC Channel1 selected + * @arg ADC_Channel_2: ADC Channel2 selected + * @arg ADC_Channel_3: ADC Channel3 selected + * @arg ADC_Channel_4: ADC Channel4 selected + * @arg ADC_Channel_5: ADC Channel5 selected + * @arg ADC_Channel_6: ADC Channel6 selected + * @arg ADC_Channel_7: ADC Channel7 selected + * @arg ADC_Channel_8: ADC Channel8 selected + * @arg ADC_Channel_9: ADC Channel9 selected + * @arg ADC_Channel_10: ADC Channel10 selected + * @arg ADC_Channel_11: ADC Channel11 selected + * @arg ADC_Channel_12: ADC Channel12 selected + * @arg ADC_Channel_13: ADC Channel13 selected + * @arg ADC_Channel_14: ADC Channel14 selected + * @arg ADC_Channel_15: ADC Channel15 selected + * @arg ADC_Channel_16: ADC Channel16 selected + * @arg ADC_Channel_17: ADC Channel17 selected + * @retval None + */ +void ADC_AnalogWatchdogSingleChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CHANNEL(ADC_Channel)); + /* Get the old register value */ + tmpreg = ADCx->CR1; + /* Clear the Analog watchdog channel select bits */ + tmpreg &= CR1_AWDCH_Reset; + /* Set the Analog watchdog channel */ + tmpreg |= ADC_Channel; + /* Store the new register value */ + ADCx->CR1 = tmpreg; +} + +/** + * @brief Enables or disables the temperature sensor and Vrefint channel. + * @param NewState: new state of the temperature sensor. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_TempSensorVrefintCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the temperature sensor and Vrefint channel*/ + ADC1->CR2 |= CR2_TSVREFE_Set; + } + else + { + /* Disable the temperature sensor and Vrefint channel*/ + ADC1->CR2 &= CR2_TSVREFE_Reset; + } +} + +/** + * @brief Checks whether the specified ADC flag is set or not. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg ADC_FLAG_AWD: Analog watchdog flag + * @arg ADC_FLAG_EOC: End of conversion flag + * @arg ADC_FLAG_JEOC: End of injected group conversion flag + * @arg ADC_FLAG_JSTRT: Start of injected group conversion flag + * @arg ADC_FLAG_STRT: Start of regular group conversion flag + * @retval The new state of ADC_FLAG (SET or RESET). + */ +FlagStatus ADC_GetFlagStatus(ADC_TypeDef* ADCx, uint8_t ADC_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_GET_FLAG(ADC_FLAG)); + /* Check the status of the specified ADC flag */ + if ((ADCx->SR & ADC_FLAG) != (uint8_t)RESET) + { + /* ADC_FLAG is set */ + bitstatus = SET; + } + else + { + /* ADC_FLAG is reset */ + bitstatus = RESET; + } + /* Return the ADC_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the ADCx's pending flags. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg ADC_FLAG_AWD: Analog watchdog flag + * @arg ADC_FLAG_EOC: End of conversion flag + * @arg ADC_FLAG_JEOC: End of injected group conversion flag + * @arg ADC_FLAG_JSTRT: Start of injected group conversion flag + * @arg ADC_FLAG_STRT: Start of regular group conversion flag + * @retval None + */ +void ADC_ClearFlag(ADC_TypeDef* ADCx, uint8_t ADC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CLEAR_FLAG(ADC_FLAG)); + /* Clear the selected ADC flags */ + ADCx->SR = ~(uint32_t)ADC_FLAG; +} + +/** + * @brief Checks whether the specified ADC interrupt has occurred or not. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_IT: specifies the ADC interrupt source to check. + * This parameter can be one of the following values: + * @arg ADC_IT_EOC: End of conversion interrupt mask + * @arg ADC_IT_AWD: Analog watchdog interrupt mask + * @arg ADC_IT_JEOC: End of injected conversion interrupt mask + * @retval The new state of ADC_IT (SET or RESET). + */ +ITStatus ADC_GetITStatus(ADC_TypeDef* ADCx, uint16_t ADC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t itmask = 0, enablestatus = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_GET_IT(ADC_IT)); + /* Get the ADC IT index */ + itmask = ADC_IT >> 8; + /* Get the ADC_IT enable bit status */ + enablestatus = (ADCx->CR1 & (uint8_t)ADC_IT) ; + /* Check the status of the specified ADC interrupt */ + if (((ADCx->SR & itmask) != (uint32_t)RESET) && enablestatus) + { + /* ADC_IT is set */ + bitstatus = SET; + } + else + { + /* ADC_IT is reset */ + bitstatus = RESET; + } + /* Return the ADC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the ADCx's interrupt pending bits. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_IT: specifies the ADC interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg ADC_IT_EOC: End of conversion interrupt mask + * @arg ADC_IT_AWD: Analog watchdog interrupt mask + * @arg ADC_IT_JEOC: End of injected conversion interrupt mask + * @retval None + */ +void ADC_ClearITPendingBit(ADC_TypeDef* ADCx, uint16_t ADC_IT) +{ + uint8_t itmask = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_IT(ADC_IT)); + /* Get the ADC IT index */ + itmask = (uint8_t)(ADC_IT >> 8); + /* Clear the selected ADC interrupt pending bits */ + ADCx->SR = ~(uint32_t)itmask; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_bkp.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_bkp.c new file mode 100644 index 0000000..997eecc --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_bkp.c @@ -0,0 +1,308 @@ +/** + ****************************************************************************** + * @file stm32f10x_bkp.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the BKP firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_bkp.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup BKP + * @brief BKP driver modules + * @{ + */ + +/** @defgroup BKP_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_Defines + * @{ + */ + +/* ------------ BKP registers bit address in the alias region --------------- */ +#define BKP_OFFSET (BKP_BASE - PERIPH_BASE) + +/* --- CR Register ----*/ + +/* Alias word address of TPAL bit */ +#define CR_OFFSET (BKP_OFFSET + 0x30) +#define TPAL_BitNumber 0x01 +#define CR_TPAL_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (TPAL_BitNumber * 4)) + +/* Alias word address of TPE bit */ +#define TPE_BitNumber 0x00 +#define CR_TPE_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (TPE_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of TPIE bit */ +#define CSR_OFFSET (BKP_OFFSET + 0x34) +#define TPIE_BitNumber 0x02 +#define CSR_TPIE_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TPIE_BitNumber * 4)) + +/* Alias word address of TIF bit */ +#define TIF_BitNumber 0x09 +#define CSR_TIF_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TIF_BitNumber * 4)) + +/* Alias word address of TEF bit */ +#define TEF_BitNumber 0x08 +#define CSR_TEF_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TEF_BitNumber * 4)) + +/* ---------------------- BKP registers bit mask ------------------------ */ + +/* RTCCR register bit mask */ +#define RTCCR_CAL_MASK ((uint16_t)0xFF80) +#define RTCCR_MASK ((uint16_t)0xFC7F) + +/** + * @} + */ + + +/** @defgroup BKP_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the BKP peripheral registers to their default reset values. + * @param None + * @retval None + */ +void BKP_DeInit(void) +{ + RCC_BackupResetCmd(ENABLE); + RCC_BackupResetCmd(DISABLE); +} + +/** + * @brief Configures the Tamper Pin active level. + * @param BKP_TamperPinLevel: specifies the Tamper Pin active level. + * This parameter can be one of the following values: + * @arg BKP_TamperPinLevel_High: Tamper pin active on high level + * @arg BKP_TamperPinLevel_Low: Tamper pin active on low level + * @retval None + */ +void BKP_TamperPinLevelConfig(uint16_t BKP_TamperPinLevel) +{ + /* Check the parameters */ + assert_param(IS_BKP_TAMPER_PIN_LEVEL(BKP_TamperPinLevel)); + *(__IO uint32_t *) CR_TPAL_BB = BKP_TamperPinLevel; +} + +/** + * @brief Enables or disables the Tamper Pin activation. + * @param NewState: new state of the Tamper Pin activation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void BKP_TamperPinCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_TPE_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the Tamper Pin Interrupt. + * @param NewState: new state of the Tamper Pin Interrupt. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void BKP_ITConfig(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CSR_TPIE_BB = (uint32_t)NewState; +} + +/** + * @brief Select the RTC output source to output on the Tamper pin. + * @param BKP_RTCOutputSource: specifies the RTC output source. + * This parameter can be one of the following values: + * @arg BKP_RTCOutputSource_None: no RTC output on the Tamper pin. + * @arg BKP_RTCOutputSource_CalibClock: output the RTC clock with frequency + * divided by 64 on the Tamper pin. + * @arg BKP_RTCOutputSource_Alarm: output the RTC Alarm pulse signal on + * the Tamper pin. + * @arg BKP_RTCOutputSource_Second: output the RTC Second pulse signal on + * the Tamper pin. + * @retval None + */ +void BKP_RTCOutputConfig(uint16_t BKP_RTCOutputSource) +{ + uint16_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_BKP_RTC_OUTPUT_SOURCE(BKP_RTCOutputSource)); + tmpreg = BKP->RTCCR; + /* Clear CCO, ASOE and ASOS bits */ + tmpreg &= RTCCR_MASK; + + /* Set CCO, ASOE and ASOS bits according to BKP_RTCOutputSource value */ + tmpreg |= BKP_RTCOutputSource; + /* Store the new value */ + BKP->RTCCR = tmpreg; +} + +/** + * @brief Sets RTC Clock Calibration value. + * @param CalibrationValue: specifies the RTC Clock Calibration value. + * This parameter must be a number between 0 and 0x7F. + * @retval None + */ +void BKP_SetRTCCalibrationValue(uint8_t CalibrationValue) +{ + uint16_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_BKP_CALIBRATION_VALUE(CalibrationValue)); + tmpreg = BKP->RTCCR; + /* Clear CAL[6:0] bits */ + tmpreg &= RTCCR_CAL_MASK; + /* Set CAL[6:0] bits according to CalibrationValue value */ + tmpreg |= CalibrationValue; + /* Store the new value */ + BKP->RTCCR = tmpreg; +} + +/** + * @brief Writes user data to the specified Data Backup Register. + * @param BKP_DR: specifies the Data Backup Register. + * This parameter can be BKP_DRx where x:[1, 42] + * @param Data: data to write + * @retval None + */ +void BKP_WriteBackupRegister(uint16_t BKP_DR, uint16_t Data) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_BKP_DR(BKP_DR)); + + tmp = (uint32_t)BKP_BASE; + tmp += BKP_DR; + + *(__IO uint32_t *) tmp = Data; +} + +/** + * @brief Reads data from the specified Data Backup Register. + * @param BKP_DR: specifies the Data Backup Register. + * This parameter can be BKP_DRx where x:[1, 42] + * @retval The content of the specified Data Backup Register + */ +uint16_t BKP_ReadBackupRegister(uint16_t BKP_DR) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_BKP_DR(BKP_DR)); + + tmp = (uint32_t)BKP_BASE; + tmp += BKP_DR; + + return (*(__IO uint16_t *) tmp); +} + +/** + * @brief Checks whether the Tamper Pin Event flag is set or not. + * @param None + * @retval The new state of the Tamper Pin Event flag (SET or RESET). + */ +FlagStatus BKP_GetFlagStatus(void) +{ + return (FlagStatus)(*(__IO uint32_t *) CSR_TEF_BB); +} + +/** + * @brief Clears Tamper Pin Event pending flag. + * @param None + * @retval None + */ +void BKP_ClearFlag(void) +{ + /* Set CTE bit to clear Tamper Pin Event flag */ + BKP->CSR |= BKP_CSR_CTE; +} + +/** + * @brief Checks whether the Tamper Pin Interrupt has occurred or not. + * @param None + * @retval The new state of the Tamper Pin Interrupt (SET or RESET). + */ +ITStatus BKP_GetITStatus(void) +{ + return (ITStatus)(*(__IO uint32_t *) CSR_TIF_BB); +} + +/** + * @brief Clears Tamper Pin Interrupt pending bit. + * @param None + * @retval None + */ +void BKP_ClearITPendingBit(void) +{ + /* Set CTI bit to clear Tamper Pin Interrupt pending bit */ + BKP->CSR |= BKP_CSR_CTI; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_can.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_can.c new file mode 100644 index 0000000..ec8e049 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_can.c @@ -0,0 +1,1415 @@ +/** + ****************************************************************************** + * @file stm32f10x_can.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the CAN firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_can.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup CAN + * @brief CAN driver modules + * @{ + */ + +/** @defgroup CAN_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Private_Defines + * @{ + */ + +/* CAN Master Control Register bits */ + +#define MCR_DBF ((uint32_t)0x00010000) /* software master reset */ + +/* CAN Mailbox Transmit Request */ +#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */ + +/* CAN Filter Master Register bits */ +#define FMR_FINIT ((uint32_t)0x00000001) /* Filter init mode */ + +/* Time out for INAK bit */ +#define INAK_TIMEOUT ((uint32_t)0x0000FFFF) +/* Time out for SLAK bit */ +#define SLAK_TIMEOUT ((uint32_t)0x0000FFFF) + + + +/* Flags in TSR register */ +#define CAN_FLAGS_TSR ((uint32_t)0x08000000) +/* Flags in RF1R register */ +#define CAN_FLAGS_RF1R ((uint32_t)0x04000000) +/* Flags in RF0R register */ +#define CAN_FLAGS_RF0R ((uint32_t)0x02000000) +/* Flags in MSR register */ +#define CAN_FLAGS_MSR ((uint32_t)0x01000000) +/* Flags in ESR register */ +#define CAN_FLAGS_ESR ((uint32_t)0x00F00000) + +/* Mailboxes definition */ +#define CAN_TXMAILBOX_0 ((uint8_t)0x00) +#define CAN_TXMAILBOX_1 ((uint8_t)0x01) +#define CAN_TXMAILBOX_2 ((uint8_t)0x02) + + + +#define CAN_MODE_MASK ((uint32_t) 0x00000003) +/** + * @} + */ + +/** @defgroup CAN_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Private_FunctionPrototypes + * @{ + */ + +static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit); + +/** + * @} + */ + +/** @defgroup CAN_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the CAN peripheral registers to their default reset values. + * @param CANx: where x can be 1 or 2 to select the CAN peripheral. + * @retval None. + */ +void CAN_DeInit(CAN_TypeDef* CANx) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + if (CANx == CAN1) + { + /* Enable CAN1 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, ENABLE); + /* Release CAN1 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, DISABLE); + } + else + { + /* Enable CAN2 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, ENABLE); + /* Release CAN2 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, DISABLE); + } +} + +/** + * @brief Initializes the CAN peripheral according to the specified + * parameters in the CAN_InitStruct. + * @param CANx: where x can be 1 or 2 to to select the CAN + * peripheral. + * @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure that + * contains the configuration information for the + * CAN peripheral. + * @retval Constant indicates initialization succeed which will be + * CAN_InitStatus_Failed or CAN_InitStatus_Success. + */ +uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct) +{ + uint8_t InitStatus = CAN_InitStatus_Failed; + uint32_t wait_ack = 0x00000000; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP)); + assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode)); + assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW)); + assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1)); + assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2)); + assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler)); + + /* Exit from sleep mode */ + CANx->MCR &= (~(uint32_t)CAN_MCR_SLEEP); + + /* Request initialisation */ + CANx->MCR |= CAN_MCR_INRQ ; + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) + { + wait_ack++; + } + + /* Check acknowledge */ + if ((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) + { + InitStatus = CAN_InitStatus_Failed; + } + else + { + /* Set the time triggered communication mode */ + if (CAN_InitStruct->CAN_TTCM == ENABLE) + { + CANx->MCR |= CAN_MCR_TTCM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_TTCM; + } + + /* Set the automatic bus-off management */ + if (CAN_InitStruct->CAN_ABOM == ENABLE) + { + CANx->MCR |= CAN_MCR_ABOM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_ABOM; + } + + /* Set the automatic wake-up mode */ + if (CAN_InitStruct->CAN_AWUM == ENABLE) + { + CANx->MCR |= CAN_MCR_AWUM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_AWUM; + } + + /* Set the no automatic retransmission */ + if (CAN_InitStruct->CAN_NART == ENABLE) + { + CANx->MCR |= CAN_MCR_NART; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_NART; + } + + /* Set the receive FIFO locked mode */ + if (CAN_InitStruct->CAN_RFLM == ENABLE) + { + CANx->MCR |= CAN_MCR_RFLM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_RFLM; + } + + /* Set the transmit FIFO priority */ + if (CAN_InitStruct->CAN_TXFP == ENABLE) + { + CANx->MCR |= CAN_MCR_TXFP; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_TXFP; + } + + /* Set the bit timing register */ + CANx->BTR = (uint32_t)((uint32_t)CAN_InitStruct->CAN_Mode << 30) | \ + ((uint32_t)CAN_InitStruct->CAN_SJW << 24) | \ + ((uint32_t)CAN_InitStruct->CAN_BS1 << 16) | \ + ((uint32_t)CAN_InitStruct->CAN_BS2 << 20) | \ + ((uint32_t)CAN_InitStruct->CAN_Prescaler - 1); + + /* Request leave initialisation */ + CANx->MCR &= ~(uint32_t)CAN_MCR_INRQ; + + /* Wait the acknowledge */ + wait_ack = 0; + + while (((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) + { + wait_ack++; + } + + /* ...and check acknowledged */ + if ((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) + { + InitStatus = CAN_InitStatus_Failed; + } + else + { + InitStatus = CAN_InitStatus_Success ; + } + } + + /* At this step, return the status of initialization */ + return InitStatus; +} + +/** + * @brief Initializes the CAN peripheral according to the specified + * parameters in the CAN_FilterInitStruct. + * @param CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef + * structure that contains the configuration + * information. + * @retval None. + */ +void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct) +{ + uint32_t filter_number_bit_pos = 0; + /* Check the parameters */ + assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber)); + assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode)); + assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale)); + assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment)); + assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation)); + + filter_number_bit_pos = ((uint32_t)1) << CAN_FilterInitStruct->CAN_FilterNumber; + + /* Initialisation mode for the filter */ + CAN1->FMR |= FMR_FINIT; + + /* Filter Deactivation */ + CAN1->FA1R &= ~(uint32_t)filter_number_bit_pos; + + /* Filter Scale */ + if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit) + { + /* 16-bit scale for the filter */ + CAN1->FS1R &= ~(uint32_t)filter_number_bit_pos; + + /* First 16-bit identifier and First 16-bit mask */ + /* Or First 16-bit identifier and Second 16-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow); + + /* Second 16-bit identifier and Second 16-bit mask */ + /* Or Third 16-bit identifier and Fourth 16-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh); + } + + if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit) + { + /* 32-bit scale for the filter */ + CAN1->FS1R |= filter_number_bit_pos; + /* 32-bit identifier or First 32-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow); + /* 32-bit mask or Second 32-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow); + } + + /* Filter Mode */ + if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask) + { + /*Id/Mask mode for the filter*/ + CAN1->FM1R &= ~(uint32_t)filter_number_bit_pos; + } + else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */ + { + /*Identifier list mode for the filter*/ + CAN1->FM1R |= (uint32_t)filter_number_bit_pos; + } + + /* Filter FIFO assignment */ + if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO0) + { + /* FIFO 0 assignation for the filter */ + CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos; + } + + if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO1) + { + /* FIFO 1 assignation for the filter */ + CAN1->FFA1R |= (uint32_t)filter_number_bit_pos; + } + + /* Filter activation */ + if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE) + { + CAN1->FA1R |= filter_number_bit_pos; + } + + /* Leave the initialisation mode for the filter */ + CAN1->FMR &= ~FMR_FINIT; +} + +/** + * @brief Fills each CAN_InitStruct member with its default value. + * @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure which + * will be initialized. + * @retval None. + */ +void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct) +{ + /* Reset CAN init structure parameters values */ + + /* Initialize the time triggered communication mode */ + CAN_InitStruct->CAN_TTCM = DISABLE; + + /* Initialize the automatic bus-off management */ + CAN_InitStruct->CAN_ABOM = DISABLE; + + /* Initialize the automatic wake-up mode */ + CAN_InitStruct->CAN_AWUM = DISABLE; + + /* Initialize the no automatic retransmission */ + CAN_InitStruct->CAN_NART = DISABLE; + + /* Initialize the receive FIFO locked mode */ + CAN_InitStruct->CAN_RFLM = DISABLE; + + /* Initialize the transmit FIFO priority */ + CAN_InitStruct->CAN_TXFP = DISABLE; + + /* Initialize the CAN_Mode member */ + CAN_InitStruct->CAN_Mode = CAN_Mode_Normal; + + /* Initialize the CAN_SJW member */ + CAN_InitStruct->CAN_SJW = CAN_SJW_1tq; + + /* Initialize the CAN_BS1 member */ + CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq; + + /* Initialize the CAN_BS2 member */ + CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq; + + /* Initialize the CAN_Prescaler member */ + CAN_InitStruct->CAN_Prescaler = 1; +} + +/** + * @brief Select the start bank filter for slave CAN. + * @note This function applies only to STM32 Connectivity line devices. + * @param CAN_BankNumber: Select the start slave bank filter from 1..27. + * @retval None. + */ +void CAN_SlaveStartBank(uint8_t CAN_BankNumber) +{ + /* Check the parameters */ + assert_param(IS_CAN_BANKNUMBER(CAN_BankNumber)); + + /* Enter Initialisation mode for the filter */ + CAN1->FMR |= FMR_FINIT; + + /* Select the start slave bank */ + CAN1->FMR &= (uint32_t)0xFFFFC0F1 ; + CAN1->FMR |= (uint32_t)(CAN_BankNumber)<<8; + + /* Leave Initialisation mode for the filter */ + CAN1->FMR &= ~FMR_FINIT; +} + +/** + * @brief Enables or disables the DBG Freeze for CAN. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param NewState: new state of the CAN peripheral. This parameter can + * be: ENABLE or DISABLE. + * @retval None. + */ +void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable Debug Freeze */ + CANx->MCR |= MCR_DBF; + } + else + { + /* Disable Debug Freeze */ + CANx->MCR &= ~MCR_DBF; + } +} + + +/** + * @brief Enables or disabes the CAN Time TriggerOperation communication mode. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param NewState : Mode new state , can be one of @ref FunctionalState. + * @note when enabled, Time stamp (TIME[15:0]) value is sent in the last + * two data bytes of the 8-byte message: TIME[7:0] in data byte 6 + * and TIME[15:8] in data byte 7 + * @note DLC must be programmed as 8 in order Time Stamp (2 bytes) to be + * sent over the CAN bus. + * @retval None + */ +void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the TTCM mode */ + CANx->MCR |= CAN_MCR_TTCM; + + /* Set TGT bits */ + CANx->sTxMailBox[0].TDTR |= ((uint32_t)CAN_TDT0R_TGT); + CANx->sTxMailBox[1].TDTR |= ((uint32_t)CAN_TDT1R_TGT); + CANx->sTxMailBox[2].TDTR |= ((uint32_t)CAN_TDT2R_TGT); + } + else + { + /* Disable the TTCM mode */ + CANx->MCR &= (uint32_t)(~(uint32_t)CAN_MCR_TTCM); + + /* Reset TGT bits */ + CANx->sTxMailBox[0].TDTR &= ((uint32_t)~CAN_TDT0R_TGT); + CANx->sTxMailBox[1].TDTR &= ((uint32_t)~CAN_TDT1R_TGT); + CANx->sTxMailBox[2].TDTR &= ((uint32_t)~CAN_TDT2R_TGT); + } +} +/** + * @brief Initiates the transmission of a message. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param TxMessage: pointer to a structure which contains CAN Id, CAN + * DLC and CAN data. + * @retval The number of the mailbox that is used for transmission + * or CAN_TxStatus_NoMailBox if there is no empty mailbox. + */ +uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage) +{ + uint8_t transmit_mailbox = 0; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_IDTYPE(TxMessage->IDE)); + assert_param(IS_CAN_RTR(TxMessage->RTR)); + assert_param(IS_CAN_DLC(TxMessage->DLC)); + + /* Select one empty transmit mailbox */ + if ((CANx->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) + { + transmit_mailbox = 0; + } + else if ((CANx->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) + { + transmit_mailbox = 1; + } + else if ((CANx->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) + { + transmit_mailbox = 2; + } + else + { + transmit_mailbox = CAN_TxStatus_NoMailBox; + } + + if (transmit_mailbox != CAN_TxStatus_NoMailBox) + { + /* Set up the Id */ + CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ; + if (TxMessage->IDE == CAN_Id_Standard) + { + assert_param(IS_CAN_STDID(TxMessage->StdId)); + CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | \ + TxMessage->RTR); + } + else + { + assert_param(IS_CAN_EXTID(TxMessage->ExtId)); + CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId << 3) | \ + TxMessage->IDE | \ + TxMessage->RTR); + } + + /* Set up the DLC */ + TxMessage->DLC &= (uint8_t)0x0000000F; + CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0; + CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC; + + /* Set up the data field */ + CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) | + ((uint32_t)TxMessage->Data[2] << 16) | + ((uint32_t)TxMessage->Data[1] << 8) | + ((uint32_t)TxMessage->Data[0])); + CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) | + ((uint32_t)TxMessage->Data[6] << 16) | + ((uint32_t)TxMessage->Data[5] << 8) | + ((uint32_t)TxMessage->Data[4])); + /* Request transmission */ + CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ; + } + return transmit_mailbox; +} + +/** + * @brief Checks the transmission of a message. + * @param CANx: where x can be 1 or 2 to to select the + * CAN peripheral. + * @param TransmitMailbox: the number of the mailbox that is used for + * transmission. + * @retval CAN_TxStatus_Ok if the CAN driver transmits the message, CAN_TxStatus_Failed + * in an other case. + */ +uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox) +{ + uint32_t state = 0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox)); + + switch (TransmitMailbox) + { + case (CAN_TXMAILBOX_0): + state = CANx->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0); + break; + case (CAN_TXMAILBOX_1): + state = CANx->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1); + break; + case (CAN_TXMAILBOX_2): + state = CANx->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2); + break; + default: + state = CAN_TxStatus_Failed; + break; + } + switch (state) + { + /* transmit pending */ + case (0x0): state = CAN_TxStatus_Pending; + break; + /* transmit failed */ + case (CAN_TSR_RQCP0 | CAN_TSR_TME0): state = CAN_TxStatus_Failed; + break; + case (CAN_TSR_RQCP1 | CAN_TSR_TME1): state = CAN_TxStatus_Failed; + break; + case (CAN_TSR_RQCP2 | CAN_TSR_TME2): state = CAN_TxStatus_Failed; + break; + /* transmit succeeded */ + case (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0):state = CAN_TxStatus_Ok; + break; + case (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1):state = CAN_TxStatus_Ok; + break; + case (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2):state = CAN_TxStatus_Ok; + break; + default: state = CAN_TxStatus_Failed; + break; + } + return (uint8_t) state; +} + +/** + * @brief Cancels a transmit request. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param Mailbox: Mailbox number. + * @retval None. + */ +void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox)); + /* abort transmission */ + switch (Mailbox) + { + case (CAN_TXMAILBOX_0): CANx->TSR |= CAN_TSR_ABRQ0; + break; + case (CAN_TXMAILBOX_1): CANx->TSR |= CAN_TSR_ABRQ1; + break; + case (CAN_TXMAILBOX_2): CANx->TSR |= CAN_TSR_ABRQ2; + break; + default: + break; + } +} + + +/** + * @brief Receives a message. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. + * @param RxMessage: pointer to a structure receive message which contains + * CAN Id, CAN DLC, CAN datas and FMI number. + * @retval None. + */ +void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_FIFO(FIFONumber)); + /* Get the Id */ + RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONumber].RIR; + if (RxMessage->IDE == CAN_Id_Standard) + { + RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 21); + } + else + { + RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 3); + } + + RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONumber].RIR; + /* Get the DLC */ + RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONumber].RDTR; + /* Get the FMI */ + RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDTR >> 8); + /* Get the data field */ + RxMessage->Data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDLR; + RxMessage->Data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 8); + RxMessage->Data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 16); + RxMessage->Data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 24); + RxMessage->Data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDHR; + RxMessage->Data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 8); + RxMessage->Data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 16); + RxMessage->Data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 24); + /* Release the FIFO */ + /* Release FIFO0 */ + if (FIFONumber == CAN_FIFO0) + { + CANx->RF0R |= CAN_RF0R_RFOM0; + } + /* Release FIFO1 */ + else /* FIFONumber == CAN_FIFO1 */ + { + CANx->RF1R |= CAN_RF1R_RFOM1; + } +} + +/** + * @brief Releases the specified FIFO. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1. + * @retval None. + */ +void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_FIFO(FIFONumber)); + /* Release FIFO0 */ + if (FIFONumber == CAN_FIFO0) + { + CANx->RF0R |= CAN_RF0R_RFOM0; + } + /* Release FIFO1 */ + else /* FIFONumber == CAN_FIFO1 */ + { + CANx->RF1R |= CAN_RF1R_RFOM1; + } +} + +/** + * @brief Returns the number of pending messages. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. + * @retval NbMessage : which is the number of pending message. + */ +uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber) +{ + uint8_t message_pending=0; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_FIFO(FIFONumber)); + if (FIFONumber == CAN_FIFO0) + { + message_pending = (uint8_t)(CANx->RF0R&(uint32_t)0x03); + } + else if (FIFONumber == CAN_FIFO1) + { + message_pending = (uint8_t)(CANx->RF1R&(uint32_t)0x03); + } + else + { + message_pending = 0; + } + return message_pending; +} + + +/** + * @brief Select the CAN Operation mode. + * @param CAN_OperatingMode : CAN Operating Mode. This parameter can be one + * of @ref CAN_OperatingMode_TypeDef enumeration. + * @retval status of the requested mode which can be + * - CAN_ModeStatus_Failed CAN failed entering the specific mode + * - CAN_ModeStatus_Success CAN Succeed entering the specific mode + + */ +uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode) +{ + uint8_t status = CAN_ModeStatus_Failed; + + /* Timeout for INAK or also for SLAK bits*/ + uint32_t timeout = INAK_TIMEOUT; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_OPERATING_MODE(CAN_OperatingMode)); + + if (CAN_OperatingMode == CAN_OperatingMode_Initialization) + { + /* Request initialisation */ + CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_SLEEP)) | CAN_MCR_INRQ); + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) && (timeout != 0)) + { + timeout--; + } + if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) + { + status = CAN_ModeStatus_Failed; + } + else + { + status = CAN_ModeStatus_Success; + } + } + else if (CAN_OperatingMode == CAN_OperatingMode_Normal) + { + /* Request leave initialisation and sleep mode and enter Normal mode */ + CANx->MCR &= (uint32_t)(~(CAN_MCR_SLEEP|CAN_MCR_INRQ)); + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MODE_MASK) != 0) && (timeout!=0)) + { + timeout--; + } + if ((CANx->MSR & CAN_MODE_MASK) != 0) + { + status = CAN_ModeStatus_Failed; + } + else + { + status = CAN_ModeStatus_Success; + } + } + else if (CAN_OperatingMode == CAN_OperatingMode_Sleep) + { + /* Request Sleep mode */ + CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) && (timeout!=0)) + { + timeout--; + } + if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) + { + status = CAN_ModeStatus_Failed; + } + else + { + status = CAN_ModeStatus_Success; + } + } + else + { + status = CAN_ModeStatus_Failed; + } + + return (uint8_t) status; +} + +/** + * @brief Enters the low power mode. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval status: CAN_Sleep_Ok if sleep entered, CAN_Sleep_Failed in an + * other case. + */ +uint8_t CAN_Sleep(CAN_TypeDef* CANx) +{ + uint8_t sleepstatus = CAN_Sleep_Failed; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Request Sleep mode */ + CANx->MCR = (((CANx->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); + + /* Sleep mode status */ + if ((CANx->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) == CAN_MSR_SLAK) + { + /* Sleep mode not entered */ + sleepstatus = CAN_Sleep_Ok; + } + /* return sleep mode status */ + return (uint8_t)sleepstatus; +} + +/** + * @brief Wakes the CAN up. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval status: CAN_WakeUp_Ok if sleep mode left, CAN_WakeUp_Failed in an + * other case. + */ +uint8_t CAN_WakeUp(CAN_TypeDef* CANx) +{ + uint32_t wait_slak = SLAK_TIMEOUT; + uint8_t wakeupstatus = CAN_WakeUp_Failed; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Wake up request */ + CANx->MCR &= ~(uint32_t)CAN_MCR_SLEEP; + + /* Sleep mode status */ + while(((CANx->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)&&(wait_slak!=0x00)) + { + wait_slak--; + } + if((CANx->MSR & CAN_MSR_SLAK) != CAN_MSR_SLAK) + { + /* wake up done : Sleep mode exited */ + wakeupstatus = CAN_WakeUp_Ok; + } + /* return wakeup status */ + return (uint8_t)wakeupstatus; +} + + +/** + * @brief Returns the CANx's last error code (LEC). + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval CAN_ErrorCode: specifies the Error code : + * - CAN_ERRORCODE_NoErr No Error + * - CAN_ERRORCODE_StuffErr Stuff Error + * - CAN_ERRORCODE_FormErr Form Error + * - CAN_ERRORCODE_ACKErr Acknowledgment Error + * - CAN_ERRORCODE_BitRecessiveErr Bit Recessive Error + * - CAN_ERRORCODE_BitDominantErr Bit Dominant Error + * - CAN_ERRORCODE_CRCErr CRC Error + * - CAN_ERRORCODE_SoftwareSetErr Software Set Error + */ + +uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx) +{ + uint8_t errorcode=0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Get the error code*/ + errorcode = (((uint8_t)CANx->ESR) & (uint8_t)CAN_ESR_LEC); + + /* Return the error code*/ + return errorcode; +} +/** + * @brief Returns the CANx Receive Error Counter (REC). + * @note In case of an error during reception, this counter is incremented + * by 1 or by 8 depending on the error condition as defined by the CAN + * standard. After every successful reception, the counter is + * decremented by 1 or reset to 120 if its value was higher than 128. + * When the counter value exceeds 127, the CAN controller enters the + * error passive state. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval CAN Receive Error Counter. + */ +uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx) +{ + uint8_t counter=0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Get the Receive Error Counter*/ + counter = (uint8_t)((CANx->ESR & CAN_ESR_REC)>> 24); + + /* Return the Receive Error Counter*/ + return counter; +} + + +/** + * @brief Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC). + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval LSB of the 9-bit CAN Transmit Error Counter. + */ +uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx) +{ + uint8_t counter=0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Get the LSB of the 9-bit CANx Transmit Error Counter(TEC) */ + counter = (uint8_t)((CANx->ESR & CAN_ESR_TEC)>> 16); + + /* Return the LSB of the 9-bit CANx Transmit Error Counter(TEC) */ + return counter; +} + + +/** + * @brief Enables or disables the specified CANx interrupts. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_IT: specifies the CAN interrupt sources to be enabled or disabled. + * This parameter can be: + * - CAN_IT_TME, + * - CAN_IT_FMP0, + * - CAN_IT_FF0, + * - CAN_IT_FOV0, + * - CAN_IT_FMP1, + * - CAN_IT_FF1, + * - CAN_IT_FOV1, + * - CAN_IT_EWG, + * - CAN_IT_EPV, + * - CAN_IT_LEC, + * - CAN_IT_ERR, + * - CAN_IT_WKU or + * - CAN_IT_SLK. + * @param NewState: new state of the CAN interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_IT(CAN_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected CANx interrupt */ + CANx->IER |= CAN_IT; + } + else + { + /* Disable the selected CANx interrupt */ + CANx->IER &= ~CAN_IT; + } +} +/** + * @brief Checks whether the specified CAN flag is set or not. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_FLAG: specifies the flag to check. + * This parameter can be one of the following flags: + * - CAN_FLAG_EWG + * - CAN_FLAG_EPV + * - CAN_FLAG_BOF + * - CAN_FLAG_RQCP0 + * - CAN_FLAG_RQCP1 + * - CAN_FLAG_RQCP2 + * - CAN_FLAG_FMP1 + * - CAN_FLAG_FF1 + * - CAN_FLAG_FOV1 + * - CAN_FLAG_FMP0 + * - CAN_FLAG_FF0 + * - CAN_FLAG_FOV0 + * - CAN_FLAG_WKU + * - CAN_FLAG_SLAK + * - CAN_FLAG_LEC + * @retval The new state of CAN_FLAG (SET or RESET). + */ +FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG) +{ + FlagStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_GET_FLAG(CAN_FLAG)); + + + if((CAN_FLAG & CAN_FLAGS_ESR) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->ESR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else if((CAN_FLAG & CAN_FLAGS_MSR) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->MSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else if((CAN_FLAG & CAN_FLAGS_TSR) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->TSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else if((CAN_FLAG & CAN_FLAGS_RF0R) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->RF0R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else /* If(CAN_FLAG & CAN_FLAGS_RF1R != (uint32_t)RESET) */ + { + /* Check the status of the specified CAN flag */ + if ((uint32_t)(CANx->RF1R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + /* Return the CAN_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the CAN's pending flags. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_FLAG: specifies the flag to clear. + * This parameter can be one of the following flags: + * - CAN_FLAG_RQCP0 + * - CAN_FLAG_RQCP1 + * - CAN_FLAG_RQCP2 + * - CAN_FLAG_FF1 + * - CAN_FLAG_FOV1 + * - CAN_FLAG_FF0 + * - CAN_FLAG_FOV0 + * - CAN_FLAG_WKU + * - CAN_FLAG_SLAK + * - CAN_FLAG_LEC + * @retval None. + */ +void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG) +{ + uint32_t flagtmp=0; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_CLEAR_FLAG(CAN_FLAG)); + + if (CAN_FLAG == CAN_FLAG_LEC) /* ESR register */ + { + /* Clear the selected CAN flags */ + CANx->ESR = (uint32_t)RESET; + } + else /* MSR or TSR or RF0R or RF1R */ + { + flagtmp = CAN_FLAG & 0x000FFFFF; + + if ((CAN_FLAG & CAN_FLAGS_RF0R)!=(uint32_t)RESET) + { + /* Receive Flags */ + CANx->RF0R = (uint32_t)(flagtmp); + } + else if ((CAN_FLAG & CAN_FLAGS_RF1R)!=(uint32_t)RESET) + { + /* Receive Flags */ + CANx->RF1R = (uint32_t)(flagtmp); + } + else if ((CAN_FLAG & CAN_FLAGS_TSR)!=(uint32_t)RESET) + { + /* Transmit Flags */ + CANx->TSR = (uint32_t)(flagtmp); + } + else /* If((CAN_FLAG & CAN_FLAGS_MSR)!=(uint32_t)RESET) */ + { + /* Operating mode Flags */ + CANx->MSR = (uint32_t)(flagtmp); + } + } +} + +/** + * @brief Checks whether the specified CANx interrupt has occurred or not. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_IT: specifies the CAN interrupt source to check. + * This parameter can be one of the following flags: + * - CAN_IT_TME + * - CAN_IT_FMP0 + * - CAN_IT_FF0 + * - CAN_IT_FOV0 + * - CAN_IT_FMP1 + * - CAN_IT_FF1 + * - CAN_IT_FOV1 + * - CAN_IT_WKU + * - CAN_IT_SLK + * - CAN_IT_EWG + * - CAN_IT_EPV + * - CAN_IT_BOF + * - CAN_IT_LEC + * - CAN_IT_ERR + * @retval The current state of CAN_IT (SET or RESET). + */ +ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT) +{ + ITStatus itstatus = RESET; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_IT(CAN_IT)); + + /* check the enable interrupt bit */ + if((CANx->IER & CAN_IT) != RESET) + { + /* in case the Interrupt is enabled, .... */ + switch (CAN_IT) + { + case CAN_IT_TME: + /* Check CAN_TSR_RQCPx bits */ + itstatus = CheckITStatus(CANx->TSR, CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2); + break; + case CAN_IT_FMP0: + /* Check CAN_RF0R_FMP0 bit */ + itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FMP0); + break; + case CAN_IT_FF0: + /* Check CAN_RF0R_FULL0 bit */ + itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FULL0); + break; + case CAN_IT_FOV0: + /* Check CAN_RF0R_FOVR0 bit */ + itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FOVR0); + break; + case CAN_IT_FMP1: + /* Check CAN_RF1R_FMP1 bit */ + itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FMP1); + break; + case CAN_IT_FF1: + /* Check CAN_RF1R_FULL1 bit */ + itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FULL1); + break; + case CAN_IT_FOV1: + /* Check CAN_RF1R_FOVR1 bit */ + itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FOVR1); + break; + case CAN_IT_WKU: + /* Check CAN_MSR_WKUI bit */ + itstatus = CheckITStatus(CANx->MSR, CAN_MSR_WKUI); + break; + case CAN_IT_SLK: + /* Check CAN_MSR_SLAKI bit */ + itstatus = CheckITStatus(CANx->MSR, CAN_MSR_SLAKI); + break; + case CAN_IT_EWG: + /* Check CAN_ESR_EWGF bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EWGF); + break; + case CAN_IT_EPV: + /* Check CAN_ESR_EPVF bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EPVF); + break; + case CAN_IT_BOF: + /* Check CAN_ESR_BOFF bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_BOFF); + break; + case CAN_IT_LEC: + /* Check CAN_ESR_LEC bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_LEC); + break; + case CAN_IT_ERR: + /* Check CAN_MSR_ERRI bit */ + itstatus = CheckITStatus(CANx->MSR, CAN_MSR_ERRI); + break; + default : + /* in case of error, return RESET */ + itstatus = RESET; + break; + } + } + else + { + /* in case the Interrupt is not enabled, return RESET */ + itstatus = RESET; + } + + /* Return the CAN_IT status */ + return itstatus; +} + +/** + * @brief Clears the CANx's interrupt pending bits. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_IT: specifies the interrupt pending bit to clear. + * - CAN_IT_TME + * - CAN_IT_FF0 + * - CAN_IT_FOV0 + * - CAN_IT_FF1 + * - CAN_IT_FOV1 + * - CAN_IT_WKU + * - CAN_IT_SLK + * - CAN_IT_EWG + * - CAN_IT_EPV + * - CAN_IT_BOF + * - CAN_IT_LEC + * - CAN_IT_ERR + * @retval None. + */ +void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_CLEAR_IT(CAN_IT)); + + switch (CAN_IT) + { + case CAN_IT_TME: + /* Clear CAN_TSR_RQCPx (rc_w1)*/ + CANx->TSR = CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2; + break; + case CAN_IT_FF0: + /* Clear CAN_RF0R_FULL0 (rc_w1)*/ + CANx->RF0R = CAN_RF0R_FULL0; + break; + case CAN_IT_FOV0: + /* Clear CAN_RF0R_FOVR0 (rc_w1)*/ + CANx->RF0R = CAN_RF0R_FOVR0; + break; + case CAN_IT_FF1: + /* Clear CAN_RF1R_FULL1 (rc_w1)*/ + CANx->RF1R = CAN_RF1R_FULL1; + break; + case CAN_IT_FOV1: + /* Clear CAN_RF1R_FOVR1 (rc_w1)*/ + CANx->RF1R = CAN_RF1R_FOVR1; + break; + case CAN_IT_WKU: + /* Clear CAN_MSR_WKUI (rc_w1)*/ + CANx->MSR = CAN_MSR_WKUI; + break; + case CAN_IT_SLK: + /* Clear CAN_MSR_SLAKI (rc_w1)*/ + CANx->MSR = CAN_MSR_SLAKI; + break; + case CAN_IT_EWG: + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : the corresponding Flag is cleared by hardware depending + of the CAN Bus status*/ + break; + case CAN_IT_EPV: + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : the corresponding Flag is cleared by hardware depending + of the CAN Bus status*/ + break; + case CAN_IT_BOF: + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : the corresponding Flag is cleared by hardware depending + of the CAN Bus status*/ + break; + case CAN_IT_LEC: + /* Clear LEC bits */ + CANx->ESR = RESET; + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + break; + case CAN_IT_ERR: + /*Clear LEC bits */ + CANx->ESR = RESET; + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : BOFF, EPVF and EWGF Flags are cleared by hardware depending + of the CAN Bus status*/ + break; + default : + break; + } +} + +/** + * @brief Checks whether the CAN interrupt has occurred or not. + * @param CAN_Reg: specifies the CAN interrupt register to check. + * @param It_Bit: specifies the interrupt source bit to check. + * @retval The new state of the CAN Interrupt (SET or RESET). + */ +static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit) +{ + ITStatus pendingbitstatus = RESET; + + if ((CAN_Reg & It_Bit) != (uint32_t)RESET) + { + /* CAN_IT is set */ + pendingbitstatus = SET; + } + else + { + /* CAN_IT is reset */ + pendingbitstatus = RESET; + } + return pendingbitstatus; +} + + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_cec.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_cec.c new file mode 100644 index 0000000..4dc615f --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_cec.c @@ -0,0 +1,433 @@ +/** + ****************************************************************************** + * @file stm32f10x_cec.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the CEC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_cec.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup CEC + * @brief CEC driver modules + * @{ + */ + +/** @defgroup CEC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Defines + * @{ + */ + +/* ------------ CEC registers bit address in the alias region ----------- */ +#define CEC_OFFSET (CEC_BASE - PERIPH_BASE) + +/* --- CFGR Register ---*/ + +/* Alias word address of PE bit */ +#define CFGR_OFFSET (CEC_OFFSET + 0x00) +#define PE_BitNumber 0x00 +#define CFGR_PE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (PE_BitNumber * 4)) + +/* Alias word address of IE bit */ +#define IE_BitNumber 0x01 +#define CFGR_IE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (IE_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of TSOM bit */ +#define CSR_OFFSET (CEC_OFFSET + 0x10) +#define TSOM_BitNumber 0x00 +#define CSR_TSOM_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TSOM_BitNumber * 4)) + +/* Alias word address of TEOM bit */ +#define TEOM_BitNumber 0x01 +#define CSR_TEOM_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TEOM_BitNumber * 4)) + +#define CFGR_CLEAR_Mask (uint8_t)(0xF3) /* CFGR register Mask */ +#define FLAG_Mask ((uint32_t)0x00FFFFFF) /* CEC FLAG mask */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Macros + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Variables + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the CEC peripheral registers to their default reset + * values. + * @param None + * @retval None + */ +void CEC_DeInit(void) +{ + /* Enable CEC reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, ENABLE); + /* Release CEC from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, DISABLE); +} + + +/** + * @brief Initializes the CEC peripheral according to the specified + * parameters in the CEC_InitStruct. + * @param CEC_InitStruct: pointer to an CEC_InitTypeDef structure that + * contains the configuration information for the specified + * CEC peripheral. + * @retval None + */ +void CEC_Init(CEC_InitTypeDef* CEC_InitStruct) +{ + uint16_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_CEC_BIT_TIMING_ERROR_MODE(CEC_InitStruct->CEC_BitTimingMode)); + assert_param(IS_CEC_BIT_PERIOD_ERROR_MODE(CEC_InitStruct->CEC_BitPeriodMode)); + + /*---------------------------- CEC CFGR Configuration -----------------*/ + /* Get the CEC CFGR value */ + tmpreg = CEC->CFGR; + + /* Clear BTEM and BPEM bits */ + tmpreg &= CFGR_CLEAR_Mask; + + /* Configure CEC: Bit Timing Error and Bit Period Error */ + tmpreg |= (uint16_t)(CEC_InitStruct->CEC_BitTimingMode | CEC_InitStruct->CEC_BitPeriodMode); + + /* Write to CEC CFGR register*/ + CEC->CFGR = tmpreg; + +} + +/** + * @brief Enables or disables the specified CEC peripheral. + * @param NewState: new state of the CEC peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void CEC_Cmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CFGR_PE_BB = (uint32_t)NewState; + + if(NewState == DISABLE) + { + /* Wait until the PE bit is cleared by hardware (Idle Line detected) */ + while((CEC->CFGR & CEC_CFGR_PE) != (uint32_t)RESET) + { + } + } +} + +/** + * @brief Enables or disables the CEC interrupt. + * @param NewState: new state of the CEC interrupt. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void CEC_ITConfig(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CFGR_IE_BB = (uint32_t)NewState; +} + +/** + * @brief Defines the Own Address of the CEC device. + * @param CEC_OwnAddress: The CEC own address + * @retval None + */ +void CEC_OwnAddressConfig(uint8_t CEC_OwnAddress) +{ + /* Check the parameters */ + assert_param(IS_CEC_ADDRESS(CEC_OwnAddress)); + + /* Set the CEC own address */ + CEC->OAR = CEC_OwnAddress; +} + +/** + * @brief Sets the CEC prescaler value. + * @param CEC_Prescaler: CEC prescaler new value + * @retval None + */ +void CEC_SetPrescaler(uint16_t CEC_Prescaler) +{ + /* Check the parameters */ + assert_param(IS_CEC_PRESCALER(CEC_Prescaler)); + + /* Set the Prescaler value*/ + CEC->PRES = CEC_Prescaler; +} + +/** + * @brief Transmits single data through the CEC peripheral. + * @param Data: the data to transmit. + * @retval None + */ +void CEC_SendDataByte(uint8_t Data) +{ + /* Transmit Data */ + CEC->TXD = Data ; +} + + +/** + * @brief Returns the most recent received data by the CEC peripheral. + * @param None + * @retval The received data. + */ +uint8_t CEC_ReceiveDataByte(void) +{ + /* Receive Data */ + return (uint8_t)(CEC->RXD); +} + +/** + * @brief Starts a new message. + * @param None + * @retval None + */ +void CEC_StartOfMessage(void) +{ + /* Starts of new message */ + *(__IO uint32_t *) CSR_TSOM_BB = (uint32_t)0x1; +} + +/** + * @brief Transmits message with or without an EOM bit. + * @param NewState: new state of the CEC Tx End Of Message. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void CEC_EndOfMessageCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + /* The data byte will be transmitted with or without an EOM bit*/ + *(__IO uint32_t *) CSR_TEOM_BB = (uint32_t)NewState; +} + +/** + * @brief Gets the CEC flag status + * @param CEC_FLAG: specifies the CEC flag to check. + * This parameter can be one of the following values: + * @arg CEC_FLAG_BTE: Bit Timing Error + * @arg CEC_FLAG_BPE: Bit Period Error + * @arg CEC_FLAG_RBTFE: Rx Block Transfer Finished Error + * @arg CEC_FLAG_SBE: Start Bit Error + * @arg CEC_FLAG_ACKE: Block Acknowledge Error + * @arg CEC_FLAG_LINE: Line Error + * @arg CEC_FLAG_TBTFE: Tx Block Transfer Finished Error + * @arg CEC_FLAG_TEOM: Tx End Of Message + * @arg CEC_FLAG_TERR: Tx Error + * @arg CEC_FLAG_TBTRF: Tx Byte Transfer Request or Block Transfer Finished + * @arg CEC_FLAG_RSOM: Rx Start Of Message + * @arg CEC_FLAG_REOM: Rx End Of Message + * @arg CEC_FLAG_RERR: Rx Error + * @arg CEC_FLAG_RBTF: Rx Byte/Block Transfer Finished + * @retval The new state of CEC_FLAG (SET or RESET) + */ +FlagStatus CEC_GetFlagStatus(uint32_t CEC_FLAG) +{ + FlagStatus bitstatus = RESET; + uint32_t cecreg = 0, cecbase = 0; + + /* Check the parameters */ + assert_param(IS_CEC_GET_FLAG(CEC_FLAG)); + + /* Get the CEC peripheral base address */ + cecbase = (uint32_t)(CEC_BASE); + + /* Read flag register index */ + cecreg = CEC_FLAG >> 28; + + /* Get bit[23:0] of the flag */ + CEC_FLAG &= FLAG_Mask; + + if(cecreg != 0) + { + /* Flag in CEC ESR Register */ + CEC_FLAG = (uint32_t)(CEC_FLAG >> 16); + + /* Get the CEC ESR register address */ + cecbase += 0xC; + } + else + { + /* Get the CEC CSR register address */ + cecbase += 0x10; + } + + if(((*(__IO uint32_t *)cecbase) & CEC_FLAG) != (uint32_t)RESET) + { + /* CEC_FLAG is set */ + bitstatus = SET; + } + else + { + /* CEC_FLAG is reset */ + bitstatus = RESET; + } + + /* Return the CEC_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the CEC's pending flags. + * @param CEC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg CEC_FLAG_TERR: Tx Error + * @arg CEC_FLAG_TBTRF: Tx Byte Transfer Request or Block Transfer Finished + * @arg CEC_FLAG_RSOM: Rx Start Of Message + * @arg CEC_FLAG_REOM: Rx End Of Message + * @arg CEC_FLAG_RERR: Rx Error + * @arg CEC_FLAG_RBTF: Rx Byte/Block Transfer Finished + * @retval None + */ +void CEC_ClearFlag(uint32_t CEC_FLAG) +{ + uint32_t tmp = 0x0; + + /* Check the parameters */ + assert_param(IS_CEC_CLEAR_FLAG(CEC_FLAG)); + + tmp = CEC->CSR & 0x2; + + /* Clear the selected CEC flags */ + CEC->CSR &= (uint32_t)(((~(uint32_t)CEC_FLAG) & 0xFFFFFFFC) | tmp); +} + +/** + * @brief Checks whether the specified CEC interrupt has occurred or not. + * @param CEC_IT: specifies the CEC interrupt source to check. + * This parameter can be one of the following values: + * @arg CEC_IT_TERR: Tx Error + * @arg CEC_IT_TBTF: Tx Block Transfer Finished + * @arg CEC_IT_RERR: Rx Error + * @arg CEC_IT_RBTF: Rx Block Transfer Finished + * @retval The new state of CEC_IT (SET or RESET). + */ +ITStatus CEC_GetITStatus(uint8_t CEC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_CEC_GET_IT(CEC_IT)); + + /* Get the CEC IT enable bit status */ + enablestatus = (CEC->CFGR & (uint8_t)CEC_CFGR_IE) ; + + /* Check the status of the specified CEC interrupt */ + if (((CEC->CSR & CEC_IT) != (uint32_t)RESET) && enablestatus) + { + /* CEC_IT is set */ + bitstatus = SET; + } + else + { + /* CEC_IT is reset */ + bitstatus = RESET; + } + /* Return the CEC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the CEC's interrupt pending bits. + * @param CEC_IT: specifies the CEC interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg CEC_IT_TERR: Tx Error + * @arg CEC_IT_TBTF: Tx Block Transfer Finished + * @arg CEC_IT_RERR: Rx Error + * @arg CEC_IT_RBTF: Rx Block Transfer Finished + * @retval None + */ +void CEC_ClearITPendingBit(uint16_t CEC_IT) +{ + uint32_t tmp = 0x0; + + /* Check the parameters */ + assert_param(IS_CEC_GET_IT(CEC_IT)); + + tmp = CEC->CSR & 0x2; + + /* Clear the selected CEC interrupt pending bits */ + CEC->CSR &= (uint32_t)(((~(uint32_t)CEC_IT) & 0xFFFFFFFC) | tmp); +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_crc.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_crc.c new file mode 100644 index 0000000..6501728 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_crc.c @@ -0,0 +1,160 @@ +/** + ****************************************************************************** + * @file stm32f10x_crc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the CRC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_crc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup CRC + * @brief CRC driver modules + * @{ + */ + +/** @defgroup CRC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Defines + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Functions + * @{ + */ + +/** + * @brief Resets the CRC Data register (DR). + * @param None + * @retval None + */ +void CRC_ResetDR(void) +{ + /* Reset CRC generator */ + CRC->CR = CRC_CR_RESET; +} + +/** + * @brief Computes the 32-bit CRC of a given data word(32-bit). + * @param Data: data word(32-bit) to compute its CRC + * @retval 32-bit CRC + */ +uint32_t CRC_CalcCRC(uint32_t Data) +{ + CRC->DR = Data; + + return (CRC->DR); +} + +/** + * @brief Computes the 32-bit CRC of a given buffer of data word(32-bit). + * @param pBuffer: pointer to the buffer containing the data to be computed + * @param BufferLength: length of the buffer to be computed + * @retval 32-bit CRC + */ +uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength) +{ + uint32_t index = 0; + + for(index = 0; index < BufferLength; index++) + { + CRC->DR = pBuffer[index]; + } + return (CRC->DR); +} + +/** + * @brief Returns the current CRC value. + * @param None + * @retval 32-bit CRC + */ +uint32_t CRC_GetCRC(void) +{ + return (CRC->DR); +} + +/** + * @brief Stores a 8-bit data in the Independent Data(ID) register. + * @param IDValue: 8-bit value to be stored in the ID register + * @retval None + */ +void CRC_SetIDRegister(uint8_t IDValue) +{ + CRC->IDR = IDValue; +} + +/** + * @brief Returns the 8-bit data stored in the Independent Data(ID) register + * @param None + * @retval 8-bit value of the ID register + */ +uint8_t CRC_GetIDRegister(void) +{ + return (CRC->IDR); +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dac.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dac.c new file mode 100644 index 0000000..1cfc71d --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dac.c @@ -0,0 +1,571 @@ +/** + ****************************************************************************** + * @file stm32f10x_dac.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the DAC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_dac.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup DAC + * @brief DAC driver modules + * @{ + */ + +/** @defgroup DAC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_Defines + * @{ + */ + +/* CR register Mask */ +#define CR_CLEAR_MASK ((uint32_t)0x00000FFE) + +/* DAC Dual Channels SWTRIG masks */ +#define DUAL_SWTRIG_SET ((uint32_t)0x00000003) +#define DUAL_SWTRIG_RESET ((uint32_t)0xFFFFFFFC) + +/* DHR registers offsets */ +#define DHR12R1_OFFSET ((uint32_t)0x00000008) +#define DHR12R2_OFFSET ((uint32_t)0x00000014) +#define DHR12RD_OFFSET ((uint32_t)0x00000020) + +/* DOR register offset */ +#define DOR_OFFSET ((uint32_t)0x0000002C) +/** + * @} + */ + +/** @defgroup DAC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the DAC peripheral registers to their default reset values. + * @param None + * @retval None + */ +void DAC_DeInit(void) +{ + /* Enable DAC reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_DAC, ENABLE); + /* Release DAC from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_DAC, DISABLE); +} + +/** + * @brief Initializes the DAC peripheral according to the specified + * parameters in the DAC_InitStruct. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_InitStruct: pointer to a DAC_InitTypeDef structure that + * contains the configuration information for the specified DAC channel. + * @retval None + */ +void DAC_Init(uint32_t DAC_Channel, DAC_InitTypeDef* DAC_InitStruct) +{ + uint32_t tmpreg1 = 0, tmpreg2 = 0; + /* Check the DAC parameters */ + assert_param(IS_DAC_TRIGGER(DAC_InitStruct->DAC_Trigger)); + assert_param(IS_DAC_GENERATE_WAVE(DAC_InitStruct->DAC_WaveGeneration)); + assert_param(IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude)); + assert_param(IS_DAC_OUTPUT_BUFFER_STATE(DAC_InitStruct->DAC_OutputBuffer)); +/*---------------------------- DAC CR Configuration --------------------------*/ + /* Get the DAC CR value */ + tmpreg1 = DAC->CR; + /* Clear BOFFx, TENx, TSELx, WAVEx and MAMPx bits */ + tmpreg1 &= ~(CR_CLEAR_MASK << DAC_Channel); + /* Configure for the selected DAC channel: buffer output, trigger, wave generation, + mask/amplitude for wave generation */ + /* Set TSELx and TENx bits according to DAC_Trigger value */ + /* Set WAVEx bits according to DAC_WaveGeneration value */ + /* Set MAMPx bits according to DAC_LFSRUnmask_TriangleAmplitude value */ + /* Set BOFFx bit according to DAC_OutputBuffer value */ + tmpreg2 = (DAC_InitStruct->DAC_Trigger | DAC_InitStruct->DAC_WaveGeneration | + DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude | DAC_InitStruct->DAC_OutputBuffer); + /* Calculate CR register value depending on DAC_Channel */ + tmpreg1 |= tmpreg2 << DAC_Channel; + /* Write to DAC CR */ + DAC->CR = tmpreg1; +} + +/** + * @brief Fills each DAC_InitStruct member with its default value. + * @param DAC_InitStruct : pointer to a DAC_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void DAC_StructInit(DAC_InitTypeDef* DAC_InitStruct) +{ +/*--------------- Reset DAC init structure parameters values -----------------*/ + /* Initialize the DAC_Trigger member */ + DAC_InitStruct->DAC_Trigger = DAC_Trigger_None; + /* Initialize the DAC_WaveGeneration member */ + DAC_InitStruct->DAC_WaveGeneration = DAC_WaveGeneration_None; + /* Initialize the DAC_LFSRUnmask_TriangleAmplitude member */ + DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude = DAC_LFSRUnmask_Bit0; + /* Initialize the DAC_OutputBuffer member */ + DAC_InitStruct->DAC_OutputBuffer = DAC_OutputBuffer_Enable; +} + +/** + * @brief Enables or disables the specified DAC channel. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param NewState: new state of the DAC channel. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_Cmd(uint32_t DAC_Channel, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected DAC channel */ + DAC->CR |= (DAC_CR_EN1 << DAC_Channel); + } + else + { + /* Disable the selected DAC channel */ + DAC->CR &= ~(DAC_CR_EN1 << DAC_Channel); + } +} +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/** + * @brief Enables or disables the specified DAC interrupts. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_IT: specifies the DAC interrupt sources to be enabled or disabled. + * This parameter can be the following values: + * @arg DAC_IT_DMAUDR: DMA underrun interrupt mask + * @param NewState: new state of the specified DAC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_ITConfig(uint32_t DAC_Channel, uint32_t DAC_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_DAC_IT(DAC_IT)); + + if (NewState != DISABLE) + { + /* Enable the selected DAC interrupts */ + DAC->CR |= (DAC_IT << DAC_Channel); + } + else + { + /* Disable the selected DAC interrupts */ + DAC->CR &= (~(uint32_t)(DAC_IT << DAC_Channel)); + } +} +#endif + +/** + * @brief Enables or disables the specified DAC channel DMA request. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param NewState: new state of the selected DAC channel DMA request. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_DMACmd(uint32_t DAC_Channel, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected DAC channel DMA request */ + DAC->CR |= (DAC_CR_DMAEN1 << DAC_Channel); + } + else + { + /* Disable the selected DAC channel DMA request */ + DAC->CR &= ~(DAC_CR_DMAEN1 << DAC_Channel); + } +} + +/** + * @brief Enables or disables the selected DAC channel software trigger. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param NewState: new state of the selected DAC channel software trigger. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_SoftwareTriggerCmd(uint32_t DAC_Channel, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable software trigger for the selected DAC channel */ + DAC->SWTRIGR |= (uint32_t)DAC_SWTRIGR_SWTRIG1 << (DAC_Channel >> 4); + } + else + { + /* Disable software trigger for the selected DAC channel */ + DAC->SWTRIGR &= ~((uint32_t)DAC_SWTRIGR_SWTRIG1 << (DAC_Channel >> 4)); + } +} + +/** + * @brief Enables or disables simultaneously the two DAC channels software + * triggers. + * @param NewState: new state of the DAC channels software triggers. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_DualSoftwareTriggerCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable software trigger for both DAC channels */ + DAC->SWTRIGR |= DUAL_SWTRIG_SET ; + } + else + { + /* Disable software trigger for both DAC channels */ + DAC->SWTRIGR &= DUAL_SWTRIG_RESET; + } +} + +/** + * @brief Enables or disables the selected DAC channel wave generation. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_Wave: Specifies the wave type to enable or disable. + * This parameter can be one of the following values: + * @arg DAC_Wave_Noise: noise wave generation + * @arg DAC_Wave_Triangle: triangle wave generation + * @param NewState: new state of the selected DAC channel wave generation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_WaveGenerationCmd(uint32_t DAC_Channel, uint32_t DAC_Wave, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_WAVE(DAC_Wave)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected wave generation for the selected DAC channel */ + DAC->CR |= DAC_Wave << DAC_Channel; + } + else + { + /* Disable the selected wave generation for the selected DAC channel */ + DAC->CR &= ~(DAC_Wave << DAC_Channel); + } +} + +/** + * @brief Set the specified data holding register value for DAC channel1. + * @param DAC_Align: Specifies the data alignment for DAC channel1. + * This parameter can be one of the following values: + * @arg DAC_Align_8b_R: 8bit right data alignment selected + * @arg DAC_Align_12b_L: 12bit left data alignment selected + * @arg DAC_Align_12b_R: 12bit right data alignment selected + * @param Data : Data to be loaded in the selected data holding register. + * @retval None + */ +void DAC_SetChannel1Data(uint32_t DAC_Align, uint16_t Data) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_ALIGN(DAC_Align)); + assert_param(IS_DAC_DATA(Data)); + + tmp = (uint32_t)DAC_BASE; + tmp += DHR12R1_OFFSET + DAC_Align; + + /* Set the DAC channel1 selected data holding register */ + *(__IO uint32_t *) tmp = Data; +} + +/** + * @brief Set the specified data holding register value for DAC channel2. + * @param DAC_Align: Specifies the data alignment for DAC channel2. + * This parameter can be one of the following values: + * @arg DAC_Align_8b_R: 8bit right data alignment selected + * @arg DAC_Align_12b_L: 12bit left data alignment selected + * @arg DAC_Align_12b_R: 12bit right data alignment selected + * @param Data : Data to be loaded in the selected data holding register. + * @retval None + */ +void DAC_SetChannel2Data(uint32_t DAC_Align, uint16_t Data) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_ALIGN(DAC_Align)); + assert_param(IS_DAC_DATA(Data)); + + tmp = (uint32_t)DAC_BASE; + tmp += DHR12R2_OFFSET + DAC_Align; + + /* Set the DAC channel2 selected data holding register */ + *(__IO uint32_t *)tmp = Data; +} + +/** + * @brief Set the specified data holding register value for dual channel + * DAC. + * @param DAC_Align: Specifies the data alignment for dual channel DAC. + * This parameter can be one of the following values: + * @arg DAC_Align_8b_R: 8bit right data alignment selected + * @arg DAC_Align_12b_L: 12bit left data alignment selected + * @arg DAC_Align_12b_R: 12bit right data alignment selected + * @param Data2: Data for DAC Channel2 to be loaded in the selected data + * holding register. + * @param Data1: Data for DAC Channel1 to be loaded in the selected data + * holding register. + * @retval None + */ +void DAC_SetDualChannelData(uint32_t DAC_Align, uint16_t Data2, uint16_t Data1) +{ + uint32_t data = 0, tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_ALIGN(DAC_Align)); + assert_param(IS_DAC_DATA(Data1)); + assert_param(IS_DAC_DATA(Data2)); + + /* Calculate and set dual DAC data holding register value */ + if (DAC_Align == DAC_Align_8b_R) + { + data = ((uint32_t)Data2 << 8) | Data1; + } + else + { + data = ((uint32_t)Data2 << 16) | Data1; + } + + tmp = (uint32_t)DAC_BASE; + tmp += DHR12RD_OFFSET + DAC_Align; + + /* Set the dual DAC selected data holding register */ + *(__IO uint32_t *)tmp = data; +} + +/** + * @brief Returns the last data output value of the selected DAC channel. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @retval The selected DAC channel data output value. + */ +uint16_t DAC_GetDataOutputValue(uint32_t DAC_Channel) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + + tmp = (uint32_t) DAC_BASE ; + tmp += DOR_OFFSET + ((uint32_t)DAC_Channel >> 2); + + /* Returns the DAC channel data output register value */ + return (uint16_t) (*(__IO uint32_t*) tmp); +} + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/** + * @brief Checks whether the specified DAC flag is set or not. + * @param DAC_Channel: thee selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_FLAG: specifies the flag to check. + * This parameter can be only of the following value: + * @arg DAC_FLAG_DMAUDR: DMA underrun flag + * @retval The new state of DAC_FLAG (SET or RESET). + */ +FlagStatus DAC_GetFlagStatus(uint32_t DAC_Channel, uint32_t DAC_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_FLAG(DAC_FLAG)); + + /* Check the status of the specified DAC flag */ + if ((DAC->SR & (DAC_FLAG << DAC_Channel)) != (uint8_t)RESET) + { + /* DAC_FLAG is set */ + bitstatus = SET; + } + else + { + /* DAC_FLAG is reset */ + bitstatus = RESET; + } + /* Return the DAC_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the DAC channelx's pending flags. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_FLAG: specifies the flag to clear. + * This parameter can be of the following value: + * @arg DAC_FLAG_DMAUDR: DMA underrun flag + * @retval None + */ +void DAC_ClearFlag(uint32_t DAC_Channel, uint32_t DAC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_FLAG(DAC_FLAG)); + + /* Clear the selected DAC flags */ + DAC->SR = (DAC_FLAG << DAC_Channel); +} + +/** + * @brief Checks whether the specified DAC interrupt has occurred or not. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_IT: specifies the DAC interrupt source to check. + * This parameter can be the following values: + * @arg DAC_IT_DMAUDR: DMA underrun interrupt mask + * @retval The new state of DAC_IT (SET or RESET). + */ +ITStatus DAC_GetITStatus(uint32_t DAC_Channel, uint32_t DAC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_IT(DAC_IT)); + + /* Get the DAC_IT enable bit status */ + enablestatus = (DAC->CR & (DAC_IT << DAC_Channel)) ; + + /* Check the status of the specified DAC interrupt */ + if (((DAC->SR & (DAC_IT << DAC_Channel)) != (uint32_t)RESET) && enablestatus) + { + /* DAC_IT is set */ + bitstatus = SET; + } + else + { + /* DAC_IT is reset */ + bitstatus = RESET; + } + /* Return the DAC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the DAC channelx's interrupt pending bits. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_IT: specifies the DAC interrupt pending bit to clear. + * This parameter can be the following values: + * @arg DAC_IT_DMAUDR: DMA underrun interrupt mask + * @retval None + */ +void DAC_ClearITPendingBit(uint32_t DAC_Channel, uint32_t DAC_IT) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_IT(DAC_IT)); + + /* Clear the selected DAC interrupt pending bits */ + DAC->SR = (DAC_IT << DAC_Channel); +} +#endif + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dbgmcu.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dbgmcu.c new file mode 100644 index 0000000..96a8fde --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dbgmcu.c @@ -0,0 +1,162 @@ +/** + ****************************************************************************** + * @file stm32f10x_dbgmcu.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the DBGMCU firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_dbgmcu.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup DBGMCU + * @brief DBGMCU driver modules + * @{ + */ + +/** @defgroup DBGMCU_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Defines + * @{ + */ + +#define IDCODE_DEVID_MASK ((uint32_t)0x00000FFF) +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Functions + * @{ + */ + +/** + * @brief Returns the device revision identifier. + * @param None + * @retval Device revision identifier + */ +uint32_t DBGMCU_GetREVID(void) +{ + return(DBGMCU->IDCODE >> 16); +} + +/** + * @brief Returns the device identifier. + * @param None + * @retval Device identifier + */ +uint32_t DBGMCU_GetDEVID(void) +{ + return(DBGMCU->IDCODE & IDCODE_DEVID_MASK); +} + +/** + * @brief Configures the specified peripheral and low power mode behavior + * when the MCU under Debug mode. + * @param DBGMCU_Periph: specifies the peripheral and low power mode. + * This parameter can be any combination of the following values: + * @arg DBGMCU_SLEEP: Keep debugger connection during SLEEP mode + * @arg DBGMCU_STOP: Keep debugger connection during STOP mode + * @arg DBGMCU_STANDBY: Keep debugger connection during STANDBY mode + * @arg DBGMCU_IWDG_STOP: Debug IWDG stopped when Core is halted + * @arg DBGMCU_WWDG_STOP: Debug WWDG stopped when Core is halted + * @arg DBGMCU_TIM1_STOP: TIM1 counter stopped when Core is halted + * @arg DBGMCU_TIM2_STOP: TIM2 counter stopped when Core is halted + * @arg DBGMCU_TIM3_STOP: TIM3 counter stopped when Core is halted + * @arg DBGMCU_TIM4_STOP: TIM4 counter stopped when Core is halted + * @arg DBGMCU_CAN1_STOP: Debug CAN2 stopped when Core is halted + * @arg DBGMCU_I2C1_SMBUS_TIMEOUT: I2C1 SMBUS timeout mode stopped when Core is halted + * @arg DBGMCU_I2C2_SMBUS_TIMEOUT: I2C2 SMBUS timeout mode stopped when Core is halted + * @arg DBGMCU_TIM5_STOP: TIM5 counter stopped when Core is halted + * @arg DBGMCU_TIM6_STOP: TIM6 counter stopped when Core is halted + * @arg DBGMCU_TIM7_STOP: TIM7 counter stopped when Core is halted + * @arg DBGMCU_TIM8_STOP: TIM8 counter stopped when Core is halted + * @arg DBGMCU_CAN2_STOP: Debug CAN2 stopped when Core is halted + * @arg DBGMCU_TIM15_STOP: TIM15 counter stopped when Core is halted + * @arg DBGMCU_TIM16_STOP: TIM16 counter stopped when Core is halted + * @arg DBGMCU_TIM17_STOP: TIM17 counter stopped when Core is halted + * @arg DBGMCU_TIM9_STOP: TIM9 counter stopped when Core is halted + * @arg DBGMCU_TIM10_STOP: TIM10 counter stopped when Core is halted + * @arg DBGMCU_TIM11_STOP: TIM11 counter stopped when Core is halted + * @arg DBGMCU_TIM12_STOP: TIM12 counter stopped when Core is halted + * @arg DBGMCU_TIM13_STOP: TIM13 counter stopped when Core is halted + * @arg DBGMCU_TIM14_STOP: TIM14 counter stopped when Core is halted + * @param NewState: new state of the specified peripheral in Debug mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DBGMCU_PERIPH(DBGMCU_Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + DBGMCU->CR |= DBGMCU_Periph; + } + else + { + DBGMCU->CR &= ~DBGMCU_Periph; + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dma.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dma.c new file mode 100644 index 0000000..bf072df --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_dma.c @@ -0,0 +1,714 @@ +/** + ****************************************************************************** + * @file stm32f10x_dma.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the DMA firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_dma.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup DMA + * @brief DMA driver modules + * @{ + */ + +/** @defgroup DMA_Private_TypesDefinitions + * @{ + */ +/** + * @} + */ + +/** @defgroup DMA_Private_Defines + * @{ + */ + + +/* DMA1 Channelx interrupt pending bit masks */ +#define DMA1_Channel1_IT_Mask ((uint32_t)(DMA_ISR_GIF1 | DMA_ISR_TCIF1 | DMA_ISR_HTIF1 | DMA_ISR_TEIF1)) +#define DMA1_Channel2_IT_Mask ((uint32_t)(DMA_ISR_GIF2 | DMA_ISR_TCIF2 | DMA_ISR_HTIF2 | DMA_ISR_TEIF2)) +#define DMA1_Channel3_IT_Mask ((uint32_t)(DMA_ISR_GIF3 | DMA_ISR_TCIF3 | DMA_ISR_HTIF3 | DMA_ISR_TEIF3)) +#define DMA1_Channel4_IT_Mask ((uint32_t)(DMA_ISR_GIF4 | DMA_ISR_TCIF4 | DMA_ISR_HTIF4 | DMA_ISR_TEIF4)) +#define DMA1_Channel5_IT_Mask ((uint32_t)(DMA_ISR_GIF5 | DMA_ISR_TCIF5 | DMA_ISR_HTIF5 | DMA_ISR_TEIF5)) +#define DMA1_Channel6_IT_Mask ((uint32_t)(DMA_ISR_GIF6 | DMA_ISR_TCIF6 | DMA_ISR_HTIF6 | DMA_ISR_TEIF6)) +#define DMA1_Channel7_IT_Mask ((uint32_t)(DMA_ISR_GIF7 | DMA_ISR_TCIF7 | DMA_ISR_HTIF7 | DMA_ISR_TEIF7)) + +/* DMA2 Channelx interrupt pending bit masks */ +#define DMA2_Channel1_IT_Mask ((uint32_t)(DMA_ISR_GIF1 | DMA_ISR_TCIF1 | DMA_ISR_HTIF1 | DMA_ISR_TEIF1)) +#define DMA2_Channel2_IT_Mask ((uint32_t)(DMA_ISR_GIF2 | DMA_ISR_TCIF2 | DMA_ISR_HTIF2 | DMA_ISR_TEIF2)) +#define DMA2_Channel3_IT_Mask ((uint32_t)(DMA_ISR_GIF3 | DMA_ISR_TCIF3 | DMA_ISR_HTIF3 | DMA_ISR_TEIF3)) +#define DMA2_Channel4_IT_Mask ((uint32_t)(DMA_ISR_GIF4 | DMA_ISR_TCIF4 | DMA_ISR_HTIF4 | DMA_ISR_TEIF4)) +#define DMA2_Channel5_IT_Mask ((uint32_t)(DMA_ISR_GIF5 | DMA_ISR_TCIF5 | DMA_ISR_HTIF5 | DMA_ISR_TEIF5)) + +/* DMA2 FLAG mask */ +#define FLAG_Mask ((uint32_t)0x10000000) + +/* DMA registers Masks */ +#define CCR_CLEAR_Mask ((uint32_t)0xFFFF800F) + +/** + * @} + */ + +/** @defgroup DMA_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the DMAy Channelx registers to their default reset + * values. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @retval None + */ +void DMA_DeInit(DMA_Channel_TypeDef* DMAy_Channelx) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + + /* Disable the selected DMAy Channelx */ + DMAy_Channelx->CCR &= (uint16_t)(~DMA_CCR1_EN); + + /* Reset DMAy Channelx control register */ + DMAy_Channelx->CCR = 0; + + /* Reset DMAy Channelx remaining bytes register */ + DMAy_Channelx->CNDTR = 0; + + /* Reset DMAy Channelx peripheral address register */ + DMAy_Channelx->CPAR = 0; + + /* Reset DMAy Channelx memory address register */ + DMAy_Channelx->CMAR = 0; + + if (DMAy_Channelx == DMA1_Channel1) + { + /* Reset interrupt pending bits for DMA1 Channel1 */ + DMA1->IFCR |= DMA1_Channel1_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel2) + { + /* Reset interrupt pending bits for DMA1 Channel2 */ + DMA1->IFCR |= DMA1_Channel2_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel3) + { + /* Reset interrupt pending bits for DMA1 Channel3 */ + DMA1->IFCR |= DMA1_Channel3_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel4) + { + /* Reset interrupt pending bits for DMA1 Channel4 */ + DMA1->IFCR |= DMA1_Channel4_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel5) + { + /* Reset interrupt pending bits for DMA1 Channel5 */ + DMA1->IFCR |= DMA1_Channel5_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel6) + { + /* Reset interrupt pending bits for DMA1 Channel6 */ + DMA1->IFCR |= DMA1_Channel6_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel7) + { + /* Reset interrupt pending bits for DMA1 Channel7 */ + DMA1->IFCR |= DMA1_Channel7_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel1) + { + /* Reset interrupt pending bits for DMA2 Channel1 */ + DMA2->IFCR |= DMA2_Channel1_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel2) + { + /* Reset interrupt pending bits for DMA2 Channel2 */ + DMA2->IFCR |= DMA2_Channel2_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel3) + { + /* Reset interrupt pending bits for DMA2 Channel3 */ + DMA2->IFCR |= DMA2_Channel3_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel4) + { + /* Reset interrupt pending bits for DMA2 Channel4 */ + DMA2->IFCR |= DMA2_Channel4_IT_Mask; + } + else + { + if (DMAy_Channelx == DMA2_Channel5) + { + /* Reset interrupt pending bits for DMA2 Channel5 */ + DMA2->IFCR |= DMA2_Channel5_IT_Mask; + } + } +} + +/** + * @brief Initializes the DMAy Channelx according to the specified + * parameters in the DMA_InitStruct. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param DMA_InitStruct: pointer to a DMA_InitTypeDef structure that + * contains the configuration information for the specified DMA Channel. + * @retval None + */ +void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, DMA_InitTypeDef* DMA_InitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + assert_param(IS_DMA_DIR(DMA_InitStruct->DMA_DIR)); + assert_param(IS_DMA_BUFFER_SIZE(DMA_InitStruct->DMA_BufferSize)); + assert_param(IS_DMA_PERIPHERAL_INC_STATE(DMA_InitStruct->DMA_PeripheralInc)); + assert_param(IS_DMA_MEMORY_INC_STATE(DMA_InitStruct->DMA_MemoryInc)); + assert_param(IS_DMA_PERIPHERAL_DATA_SIZE(DMA_InitStruct->DMA_PeripheralDataSize)); + assert_param(IS_DMA_MEMORY_DATA_SIZE(DMA_InitStruct->DMA_MemoryDataSize)); + assert_param(IS_DMA_MODE(DMA_InitStruct->DMA_Mode)); + assert_param(IS_DMA_PRIORITY(DMA_InitStruct->DMA_Priority)); + assert_param(IS_DMA_M2M_STATE(DMA_InitStruct->DMA_M2M)); + +/*--------------------------- DMAy Channelx CCR Configuration -----------------*/ + /* Get the DMAy_Channelx CCR value */ + tmpreg = DMAy_Channelx->CCR; + /* Clear MEM2MEM, PL, MSIZE, PSIZE, MINC, PINC, CIRC and DIR bits */ + tmpreg &= CCR_CLEAR_Mask; + /* Configure DMAy Channelx: data transfer, data size, priority level and mode */ + /* Set DIR bit according to DMA_DIR value */ + /* Set CIRC bit according to DMA_Mode value */ + /* Set PINC bit according to DMA_PeripheralInc value */ + /* Set MINC bit according to DMA_MemoryInc value */ + /* Set PSIZE bits according to DMA_PeripheralDataSize value */ + /* Set MSIZE bits according to DMA_MemoryDataSize value */ + /* Set PL bits according to DMA_Priority value */ + /* Set the MEM2MEM bit according to DMA_M2M value */ + tmpreg |= DMA_InitStruct->DMA_DIR | DMA_InitStruct->DMA_Mode | + DMA_InitStruct->DMA_PeripheralInc | DMA_InitStruct->DMA_MemoryInc | + DMA_InitStruct->DMA_PeripheralDataSize | DMA_InitStruct->DMA_MemoryDataSize | + DMA_InitStruct->DMA_Priority | DMA_InitStruct->DMA_M2M; + + /* Write to DMAy Channelx CCR */ + DMAy_Channelx->CCR = tmpreg; + +/*--------------------------- DMAy Channelx CNDTR Configuration ---------------*/ + /* Write to DMAy Channelx CNDTR */ + DMAy_Channelx->CNDTR = DMA_InitStruct->DMA_BufferSize; + +/*--------------------------- DMAy Channelx CPAR Configuration ----------------*/ + /* Write to DMAy Channelx CPAR */ + DMAy_Channelx->CPAR = DMA_InitStruct->DMA_PeripheralBaseAddr; + +/*--------------------------- DMAy Channelx CMAR Configuration ----------------*/ + /* Write to DMAy Channelx CMAR */ + DMAy_Channelx->CMAR = DMA_InitStruct->DMA_MemoryBaseAddr; +} + +/** + * @brief Fills each DMA_InitStruct member with its default value. + * @param DMA_InitStruct : pointer to a DMA_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct) +{ +/*-------------- Reset DMA init structure parameters values ------------------*/ + /* Initialize the DMA_PeripheralBaseAddr member */ + DMA_InitStruct->DMA_PeripheralBaseAddr = 0; + /* Initialize the DMA_MemoryBaseAddr member */ + DMA_InitStruct->DMA_MemoryBaseAddr = 0; + /* Initialize the DMA_DIR member */ + DMA_InitStruct->DMA_DIR = DMA_DIR_PeripheralSRC; + /* Initialize the DMA_BufferSize member */ + DMA_InitStruct->DMA_BufferSize = 0; + /* Initialize the DMA_PeripheralInc member */ + DMA_InitStruct->DMA_PeripheralInc = DMA_PeripheralInc_Disable; + /* Initialize the DMA_MemoryInc member */ + DMA_InitStruct->DMA_MemoryInc = DMA_MemoryInc_Disable; + /* Initialize the DMA_PeripheralDataSize member */ + DMA_InitStruct->DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; + /* Initialize the DMA_MemoryDataSize member */ + DMA_InitStruct->DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; + /* Initialize the DMA_Mode member */ + DMA_InitStruct->DMA_Mode = DMA_Mode_Normal; + /* Initialize the DMA_Priority member */ + DMA_InitStruct->DMA_Priority = DMA_Priority_Low; + /* Initialize the DMA_M2M member */ + DMA_InitStruct->DMA_M2M = DMA_M2M_Disable; +} + +/** + * @brief Enables or disables the specified DMAy Channelx. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param NewState: new state of the DMAy Channelx. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DMA_Cmd(DMA_Channel_TypeDef* DMAy_Channelx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected DMAy Channelx */ + DMAy_Channelx->CCR |= DMA_CCR1_EN; + } + else + { + /* Disable the selected DMAy Channelx */ + DMAy_Channelx->CCR &= (uint16_t)(~DMA_CCR1_EN); + } +} + +/** + * @brief Enables or disables the specified DMAy Channelx interrupts. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param DMA_IT: specifies the DMA interrupts sources to be enabled + * or disabled. + * This parameter can be any combination of the following values: + * @arg DMA_IT_TC: Transfer complete interrupt mask + * @arg DMA_IT_HT: Half transfer interrupt mask + * @arg DMA_IT_TE: Transfer error interrupt mask + * @param NewState: new state of the specified DMA interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DMA_ITConfig(DMA_Channel_TypeDef* DMAy_Channelx, uint32_t DMA_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + assert_param(IS_DMA_CONFIG_IT(DMA_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected DMA interrupts */ + DMAy_Channelx->CCR |= DMA_IT; + } + else + { + /* Disable the selected DMA interrupts */ + DMAy_Channelx->CCR &= ~DMA_IT; + } +} + +/** + * @brief Sets the number of data units in the current DMAy Channelx transfer. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param DataNumber: The number of data units in the current DMAy Channelx + * transfer. + * @note This function can only be used when the DMAy_Channelx is disabled. + * @retval None. + */ +void DMA_SetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx, uint16_t DataNumber) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + +/*--------------------------- DMAy Channelx CNDTR Configuration ---------------*/ + /* Write to DMAy Channelx CNDTR */ + DMAy_Channelx->CNDTR = DataNumber; +} + +/** + * @brief Returns the number of remaining data units in the current + * DMAy Channelx transfer. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @retval The number of remaining data units in the current DMAy Channelx + * transfer. + */ +uint16_t DMA_GetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + /* Return the number of remaining data units for DMAy Channelx */ + return ((uint16_t)(DMAy_Channelx->CNDTR)); +} + +/** + * @brief Checks whether the specified DMAy Channelx flag is set or not. + * @param DMAy_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg DMA1_FLAG_GL1: DMA1 Channel1 global flag. + * @arg DMA1_FLAG_TC1: DMA1 Channel1 transfer complete flag. + * @arg DMA1_FLAG_HT1: DMA1 Channel1 half transfer flag. + * @arg DMA1_FLAG_TE1: DMA1 Channel1 transfer error flag. + * @arg DMA1_FLAG_GL2: DMA1 Channel2 global flag. + * @arg DMA1_FLAG_TC2: DMA1 Channel2 transfer complete flag. + * @arg DMA1_FLAG_HT2: DMA1 Channel2 half transfer flag. + * @arg DMA1_FLAG_TE2: DMA1 Channel2 transfer error flag. + * @arg DMA1_FLAG_GL3: DMA1 Channel3 global flag. + * @arg DMA1_FLAG_TC3: DMA1 Channel3 transfer complete flag. + * @arg DMA1_FLAG_HT3: DMA1 Channel3 half transfer flag. + * @arg DMA1_FLAG_TE3: DMA1 Channel3 transfer error flag. + * @arg DMA1_FLAG_GL4: DMA1 Channel4 global flag. + * @arg DMA1_FLAG_TC4: DMA1 Channel4 transfer complete flag. + * @arg DMA1_FLAG_HT4: DMA1 Channel4 half transfer flag. + * @arg DMA1_FLAG_TE4: DMA1 Channel4 transfer error flag. + * @arg DMA1_FLAG_GL5: DMA1 Channel5 global flag. + * @arg DMA1_FLAG_TC5: DMA1 Channel5 transfer complete flag. + * @arg DMA1_FLAG_HT5: DMA1 Channel5 half transfer flag. + * @arg DMA1_FLAG_TE5: DMA1 Channel5 transfer error flag. + * @arg DMA1_FLAG_GL6: DMA1 Channel6 global flag. + * @arg DMA1_FLAG_TC6: DMA1 Channel6 transfer complete flag. + * @arg DMA1_FLAG_HT6: DMA1 Channel6 half transfer flag. + * @arg DMA1_FLAG_TE6: DMA1 Channel6 transfer error flag. + * @arg DMA1_FLAG_GL7: DMA1 Channel7 global flag. + * @arg DMA1_FLAG_TC7: DMA1 Channel7 transfer complete flag. + * @arg DMA1_FLAG_HT7: DMA1 Channel7 half transfer flag. + * @arg DMA1_FLAG_TE7: DMA1 Channel7 transfer error flag. + * @arg DMA2_FLAG_GL1: DMA2 Channel1 global flag. + * @arg DMA2_FLAG_TC1: DMA2 Channel1 transfer complete flag. + * @arg DMA2_FLAG_HT1: DMA2 Channel1 half transfer flag. + * @arg DMA2_FLAG_TE1: DMA2 Channel1 transfer error flag. + * @arg DMA2_FLAG_GL2: DMA2 Channel2 global flag. + * @arg DMA2_FLAG_TC2: DMA2 Channel2 transfer complete flag. + * @arg DMA2_FLAG_HT2: DMA2 Channel2 half transfer flag. + * @arg DMA2_FLAG_TE2: DMA2 Channel2 transfer error flag. + * @arg DMA2_FLAG_GL3: DMA2 Channel3 global flag. + * @arg DMA2_FLAG_TC3: DMA2 Channel3 transfer complete flag. + * @arg DMA2_FLAG_HT3: DMA2 Channel3 half transfer flag. + * @arg DMA2_FLAG_TE3: DMA2 Channel3 transfer error flag. + * @arg DMA2_FLAG_GL4: DMA2 Channel4 global flag. + * @arg DMA2_FLAG_TC4: DMA2 Channel4 transfer complete flag. + * @arg DMA2_FLAG_HT4: DMA2 Channel4 half transfer flag. + * @arg DMA2_FLAG_TE4: DMA2 Channel4 transfer error flag. + * @arg DMA2_FLAG_GL5: DMA2 Channel5 global flag. + * @arg DMA2_FLAG_TC5: DMA2 Channel5 transfer complete flag. + * @arg DMA2_FLAG_HT5: DMA2 Channel5 half transfer flag. + * @arg DMA2_FLAG_TE5: DMA2 Channel5 transfer error flag. + * @retval The new state of DMAy_FLAG (SET or RESET). + */ +FlagStatus DMA_GetFlagStatus(uint32_t DMAy_FLAG) +{ + FlagStatus bitstatus = RESET; + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_DMA_GET_FLAG(DMAy_FLAG)); + + /* Calculate the used DMAy */ + if ((DMAy_FLAG & FLAG_Mask) != (uint32_t)RESET) + { + /* Get DMA2 ISR register value */ + tmpreg = DMA2->ISR ; + } + else + { + /* Get DMA1 ISR register value */ + tmpreg = DMA1->ISR ; + } + + /* Check the status of the specified DMAy flag */ + if ((tmpreg & DMAy_FLAG) != (uint32_t)RESET) + { + /* DMAy_FLAG is set */ + bitstatus = SET; + } + else + { + /* DMAy_FLAG is reset */ + bitstatus = RESET; + } + + /* Return the DMAy_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the DMAy Channelx's pending flags. + * @param DMAy_FLAG: specifies the flag to clear. + * This parameter can be any combination (for the same DMA) of the following values: + * @arg DMA1_FLAG_GL1: DMA1 Channel1 global flag. + * @arg DMA1_FLAG_TC1: DMA1 Channel1 transfer complete flag. + * @arg DMA1_FLAG_HT1: DMA1 Channel1 half transfer flag. + * @arg DMA1_FLAG_TE1: DMA1 Channel1 transfer error flag. + * @arg DMA1_FLAG_GL2: DMA1 Channel2 global flag. + * @arg DMA1_FLAG_TC2: DMA1 Channel2 transfer complete flag. + * @arg DMA1_FLAG_HT2: DMA1 Channel2 half transfer flag. + * @arg DMA1_FLAG_TE2: DMA1 Channel2 transfer error flag. + * @arg DMA1_FLAG_GL3: DMA1 Channel3 global flag. + * @arg DMA1_FLAG_TC3: DMA1 Channel3 transfer complete flag. + * @arg DMA1_FLAG_HT3: DMA1 Channel3 half transfer flag. + * @arg DMA1_FLAG_TE3: DMA1 Channel3 transfer error flag. + * @arg DMA1_FLAG_GL4: DMA1 Channel4 global flag. + * @arg DMA1_FLAG_TC4: DMA1 Channel4 transfer complete flag. + * @arg DMA1_FLAG_HT4: DMA1 Channel4 half transfer flag. + * @arg DMA1_FLAG_TE4: DMA1 Channel4 transfer error flag. + * @arg DMA1_FLAG_GL5: DMA1 Channel5 global flag. + * @arg DMA1_FLAG_TC5: DMA1 Channel5 transfer complete flag. + * @arg DMA1_FLAG_HT5: DMA1 Channel5 half transfer flag. + * @arg DMA1_FLAG_TE5: DMA1 Channel5 transfer error flag. + * @arg DMA1_FLAG_GL6: DMA1 Channel6 global flag. + * @arg DMA1_FLAG_TC6: DMA1 Channel6 transfer complete flag. + * @arg DMA1_FLAG_HT6: DMA1 Channel6 half transfer flag. + * @arg DMA1_FLAG_TE6: DMA1 Channel6 transfer error flag. + * @arg DMA1_FLAG_GL7: DMA1 Channel7 global flag. + * @arg DMA1_FLAG_TC7: DMA1 Channel7 transfer complete flag. + * @arg DMA1_FLAG_HT7: DMA1 Channel7 half transfer flag. + * @arg DMA1_FLAG_TE7: DMA1 Channel7 transfer error flag. + * @arg DMA2_FLAG_GL1: DMA2 Channel1 global flag. + * @arg DMA2_FLAG_TC1: DMA2 Channel1 transfer complete flag. + * @arg DMA2_FLAG_HT1: DMA2 Channel1 half transfer flag. + * @arg DMA2_FLAG_TE1: DMA2 Channel1 transfer error flag. + * @arg DMA2_FLAG_GL2: DMA2 Channel2 global flag. + * @arg DMA2_FLAG_TC2: DMA2 Channel2 transfer complete flag. + * @arg DMA2_FLAG_HT2: DMA2 Channel2 half transfer flag. + * @arg DMA2_FLAG_TE2: DMA2 Channel2 transfer error flag. + * @arg DMA2_FLAG_GL3: DMA2 Channel3 global flag. + * @arg DMA2_FLAG_TC3: DMA2 Channel3 transfer complete flag. + * @arg DMA2_FLAG_HT3: DMA2 Channel3 half transfer flag. + * @arg DMA2_FLAG_TE3: DMA2 Channel3 transfer error flag. + * @arg DMA2_FLAG_GL4: DMA2 Channel4 global flag. + * @arg DMA2_FLAG_TC4: DMA2 Channel4 transfer complete flag. + * @arg DMA2_FLAG_HT4: DMA2 Channel4 half transfer flag. + * @arg DMA2_FLAG_TE4: DMA2 Channel4 transfer error flag. + * @arg DMA2_FLAG_GL5: DMA2 Channel5 global flag. + * @arg DMA2_FLAG_TC5: DMA2 Channel5 transfer complete flag. + * @arg DMA2_FLAG_HT5: DMA2 Channel5 half transfer flag. + * @arg DMA2_FLAG_TE5: DMA2 Channel5 transfer error flag. + * @retval None + */ +void DMA_ClearFlag(uint32_t DMAy_FLAG) +{ + /* Check the parameters */ + assert_param(IS_DMA_CLEAR_FLAG(DMAy_FLAG)); + + /* Calculate the used DMAy */ + if ((DMAy_FLAG & FLAG_Mask) != (uint32_t)RESET) + { + /* Clear the selected DMAy flags */ + DMA2->IFCR = DMAy_FLAG; + } + else + { + /* Clear the selected DMAy flags */ + DMA1->IFCR = DMAy_FLAG; + } +} + +/** + * @brief Checks whether the specified DMAy Channelx interrupt has occurred or not. + * @param DMAy_IT: specifies the DMAy interrupt source to check. + * This parameter can be one of the following values: + * @arg DMA1_IT_GL1: DMA1 Channel1 global interrupt. + * @arg DMA1_IT_TC1: DMA1 Channel1 transfer complete interrupt. + * @arg DMA1_IT_HT1: DMA1 Channel1 half transfer interrupt. + * @arg DMA1_IT_TE1: DMA1 Channel1 transfer error interrupt. + * @arg DMA1_IT_GL2: DMA1 Channel2 global interrupt. + * @arg DMA1_IT_TC2: DMA1 Channel2 transfer complete interrupt. + * @arg DMA1_IT_HT2: DMA1 Channel2 half transfer interrupt. + * @arg DMA1_IT_TE2: DMA1 Channel2 transfer error interrupt. + * @arg DMA1_IT_GL3: DMA1 Channel3 global interrupt. + * @arg DMA1_IT_TC3: DMA1 Channel3 transfer complete interrupt. + * @arg DMA1_IT_HT3: DMA1 Channel3 half transfer interrupt. + * @arg DMA1_IT_TE3: DMA1 Channel3 transfer error interrupt. + * @arg DMA1_IT_GL4: DMA1 Channel4 global interrupt. + * @arg DMA1_IT_TC4: DMA1 Channel4 transfer complete interrupt. + * @arg DMA1_IT_HT4: DMA1 Channel4 half transfer interrupt. + * @arg DMA1_IT_TE4: DMA1 Channel4 transfer error interrupt. + * @arg DMA1_IT_GL5: DMA1 Channel5 global interrupt. + * @arg DMA1_IT_TC5: DMA1 Channel5 transfer complete interrupt. + * @arg DMA1_IT_HT5: DMA1 Channel5 half transfer interrupt. + * @arg DMA1_IT_TE5: DMA1 Channel5 transfer error interrupt. + * @arg DMA1_IT_GL6: DMA1 Channel6 global interrupt. + * @arg DMA1_IT_TC6: DMA1 Channel6 transfer complete interrupt. + * @arg DMA1_IT_HT6: DMA1 Channel6 half transfer interrupt. + * @arg DMA1_IT_TE6: DMA1 Channel6 transfer error interrupt. + * @arg DMA1_IT_GL7: DMA1 Channel7 global interrupt. + * @arg DMA1_IT_TC7: DMA1 Channel7 transfer complete interrupt. + * @arg DMA1_IT_HT7: DMA1 Channel7 half transfer interrupt. + * @arg DMA1_IT_TE7: DMA1 Channel7 transfer error interrupt. + * @arg DMA2_IT_GL1: DMA2 Channel1 global interrupt. + * @arg DMA2_IT_TC1: DMA2 Channel1 transfer complete interrupt. + * @arg DMA2_IT_HT1: DMA2 Channel1 half transfer interrupt. + * @arg DMA2_IT_TE1: DMA2 Channel1 transfer error interrupt. + * @arg DMA2_IT_GL2: DMA2 Channel2 global interrupt. + * @arg DMA2_IT_TC2: DMA2 Channel2 transfer complete interrupt. + * @arg DMA2_IT_HT2: DMA2 Channel2 half transfer interrupt. + * @arg DMA2_IT_TE2: DMA2 Channel2 transfer error interrupt. + * @arg DMA2_IT_GL3: DMA2 Channel3 global interrupt. + * @arg DMA2_IT_TC3: DMA2 Channel3 transfer complete interrupt. + * @arg DMA2_IT_HT3: DMA2 Channel3 half transfer interrupt. + * @arg DMA2_IT_TE3: DMA2 Channel3 transfer error interrupt. + * @arg DMA2_IT_GL4: DMA2 Channel4 global interrupt. + * @arg DMA2_IT_TC4: DMA2 Channel4 transfer complete interrupt. + * @arg DMA2_IT_HT4: DMA2 Channel4 half transfer interrupt. + * @arg DMA2_IT_TE4: DMA2 Channel4 transfer error interrupt. + * @arg DMA2_IT_GL5: DMA2 Channel5 global interrupt. + * @arg DMA2_IT_TC5: DMA2 Channel5 transfer complete interrupt. + * @arg DMA2_IT_HT5: DMA2 Channel5 half transfer interrupt. + * @arg DMA2_IT_TE5: DMA2 Channel5 transfer error interrupt. + * @retval The new state of DMAy_IT (SET or RESET). + */ +ITStatus DMA_GetITStatus(uint32_t DMAy_IT) +{ + ITStatus bitstatus = RESET; + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_DMA_GET_IT(DMAy_IT)); + + /* Calculate the used DMA */ + if ((DMAy_IT & FLAG_Mask) != (uint32_t)RESET) + { + /* Get DMA2 ISR register value */ + tmpreg = DMA2->ISR; + } + else + { + /* Get DMA1 ISR register value */ + tmpreg = DMA1->ISR; + } + + /* Check the status of the specified DMAy interrupt */ + if ((tmpreg & DMAy_IT) != (uint32_t)RESET) + { + /* DMAy_IT is set */ + bitstatus = SET; + } + else + { + /* DMAy_IT is reset */ + bitstatus = RESET; + } + /* Return the DMA_IT status */ + return bitstatus; +} + +/** + * @brief Clears the DMAy Channelx's interrupt pending bits. + * @param DMAy_IT: specifies the DMAy interrupt pending bit to clear. + * This parameter can be any combination (for the same DMA) of the following values: + * @arg DMA1_IT_GL1: DMA1 Channel1 global interrupt. + * @arg DMA1_IT_TC1: DMA1 Channel1 transfer complete interrupt. + * @arg DMA1_IT_HT1: DMA1 Channel1 half transfer interrupt. + * @arg DMA1_IT_TE1: DMA1 Channel1 transfer error interrupt. + * @arg DMA1_IT_GL2: DMA1 Channel2 global interrupt. + * @arg DMA1_IT_TC2: DMA1 Channel2 transfer complete interrupt. + * @arg DMA1_IT_HT2: DMA1 Channel2 half transfer interrupt. + * @arg DMA1_IT_TE2: DMA1 Channel2 transfer error interrupt. + * @arg DMA1_IT_GL3: DMA1 Channel3 global interrupt. + * @arg DMA1_IT_TC3: DMA1 Channel3 transfer complete interrupt. + * @arg DMA1_IT_HT3: DMA1 Channel3 half transfer interrupt. + * @arg DMA1_IT_TE3: DMA1 Channel3 transfer error interrupt. + * @arg DMA1_IT_GL4: DMA1 Channel4 global interrupt. + * @arg DMA1_IT_TC4: DMA1 Channel4 transfer complete interrupt. + * @arg DMA1_IT_HT4: DMA1 Channel4 half transfer interrupt. + * @arg DMA1_IT_TE4: DMA1 Channel4 transfer error interrupt. + * @arg DMA1_IT_GL5: DMA1 Channel5 global interrupt. + * @arg DMA1_IT_TC5: DMA1 Channel5 transfer complete interrupt. + * @arg DMA1_IT_HT5: DMA1 Channel5 half transfer interrupt. + * @arg DMA1_IT_TE5: DMA1 Channel5 transfer error interrupt. + * @arg DMA1_IT_GL6: DMA1 Channel6 global interrupt. + * @arg DMA1_IT_TC6: DMA1 Channel6 transfer complete interrupt. + * @arg DMA1_IT_HT6: DMA1 Channel6 half transfer interrupt. + * @arg DMA1_IT_TE6: DMA1 Channel6 transfer error interrupt. + * @arg DMA1_IT_GL7: DMA1 Channel7 global interrupt. + * @arg DMA1_IT_TC7: DMA1 Channel7 transfer complete interrupt. + * @arg DMA1_IT_HT7: DMA1 Channel7 half transfer interrupt. + * @arg DMA1_IT_TE7: DMA1 Channel7 transfer error interrupt. + * @arg DMA2_IT_GL1: DMA2 Channel1 global interrupt. + * @arg DMA2_IT_TC1: DMA2 Channel1 transfer complete interrupt. + * @arg DMA2_IT_HT1: DMA2 Channel1 half transfer interrupt. + * @arg DMA2_IT_TE1: DMA2 Channel1 transfer error interrupt. + * @arg DMA2_IT_GL2: DMA2 Channel2 global interrupt. + * @arg DMA2_IT_TC2: DMA2 Channel2 transfer complete interrupt. + * @arg DMA2_IT_HT2: DMA2 Channel2 half transfer interrupt. + * @arg DMA2_IT_TE2: DMA2 Channel2 transfer error interrupt. + * @arg DMA2_IT_GL3: DMA2 Channel3 global interrupt. + * @arg DMA2_IT_TC3: DMA2 Channel3 transfer complete interrupt. + * @arg DMA2_IT_HT3: DMA2 Channel3 half transfer interrupt. + * @arg DMA2_IT_TE3: DMA2 Channel3 transfer error interrupt. + * @arg DMA2_IT_GL4: DMA2 Channel4 global interrupt. + * @arg DMA2_IT_TC4: DMA2 Channel4 transfer complete interrupt. + * @arg DMA2_IT_HT4: DMA2 Channel4 half transfer interrupt. + * @arg DMA2_IT_TE4: DMA2 Channel4 transfer error interrupt. + * @arg DMA2_IT_GL5: DMA2 Channel5 global interrupt. + * @arg DMA2_IT_TC5: DMA2 Channel5 transfer complete interrupt. + * @arg DMA2_IT_HT5: DMA2 Channel5 half transfer interrupt. + * @arg DMA2_IT_TE5: DMA2 Channel5 transfer error interrupt. + * @retval None + */ +void DMA_ClearITPendingBit(uint32_t DMAy_IT) +{ + /* Check the parameters */ + assert_param(IS_DMA_CLEAR_IT(DMAy_IT)); + + /* Calculate the used DMAy */ + if ((DMAy_IT & FLAG_Mask) != (uint32_t)RESET) + { + /* Clear the selected DMAy interrupt pending bits */ + DMA2->IFCR = DMAy_IT; + } + else + { + /* Clear the selected DMAy interrupt pending bits */ + DMA1->IFCR = DMAy_IT; + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_exti.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_exti.c new file mode 100644 index 0000000..b6290d5 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_exti.c @@ -0,0 +1,269 @@ +/** + ****************************************************************************** + * @file stm32f10x_exti.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the EXTI firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_exti.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup EXTI + * @brief EXTI driver modules + * @{ + */ + +/** @defgroup EXTI_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Defines + * @{ + */ + +#define EXTI_LINENONE ((uint32_t)0x00000) /* No interrupt selected */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the EXTI peripheral registers to their default reset values. + * @param None + * @retval None + */ +void EXTI_DeInit(void) +{ + EXTI->IMR = 0x00000000; + EXTI->EMR = 0x00000000; + EXTI->RTSR = 0x00000000; + EXTI->FTSR = 0x00000000; + EXTI->PR = 0x000FFFFF; +} + +/** + * @brief Initializes the EXTI peripheral according to the specified + * parameters in the EXTI_InitStruct. + * @param EXTI_InitStruct: pointer to a EXTI_InitTypeDef structure + * that contains the configuration information for the EXTI peripheral. + * @retval None + */ +void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct) +{ + uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_EXTI_MODE(EXTI_InitStruct->EXTI_Mode)); + assert_param(IS_EXTI_TRIGGER(EXTI_InitStruct->EXTI_Trigger)); + assert_param(IS_EXTI_LINE(EXTI_InitStruct->EXTI_Line)); + assert_param(IS_FUNCTIONAL_STATE(EXTI_InitStruct->EXTI_LineCmd)); + + tmp = (uint32_t)EXTI_BASE; + + if (EXTI_InitStruct->EXTI_LineCmd != DISABLE) + { + /* Clear EXTI line configuration */ + EXTI->IMR &= ~EXTI_InitStruct->EXTI_Line; + EXTI->EMR &= ~EXTI_InitStruct->EXTI_Line; + + tmp += EXTI_InitStruct->EXTI_Mode; + + *(__IO uint32_t *) tmp |= EXTI_InitStruct->EXTI_Line; + + /* Clear Rising Falling edge configuration */ + EXTI->RTSR &= ~EXTI_InitStruct->EXTI_Line; + EXTI->FTSR &= ~EXTI_InitStruct->EXTI_Line; + + /* Select the trigger for the selected external interrupts */ + if (EXTI_InitStruct->EXTI_Trigger == EXTI_Trigger_Rising_Falling) + { + /* Rising Falling edge */ + EXTI->RTSR |= EXTI_InitStruct->EXTI_Line; + EXTI->FTSR |= EXTI_InitStruct->EXTI_Line; + } + else + { + tmp = (uint32_t)EXTI_BASE; + tmp += EXTI_InitStruct->EXTI_Trigger; + + *(__IO uint32_t *) tmp |= EXTI_InitStruct->EXTI_Line; + } + } + else + { + tmp += EXTI_InitStruct->EXTI_Mode; + + /* Disable the selected external lines */ + *(__IO uint32_t *) tmp &= ~EXTI_InitStruct->EXTI_Line; + } +} + +/** + * @brief Fills each EXTI_InitStruct member with its reset value. + * @param EXTI_InitStruct: pointer to a EXTI_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct) +{ + EXTI_InitStruct->EXTI_Line = EXTI_LINENONE; + EXTI_InitStruct->EXTI_Mode = EXTI_Mode_Interrupt; + EXTI_InitStruct->EXTI_Trigger = EXTI_Trigger_Falling; + EXTI_InitStruct->EXTI_LineCmd = DISABLE; +} + +/** + * @brief Generates a Software interrupt. + * @param EXTI_Line: specifies the EXTI lines to be enabled or disabled. + * This parameter can be any combination of EXTI_Linex where x can be (0..19). + * @retval None + */ +void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line) +{ + /* Check the parameters */ + assert_param(IS_EXTI_LINE(EXTI_Line)); + + EXTI->SWIER |= EXTI_Line; +} + +/** + * @brief Checks whether the specified EXTI line flag is set or not. + * @param EXTI_Line: specifies the EXTI line flag to check. + * This parameter can be: + * @arg EXTI_Linex: External interrupt line x where x(0..19) + * @retval The new state of EXTI_Line (SET or RESET). + */ +FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_GET_EXTI_LINE(EXTI_Line)); + + if ((EXTI->PR & EXTI_Line) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the EXTI's line pending flags. + * @param EXTI_Line: specifies the EXTI lines flags to clear. + * This parameter can be any combination of EXTI_Linex where x can be (0..19). + * @retval None + */ +void EXTI_ClearFlag(uint32_t EXTI_Line) +{ + /* Check the parameters */ + assert_param(IS_EXTI_LINE(EXTI_Line)); + + EXTI->PR = EXTI_Line; +} + +/** + * @brief Checks whether the specified EXTI line is asserted or not. + * @param EXTI_Line: specifies the EXTI line to check. + * This parameter can be: + * @arg EXTI_Linex: External interrupt line x where x(0..19) + * @retval The new state of EXTI_Line (SET or RESET). + */ +ITStatus EXTI_GetITStatus(uint32_t EXTI_Line) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + /* Check the parameters */ + assert_param(IS_GET_EXTI_LINE(EXTI_Line)); + + enablestatus = EXTI->IMR & EXTI_Line; + if (((EXTI->PR & EXTI_Line) != (uint32_t)RESET) && (enablestatus != (uint32_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the EXTI's line pending bits. + * @param EXTI_Line: specifies the EXTI lines to clear. + * This parameter can be any combination of EXTI_Linex where x can be (0..19). + * @retval None + */ +void EXTI_ClearITPendingBit(uint32_t EXTI_Line) +{ + /* Check the parameters */ + assert_param(IS_EXTI_LINE(EXTI_Line)); + + EXTI->PR = EXTI_Line; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_flash.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_flash.c new file mode 100644 index 0000000..cdff9e9 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_flash.c @@ -0,0 +1,1684 @@ +/** + ****************************************************************************** + * @file stm32f10x_flash.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the FLASH firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_flash.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup FLASH + * @brief FLASH driver modules + * @{ + */ + +/** @defgroup FLASH_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_Defines + * @{ + */ + +/* Flash Access Control Register bits */ +#define ACR_LATENCY_Mask ((uint32_t)0x00000038) +#define ACR_HLFCYA_Mask ((uint32_t)0xFFFFFFF7) +#define ACR_PRFTBE_Mask ((uint32_t)0xFFFFFFEF) + +/* Flash Access Control Register bits */ +#define ACR_PRFTBS_Mask ((uint32_t)0x00000020) + +/* Flash Control Register bits */ +#define CR_PG_Set ((uint32_t)0x00000001) +#define CR_PG_Reset ((uint32_t)0x00001FFE) +#define CR_PER_Set ((uint32_t)0x00000002) +#define CR_PER_Reset ((uint32_t)0x00001FFD) +#define CR_MER_Set ((uint32_t)0x00000004) +#define CR_MER_Reset ((uint32_t)0x00001FFB) +#define CR_OPTPG_Set ((uint32_t)0x00000010) +#define CR_OPTPG_Reset ((uint32_t)0x00001FEF) +#define CR_OPTER_Set ((uint32_t)0x00000020) +#define CR_OPTER_Reset ((uint32_t)0x00001FDF) +#define CR_STRT_Set ((uint32_t)0x00000040) +#define CR_LOCK_Set ((uint32_t)0x00000080) + +/* FLASH Mask */ +#define RDPRT_Mask ((uint32_t)0x00000002) +#define WRP0_Mask ((uint32_t)0x000000FF) +#define WRP1_Mask ((uint32_t)0x0000FF00) +#define WRP2_Mask ((uint32_t)0x00FF0000) +#define WRP3_Mask ((uint32_t)0xFF000000) +#define OB_USER_BFB2 ((uint16_t)0x0008) + +/* FLASH Keys */ +#define RDP_Key ((uint16_t)0x00A5) +#define FLASH_KEY1 ((uint32_t)0x45670123) +#define FLASH_KEY2 ((uint32_t)0xCDEF89AB) + +/* FLASH BANK address */ +#define FLASH_BANK1_END_ADDRESS ((uint32_t)0x807FFFF) + +/* Delay definition */ +#define EraseTimeout ((uint32_t)0x000B0000) +#define ProgramTimeout ((uint32_t)0x00002000) +/** + * @} + */ + +/** @defgroup FLASH_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_Functions + * @{ + */ + +/** +@code + + This driver provides functions to configure and program the Flash memory of all STM32F10x devices, + including the latest STM32F10x_XL density devices. + + STM32F10x_XL devices feature up to 1 Mbyte with dual bank architecture for read-while-write (RWW) capability: + - bank1: fixed size of 512 Kbytes (256 pages of 2Kbytes each) + - bank2: up to 512 Kbytes (up to 256 pages of 2Kbytes each) + While other STM32F10x devices features only one bank with memory up to 512 Kbytes. + + In version V3.3.0, some functions were updated and new ones were added to support + STM32F10x_XL devices. Thus some functions manages all devices, while other are + dedicated for XL devices only. + + The table below presents the list of available functions depending on the used STM32F10x devices. + + *************************************************** + * Legacy functions used for all STM32F10x devices * + *************************************************** + +----------------------------------------------------------------------------------------------------------------------------------+ + | Functions prototypes |STM32F10x_XL|Other STM32F10x| Comments | + | | devices | devices | | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_SetLatency | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_HalfCycleAccessCmd | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_PrefetchBufferCmd | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_Unlock | Yes | Yes | - For STM32F10X_XL devices: unlock Bank1 and Bank2. | + | | | | - For other devices: unlock Bank1 and it is equivalent | + | | | | to FLASH_UnlockBank1 function. | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_Lock | Yes | Yes | - For STM32F10X_XL devices: lock Bank1 and Bank2. | + | | | | - For other devices: lock Bank1 and it is equivalent | + | | | | to FLASH_LockBank1 function. | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ErasePage | Yes | Yes | - For STM32F10x_XL devices: erase a page in Bank1 and Bank2 | + | | | | - For other devices: erase a page in Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_EraseAllPages | Yes | Yes | - For STM32F10x_XL devices: erase all pages in Bank1 and Bank2 | + | | | | - For other devices: erase all pages in Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_EraseOptionBytes | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ProgramWord | Yes | Yes | Updated to program up to 1MByte (depending on the used device) | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ProgramHalfWord | Yes | Yes | Updated to program up to 1MByte (depending on the used device) | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ProgramOptionByteData | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_EnableWriteProtection | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ReadOutProtection | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_UserOptionByteConfig | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetUserOptionByte | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetWriteProtectionOptionByte | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetReadOutProtectionStatus | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetPrefetchBufferStatus | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ITConfig | Yes | Yes | - For STM32F10x_XL devices: enable Bank1 and Bank2's interrupts| + | | | | - For other devices: enable Bank1's interrupts | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetFlagStatus | Yes | Yes | - For STM32F10x_XL devices: return Bank1 and Bank2's flag status| + | | | | - For other devices: return Bank1's flag status | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ClearFlag | Yes | Yes | - For STM32F10x_XL devices: clear Bank1 and Bank2's flag | + | | | | - For other devices: clear Bank1's flag | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetStatus | Yes | Yes | - Return the status of Bank1 (for all devices) | + | | | | equivalent to FLASH_GetBank1Status function | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_WaitForLastOperation | Yes | Yes | - Wait for Bank1 last operation (for all devices) | + | | | | equivalent to: FLASH_WaitForLastBank1Operation function | + +----------------------------------------------------------------------------------------------------------------------------------+ + + ************************************************************************************************************************ + * New functions used for all STM32F10x devices to manage Bank1: * + * - These functions are mainly useful for STM32F10x_XL density devices, to have separate control for Bank1 and bank2 * + * - For other devices, these functions are optional (covered by functions listed above) * + ************************************************************************************************************************ + +----------------------------------------------------------------------------------------------------------------------------------+ + | Functions prototypes |STM32F10x_XL|Other STM32F10x| Comments | + | | devices | devices | | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_UnlockBank1 | Yes | Yes | - Unlock Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_LockBank1 | Yes | Yes | - Lock Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_EraseAllBank1Pages | Yes | Yes | - Erase all pages in Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_GetBank1Status | Yes | Yes | - Return the status of Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_WaitForLastBank1Operation | Yes | Yes | - Wait for Bank1 last operation | + +----------------------------------------------------------------------------------------------------------------------------------+ + + ***************************************************************************** + * New Functions used only with STM32F10x_XL density devices to manage Bank2 * + ***************************************************************************** + +----------------------------------------------------------------------------------------------------------------------------------+ + | Functions prototypes |STM32F10x_XL|Other STM32F10x| Comments | + | | devices | devices | | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_UnlockBank2 | Yes | No | - Unlock Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_LockBank2 | Yes | No | - Lock Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_EraseAllBank2Pages | Yes | No | - Erase all pages in Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_GetBank2Status | Yes | No | - Return the status of Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_WaitForLastBank2Operation | Yes | No | - Wait for Bank2 last operation | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_BootConfig | Yes | No | - Configure to boot from Bank1 or Bank2 | + +----------------------------------------------------------------------------------------------------------------------------------+ +@endcode +*/ + + +/** + * @brief Sets the code latency value. + * @note This function can be used for all STM32F10x devices. + * @param FLASH_Latency: specifies the FLASH Latency value. + * This parameter can be one of the following values: + * @arg FLASH_Latency_0: FLASH Zero Latency cycle + * @arg FLASH_Latency_1: FLASH One Latency cycle + * @arg FLASH_Latency_2: FLASH Two Latency cycles + * @retval None + */ +void FLASH_SetLatency(uint32_t FLASH_Latency) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_FLASH_LATENCY(FLASH_Latency)); + + /* Read the ACR register */ + tmpreg = FLASH->ACR; + + /* Sets the Latency value */ + tmpreg &= ACR_LATENCY_Mask; + tmpreg |= FLASH_Latency; + + /* Write the ACR register */ + FLASH->ACR = tmpreg; +} + +/** + * @brief Enables or disables the Half cycle flash access. + * @note This function can be used for all STM32F10x devices. + * @param FLASH_HalfCycleAccess: specifies the FLASH Half cycle Access mode. + * This parameter can be one of the following values: + * @arg FLASH_HalfCycleAccess_Enable: FLASH Half Cycle Enable + * @arg FLASH_HalfCycleAccess_Disable: FLASH Half Cycle Disable + * @retval None + */ +void FLASH_HalfCycleAccessCmd(uint32_t FLASH_HalfCycleAccess) +{ + /* Check the parameters */ + assert_param(IS_FLASH_HALFCYCLEACCESS_STATE(FLASH_HalfCycleAccess)); + + /* Enable or disable the Half cycle access */ + FLASH->ACR &= ACR_HLFCYA_Mask; + FLASH->ACR |= FLASH_HalfCycleAccess; +} + +/** + * @brief Enables or disables the Prefetch Buffer. + * @note This function can be used for all STM32F10x devices. + * @param FLASH_PrefetchBuffer: specifies the Prefetch buffer status. + * This parameter can be one of the following values: + * @arg FLASH_PrefetchBuffer_Enable: FLASH Prefetch Buffer Enable + * @arg FLASH_PrefetchBuffer_Disable: FLASH Prefetch Buffer Disable + * @retval None + */ +void FLASH_PrefetchBufferCmd(uint32_t FLASH_PrefetchBuffer) +{ + /* Check the parameters */ + assert_param(IS_FLASH_PREFETCHBUFFER_STATE(FLASH_PrefetchBuffer)); + + /* Enable or disable the Prefetch Buffer */ + FLASH->ACR &= ACR_PRFTBE_Mask; + FLASH->ACR |= FLASH_PrefetchBuffer; +} + +/** + * @brief Unlocks the FLASH Program Erase Controller. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function unlocks Bank1 and Bank2. + * - For all other devices it unlocks Bank1 and it is equivalent + * to FLASH_UnlockBank1 function.. + * @param None + * @retval None + */ +void FLASH_Unlock(void) +{ + /* Authorize the FPEC of Bank1 Access */ + FLASH->KEYR = FLASH_KEY1; + FLASH->KEYR = FLASH_KEY2; + +#ifdef STM32F10X_XL + /* Authorize the FPEC of Bank2 Access */ + FLASH->KEYR2 = FLASH_KEY1; + FLASH->KEYR2 = FLASH_KEY2; +#endif /* STM32F10X_XL */ +} +/** + * @brief Unlocks the FLASH Bank1 Program Erase Controller. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function unlocks Bank1. + * - For all other devices it unlocks Bank1 and it is + * equivalent to FLASH_Unlock function. + * @param None + * @retval None + */ +void FLASH_UnlockBank1(void) +{ + /* Authorize the FPEC of Bank1 Access */ + FLASH->KEYR = FLASH_KEY1; + FLASH->KEYR = FLASH_KEY2; +} + +#ifdef STM32F10X_XL +/** + * @brief Unlocks the FLASH Bank2 Program Erase Controller. + * @note This function can be used only for STM32F10X_XL density devices. + * @param None + * @retval None + */ +void FLASH_UnlockBank2(void) +{ + /* Authorize the FPEC of Bank2 Access */ + FLASH->KEYR2 = FLASH_KEY1; + FLASH->KEYR2 = FLASH_KEY2; + +} +#endif /* STM32F10X_XL */ + +/** + * @brief Locks the FLASH Program Erase Controller. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function Locks Bank1 and Bank2. + * - For all other devices it Locks Bank1 and it is equivalent + * to FLASH_LockBank1 function. + * @param None + * @retval None + */ +void FLASH_Lock(void) +{ + /* Set the Lock Bit to lock the FPEC and the CR of Bank1 */ + FLASH->CR |= CR_LOCK_Set; + +#ifdef STM32F10X_XL + /* Set the Lock Bit to lock the FPEC and the CR of Bank2 */ + FLASH->CR2 |= CR_LOCK_Set; +#endif /* STM32F10X_XL */ +} + +/** + * @brief Locks the FLASH Bank1 Program Erase Controller. + * @note this function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function Locks Bank1. + * - For all other devices it Locks Bank1 and it is equivalent + * to FLASH_Lock function. + * @param None + * @retval None + */ +void FLASH_LockBank1(void) +{ + /* Set the Lock Bit to lock the FPEC and the CR of Bank1 */ + FLASH->CR |= CR_LOCK_Set; +} + +#ifdef STM32F10X_XL +/** + * @brief Locks the FLASH Bank2 Program Erase Controller. + * @note This function can be used only for STM32F10X_XL density devices. + * @param None + * @retval None + */ +void FLASH_LockBank2(void) +{ + /* Set the Lock Bit to lock the FPEC and the CR of Bank2 */ + FLASH->CR2 |= CR_LOCK_Set; +} +#endif /* STM32F10X_XL */ + +/** + * @brief Erases a specified FLASH page. + * @note This function can be used for all STM32F10x devices. + * @param Page_Address: The page address to be erased. + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ErasePage(uint32_t Page_Address) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_FLASH_ADDRESS(Page_Address)); + +#ifdef STM32F10X_XL + if(Page_Address < FLASH_BANK1_END_ADDRESS) + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase the page */ + FLASH->CR|= CR_PER_Set; + FLASH->AR = Page_Address; + FLASH->CR|= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + /* Disable the PER Bit */ + FLASH->CR &= CR_PER_Reset; + } + } + else + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase the page */ + FLASH->CR2|= CR_PER_Set; + FLASH->AR2 = Page_Address; + FLASH->CR2|= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + /* Disable the PER Bit */ + FLASH->CR2 &= CR_PER_Reset; + } + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase the page */ + FLASH->CR|= CR_PER_Set; + FLASH->AR = Page_Address; + FLASH->CR|= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + /* Disable the PER Bit */ + FLASH->CR &= CR_PER_Reset; + } +#endif /* STM32F10X_XL */ + + /* Return the Erase Status */ + return status; +} + +/** + * @brief Erases all FLASH pages. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseAllPages(void) +{ + FLASH_Status status = FLASH_COMPLETE; + +#ifdef STM32F10X_XL + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR |= CR_MER_Set; + FLASH->CR |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR &= CR_MER_Reset; + } + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR2 |= CR_MER_Set; + FLASH->CR2 |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR2 &= CR_MER_Reset; + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR |= CR_MER_Set; + FLASH->CR |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR &= CR_MER_Reset; + } +#endif /* STM32F10X_XL */ + + /* Return the Erase Status */ + return status; +} + +/** + * @brief Erases all Bank1 FLASH pages. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function erases all Bank1 pages. + * - For all other devices it erases all Bank1 pages and it is equivalent + * to FLASH_EraseAllPages function. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseAllBank1Pages(void) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR |= CR_MER_Set; + FLASH->CR |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR &= CR_MER_Reset; + } + /* Return the Erase Status */ + return status; +} + +#ifdef STM32F10X_XL +/** + * @brief Erases all Bank2 FLASH pages. + * @note This function can be used only for STM32F10x_XL density devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseAllBank2Pages(void) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR2 |= CR_MER_Set; + FLASH->CR2 |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR2 &= CR_MER_Reset; + } + /* Return the Erase Status */ + return status; +} +#endif /* STM32F10X_XL */ + +/** + * @brief Erases the FLASH option bytes. + * @note This functions erases all option bytes except the Read protection (RDP). + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseOptionBytes(void) +{ + uint16_t rdptmp = RDP_Key; + + FLASH_Status status = FLASH_COMPLETE; + + /* Get the actual read protection Option Byte value */ + if(FLASH_GetReadOutProtectionStatus() != RESET) + { + rdptmp = 0x00; + } + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + + /* if the previous operation is completed, proceed to erase the option bytes */ + FLASH->CR |= CR_OPTER_Set; + FLASH->CR |= CR_STRT_Set; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the erase operation is completed, disable the OPTER Bit */ + FLASH->CR &= CR_OPTER_Reset; + + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + /* Restore the last read protection Option Byte value */ + OB->RDP = (uint16_t)rdptmp; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + else + { + if (status != FLASH_TIMEOUT) + { + /* Disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + } + /* Return the erase status */ + return status; +} + +/** + * @brief Programs a word at a specified address. + * @note This function can be used for all STM32F10x devices. + * @param Address: specifies the address to be programmed. + * @param Data: specifies the data to be programmed. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data) +{ + FLASH_Status status = FLASH_COMPLETE; + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_FLASH_ADDRESS(Address)); + +#ifdef STM32F10X_XL + if(Address < FLASH_BANK1_END_ADDRESS - 2) + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + } + } + else if(Address == (FLASH_BANK1_END_ADDRESS - 1)) + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + FLASH->CR2 |= CR_PG_Set; + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + } + else + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR2 |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + } + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + } +#endif /* STM32F10X_XL */ + + /* Return the Program Status */ + return status; +} + +/** + * @brief Programs a half word at a specified address. + * @note This function can be used for all STM32F10x devices. + * @param Address: specifies the address to be programmed. + * @param Data: specifies the data to be programmed. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_FLASH_ADDRESS(Address)); + +#ifdef STM32F10X_XL + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(Address < FLASH_BANK1_END_ADDRESS) + { + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new data */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + } + else + { + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new data */ + FLASH->CR2 |= CR_PG_Set; + + *(__IO uint16_t*)Address = Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new data */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } +#endif /* STM32F10X_XL */ + + /* Return the Program Status */ + return status; +} + +/** + * @brief Programs a half word at a specified Option Byte Data address. + * @note This function can be used for all STM32F10x devices. + * @param Address: specifies the address to be programmed. + * This parameter can be 0x1FFFF804 or 0x1FFFF806. + * @param Data: specifies the data to be programmed. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ProgramOptionByteData(uint32_t Address, uint8_t Data) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_OB_DATA_ADDRESS(Address)); + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + /* Enables the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + *(__IO uint16_t*)Address = Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the Option Byte Data Program Status */ + return status; +} + +/** + * @brief Write protects the desired pages + * @note This function can be used for all STM32F10x devices. + * @param FLASH_Pages: specifies the address of the pages to be write protected. + * This parameter can be: + * @arg For @b STM32_Low-density_devices: value between FLASH_WRProt_Pages0to3 and FLASH_WRProt_Pages28to31 + * @arg For @b STM32_Medium-density_devices: value between FLASH_WRProt_Pages0to3 + * and FLASH_WRProt_Pages124to127 + * @arg For @b STM32_High-density_devices: value between FLASH_WRProt_Pages0to1 and + * FLASH_WRProt_Pages60to61 or FLASH_WRProt_Pages62to255 + * @arg For @b STM32_Connectivity_line_devices: value between FLASH_WRProt_Pages0to1 and + * FLASH_WRProt_Pages60to61 or FLASH_WRProt_Pages62to127 + * @arg For @b STM32_XL-density_devices: value between FLASH_WRProt_Pages0to1 and + * FLASH_WRProt_Pages60to61 or FLASH_WRProt_Pages62to511 + * @arg FLASH_WRProt_AllPages + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EnableWriteProtection(uint32_t FLASH_Pages) +{ + uint16_t WRP0_Data = 0xFFFF, WRP1_Data = 0xFFFF, WRP2_Data = 0xFFFF, WRP3_Data = 0xFFFF; + + FLASH_Status status = FLASH_COMPLETE; + + /* Check the parameters */ + assert_param(IS_FLASH_WRPROT_PAGE(FLASH_Pages)); + + FLASH_Pages = (uint32_t)(~FLASH_Pages); + WRP0_Data = (uint16_t)(FLASH_Pages & WRP0_Mask); + WRP1_Data = (uint16_t)((FLASH_Pages & WRP1_Mask) >> 8); + WRP2_Data = (uint16_t)((FLASH_Pages & WRP2_Mask) >> 16); + WRP3_Data = (uint16_t)((FLASH_Pages & WRP3_Mask) >> 24); + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Authorizes the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + FLASH->CR |= CR_OPTPG_Set; + if(WRP0_Data != 0xFF) + { + OB->WRP0 = WRP0_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + if((status == FLASH_COMPLETE) && (WRP1_Data != 0xFF)) + { + OB->WRP1 = WRP1_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + if((status == FLASH_COMPLETE) && (WRP2_Data != 0xFF)) + { + OB->WRP2 = WRP2_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + + if((status == FLASH_COMPLETE)&& (WRP3_Data != 0xFF)) + { + OB->WRP3 = WRP3_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the write protection operation Status */ + return status; +} + +/** + * @brief Enables or disables the read out protection. + * @note If the user has already programmed the other option bytes before calling + * this function, he must re-program them since this function erases all option bytes. + * @note This function can be used for all STM32F10x devices. + * @param Newstate: new state of the ReadOut Protection. + * This parameter can be: ENABLE or DISABLE. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ReadOutProtection(FunctionalState NewState) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* Authorizes the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + FLASH->CR |= CR_OPTER_Set; + FLASH->CR |= CR_STRT_Set; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the erase operation is completed, disable the OPTER Bit */ + FLASH->CR &= CR_OPTER_Reset; + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + if(NewState != DISABLE) + { + OB->RDP = 0x00; + } + else + { + OB->RDP = RDP_Key; + } + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + else + { + if(status != FLASH_TIMEOUT) + { + /* Disable the OPTER Bit */ + FLASH->CR &= CR_OPTER_Reset; + } + } + } + /* Return the protection operation Status */ + return status; +} + +/** + * @brief Programs the FLASH User Option Byte: IWDG_SW / RST_STOP / RST_STDBY. + * @note This function can be used for all STM32F10x devices. + * @param OB_IWDG: Selects the IWDG mode + * This parameter can be one of the following values: + * @arg OB_IWDG_SW: Software IWDG selected + * @arg OB_IWDG_HW: Hardware IWDG selected + * @param OB_STOP: Reset event when entering STOP mode. + * This parameter can be one of the following values: + * @arg OB_STOP_NoRST: No reset generated when entering in STOP + * @arg OB_STOP_RST: Reset generated when entering in STOP + * @param OB_STDBY: Reset event when entering Standby mode. + * This parameter can be one of the following values: + * @arg OB_STDBY_NoRST: No reset generated when entering in STANDBY + * @arg OB_STDBY_RST: Reset generated when entering in STANDBY + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_UserOptionByteConfig(uint16_t OB_IWDG, uint16_t OB_STOP, uint16_t OB_STDBY) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check the parameters */ + assert_param(IS_OB_IWDG_SOURCE(OB_IWDG)); + assert_param(IS_OB_STOP_SOURCE(OB_STOP)); + assert_param(IS_OB_STDBY_SOURCE(OB_STDBY)); + + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + + OB->USER = OB_IWDG | (uint16_t)(OB_STOP | (uint16_t)(OB_STDBY | ((uint16_t)0xF8))); + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the Option Byte program Status */ + return status; +} + +#ifdef STM32F10X_XL +/** + * @brief Configures to boot from Bank1 or Bank2. + * @note This function can be used only for STM32F10x_XL density devices. + * @param FLASH_BOOT: select the FLASH Bank to boot from. + * This parameter can be one of the following values: + * @arg FLASH_BOOT_Bank1: At startup, if boot pins are set in boot from user Flash + * position and this parameter is selected the device will boot from Bank1(Default). + * @arg FLASH_BOOT_Bank2: At startup, if boot pins are set in boot from user Flash + * position and this parameter is selected the device will boot from Bank2 or Bank1, + * depending on the activation of the bank. The active banks are checked in + * the following order: Bank2, followed by Bank1. + * The active bank is recognized by the value programmed at the base address + * of the respective bank (corresponding to the initial stack pointer value + * in the interrupt vector table). + * For more information, please refer to AN2606 from www.st.com. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_BootConfig(uint16_t FLASH_BOOT) +{ + FLASH_Status status = FLASH_COMPLETE; + assert_param(IS_FLASH_BOOT(FLASH_BOOT)); + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + + if(FLASH_BOOT == FLASH_BOOT_Bank1) + { + OB->USER |= OB_USER_BFB2; + } + else + { + OB->USER &= (uint16_t)(~(uint16_t)(OB_USER_BFB2)); + } + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the Option Byte program Status */ + return status; +} +#endif /* STM32F10X_XL */ + +/** + * @brief Returns the FLASH User Option Bytes values. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval The FLASH User Option Bytes values:IWDG_SW(Bit0), RST_STOP(Bit1) + * and RST_STDBY(Bit2). + */ +uint32_t FLASH_GetUserOptionByte(void) +{ + /* Return the User Option Byte */ + return (uint32_t)(FLASH->OBR >> 2); +} + +/** + * @brief Returns the FLASH Write Protection Option Bytes Register value. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval The FLASH Write Protection Option Bytes Register value + */ +uint32_t FLASH_GetWriteProtectionOptionByte(void) +{ + /* Return the Flash write protection Register value */ + return (uint32_t)(FLASH->WRPR); +} + +/** + * @brief Checks whether the FLASH Read Out Protection Status is set or not. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH ReadOut Protection Status(SET or RESET) + */ +FlagStatus FLASH_GetReadOutProtectionStatus(void) +{ + FlagStatus readoutstatus = RESET; + if ((FLASH->OBR & RDPRT_Mask) != (uint32_t)RESET) + { + readoutstatus = SET; + } + else + { + readoutstatus = RESET; + } + return readoutstatus; +} + +/** + * @brief Checks whether the FLASH Prefetch Buffer status is set or not. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH Prefetch Buffer Status (SET or RESET). + */ +FlagStatus FLASH_GetPrefetchBufferStatus(void) +{ + FlagStatus bitstatus = RESET; + + if ((FLASH->ACR & ACR_PRFTBS_Mask) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the new state of FLASH Prefetch Buffer Status (SET or RESET) */ + return bitstatus; +} + +/** + * @brief Enables or disables the specified FLASH interrupts. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices, enables or disables the specified FLASH interrupts + for Bank1 and Bank2. + * - For other devices it enables or disables the specified FLASH interrupts for Bank1. + * @param FLASH_IT: specifies the FLASH interrupt sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg FLASH_IT_ERROR: FLASH Error Interrupt + * @arg FLASH_IT_EOP: FLASH end of operation Interrupt + * @param NewState: new state of the specified Flash interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FLASH_ITConfig(uint32_t FLASH_IT, FunctionalState NewState) +{ +#ifdef STM32F10X_XL + /* Check the parameters */ + assert_param(IS_FLASH_IT(FLASH_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if((FLASH_IT & 0x80000000) != 0x0) + { + if(NewState != DISABLE) + { + /* Enable the interrupt sources */ + FLASH->CR2 |= (FLASH_IT & 0x7FFFFFFF); + } + else + { + /* Disable the interrupt sources */ + FLASH->CR2 &= ~(uint32_t)(FLASH_IT & 0x7FFFFFFF); + } + } + else + { + if(NewState != DISABLE) + { + /* Enable the interrupt sources */ + FLASH->CR |= FLASH_IT; + } + else + { + /* Disable the interrupt sources */ + FLASH->CR &= ~(uint32_t)FLASH_IT; + } + } +#else + /* Check the parameters */ + assert_param(IS_FLASH_IT(FLASH_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if(NewState != DISABLE) + { + /* Enable the interrupt sources */ + FLASH->CR |= FLASH_IT; + } + else + { + /* Disable the interrupt sources */ + FLASH->CR &= ~(uint32_t)FLASH_IT; + } +#endif /* STM32F10X_XL */ +} + +/** + * @brief Checks whether the specified FLASH flag is set or not. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices, this function checks whether the specified + * Bank1 or Bank2 flag is set or not. + * - For other devices, it checks whether the specified Bank1 flag is + * set or not. + * @param FLASH_FLAG: specifies the FLASH flag to check. + * This parameter can be one of the following values: + * @arg FLASH_FLAG_BSY: FLASH Busy flag + * @arg FLASH_FLAG_PGERR: FLASH Program error flag + * @arg FLASH_FLAG_WRPRTERR: FLASH Write protected error flag + * @arg FLASH_FLAG_EOP: FLASH End of Operation flag + * @arg FLASH_FLAG_OPTERR: FLASH Option Byte error flag + * @retval The new state of FLASH_FLAG (SET or RESET). + */ +FlagStatus FLASH_GetFlagStatus(uint32_t FLASH_FLAG) +{ + FlagStatus bitstatus = RESET; + +#ifdef STM32F10X_XL + /* Check the parameters */ + assert_param(IS_FLASH_GET_FLAG(FLASH_FLAG)) ; + if(FLASH_FLAG == FLASH_FLAG_OPTERR) + { + if((FLASH->OBR & FLASH_FLAG_OPTERR) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + else + { + if((FLASH_FLAG & 0x80000000) != 0x0) + { + if((FLASH->SR2 & FLASH_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + else + { + if((FLASH->SR & FLASH_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + } +#else + /* Check the parameters */ + assert_param(IS_FLASH_GET_FLAG(FLASH_FLAG)) ; + if(FLASH_FLAG == FLASH_FLAG_OPTERR) + { + if((FLASH->OBR & FLASH_FLAG_OPTERR) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + else + { + if((FLASH->SR & FLASH_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } +#endif /* STM32F10X_XL */ + + /* Return the new state of FLASH_FLAG (SET or RESET) */ + return bitstatus; +} + +/** + * @brief Clears the FLASH's pending flags. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices, this function clears Bank1 or Bank2s pending flags + * - For other devices, it clears Bank1s pending flags. + * @param FLASH_FLAG: specifies the FLASH flags to clear. + * This parameter can be any combination of the following values: + * @arg FLASH_FLAG_PGERR: FLASH Program error flag + * @arg FLASH_FLAG_WRPRTERR: FLASH Write protected error flag + * @arg FLASH_FLAG_EOP: FLASH End of Operation flag + * @retval None + */ +void FLASH_ClearFlag(uint32_t FLASH_FLAG) +{ +#ifdef STM32F10X_XL + /* Check the parameters */ + assert_param(IS_FLASH_CLEAR_FLAG(FLASH_FLAG)) ; + + if((FLASH_FLAG & 0x80000000) != 0x0) + { + /* Clear the flags */ + FLASH->SR2 = FLASH_FLAG; + } + else + { + /* Clear the flags */ + FLASH->SR = FLASH_FLAG; + } + +#else + /* Check the parameters */ + assert_param(IS_FLASH_CLEAR_FLAG(FLASH_FLAG)) ; + + /* Clear the flags */ + FLASH->SR = FLASH_FLAG; +#endif /* STM32F10X_XL */ +} + +/** + * @brief Returns the FLASH Status. + * @note This function can be used for all STM32F10x devices, it is equivalent + * to FLASH_GetBank1Status function. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP or FLASH_COMPLETE + */ +FLASH_Status FLASH_GetStatus(void) +{ + FLASH_Status flashstatus = FLASH_COMPLETE; + + if((FLASH->SR & FLASH_FLAG_BSY) == FLASH_FLAG_BSY) + { + flashstatus = FLASH_BUSY; + } + else + { + if((FLASH->SR & FLASH_FLAG_PGERR) != 0) + { + flashstatus = FLASH_ERROR_PG; + } + else + { + if((FLASH->SR & FLASH_FLAG_WRPRTERR) != 0 ) + { + flashstatus = FLASH_ERROR_WRP; + } + else + { + flashstatus = FLASH_COMPLETE; + } + } + } + /* Return the Flash Status */ + return flashstatus; +} + +/** + * @brief Returns the FLASH Bank1 Status. + * @note This function can be used for all STM32F10x devices, it is equivalent + * to FLASH_GetStatus function. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP or FLASH_COMPLETE + */ +FLASH_Status FLASH_GetBank1Status(void) +{ + FLASH_Status flashstatus = FLASH_COMPLETE; + + if((FLASH->SR & FLASH_FLAG_BANK1_BSY) == FLASH_FLAG_BSY) + { + flashstatus = FLASH_BUSY; + } + else + { + if((FLASH->SR & FLASH_FLAG_BANK1_PGERR) != 0) + { + flashstatus = FLASH_ERROR_PG; + } + else + { + if((FLASH->SR & FLASH_FLAG_BANK1_WRPRTERR) != 0 ) + { + flashstatus = FLASH_ERROR_WRP; + } + else + { + flashstatus = FLASH_COMPLETE; + } + } + } + /* Return the Flash Status */ + return flashstatus; +} + +#ifdef STM32F10X_XL +/** + * @brief Returns the FLASH Bank2 Status. + * @note This function can be used for STM32F10x_XL density devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP or FLASH_COMPLETE + */ +FLASH_Status FLASH_GetBank2Status(void) +{ + FLASH_Status flashstatus = FLASH_COMPLETE; + + if((FLASH->SR2 & (FLASH_FLAG_BANK2_BSY & 0x7FFFFFFF)) == (FLASH_FLAG_BANK2_BSY & 0x7FFFFFFF)) + { + flashstatus = FLASH_BUSY; + } + else + { + if((FLASH->SR2 & (FLASH_FLAG_BANK2_PGERR & 0x7FFFFFFF)) != 0) + { + flashstatus = FLASH_ERROR_PG; + } + else + { + if((FLASH->SR2 & (FLASH_FLAG_BANK2_WRPRTERR & 0x7FFFFFFF)) != 0 ) + { + flashstatus = FLASH_ERROR_WRP; + } + else + { + flashstatus = FLASH_COMPLETE; + } + } + } + /* Return the Flash Status */ + return flashstatus; +} +#endif /* STM32F10X_XL */ +/** + * @brief Waits for a Flash operation to complete or a TIMEOUT to occur. + * @note This function can be used for all STM32F10x devices, + * it is equivalent to FLASH_WaitForLastBank1Operation. + * - For STM32F10X_XL devices this function waits for a Bank1 Flash operation + * to complete or a TIMEOUT to occur. + * - For all other devices it waits for a Flash operation to complete + * or a TIMEOUT to occur. + * @param Timeout: FLASH programming Timeout + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_WaitForLastOperation(uint32_t Timeout) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check for the Flash Status */ + status = FLASH_GetBank1Status(); + /* Wait for a Flash operation to complete or a TIMEOUT to occur */ + while((status == FLASH_BUSY) && (Timeout != 0x00)) + { + status = FLASH_GetBank1Status(); + Timeout--; + } + if(Timeout == 0x00 ) + { + status = FLASH_TIMEOUT; + } + /* Return the operation status */ + return status; +} + +/** + * @brief Waits for a Flash operation on Bank1 to complete or a TIMEOUT to occur. + * @note This function can be used for all STM32F10x devices, + * it is equivalent to FLASH_WaitForLastOperation. + * @param Timeout: FLASH programming Timeout + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_WaitForLastBank1Operation(uint32_t Timeout) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check for the Flash Status */ + status = FLASH_GetBank1Status(); + /* Wait for a Flash operation to complete or a TIMEOUT to occur */ + while((status == FLASH_FLAG_BANK1_BSY) && (Timeout != 0x00)) + { + status = FLASH_GetBank1Status(); + Timeout--; + } + if(Timeout == 0x00 ) + { + status = FLASH_TIMEOUT; + } + /* Return the operation status */ + return status; +} + +#ifdef STM32F10X_XL +/** + * @brief Waits for a Flash operation on Bank2 to complete or a TIMEOUT to occur. + * @note This function can be used only for STM32F10x_XL density devices. + * @param Timeout: FLASH programming Timeout + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_WaitForLastBank2Operation(uint32_t Timeout) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check for the Flash Status */ + status = FLASH_GetBank2Status(); + /* Wait for a Flash operation to complete or a TIMEOUT to occur */ + while((status == (FLASH_FLAG_BANK2_BSY & 0x7FFFFFFF)) && (Timeout != 0x00)) + { + status = FLASH_GetBank2Status(); + Timeout--; + } + if(Timeout == 0x00 ) + { + status = FLASH_TIMEOUT; + } + /* Return the operation status */ + return status; +} +#endif /* STM32F10X_XL */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_fsmc.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_fsmc.c new file mode 100644 index 0000000..51669ee --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_fsmc.c @@ -0,0 +1,866 @@ +/** + ****************************************************************************** + * @file stm32f10x_fsmc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the FSMC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_fsmc.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup FSMC + * @brief FSMC driver modules + * @{ + */ + +/** @defgroup FSMC_Private_TypesDefinitions + * @{ + */ +/** + * @} + */ + +/** @defgroup FSMC_Private_Defines + * @{ + */ + +/* --------------------- FSMC registers bit mask ---------------------------- */ + +/* FSMC BCRx Mask */ +#define BCR_MBKEN_Set ((uint32_t)0x00000001) +#define BCR_MBKEN_Reset ((uint32_t)0x000FFFFE) +#define BCR_FACCEN_Set ((uint32_t)0x00000040) + +/* FSMC PCRx Mask */ +#define PCR_PBKEN_Set ((uint32_t)0x00000004) +#define PCR_PBKEN_Reset ((uint32_t)0x000FFFFB) +#define PCR_ECCEN_Set ((uint32_t)0x00000040) +#define PCR_ECCEN_Reset ((uint32_t)0x000FFFBF) +#define PCR_MemoryType_NAND ((uint32_t)0x00000008) +/** + * @} + */ + +/** @defgroup FSMC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the FSMC NOR/SRAM Banks registers to their default + * reset values. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank1_NORSRAM1: FSMC Bank1 NOR/SRAM1 + * @arg FSMC_Bank1_NORSRAM2: FSMC Bank1 NOR/SRAM2 + * @arg FSMC_Bank1_NORSRAM3: FSMC Bank1 NOR/SRAM3 + * @arg FSMC_Bank1_NORSRAM4: FSMC Bank1 NOR/SRAM4 + * @retval None + */ +void FSMC_NORSRAMDeInit(uint32_t FSMC_Bank) +{ + /* Check the parameter */ + assert_param(IS_FSMC_NORSRAM_BANK(FSMC_Bank)); + + /* FSMC_Bank1_NORSRAM1 */ + if(FSMC_Bank == FSMC_Bank1_NORSRAM1) + { + FSMC_Bank1->BTCR[FSMC_Bank] = 0x000030DB; + } + /* FSMC_Bank1_NORSRAM2, FSMC_Bank1_NORSRAM3 or FSMC_Bank1_NORSRAM4 */ + else + { + FSMC_Bank1->BTCR[FSMC_Bank] = 0x000030D2; + } + FSMC_Bank1->BTCR[FSMC_Bank + 1] = 0x0FFFFFFF; + FSMC_Bank1E->BWTR[FSMC_Bank] = 0x0FFFFFFF; +} + +/** + * @brief Deinitializes the FSMC NAND Banks registers to their default reset values. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @retval None + */ +void FSMC_NANDDeInit(uint32_t FSMC_Bank) +{ + /* Check the parameter */ + assert_param(IS_FSMC_NAND_BANK(FSMC_Bank)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + /* Set the FSMC_Bank2 registers to their reset values */ + FSMC_Bank2->PCR2 = 0x00000018; + FSMC_Bank2->SR2 = 0x00000040; + FSMC_Bank2->PMEM2 = 0xFCFCFCFC; + FSMC_Bank2->PATT2 = 0xFCFCFCFC; + } + /* FSMC_Bank3_NAND */ + else + { + /* Set the FSMC_Bank3 registers to their reset values */ + FSMC_Bank3->PCR3 = 0x00000018; + FSMC_Bank3->SR3 = 0x00000040; + FSMC_Bank3->PMEM3 = 0xFCFCFCFC; + FSMC_Bank3->PATT3 = 0xFCFCFCFC; + } +} + +/** + * @brief Deinitializes the FSMC PCCARD Bank registers to their default reset values. + * @param None + * @retval None + */ +void FSMC_PCCARDDeInit(void) +{ + /* Set the FSMC_Bank4 registers to their reset values */ + FSMC_Bank4->PCR4 = 0x00000018; + FSMC_Bank4->SR4 = 0x00000000; + FSMC_Bank4->PMEM4 = 0xFCFCFCFC; + FSMC_Bank4->PATT4 = 0xFCFCFCFC; + FSMC_Bank4->PIO4 = 0xFCFCFCFC; +} + +/** + * @brief Initializes the FSMC NOR/SRAM Banks according to the specified + * parameters in the FSMC_NORSRAMInitStruct. + * @param FSMC_NORSRAMInitStruct : pointer to a FSMC_NORSRAMInitTypeDef + * structure that contains the configuration information for + * the FSMC NOR/SRAM specified Banks. + * @retval None + */ +void FSMC_NORSRAMInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct) +{ + /* Check the parameters */ + assert_param(IS_FSMC_NORSRAM_BANK(FSMC_NORSRAMInitStruct->FSMC_Bank)); + assert_param(IS_FSMC_MUX(FSMC_NORSRAMInitStruct->FSMC_DataAddressMux)); + assert_param(IS_FSMC_MEMORY(FSMC_NORSRAMInitStruct->FSMC_MemoryType)); + assert_param(IS_FSMC_MEMORY_WIDTH(FSMC_NORSRAMInitStruct->FSMC_MemoryDataWidth)); + assert_param(IS_FSMC_BURSTMODE(FSMC_NORSRAMInitStruct->FSMC_BurstAccessMode)); + assert_param(IS_FSMC_ASYNWAIT(FSMC_NORSRAMInitStruct->FSMC_AsynchronousWait)); + assert_param(IS_FSMC_WAIT_POLARITY(FSMC_NORSRAMInitStruct->FSMC_WaitSignalPolarity)); + assert_param(IS_FSMC_WRAP_MODE(FSMC_NORSRAMInitStruct->FSMC_WrapMode)); + assert_param(IS_FSMC_WAIT_SIGNAL_ACTIVE(FSMC_NORSRAMInitStruct->FSMC_WaitSignalActive)); + assert_param(IS_FSMC_WRITE_OPERATION(FSMC_NORSRAMInitStruct->FSMC_WriteOperation)); + assert_param(IS_FSMC_WAITE_SIGNAL(FSMC_NORSRAMInitStruct->FSMC_WaitSignal)); + assert_param(IS_FSMC_EXTENDED_MODE(FSMC_NORSRAMInitStruct->FSMC_ExtendedMode)); + assert_param(IS_FSMC_WRITE_BURST(FSMC_NORSRAMInitStruct->FSMC_WriteBurst)); + assert_param(IS_FSMC_ADDRESS_SETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressSetupTime)); + assert_param(IS_FSMC_ADDRESS_HOLD_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressHoldTime)); + assert_param(IS_FSMC_DATASETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataSetupTime)); + assert_param(IS_FSMC_TURNAROUND_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_BusTurnAroundDuration)); + assert_param(IS_FSMC_CLK_DIV(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_CLKDivision)); + assert_param(IS_FSMC_DATA_LATENCY(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataLatency)); + assert_param(IS_FSMC_ACCESS_MODE(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AccessMode)); + + /* Bank1 NOR/SRAM control register configuration */ + FSMC_Bank1->BTCR[FSMC_NORSRAMInitStruct->FSMC_Bank] = + (uint32_t)FSMC_NORSRAMInitStruct->FSMC_DataAddressMux | + FSMC_NORSRAMInitStruct->FSMC_MemoryType | + FSMC_NORSRAMInitStruct->FSMC_MemoryDataWidth | + FSMC_NORSRAMInitStruct->FSMC_BurstAccessMode | + FSMC_NORSRAMInitStruct->FSMC_AsynchronousWait | + FSMC_NORSRAMInitStruct->FSMC_WaitSignalPolarity | + FSMC_NORSRAMInitStruct->FSMC_WrapMode | + FSMC_NORSRAMInitStruct->FSMC_WaitSignalActive | + FSMC_NORSRAMInitStruct->FSMC_WriteOperation | + FSMC_NORSRAMInitStruct->FSMC_WaitSignal | + FSMC_NORSRAMInitStruct->FSMC_ExtendedMode | + FSMC_NORSRAMInitStruct->FSMC_WriteBurst; + + if(FSMC_NORSRAMInitStruct->FSMC_MemoryType == FSMC_MemoryType_NOR) + { + FSMC_Bank1->BTCR[FSMC_NORSRAMInitStruct->FSMC_Bank] |= (uint32_t)BCR_FACCEN_Set; + } + + /* Bank1 NOR/SRAM timing register configuration */ + FSMC_Bank1->BTCR[FSMC_NORSRAMInitStruct->FSMC_Bank+1] = + (uint32_t)FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressSetupTime | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressHoldTime << 4) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataSetupTime << 8) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_BusTurnAroundDuration << 16) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_CLKDivision << 20) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataLatency << 24) | + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AccessMode; + + + /* Bank1 NOR/SRAM timing register for write configuration, if extended mode is used */ + if(FSMC_NORSRAMInitStruct->FSMC_ExtendedMode == FSMC_ExtendedMode_Enable) + { + assert_param(IS_FSMC_ADDRESS_SETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressSetupTime)); + assert_param(IS_FSMC_ADDRESS_HOLD_TIME(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressHoldTime)); + assert_param(IS_FSMC_DATASETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataSetupTime)); + assert_param(IS_FSMC_CLK_DIV(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_CLKDivision)); + assert_param(IS_FSMC_DATA_LATENCY(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataLatency)); + assert_param(IS_FSMC_ACCESS_MODE(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AccessMode)); + FSMC_Bank1E->BWTR[FSMC_NORSRAMInitStruct->FSMC_Bank] = + (uint32_t)FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressSetupTime | + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressHoldTime << 4 )| + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataSetupTime << 8) | + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_CLKDivision << 20) | + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataLatency << 24) | + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AccessMode; + } + else + { + FSMC_Bank1E->BWTR[FSMC_NORSRAMInitStruct->FSMC_Bank] = 0x0FFFFFFF; + } +} + +/** + * @brief Initializes the FSMC NAND Banks according to the specified + * parameters in the FSMC_NANDInitStruct. + * @param FSMC_NANDInitStruct : pointer to a FSMC_NANDInitTypeDef + * structure that contains the configuration information for the FSMC + * NAND specified Banks. + * @retval None + */ +void FSMC_NANDInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct) +{ + uint32_t tmppcr = 0x00000000, tmppmem = 0x00000000, tmppatt = 0x00000000; + + /* Check the parameters */ + assert_param( IS_FSMC_NAND_BANK(FSMC_NANDInitStruct->FSMC_Bank)); + assert_param( IS_FSMC_WAIT_FEATURE(FSMC_NANDInitStruct->FSMC_Waitfeature)); + assert_param( IS_FSMC_MEMORY_WIDTH(FSMC_NANDInitStruct->FSMC_MemoryDataWidth)); + assert_param( IS_FSMC_ECC_STATE(FSMC_NANDInitStruct->FSMC_ECC)); + assert_param( IS_FSMC_ECCPAGE_SIZE(FSMC_NANDInitStruct->FSMC_ECCPageSize)); + assert_param( IS_FSMC_TCLR_TIME(FSMC_NANDInitStruct->FSMC_TCLRSetupTime)); + assert_param( IS_FSMC_TAR_TIME(FSMC_NANDInitStruct->FSMC_TARSetupTime)); + assert_param(IS_FSMC_SETUP_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime)); + assert_param(IS_FSMC_SETUP_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime)); + + /* Set the tmppcr value according to FSMC_NANDInitStruct parameters */ + tmppcr = (uint32_t)FSMC_NANDInitStruct->FSMC_Waitfeature | + PCR_MemoryType_NAND | + FSMC_NANDInitStruct->FSMC_MemoryDataWidth | + FSMC_NANDInitStruct->FSMC_ECC | + FSMC_NANDInitStruct->FSMC_ECCPageSize | + (FSMC_NANDInitStruct->FSMC_TCLRSetupTime << 9 )| + (FSMC_NANDInitStruct->FSMC_TARSetupTime << 13); + + /* Set tmppmem value according to FSMC_CommonSpaceTimingStructure parameters */ + tmppmem = (uint32_t)FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime | + (FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + /* Set tmppatt value according to FSMC_AttributeSpaceTimingStructure parameters */ + tmppatt = (uint32_t)FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime | + (FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + if(FSMC_NANDInitStruct->FSMC_Bank == FSMC_Bank2_NAND) + { + /* FSMC_Bank2_NAND registers configuration */ + FSMC_Bank2->PCR2 = tmppcr; + FSMC_Bank2->PMEM2 = tmppmem; + FSMC_Bank2->PATT2 = tmppatt; + } + else + { + /* FSMC_Bank3_NAND registers configuration */ + FSMC_Bank3->PCR3 = tmppcr; + FSMC_Bank3->PMEM3 = tmppmem; + FSMC_Bank3->PATT3 = tmppatt; + } +} + +/** + * @brief Initializes the FSMC PCCARD Bank according to the specified + * parameters in the FSMC_PCCARDInitStruct. + * @param FSMC_PCCARDInitStruct : pointer to a FSMC_PCCARDInitTypeDef + * structure that contains the configuration information for the FSMC + * PCCARD Bank. + * @retval None + */ +void FSMC_PCCARDInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct) +{ + /* Check the parameters */ + assert_param(IS_FSMC_WAIT_FEATURE(FSMC_PCCARDInitStruct->FSMC_Waitfeature)); + assert_param(IS_FSMC_TCLR_TIME(FSMC_PCCARDInitStruct->FSMC_TCLRSetupTime)); + assert_param(IS_FSMC_TAR_TIME(FSMC_PCCARDInitStruct->FSMC_TARSetupTime)); + + assert_param(IS_FSMC_SETUP_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime)); + + assert_param(IS_FSMC_SETUP_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime)); + assert_param(IS_FSMC_SETUP_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HiZSetupTime)); + + /* Set the PCR4 register value according to FSMC_PCCARDInitStruct parameters */ + FSMC_Bank4->PCR4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_Waitfeature | + FSMC_MemoryDataWidth_16b | + (FSMC_PCCARDInitStruct->FSMC_TCLRSetupTime << 9) | + (FSMC_PCCARDInitStruct->FSMC_TARSetupTime << 13); + + /* Set PMEM4 register value according to FSMC_CommonSpaceTimingStructure parameters */ + FSMC_Bank4->PMEM4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime | + (FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + /* Set PATT4 register value according to FSMC_AttributeSpaceTimingStructure parameters */ + FSMC_Bank4->PATT4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime | + (FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + /* Set PIO4 register value according to FSMC_IOSpaceTimingStructure parameters */ + FSMC_Bank4->PIO4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_SetupTime | + (FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HiZSetupTime << 24); +} + +/** + * @brief Fills each FSMC_NORSRAMInitStruct member with its default value. + * @param FSMC_NORSRAMInitStruct: pointer to a FSMC_NORSRAMInitTypeDef + * structure which will be initialized. + * @retval None + */ +void FSMC_NORSRAMStructInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct) +{ + /* Reset NOR/SRAM Init structure parameters values */ + FSMC_NORSRAMInitStruct->FSMC_Bank = FSMC_Bank1_NORSRAM1; + FSMC_NORSRAMInitStruct->FSMC_DataAddressMux = FSMC_DataAddressMux_Enable; + FSMC_NORSRAMInitStruct->FSMC_MemoryType = FSMC_MemoryType_SRAM; + FSMC_NORSRAMInitStruct->FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_8b; + FSMC_NORSRAMInitStruct->FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable; + FSMC_NORSRAMInitStruct->FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable; + FSMC_NORSRAMInitStruct->FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low; + FSMC_NORSRAMInitStruct->FSMC_WrapMode = FSMC_WrapMode_Disable; + FSMC_NORSRAMInitStruct->FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState; + FSMC_NORSRAMInitStruct->FSMC_WriteOperation = FSMC_WriteOperation_Enable; + FSMC_NORSRAMInitStruct->FSMC_WaitSignal = FSMC_WaitSignal_Enable; + FSMC_NORSRAMInitStruct->FSMC_ExtendedMode = FSMC_ExtendedMode_Disable; + FSMC_NORSRAMInitStruct->FSMC_WriteBurst = FSMC_WriteBurst_Disable; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressSetupTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressHoldTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataSetupTime = 0xFF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_BusTurnAroundDuration = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_CLKDivision = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataLatency = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AccessMode = FSMC_AccessMode_A; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressSetupTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressHoldTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataSetupTime = 0xFF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_BusTurnAroundDuration = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_CLKDivision = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataLatency = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AccessMode = FSMC_AccessMode_A; +} + +/** + * @brief Fills each FSMC_NANDInitStruct member with its default value. + * @param FSMC_NANDInitStruct: pointer to a FSMC_NANDInitTypeDef + * structure which will be initialized. + * @retval None + */ +void FSMC_NANDStructInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct) +{ + /* Reset NAND Init structure parameters values */ + FSMC_NANDInitStruct->FSMC_Bank = FSMC_Bank2_NAND; + FSMC_NANDInitStruct->FSMC_Waitfeature = FSMC_Waitfeature_Disable; + FSMC_NANDInitStruct->FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_8b; + FSMC_NANDInitStruct->FSMC_ECC = FSMC_ECC_Disable; + FSMC_NANDInitStruct->FSMC_ECCPageSize = FSMC_ECCPageSize_256Bytes; + FSMC_NANDInitStruct->FSMC_TCLRSetupTime = 0x0; + FSMC_NANDInitStruct->FSMC_TARSetupTime = 0x0; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; +} + +/** + * @brief Fills each FSMC_PCCARDInitStruct member with its default value. + * @param FSMC_PCCARDInitStruct: pointer to a FSMC_PCCARDInitTypeDef + * structure which will be initialized. + * @retval None + */ +void FSMC_PCCARDStructInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct) +{ + /* Reset PCCARD Init structure parameters values */ + FSMC_PCCARDInitStruct->FSMC_Waitfeature = FSMC_Waitfeature_Disable; + FSMC_PCCARDInitStruct->FSMC_TCLRSetupTime = 0x0; + FSMC_PCCARDInitStruct->FSMC_TARSetupTime = 0x0; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; +} + +/** + * @brief Enables or disables the specified NOR/SRAM Memory Bank. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank1_NORSRAM1: FSMC Bank1 NOR/SRAM1 + * @arg FSMC_Bank1_NORSRAM2: FSMC Bank1 NOR/SRAM2 + * @arg FSMC_Bank1_NORSRAM3: FSMC Bank1 NOR/SRAM3 + * @arg FSMC_Bank1_NORSRAM4: FSMC Bank1 NOR/SRAM4 + * @param NewState: new state of the FSMC_Bank. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_NORSRAMCmd(uint32_t FSMC_Bank, FunctionalState NewState) +{ + assert_param(IS_FSMC_NORSRAM_BANK(FSMC_Bank)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected NOR/SRAM Bank by setting the PBKEN bit in the BCRx register */ + FSMC_Bank1->BTCR[FSMC_Bank] |= BCR_MBKEN_Set; + } + else + { + /* Disable the selected NOR/SRAM Bank by clearing the PBKEN bit in the BCRx register */ + FSMC_Bank1->BTCR[FSMC_Bank] &= BCR_MBKEN_Reset; + } +} + +/** + * @brief Enables or disables the specified NAND Memory Bank. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @param NewState: new state of the FSMC_Bank. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_NANDCmd(uint32_t FSMC_Bank, FunctionalState NewState) +{ + assert_param(IS_FSMC_NAND_BANK(FSMC_Bank)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected NAND Bank by setting the PBKEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 |= PCR_PBKEN_Set; + } + else + { + FSMC_Bank3->PCR3 |= PCR_PBKEN_Set; + } + } + else + { + /* Disable the selected NAND Bank by clearing the PBKEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 &= PCR_PBKEN_Reset; + } + else + { + FSMC_Bank3->PCR3 &= PCR_PBKEN_Reset; + } + } +} + +/** + * @brief Enables or disables the PCCARD Memory Bank. + * @param NewState: new state of the PCCARD Memory Bank. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_PCCARDCmd(FunctionalState NewState) +{ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the PCCARD Bank by setting the PBKEN bit in the PCR4 register */ + FSMC_Bank4->PCR4 |= PCR_PBKEN_Set; + } + else + { + /* Disable the PCCARD Bank by clearing the PBKEN bit in the PCR4 register */ + FSMC_Bank4->PCR4 &= PCR_PBKEN_Reset; + } +} + +/** + * @brief Enables or disables the FSMC NAND ECC feature. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @param NewState: new state of the FSMC NAND ECC feature. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_NANDECCCmd(uint32_t FSMC_Bank, FunctionalState NewState) +{ + assert_param(IS_FSMC_NAND_BANK(FSMC_Bank)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected NAND Bank ECC function by setting the ECCEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 |= PCR_ECCEN_Set; + } + else + { + FSMC_Bank3->PCR3 |= PCR_ECCEN_Set; + } + } + else + { + /* Disable the selected NAND Bank ECC function by clearing the ECCEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 &= PCR_ECCEN_Reset; + } + else + { + FSMC_Bank3->PCR3 &= PCR_ECCEN_Reset; + } + } +} + +/** + * @brief Returns the error correction code register value. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @retval The Error Correction Code (ECC) value. + */ +uint32_t FSMC_GetECC(uint32_t FSMC_Bank) +{ + uint32_t eccval = 0x00000000; + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + /* Get the ECCR2 register value */ + eccval = FSMC_Bank2->ECCR2; + } + else + { + /* Get the ECCR3 register value */ + eccval = FSMC_Bank3->ECCR3; + } + /* Return the error correction code value */ + return(eccval); +} + +/** + * @brief Enables or disables the specified FSMC interrupts. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_IT: specifies the FSMC interrupt sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg FSMC_IT_RisingEdge: Rising edge detection interrupt. + * @arg FSMC_IT_Level: Level edge detection interrupt. + * @arg FSMC_IT_FallingEdge: Falling edge detection interrupt. + * @param NewState: new state of the specified FSMC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_ITConfig(uint32_t FSMC_Bank, uint32_t FSMC_IT, FunctionalState NewState) +{ + assert_param(IS_FSMC_IT_BANK(FSMC_Bank)); + assert_param(IS_FSMC_IT(FSMC_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected FSMC_Bank2 interrupts */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->SR2 |= FSMC_IT; + } + /* Enable the selected FSMC_Bank3 interrupts */ + else if (FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 |= FSMC_IT; + } + /* Enable the selected FSMC_Bank4 interrupts */ + else + { + FSMC_Bank4->SR4 |= FSMC_IT; + } + } + else + { + /* Disable the selected FSMC_Bank2 interrupts */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + + FSMC_Bank2->SR2 &= (uint32_t)~FSMC_IT; + } + /* Disable the selected FSMC_Bank3 interrupts */ + else if (FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 &= (uint32_t)~FSMC_IT; + } + /* Disable the selected FSMC_Bank4 interrupts */ + else + { + FSMC_Bank4->SR4 &= (uint32_t)~FSMC_IT; + } + } +} + +/** + * @brief Checks whether the specified FSMC flag is set or not. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg FSMC_FLAG_RisingEdge: Rising egde detection Flag. + * @arg FSMC_FLAG_Level: Level detection Flag. + * @arg FSMC_FLAG_FallingEdge: Falling egde detection Flag. + * @arg FSMC_FLAG_FEMPT: Fifo empty Flag. + * @retval The new state of FSMC_FLAG (SET or RESET). + */ +FlagStatus FSMC_GetFlagStatus(uint32_t FSMC_Bank, uint32_t FSMC_FLAG) +{ + FlagStatus bitstatus = RESET; + uint32_t tmpsr = 0x00000000; + + /* Check the parameters */ + assert_param(IS_FSMC_GETFLAG_BANK(FSMC_Bank)); + assert_param(IS_FSMC_GET_FLAG(FSMC_FLAG)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + tmpsr = FSMC_Bank2->SR2; + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + tmpsr = FSMC_Bank3->SR3; + } + /* FSMC_Bank4_PCCARD*/ + else + { + tmpsr = FSMC_Bank4->SR4; + } + + /* Get the flag status */ + if ((tmpsr & FSMC_FLAG) != (uint16_t)RESET ) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the flag status */ + return bitstatus; +} + +/** + * @brief Clears the FSMC's pending flags. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg FSMC_FLAG_RisingEdge: Rising egde detection Flag. + * @arg FSMC_FLAG_Level: Level detection Flag. + * @arg FSMC_FLAG_FallingEdge: Falling egde detection Flag. + * @retval None + */ +void FSMC_ClearFlag(uint32_t FSMC_Bank, uint32_t FSMC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_FSMC_GETFLAG_BANK(FSMC_Bank)); + assert_param(IS_FSMC_CLEAR_FLAG(FSMC_FLAG)) ; + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->SR2 &= ~FSMC_FLAG; + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 &= ~FSMC_FLAG; + } + /* FSMC_Bank4_PCCARD*/ + else + { + FSMC_Bank4->SR4 &= ~FSMC_FLAG; + } +} + +/** + * @brief Checks whether the specified FSMC interrupt has occurred or not. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_IT: specifies the FSMC interrupt source to check. + * This parameter can be one of the following values: + * @arg FSMC_IT_RisingEdge: Rising edge detection interrupt. + * @arg FSMC_IT_Level: Level edge detection interrupt. + * @arg FSMC_IT_FallingEdge: Falling edge detection interrupt. + * @retval The new state of FSMC_IT (SET or RESET). + */ +ITStatus FSMC_GetITStatus(uint32_t FSMC_Bank, uint32_t FSMC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t tmpsr = 0x0, itstatus = 0x0, itenable = 0x0; + + /* Check the parameters */ + assert_param(IS_FSMC_IT_BANK(FSMC_Bank)); + assert_param(IS_FSMC_GET_IT(FSMC_IT)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + tmpsr = FSMC_Bank2->SR2; + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + tmpsr = FSMC_Bank3->SR3; + } + /* FSMC_Bank4_PCCARD*/ + else + { + tmpsr = FSMC_Bank4->SR4; + } + + itstatus = tmpsr & FSMC_IT; + + itenable = tmpsr & (FSMC_IT >> 3); + if ((itstatus != (uint32_t)RESET) && (itenable != (uint32_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the FSMC's interrupt pending bits. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_IT: specifies the interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg FSMC_IT_RisingEdge: Rising edge detection interrupt. + * @arg FSMC_IT_Level: Level edge detection interrupt. + * @arg FSMC_IT_FallingEdge: Falling edge detection interrupt. + * @retval None + */ +void FSMC_ClearITPendingBit(uint32_t FSMC_Bank, uint32_t FSMC_IT) +{ + /* Check the parameters */ + assert_param(IS_FSMC_IT_BANK(FSMC_Bank)); + assert_param(IS_FSMC_IT(FSMC_IT)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->SR2 &= ~(FSMC_IT >> 3); + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 &= ~(FSMC_IT >> 3); + } + /* FSMC_Bank4_PCCARD*/ + else + { + FSMC_Bank4->SR4 &= ~(FSMC_IT >> 3); + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_gpio.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_gpio.c new file mode 100644 index 0000000..457ff11 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_gpio.c @@ -0,0 +1,650 @@ +/** + ****************************************************************************** + * @file stm32f10x_gpio.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the GPIO firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_gpio.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup GPIO + * @brief GPIO driver modules + * @{ + */ + +/** @defgroup GPIO_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_Defines + * @{ + */ + +/* ------------ RCC registers bit address in the alias region ----------------*/ +#define AFIO_OFFSET (AFIO_BASE - PERIPH_BASE) + +/* --- EVENTCR Register -----*/ + +/* Alias word address of EVOE bit */ +#define EVCR_OFFSET (AFIO_OFFSET + 0x00) +#define EVOE_BitNumber ((uint8_t)0x07) +#define EVCR_EVOE_BB (PERIPH_BB_BASE + (EVCR_OFFSET * 32) + (EVOE_BitNumber * 4)) + + +/* --- MAPR Register ---*/ +/* Alias word address of MII_RMII_SEL bit */ +#define MAPR_OFFSET (AFIO_OFFSET + 0x04) +#define MII_RMII_SEL_BitNumber ((u8)0x17) +#define MAPR_MII_RMII_SEL_BB (PERIPH_BB_BASE + (MAPR_OFFSET * 32) + (MII_RMII_SEL_BitNumber * 4)) + + +#define EVCR_PORTPINCONFIG_MASK ((uint16_t)0xFF80) +#define LSB_MASK ((uint16_t)0xFFFF) +#define DBGAFR_POSITION_MASK ((uint32_t)0x000F0000) +#define DBGAFR_SWJCFG_MASK ((uint32_t)0xF0FFFFFF) +#define DBGAFR_LOCATION_MASK ((uint32_t)0x00200000) +#define DBGAFR_NUMBITS_MASK ((uint32_t)0x00100000) +/** + * @} + */ + +/** @defgroup GPIO_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the GPIOx peripheral registers to their default reset values. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @retval None + */ +void GPIO_DeInit(GPIO_TypeDef* GPIOx) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + if (GPIOx == GPIOA) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, DISABLE); + } + else if (GPIOx == GPIOB) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, DISABLE); + } + else if (GPIOx == GPIOC) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOC, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOC, DISABLE); + } + else if (GPIOx == GPIOD) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOD, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOD, DISABLE); + } + else if (GPIOx == GPIOE) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOE, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOE, DISABLE); + } + else if (GPIOx == GPIOF) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOF, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOF, DISABLE); + } + else + { + if (GPIOx == GPIOG) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOG, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOG, DISABLE); + } + } +} + +/** + * @brief Deinitializes the Alternate Functions (remap, event control + * and EXTI configuration) registers to their default reset values. + * @param None + * @retval None + */ +void GPIO_AFIODeInit(void) +{ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_AFIO, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_AFIO, DISABLE); +} + +/** + * @brief Initializes the GPIOx peripheral according to the specified + * parameters in the GPIO_InitStruct. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_InitStruct: pointer to a GPIO_InitTypeDef structure that + * contains the configuration information for the specified GPIO peripheral. + * @retval None + */ +void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct) +{ + uint32_t currentmode = 0x00, currentpin = 0x00, pinpos = 0x00, pos = 0x00; + uint32_t tmpreg = 0x00, pinmask = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_MODE(GPIO_InitStruct->GPIO_Mode)); + assert_param(IS_GPIO_PIN(GPIO_InitStruct->GPIO_Pin)); + +/*---------------------------- GPIO Mode Configuration -----------------------*/ + currentmode = ((uint32_t)GPIO_InitStruct->GPIO_Mode) & ((uint32_t)0x0F); + if ((((uint32_t)GPIO_InitStruct->GPIO_Mode) & ((uint32_t)0x10)) != 0x00) + { + /* Check the parameters */ + assert_param(IS_GPIO_SPEED(GPIO_InitStruct->GPIO_Speed)); + /* Output mode */ + currentmode |= (uint32_t)GPIO_InitStruct->GPIO_Speed; + } +/*---------------------------- GPIO CRL Configuration ------------------------*/ + /* Configure the eight low port pins */ + if (((uint32_t)GPIO_InitStruct->GPIO_Pin & ((uint32_t)0x00FF)) != 0x00) + { + tmpreg = GPIOx->CRL; + for (pinpos = 0x00; pinpos < 0x08; pinpos++) + { + pos = ((uint32_t)0x01) << pinpos; + /* Get the port pins position */ + currentpin = (GPIO_InitStruct->GPIO_Pin) & pos; + if (currentpin == pos) + { + pos = pinpos << 2; + /* Clear the corresponding low control register bits */ + pinmask = ((uint32_t)0x0F) << pos; + tmpreg &= ~pinmask; + /* Write the mode configuration in the corresponding bits */ + tmpreg |= (currentmode << pos); + /* Reset the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPD) + { + GPIOx->BRR = (((uint32_t)0x01) << pinpos); + } + else + { + /* Set the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPU) + { + GPIOx->BSRR = (((uint32_t)0x01) << pinpos); + } + } + } + } + GPIOx->CRL = tmpreg; + } +/*---------------------------- GPIO CRH Configuration ------------------------*/ + /* Configure the eight high port pins */ + if (GPIO_InitStruct->GPIO_Pin > 0x00FF) + { + tmpreg = GPIOx->CRH; + for (pinpos = 0x00; pinpos < 0x08; pinpos++) + { + pos = (((uint32_t)0x01) << (pinpos + 0x08)); + /* Get the port pins position */ + currentpin = ((GPIO_InitStruct->GPIO_Pin) & pos); + if (currentpin == pos) + { + pos = pinpos << 2; + /* Clear the corresponding high control register bits */ + pinmask = ((uint32_t)0x0F) << pos; + tmpreg &= ~pinmask; + /* Write the mode configuration in the corresponding bits */ + tmpreg |= (currentmode << pos); + /* Reset the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPD) + { + GPIOx->BRR = (((uint32_t)0x01) << (pinpos + 0x08)); + } + /* Set the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPU) + { + GPIOx->BSRR = (((uint32_t)0x01) << (pinpos + 0x08)); + } + } + } + GPIOx->CRH = tmpreg; + } +} + +/** + * @brief Fills each GPIO_InitStruct member with its default value. + * @param GPIO_InitStruct : pointer to a GPIO_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void GPIO_StructInit(GPIO_InitTypeDef* GPIO_InitStruct) +{ + /* Reset GPIO init structure parameters values */ + GPIO_InitStruct->GPIO_Pin = GPIO_Pin_All; + GPIO_InitStruct->GPIO_Speed = GPIO_Speed_2MHz; + GPIO_InitStruct->GPIO_Mode = GPIO_Mode_IN_FLOATING; +} + +/** + * @brief Reads the specified input port pin. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to read. + * This parameter can be GPIO_Pin_x where x can be (0..15). + * @retval The input port pin value. + */ +uint8_t GPIO_ReadInputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + uint8_t bitstatus = 0x00; + + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GET_GPIO_PIN(GPIO_Pin)); + + if ((GPIOx->IDR & GPIO_Pin) != (uint32_t)Bit_RESET) + { + bitstatus = (uint8_t)Bit_SET; + } + else + { + bitstatus = (uint8_t)Bit_RESET; + } + return bitstatus; +} + +/** + * @brief Reads the specified GPIO input data port. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @retval GPIO input data port value. + */ +uint16_t GPIO_ReadInputData(GPIO_TypeDef* GPIOx) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + return ((uint16_t)GPIOx->IDR); +} + +/** + * @brief Reads the specified output data port bit. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to read. + * This parameter can be GPIO_Pin_x where x can be (0..15). + * @retval The output port pin value. + */ +uint8_t GPIO_ReadOutputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + uint8_t bitstatus = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GET_GPIO_PIN(GPIO_Pin)); + + if ((GPIOx->ODR & GPIO_Pin) != (uint32_t)Bit_RESET) + { + bitstatus = (uint8_t)Bit_SET; + } + else + { + bitstatus = (uint8_t)Bit_RESET; + } + return bitstatus; +} + +/** + * @brief Reads the specified GPIO output data port. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @retval GPIO output data port value. + */ +uint16_t GPIO_ReadOutputData(GPIO_TypeDef* GPIOx) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + return ((uint16_t)GPIOx->ODR); +} + +/** + * @brief Sets the selected data port bits. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bits to be written. + * This parameter can be any combination of GPIO_Pin_x where x can be (0..15). + * @retval None + */ +void GPIO_SetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_PIN(GPIO_Pin)); + + GPIOx->BSRR = GPIO_Pin; +} + +/** + * @brief Clears the selected data port bits. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bits to be written. + * This parameter can be any combination of GPIO_Pin_x where x can be (0..15). + * @retval None + */ +void GPIO_ResetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_PIN(GPIO_Pin)); + + GPIOx->BRR = GPIO_Pin; +} + +/** + * @brief Sets or clears the selected data port bit. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to be written. + * This parameter can be one of GPIO_Pin_x where x can be (0..15). + * @param BitVal: specifies the value to be written to the selected bit. + * This parameter can be one of the BitAction enum values: + * @arg Bit_RESET: to clear the port pin + * @arg Bit_SET: to set the port pin + * @retval None + */ +void GPIO_WriteBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, BitAction BitVal) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GET_GPIO_PIN(GPIO_Pin)); + assert_param(IS_GPIO_BIT_ACTION(BitVal)); + + if (BitVal != Bit_RESET) + { + GPIOx->BSRR = GPIO_Pin; + } + else + { + GPIOx->BRR = GPIO_Pin; + } +} + +/** + * @brief Writes data to the specified GPIO data port. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param PortVal: specifies the value to be written to the port output data register. + * @retval None + */ +void GPIO_Write(GPIO_TypeDef* GPIOx, uint16_t PortVal) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + GPIOx->ODR = PortVal; +} + +/** + * @brief Locks GPIO Pins configuration registers. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to be written. + * This parameter can be any combination of GPIO_Pin_x where x can be (0..15). + * @retval None + */ +void GPIO_PinLockConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + uint32_t tmp = 0x00010000; + + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_PIN(GPIO_Pin)); + + tmp |= GPIO_Pin; + /* Set LCKK bit */ + GPIOx->LCKR = tmp; + /* Reset LCKK bit */ + GPIOx->LCKR = GPIO_Pin; + /* Set LCKK bit */ + GPIOx->LCKR = tmp; + /* Read LCKK bit*/ + tmp = GPIOx->LCKR; + /* Read LCKK bit*/ + tmp = GPIOx->LCKR; +} + +/** + * @brief Selects the GPIO pin used as Event output. + * @param GPIO_PortSource: selects the GPIO port to be used as source + * for Event output. + * This parameter can be GPIO_PortSourceGPIOx where x can be (A..E). + * @param GPIO_PinSource: specifies the pin for the Event output. + * This parameter can be GPIO_PinSourcex where x can be (0..15). + * @retval None + */ +void GPIO_EventOutputConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource) +{ + uint32_t tmpreg = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_EVENTOUT_PORT_SOURCE(GPIO_PortSource)); + assert_param(IS_GPIO_PIN_SOURCE(GPIO_PinSource)); + + tmpreg = AFIO->EVCR; + /* Clear the PORT[6:4] and PIN[3:0] bits */ + tmpreg &= EVCR_PORTPINCONFIG_MASK; + tmpreg |= (uint32_t)GPIO_PortSource << 0x04; + tmpreg |= GPIO_PinSource; + AFIO->EVCR = tmpreg; +} + +/** + * @brief Enables or disables the Event Output. + * @param NewState: new state of the Event output. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void GPIO_EventOutputCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) EVCR_EVOE_BB = (uint32_t)NewState; +} + +/** + * @brief Changes the mapping of the specified pin. + * @param GPIO_Remap: selects the pin to remap. + * This parameter can be one of the following values: + * @arg GPIO_Remap_SPI1 : SPI1 Alternate Function mapping + * @arg GPIO_Remap_I2C1 : I2C1 Alternate Function mapping + * @arg GPIO_Remap_USART1 : USART1 Alternate Function mapping + * @arg GPIO_Remap_USART2 : USART2 Alternate Function mapping + * @arg GPIO_PartialRemap_USART3 : USART3 Partial Alternate Function mapping + * @arg GPIO_FullRemap_USART3 : USART3 Full Alternate Function mapping + * @arg GPIO_PartialRemap_TIM1 : TIM1 Partial Alternate Function mapping + * @arg GPIO_FullRemap_TIM1 : TIM1 Full Alternate Function mapping + * @arg GPIO_PartialRemap1_TIM2 : TIM2 Partial1 Alternate Function mapping + * @arg GPIO_PartialRemap2_TIM2 : TIM2 Partial2 Alternate Function mapping + * @arg GPIO_FullRemap_TIM2 : TIM2 Full Alternate Function mapping + * @arg GPIO_PartialRemap_TIM3 : TIM3 Partial Alternate Function mapping + * @arg GPIO_FullRemap_TIM3 : TIM3 Full Alternate Function mapping + * @arg GPIO_Remap_TIM4 : TIM4 Alternate Function mapping + * @arg GPIO_Remap1_CAN1 : CAN1 Alternate Function mapping + * @arg GPIO_Remap2_CAN1 : CAN1 Alternate Function mapping + * @arg GPIO_Remap_PD01 : PD01 Alternate Function mapping + * @arg GPIO_Remap_TIM5CH4_LSI : LSI connected to TIM5 Channel4 input capture for calibration + * @arg GPIO_Remap_ADC1_ETRGINJ : ADC1 External Trigger Injected Conversion remapping + * @arg GPIO_Remap_ADC1_ETRGREG : ADC1 External Trigger Regular Conversion remapping + * @arg GPIO_Remap_ADC2_ETRGINJ : ADC2 External Trigger Injected Conversion remapping + * @arg GPIO_Remap_ADC2_ETRGREG : ADC2 External Trigger Regular Conversion remapping + * @arg GPIO_Remap_ETH : Ethernet remapping (only for Connectivity line devices) + * @arg GPIO_Remap_CAN2 : CAN2 remapping (only for Connectivity line devices) + * @arg GPIO_Remap_SWJ_NoJTRST : Full SWJ Enabled (JTAG-DP + SW-DP) but without JTRST + * @arg GPIO_Remap_SWJ_JTAGDisable : JTAG-DP Disabled and SW-DP Enabled + * @arg GPIO_Remap_SWJ_Disable : Full SWJ Disabled (JTAG-DP + SW-DP) + * @arg GPIO_Remap_SPI3 : SPI3/I2S3 Alternate Function mapping (only for Connectivity line devices) + * When the SPI3/I2S3 is remapped using this function, the SWJ is configured + * to Full SWJ Enabled (JTAG-DP + SW-DP) but without JTRST. + * @arg GPIO_Remap_TIM2ITR1_PTP_SOF : Ethernet PTP output or USB OTG SOF (Start of Frame) connected + * to TIM2 Internal Trigger 1 for calibration (only for Connectivity line devices) + * If the GPIO_Remap_TIM2ITR1_PTP_SOF is enabled the TIM2 ITR1 is connected to + * Ethernet PTP output. When Reset TIM2 ITR1 is connected to USB OTG SOF output. + * @arg GPIO_Remap_PTP_PPS : Ethernet MAC PPS_PTS output on PB05 (only for Connectivity line devices) + * @arg GPIO_Remap_TIM15 : TIM15 Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_TIM16 : TIM16 Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_TIM17 : TIM17 Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_CEC : CEC Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_TIM1_DMA : TIM1 DMA requests mapping (only for Value line devices) + * @arg GPIO_Remap_TIM9 : TIM9 Alternate Function mapping (only for XL-density devices) + * @arg GPIO_Remap_TIM10 : TIM10 Alternate Function mapping (only for XL-density devices) + * @arg GPIO_Remap_TIM11 : TIM11 Alternate Function mapping (only for XL-density devices) + * @arg GPIO_Remap_TIM13 : TIM13 Alternate Function mapping (only for High density Value line and XL-density devices) + * @arg GPIO_Remap_TIM14 : TIM14 Alternate Function mapping (only for High density Value line and XL-density devices) + * @arg GPIO_Remap_FSMC_NADV : FSMC_NADV Alternate Function mapping (only for High density Value line and XL-density devices) + * @arg GPIO_Remap_TIM67_DAC_DMA : TIM6/TIM7 and DAC DMA requests remapping (only for High density Value line devices) + * @arg GPIO_Remap_TIM12 : TIM12 Alternate Function mapping (only for High density Value line devices) + * @arg GPIO_Remap_MISC : Miscellaneous Remap (DMA2 Channel5 Position and DAC Trigger remapping, + * only for High density Value line devices) + * @param NewState: new state of the port pin remapping. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void GPIO_PinRemapConfig(uint32_t GPIO_Remap, FunctionalState NewState) +{ + uint32_t tmp = 0x00, tmp1 = 0x00, tmpreg = 0x00, tmpmask = 0x00; + + /* Check the parameters */ + assert_param(IS_GPIO_REMAP(GPIO_Remap)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if((GPIO_Remap & 0x80000000) == 0x80000000) + { + tmpreg = AFIO->MAPR2; + } + else + { + tmpreg = AFIO->MAPR; + } + + tmpmask = (GPIO_Remap & DBGAFR_POSITION_MASK) >> 0x10; + tmp = GPIO_Remap & LSB_MASK; + + if ((GPIO_Remap & (DBGAFR_LOCATION_MASK | DBGAFR_NUMBITS_MASK)) == (DBGAFR_LOCATION_MASK | DBGAFR_NUMBITS_MASK)) + { + tmpreg &= DBGAFR_SWJCFG_MASK; + AFIO->MAPR &= DBGAFR_SWJCFG_MASK; + } + else if ((GPIO_Remap & DBGAFR_NUMBITS_MASK) == DBGAFR_NUMBITS_MASK) + { + tmp1 = ((uint32_t)0x03) << tmpmask; + tmpreg &= ~tmp1; + tmpreg |= ~DBGAFR_SWJCFG_MASK; + } + else + { + tmpreg &= ~(tmp << ((GPIO_Remap >> 0x15)*0x10)); + tmpreg |= ~DBGAFR_SWJCFG_MASK; + } + + if (NewState != DISABLE) + { + tmpreg |= (tmp << ((GPIO_Remap >> 0x15)*0x10)); + } + + if((GPIO_Remap & 0x80000000) == 0x80000000) + { + AFIO->MAPR2 = tmpreg; + } + else + { + AFIO->MAPR = tmpreg; + } +} + +/** + * @brief Selects the GPIO pin used as EXTI Line. + * @param GPIO_PortSource: selects the GPIO port to be used as source for EXTI lines. + * This parameter can be GPIO_PortSourceGPIOx where x can be (A..G). + * @param GPIO_PinSource: specifies the EXTI line to be configured. + * This parameter can be GPIO_PinSourcex where x can be (0..15). + * @retval None + */ +void GPIO_EXTILineConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource) +{ + uint32_t tmp = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_EXTI_PORT_SOURCE(GPIO_PortSource)); + assert_param(IS_GPIO_PIN_SOURCE(GPIO_PinSource)); + + tmp = ((uint32_t)0x0F) << (0x04 * (GPIO_PinSource & (uint8_t)0x03)); + AFIO->EXTICR[GPIO_PinSource >> 0x02] &= ~tmp; + AFIO->EXTICR[GPIO_PinSource >> 0x02] |= (((uint32_t)GPIO_PortSource) << (0x04 * (GPIO_PinSource & (uint8_t)0x03))); +} + +/** + * @brief Selects the Ethernet media interface. + * @note This function applies only to STM32 Connectivity line devices. + * @param GPIO_ETH_MediaInterface: specifies the Media Interface mode. + * This parameter can be one of the following values: + * @arg GPIO_ETH_MediaInterface_MII: MII mode + * @arg GPIO_ETH_MediaInterface_RMII: RMII mode + * @retval None + */ +void GPIO_ETH_MediaInterfaceConfig(uint32_t GPIO_ETH_MediaInterface) +{ + assert_param(IS_GPIO_ETH_MEDIA_INTERFACE(GPIO_ETH_MediaInterface)); + + /* Configure MII_RMII selection bit */ + *(__IO uint32_t *) MAPR_MII_RMII_SEL_BB = GPIO_ETH_MediaInterface; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_i2c.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_i2c.c new file mode 100644 index 0000000..4ea321c --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_i2c.c @@ -0,0 +1,1331 @@ +/** + ****************************************************************************** + * @file stm32f10x_i2c.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the I2C firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_i2c.h" +#include "stm32f10x_rcc.h" + + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup I2C + * @brief I2C driver modules + * @{ + */ + +/** @defgroup I2C_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_Defines + * @{ + */ + +/* I2C SPE mask */ +#define CR1_PE_Set ((uint16_t)0x0001) +#define CR1_PE_Reset ((uint16_t)0xFFFE) + +/* I2C START mask */ +#define CR1_START_Set ((uint16_t)0x0100) +#define CR1_START_Reset ((uint16_t)0xFEFF) + +/* I2C STOP mask */ +#define CR1_STOP_Set ((uint16_t)0x0200) +#define CR1_STOP_Reset ((uint16_t)0xFDFF) + +/* I2C ACK mask */ +#define CR1_ACK_Set ((uint16_t)0x0400) +#define CR1_ACK_Reset ((uint16_t)0xFBFF) + +/* I2C ENGC mask */ +#define CR1_ENGC_Set ((uint16_t)0x0040) +#define CR1_ENGC_Reset ((uint16_t)0xFFBF) + +/* I2C SWRST mask */ +#define CR1_SWRST_Set ((uint16_t)0x8000) +#define CR1_SWRST_Reset ((uint16_t)0x7FFF) + +/* I2C PEC mask */ +#define CR1_PEC_Set ((uint16_t)0x1000) +#define CR1_PEC_Reset ((uint16_t)0xEFFF) + +/* I2C ENPEC mask */ +#define CR1_ENPEC_Set ((uint16_t)0x0020) +#define CR1_ENPEC_Reset ((uint16_t)0xFFDF) + +/* I2C ENARP mask */ +#define CR1_ENARP_Set ((uint16_t)0x0010) +#define CR1_ENARP_Reset ((uint16_t)0xFFEF) + +/* I2C NOSTRETCH mask */ +#define CR1_NOSTRETCH_Set ((uint16_t)0x0080) +#define CR1_NOSTRETCH_Reset ((uint16_t)0xFF7F) + +/* I2C registers Masks */ +#define CR1_CLEAR_Mask ((uint16_t)0xFBF5) + +/* I2C DMAEN mask */ +#define CR2_DMAEN_Set ((uint16_t)0x0800) +#define CR2_DMAEN_Reset ((uint16_t)0xF7FF) + +/* I2C LAST mask */ +#define CR2_LAST_Set ((uint16_t)0x1000) +#define CR2_LAST_Reset ((uint16_t)0xEFFF) + +/* I2C FREQ mask */ +#define CR2_FREQ_Reset ((uint16_t)0xFFC0) + +/* I2C ADD0 mask */ +#define OAR1_ADD0_Set ((uint16_t)0x0001) +#define OAR1_ADD0_Reset ((uint16_t)0xFFFE) + +/* I2C ENDUAL mask */ +#define OAR2_ENDUAL_Set ((uint16_t)0x0001) +#define OAR2_ENDUAL_Reset ((uint16_t)0xFFFE) + +/* I2C ADD2 mask */ +#define OAR2_ADD2_Reset ((uint16_t)0xFF01) + +/* I2C F/S mask */ +#define CCR_FS_Set ((uint16_t)0x8000) + +/* I2C CCR mask */ +#define CCR_CCR_Set ((uint16_t)0x0FFF) + +/* I2C FLAG mask */ +#define FLAG_Mask ((uint32_t)0x00FFFFFF) + +/* I2C Interrupt Enable mask */ +#define ITEN_Mask ((uint32_t)0x07000000) + +/** + * @} + */ + +/** @defgroup I2C_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the I2Cx peripheral registers to their default reset values. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @retval None + */ +void I2C_DeInit(I2C_TypeDef* I2Cx) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + + if (I2Cx == I2C1) + { + /* Enable I2C1 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE); + /* Release I2C1 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE); + } + else + { + /* Enable I2C2 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, ENABLE); + /* Release I2C2 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, DISABLE); + } +} + +/** + * @brief Initializes the I2Cx peripheral according to the specified + * parameters in the I2C_InitStruct. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_InitStruct: pointer to a I2C_InitTypeDef structure that + * contains the configuration information for the specified I2C peripheral. + * @retval None + */ +void I2C_Init(I2C_TypeDef* I2Cx, I2C_InitTypeDef* I2C_InitStruct) +{ + uint16_t tmpreg = 0, freqrange = 0; + uint16_t result = 0x04; + uint32_t pclk1 = 8000000; + RCC_ClocksTypeDef rcc_clocks; + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_CLOCK_SPEED(I2C_InitStruct->I2C_ClockSpeed)); + assert_param(IS_I2C_MODE(I2C_InitStruct->I2C_Mode)); + assert_param(IS_I2C_DUTY_CYCLE(I2C_InitStruct->I2C_DutyCycle)); + assert_param(IS_I2C_OWN_ADDRESS1(I2C_InitStruct->I2C_OwnAddress1)); + assert_param(IS_I2C_ACK_STATE(I2C_InitStruct->I2C_Ack)); + assert_param(IS_I2C_ACKNOWLEDGE_ADDRESS(I2C_InitStruct->I2C_AcknowledgedAddress)); + +/*---------------------------- I2Cx CR2 Configuration ------------------------*/ + /* Get the I2Cx CR2 value */ + tmpreg = I2Cx->CR2; + /* Clear frequency FREQ[5:0] bits */ + tmpreg &= CR2_FREQ_Reset; + /* Get pclk1 frequency value */ + RCC_GetClocksFreq(&rcc_clocks); + pclk1 = rcc_clocks.PCLK1_Frequency; + /* Set frequency bits depending on pclk1 value */ + freqrange = (uint16_t)(pclk1 / 1000000); + tmpreg |= freqrange; + /* Write to I2Cx CR2 */ + I2Cx->CR2 = tmpreg; + +/*---------------------------- I2Cx CCR Configuration ------------------------*/ + /* Disable the selected I2C peripheral to configure TRISE */ + I2Cx->CR1 &= CR1_PE_Reset; + /* Reset tmpreg value */ + /* Clear F/S, DUTY and CCR[11:0] bits */ + tmpreg = 0; + + /* Configure speed in standard mode */ + if (I2C_InitStruct->I2C_ClockSpeed <= 100000) + { + /* Standard mode speed calculate */ + result = (uint16_t)(pclk1 / (I2C_InitStruct->I2C_ClockSpeed << 1)); + /* Test if CCR value is under 0x4*/ + if (result < 0x04) + { + /* Set minimum allowed value */ + result = 0x04; + } + /* Set speed value for standard mode */ + tmpreg |= result; + /* Set Maximum Rise Time for standard mode */ + I2Cx->TRISE = freqrange + 1; + } + /* Configure speed in fast mode */ + else /*(I2C_InitStruct->I2C_ClockSpeed <= 400000)*/ + { + if (I2C_InitStruct->I2C_DutyCycle == I2C_DutyCycle_2) + { + /* Fast mode speed calculate: Tlow/Thigh = 2 */ + result = (uint16_t)(pclk1 / (I2C_InitStruct->I2C_ClockSpeed * 3)); + } + else /*I2C_InitStruct->I2C_DutyCycle == I2C_DutyCycle_16_9*/ + { + /* Fast mode speed calculate: Tlow/Thigh = 16/9 */ + result = (uint16_t)(pclk1 / (I2C_InitStruct->I2C_ClockSpeed * 25)); + /* Set DUTY bit */ + result |= I2C_DutyCycle_16_9; + } + + /* Test if CCR value is under 0x1*/ + if ((result & CCR_CCR_Set) == 0) + { + /* Set minimum allowed value */ + result |= (uint16_t)0x0001; + } + /* Set speed value and set F/S bit for fast mode */ + tmpreg |= (uint16_t)(result | CCR_FS_Set); + /* Set Maximum Rise Time for fast mode */ + I2Cx->TRISE = (uint16_t)(((freqrange * (uint16_t)300) / (uint16_t)1000) + (uint16_t)1); + } + + /* Write to I2Cx CCR */ + I2Cx->CCR = tmpreg; + /* Enable the selected I2C peripheral */ + I2Cx->CR1 |= CR1_PE_Set; + +/*---------------------------- I2Cx CR1 Configuration ------------------------*/ + /* Get the I2Cx CR1 value */ + tmpreg = I2Cx->CR1; + /* Clear ACK, SMBTYPE and SMBUS bits */ + tmpreg &= CR1_CLEAR_Mask; + /* Configure I2Cx: mode and acknowledgement */ + /* Set SMBTYPE and SMBUS bits according to I2C_Mode value */ + /* Set ACK bit according to I2C_Ack value */ + tmpreg |= (uint16_t)((uint32_t)I2C_InitStruct->I2C_Mode | I2C_InitStruct->I2C_Ack); + /* Write to I2Cx CR1 */ + I2Cx->CR1 = tmpreg; + +/*---------------------------- I2Cx OAR1 Configuration -----------------------*/ + /* Set I2Cx Own Address1 and acknowledged address */ + I2Cx->OAR1 = (I2C_InitStruct->I2C_AcknowledgedAddress | I2C_InitStruct->I2C_OwnAddress1); +} + +/** + * @brief Fills each I2C_InitStruct member with its default value. + * @param I2C_InitStruct: pointer to an I2C_InitTypeDef structure which will be initialized. + * @retval None + */ +void I2C_StructInit(I2C_InitTypeDef* I2C_InitStruct) +{ +/*---------------- Reset I2C init structure parameters values ----------------*/ + /* initialize the I2C_ClockSpeed member */ + I2C_InitStruct->I2C_ClockSpeed = 5000; + /* Initialize the I2C_Mode member */ + I2C_InitStruct->I2C_Mode = I2C_Mode_I2C; + /* Initialize the I2C_DutyCycle member */ + I2C_InitStruct->I2C_DutyCycle = I2C_DutyCycle_2; + /* Initialize the I2C_OwnAddress1 member */ + I2C_InitStruct->I2C_OwnAddress1 = 0; + /* Initialize the I2C_Ack member */ + I2C_InitStruct->I2C_Ack = I2C_Ack_Disable; + /* Initialize the I2C_AcknowledgedAddress member */ + I2C_InitStruct->I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; +} + +/** + * @brief Enables or disables the specified I2C peripheral. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_Cmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C peripheral */ + I2Cx->CR1 |= CR1_PE_Set; + } + else + { + /* Disable the selected I2C peripheral */ + I2Cx->CR1 &= CR1_PE_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C DMA requests. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C DMA transfer. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_DMACmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C DMA requests */ + I2Cx->CR2 |= CR2_DMAEN_Set; + } + else + { + /* Disable the selected I2C DMA requests */ + I2Cx->CR2 &= CR2_DMAEN_Reset; + } +} + +/** + * @brief Specifies if the next DMA transfer will be the last one. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C DMA last transfer. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_DMALastTransferCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Next DMA transfer is the last transfer */ + I2Cx->CR2 |= CR2_LAST_Set; + } + else + { + /* Next DMA transfer is not the last transfer */ + I2Cx->CR2 &= CR2_LAST_Reset; + } +} + +/** + * @brief Generates I2Cx communication START condition. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C START condition generation. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void I2C_GenerateSTART(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Generate a START condition */ + I2Cx->CR1 |= CR1_START_Set; + } + else + { + /* Disable the START condition generation */ + I2Cx->CR1 &= CR1_START_Reset; + } +} + +/** + * @brief Generates I2Cx communication STOP condition. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C STOP condition generation. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void I2C_GenerateSTOP(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Generate a STOP condition */ + I2Cx->CR1 |= CR1_STOP_Set; + } + else + { + /* Disable the STOP condition generation */ + I2Cx->CR1 &= CR1_STOP_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C acknowledge feature. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C Acknowledgement. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void I2C_AcknowledgeConfig(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the acknowledgement */ + I2Cx->CR1 |= CR1_ACK_Set; + } + else + { + /* Disable the acknowledgement */ + I2Cx->CR1 &= CR1_ACK_Reset; + } +} + +/** + * @brief Configures the specified I2C own address2. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param Address: specifies the 7bit I2C own address2. + * @retval None. + */ +void I2C_OwnAddress2Config(I2C_TypeDef* I2Cx, uint8_t Address) +{ + uint16_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + + /* Get the old register value */ + tmpreg = I2Cx->OAR2; + + /* Reset I2Cx Own address2 bit [7:1] */ + tmpreg &= OAR2_ADD2_Reset; + + /* Set I2Cx Own address2 */ + tmpreg |= (uint16_t)((uint16_t)Address & (uint16_t)0x00FE); + + /* Store the new register value */ + I2Cx->OAR2 = tmpreg; +} + +/** + * @brief Enables or disables the specified I2C dual addressing mode. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C dual addressing mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_DualAddressCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable dual addressing mode */ + I2Cx->OAR2 |= OAR2_ENDUAL_Set; + } + else + { + /* Disable dual addressing mode */ + I2Cx->OAR2 &= OAR2_ENDUAL_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C general call feature. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C General call. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_GeneralCallCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable generall call */ + I2Cx->CR1 |= CR1_ENGC_Set; + } + else + { + /* Disable generall call */ + I2Cx->CR1 &= CR1_ENGC_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C interrupts. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_IT: specifies the I2C interrupts sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg I2C_IT_BUF: Buffer interrupt mask + * @arg I2C_IT_EVT: Event interrupt mask + * @arg I2C_IT_ERR: Error interrupt mask + * @param NewState: new state of the specified I2C interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_ITConfig(I2C_TypeDef* I2Cx, uint16_t I2C_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_I2C_CONFIG_IT(I2C_IT)); + + if (NewState != DISABLE) + { + /* Enable the selected I2C interrupts */ + I2Cx->CR2 |= I2C_IT; + } + else + { + /* Disable the selected I2C interrupts */ + I2Cx->CR2 &= (uint16_t)~I2C_IT; + } +} + +/** + * @brief Sends a data byte through the I2Cx peripheral. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param Data: Byte to be transmitted.. + * @retval None + */ +void I2C_SendData(I2C_TypeDef* I2Cx, uint8_t Data) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + /* Write in the DR register the data to be sent */ + I2Cx->DR = Data; +} + +/** + * @brief Returns the most recent received data by the I2Cx peripheral. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @retval The value of the received data. + */ +uint8_t I2C_ReceiveData(I2C_TypeDef* I2Cx) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + /* Return the data in the DR register */ + return (uint8_t)I2Cx->DR; +} + +/** + * @brief Transmits the address byte to select the slave device. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param Address: specifies the slave address which will be transmitted + * @param I2C_Direction: specifies whether the I2C device will be a + * Transmitter or a Receiver. This parameter can be one of the following values + * @arg I2C_Direction_Transmitter: Transmitter mode + * @arg I2C_Direction_Receiver: Receiver mode + * @retval None. + */ +void I2C_Send7bitAddress(I2C_TypeDef* I2Cx, uint8_t Address, uint8_t I2C_Direction) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_DIRECTION(I2C_Direction)); + /* Test on the direction to set/reset the read/write bit */ + if (I2C_Direction != I2C_Direction_Transmitter) + { + /* Set the address bit0 for read */ + Address |= OAR1_ADD0_Set; + } + else + { + /* Reset the address bit0 for write */ + Address &= OAR1_ADD0_Reset; + } + /* Send the address */ + I2Cx->DR = Address; +} + +/** + * @brief Reads the specified I2C register and returns its value. + * @param I2C_Register: specifies the register to read. + * This parameter can be one of the following values: + * @arg I2C_Register_CR1: CR1 register. + * @arg I2C_Register_CR2: CR2 register. + * @arg I2C_Register_OAR1: OAR1 register. + * @arg I2C_Register_OAR2: OAR2 register. + * @arg I2C_Register_DR: DR register. + * @arg I2C_Register_SR1: SR1 register. + * @arg I2C_Register_SR2: SR2 register. + * @arg I2C_Register_CCR: CCR register. + * @arg I2C_Register_TRISE: TRISE register. + * @retval The value of the read register. + */ +uint16_t I2C_ReadRegister(I2C_TypeDef* I2Cx, uint8_t I2C_Register) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_REGISTER(I2C_Register)); + + tmp = (uint32_t) I2Cx; + tmp += I2C_Register; + + /* Return the selected register value */ + return (*(__IO uint16_t *) tmp); +} + +/** + * @brief Enables or disables the specified I2C software reset. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C software reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_SoftwareResetCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Peripheral under reset */ + I2Cx->CR1 |= CR1_SWRST_Set; + } + else + { + /* Peripheral not under reset */ + I2Cx->CR1 &= CR1_SWRST_Reset; + } +} + +/** + * @brief Selects the specified I2C NACK position in master receiver mode. + * This function is useful in I2C Master Receiver mode when the number + * of data to be received is equal to 2. In this case, this function + * should be called (with parameter I2C_NACKPosition_Next) before data + * reception starts,as described in the 2-byte reception procedure + * recommended in Reference Manual in Section: Master receiver. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_NACKPosition: specifies the NACK position. + * This parameter can be one of the following values: + * @arg I2C_NACKPosition_Next: indicates that the next byte will be the last + * received byte. + * @arg I2C_NACKPosition_Current: indicates that current byte is the last + * received byte. + * + * @note This function configures the same bit (POS) as I2C_PECPositionConfig() + * but is intended to be used in I2C mode while I2C_PECPositionConfig() + * is intended to used in SMBUS mode. + * + * @retval None + */ +void I2C_NACKPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_NACKPosition) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_NACK_POSITION(I2C_NACKPosition)); + + /* Check the input parameter */ + if (I2C_NACKPosition == I2C_NACKPosition_Next) + { + /* Next byte in shift register is the last received byte */ + I2Cx->CR1 |= I2C_NACKPosition_Next; + } + else + { + /* Current byte in shift register is the last received byte */ + I2Cx->CR1 &= I2C_NACKPosition_Current; + } +} + +/** + * @brief Drives the SMBusAlert pin high or low for the specified I2C. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_SMBusAlert: specifies SMBAlert pin level. + * This parameter can be one of the following values: + * @arg I2C_SMBusAlert_Low: SMBAlert pin driven low + * @arg I2C_SMBusAlert_High: SMBAlert pin driven high + * @retval None + */ +void I2C_SMBusAlertConfig(I2C_TypeDef* I2Cx, uint16_t I2C_SMBusAlert) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_SMBUS_ALERT(I2C_SMBusAlert)); + if (I2C_SMBusAlert == I2C_SMBusAlert_Low) + { + /* Drive the SMBusAlert pin Low */ + I2Cx->CR1 |= I2C_SMBusAlert_Low; + } + else + { + /* Drive the SMBusAlert pin High */ + I2Cx->CR1 &= I2C_SMBusAlert_High; + } +} + +/** + * @brief Enables or disables the specified I2C PEC transfer. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C PEC transmission. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_TransmitPEC(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C PEC transmission */ + I2Cx->CR1 |= CR1_PEC_Set; + } + else + { + /* Disable the selected I2C PEC transmission */ + I2Cx->CR1 &= CR1_PEC_Reset; + } +} + +/** + * @brief Selects the specified I2C PEC position. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_PECPosition: specifies the PEC position. + * This parameter can be one of the following values: + * @arg I2C_PECPosition_Next: indicates that the next byte is PEC + * @arg I2C_PECPosition_Current: indicates that current byte is PEC + * + * @note This function configures the same bit (POS) as I2C_NACKPositionConfig() + * but is intended to be used in SMBUS mode while I2C_NACKPositionConfig() + * is intended to used in I2C mode. + * + * @retval None + */ +void I2C_PECPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_PECPosition) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_PEC_POSITION(I2C_PECPosition)); + if (I2C_PECPosition == I2C_PECPosition_Next) + { + /* Next byte in shift register is PEC */ + I2Cx->CR1 |= I2C_PECPosition_Next; + } + else + { + /* Current byte in shift register is PEC */ + I2Cx->CR1 &= I2C_PECPosition_Current; + } +} + +/** + * @brief Enables or disables the PEC value calculation of the transferred bytes. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx PEC value calculation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_CalculatePEC(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C PEC calculation */ + I2Cx->CR1 |= CR1_ENPEC_Set; + } + else + { + /* Disable the selected I2C PEC calculation */ + I2Cx->CR1 &= CR1_ENPEC_Reset; + } +} + +/** + * @brief Returns the PEC value for the specified I2C. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @retval The PEC value. + */ +uint8_t I2C_GetPEC(I2C_TypeDef* I2Cx) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + /* Return the selected I2C PEC value */ + return ((I2Cx->SR2) >> 8); +} + +/** + * @brief Enables or disables the specified I2C ARP. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx ARP. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_ARPCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C ARP */ + I2Cx->CR1 |= CR1_ENARP_Set; + } + else + { + /* Disable the selected I2C ARP */ + I2Cx->CR1 &= CR1_ENARP_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C Clock stretching. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx Clock stretching. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_StretchClockCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState == DISABLE) + { + /* Enable the selected I2C Clock stretching */ + I2Cx->CR1 |= CR1_NOSTRETCH_Set; + } + else + { + /* Disable the selected I2C Clock stretching */ + I2Cx->CR1 &= CR1_NOSTRETCH_Reset; + } +} + +/** + * @brief Selects the specified I2C fast mode duty cycle. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_DutyCycle: specifies the fast mode duty cycle. + * This parameter can be one of the following values: + * @arg I2C_DutyCycle_2: I2C fast mode Tlow/Thigh = 2 + * @arg I2C_DutyCycle_16_9: I2C fast mode Tlow/Thigh = 16/9 + * @retval None + */ +void I2C_FastModeDutyCycleConfig(I2C_TypeDef* I2Cx, uint16_t I2C_DutyCycle) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_DUTY_CYCLE(I2C_DutyCycle)); + if (I2C_DutyCycle != I2C_DutyCycle_16_9) + { + /* I2C fast mode Tlow/Thigh=2 */ + I2Cx->CCR &= I2C_DutyCycle_2; + } + else + { + /* I2C fast mode Tlow/Thigh=16/9 */ + I2Cx->CCR |= I2C_DutyCycle_16_9; + } +} + + + +/** + * @brief + **************************************************************************************** + * + * I2C State Monitoring Functions + * + **************************************************************************************** + * This I2C driver provides three different ways for I2C state monitoring + * depending on the application requirements and constraints: + * + * + * 1) Basic state monitoring: + * Using I2C_CheckEvent() function: + * It compares the status registers (SR1 and SR2) content to a given event + * (can be the combination of one or more flags). + * It returns SUCCESS if the current status includes the given flags + * and returns ERROR if one or more flags are missing in the current status. + * - When to use: + * - This function is suitable for most applications as well as for startup + * activity since the events are fully described in the product reference manual + * (RM0008). + * - It is also suitable for users who need to define their own events. + * - Limitations: + * - If an error occurs (ie. error flags are set besides to the monitored flags), + * the I2C_CheckEvent() function may return SUCCESS despite the communication + * hold or corrupted real state. + * In this case, it is advised to use error interrupts to monitor the error + * events and handle them in the interrupt IRQ handler. + * + * @note + * For error management, it is advised to use the following functions: + * - I2C_ITConfig() to configure and enable the error interrupts (I2C_IT_ERR). + * - I2Cx_ER_IRQHandler() which is called when the error interrupt occurs. + * Where x is the peripheral instance (I2C1, I2C2 ...) + * - I2C_GetFlagStatus() or I2C_GetITStatus() to be called into I2Cx_ER_IRQHandler() + * in order to determine which error occured. + * - I2C_ClearFlag() or I2C_ClearITPendingBit() and/or I2C_SoftwareResetCmd() + * and/or I2C_GenerateStop() in order to clear the error flag and source, + * and return to correct communication status. + * + * + * 2) Advanced state monitoring: + * Using the function I2C_GetLastEvent() which returns the image of both status + * registers in a single word (uint32_t) (Status Register 2 value is shifted left + * by 16 bits and concatenated to Status Register 1). + * - When to use: + * - This function is suitable for the same applications above but it allows to + * overcome the mentioned limitation of I2C_GetFlagStatus() function. + * The returned value could be compared to events already defined in the + * library (stm32f10x_i2c.h) or to custom values defined by user. + * - This function is suitable when multiple flags are monitored at the same time. + * - At the opposite of I2C_CheckEvent() function, this function allows user to + * choose when an event is accepted (when all events flags are set and no + * other flags are set or just when the needed flags are set like + * I2C_CheckEvent() function). + * - Limitations: + * - User may need to define his own events. + * - Same remark concerning the error management is applicable for this + * function if user decides to check only regular communication flags (and + * ignores error flags). + * + * + * 3) Flag-based state monitoring: + * Using the function I2C_GetFlagStatus() which simply returns the status of + * one single flag (ie. I2C_FLAG_RXNE ...). + * - When to use: + * - This function could be used for specific applications or in debug phase. + * - It is suitable when only one flag checking is needed (most I2C events + * are monitored through multiple flags). + * - Limitations: + * - When calling this function, the Status register is accessed. Some flags are + * cleared when the status register is accessed. So checking the status + * of one Flag, may clear other ones. + * - Function may need to be called twice or more in order to monitor one + * single event. + * + * For detailed description of Events, please refer to section I2C_Events in + * stm32f10x_i2c.h file. + * + */ + +/** + * + * 1) Basic state monitoring + ******************************************************************************* + */ + +/** + * @brief Checks whether the last I2Cx Event is equal to the one passed + * as parameter. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_EVENT: specifies the event to be checked. + * This parameter can be one of the following values: + * @arg I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_TRANSMITTER_SECONDADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_RECEIVER_SECONDADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_BYTE_RECEIVED : EV2 + * @arg (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_DUALF) : EV2 + * @arg (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_GENCALL) : EV2 + * @arg I2C_EVENT_SLAVE_BYTE_TRANSMITTED : EV3 + * @arg (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_DUALF) : EV3 + * @arg (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_GENCALL) : EV3 + * @arg I2C_EVENT_SLAVE_ACK_FAILURE : EV3_2 + * @arg I2C_EVENT_SLAVE_STOP_DETECTED : EV4 + * @arg I2C_EVENT_MASTER_MODE_SELECT : EV5 + * @arg I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED : EV6 + * @arg I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED : EV6 + * @arg I2C_EVENT_MASTER_BYTE_RECEIVED : EV7 + * @arg I2C_EVENT_MASTER_BYTE_TRANSMITTING : EV8 + * @arg I2C_EVENT_MASTER_BYTE_TRANSMITTED : EV8_2 + * @arg I2C_EVENT_MASTER_MODE_ADDRESS10 : EV9 + * + * @note: For detailed description of Events, please refer to section + * I2C_Events in stm32f10x_i2c.h file. + * + * @retval An ErrorStatus enumeration value: + * - SUCCESS: Last event is equal to the I2C_EVENT + * - ERROR: Last event is different from the I2C_EVENT + */ +ErrorStatus I2C_CheckEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT) +{ + uint32_t lastevent = 0; + uint32_t flag1 = 0, flag2 = 0; + ErrorStatus status = ERROR; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_EVENT(I2C_EVENT)); + + /* Read the I2Cx status register */ + flag1 = I2Cx->SR1; + flag2 = I2Cx->SR2; + flag2 = flag2 << 16; + + /* Get the last event value from I2C status register */ + lastevent = (flag1 | flag2) & FLAG_Mask; + + /* Check whether the last event contains the I2C_EVENT */ + if ((lastevent & I2C_EVENT) == I2C_EVENT) + { + /* SUCCESS: last event is equal to I2C_EVENT */ + status = SUCCESS; + } + else + { + /* ERROR: last event is different from I2C_EVENT */ + status = ERROR; + } + /* Return status */ + return status; +} + +/** + * + * 2) Advanced state monitoring + ******************************************************************************* + */ + +/** + * @brief Returns the last I2Cx Event. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * + * @note: For detailed description of Events, please refer to section + * I2C_Events in stm32f10x_i2c.h file. + * + * @retval The last event + */ +uint32_t I2C_GetLastEvent(I2C_TypeDef* I2Cx) +{ + uint32_t lastevent = 0; + uint32_t flag1 = 0, flag2 = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + + /* Read the I2Cx status register */ + flag1 = I2Cx->SR1; + flag2 = I2Cx->SR2; + flag2 = flag2 << 16; + + /* Get the last event value from I2C status register */ + lastevent = (flag1 | flag2) & FLAG_Mask; + + /* Return status */ + return lastevent; +} + +/** + * + * 3) Flag-based state monitoring + ******************************************************************************* + */ + +/** + * @brief Checks whether the specified I2C flag is set or not. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg I2C_FLAG_DUALF: Dual flag (Slave mode) + * @arg I2C_FLAG_SMBHOST: SMBus host header (Slave mode) + * @arg I2C_FLAG_SMBDEFAULT: SMBus default header (Slave mode) + * @arg I2C_FLAG_GENCALL: General call header flag (Slave mode) + * @arg I2C_FLAG_TRA: Transmitter/Receiver flag + * @arg I2C_FLAG_BUSY: Bus busy flag + * @arg I2C_FLAG_MSL: Master/Slave flag + * @arg I2C_FLAG_SMBALERT: SMBus Alert flag + * @arg I2C_FLAG_TIMEOUT: Timeout or Tlow error flag + * @arg I2C_FLAG_PECERR: PEC error in reception flag + * @arg I2C_FLAG_OVR: Overrun/Underrun flag (Slave mode) + * @arg I2C_FLAG_AF: Acknowledge failure flag + * @arg I2C_FLAG_ARLO: Arbitration lost flag (Master mode) + * @arg I2C_FLAG_BERR: Bus error flag + * @arg I2C_FLAG_TXE: Data register empty flag (Transmitter) + * @arg I2C_FLAG_RXNE: Data register not empty (Receiver) flag + * @arg I2C_FLAG_STOPF: Stop detection flag (Slave mode) + * @arg I2C_FLAG_ADD10: 10-bit header sent flag (Master mode) + * @arg I2C_FLAG_BTF: Byte transfer finished flag + * @arg I2C_FLAG_ADDR: Address sent flag (Master mode) "ADSL" + * Address matched flag (Slave mode)"ENDA" + * @arg I2C_FLAG_SB: Start bit flag (Master mode) + * @retval The new state of I2C_FLAG (SET or RESET). + */ +FlagStatus I2C_GetFlagStatus(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG) +{ + FlagStatus bitstatus = RESET; + __IO uint32_t i2creg = 0, i2cxbase = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_GET_FLAG(I2C_FLAG)); + + /* Get the I2Cx peripheral base address */ + i2cxbase = (uint32_t)I2Cx; + + /* Read flag register index */ + i2creg = I2C_FLAG >> 28; + + /* Get bit[23:0] of the flag */ + I2C_FLAG &= FLAG_Mask; + + if(i2creg != 0) + { + /* Get the I2Cx SR1 register address */ + i2cxbase += 0x14; + } + else + { + /* Flag in I2Cx SR2 Register */ + I2C_FLAG = (uint32_t)(I2C_FLAG >> 16); + /* Get the I2Cx SR2 register address */ + i2cxbase += 0x18; + } + + if(((*(__IO uint32_t *)i2cxbase) & I2C_FLAG) != (uint32_t)RESET) + { + /* I2C_FLAG is set */ + bitstatus = SET; + } + else + { + /* I2C_FLAG is reset */ + bitstatus = RESET; + } + + /* Return the I2C_FLAG status */ + return bitstatus; +} + + + +/** + * @brief Clears the I2Cx's pending flags. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg I2C_FLAG_SMBALERT: SMBus Alert flag + * @arg I2C_FLAG_TIMEOUT: Timeout or Tlow error flag + * @arg I2C_FLAG_PECERR: PEC error in reception flag + * @arg I2C_FLAG_OVR: Overrun/Underrun flag (Slave mode) + * @arg I2C_FLAG_AF: Acknowledge failure flag + * @arg I2C_FLAG_ARLO: Arbitration lost flag (Master mode) + * @arg I2C_FLAG_BERR: Bus error flag + * + * @note + * - STOPF (STOP detection) is cleared by software sequence: a read operation + * to I2C_SR1 register (I2C_GetFlagStatus()) followed by a write operation + * to I2C_CR1 register (I2C_Cmd() to re-enable the I2C peripheral). + * - ADD10 (10-bit header sent) is cleared by software sequence: a read + * operation to I2C_SR1 (I2C_GetFlagStatus()) followed by writing the + * second byte of the address in DR register. + * - BTF (Byte Transfer Finished) is cleared by software sequence: a read + * operation to I2C_SR1 register (I2C_GetFlagStatus()) followed by a + * read/write to I2C_DR register (I2C_SendData()). + * - ADDR (Address sent) is cleared by software sequence: a read operation to + * I2C_SR1 register (I2C_GetFlagStatus()) followed by a read operation to + * I2C_SR2 register ((void)(I2Cx->SR2)). + * - SB (Start Bit) is cleared software sequence: a read operation to I2C_SR1 + * register (I2C_GetFlagStatus()) followed by a write operation to I2C_DR + * register (I2C_SendData()). + * @retval None + */ +void I2C_ClearFlag(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG) +{ + uint32_t flagpos = 0; + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_CLEAR_FLAG(I2C_FLAG)); + /* Get the I2C flag position */ + flagpos = I2C_FLAG & FLAG_Mask; + /* Clear the selected I2C flag */ + I2Cx->SR1 = (uint16_t)~flagpos; +} + +/** + * @brief Checks whether the specified I2C interrupt has occurred or not. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_IT: specifies the interrupt source to check. + * This parameter can be one of the following values: + * @arg I2C_IT_SMBALERT: SMBus Alert flag + * @arg I2C_IT_TIMEOUT: Timeout or Tlow error flag + * @arg I2C_IT_PECERR: PEC error in reception flag + * @arg I2C_IT_OVR: Overrun/Underrun flag (Slave mode) + * @arg I2C_IT_AF: Acknowledge failure flag + * @arg I2C_IT_ARLO: Arbitration lost flag (Master mode) + * @arg I2C_IT_BERR: Bus error flag + * @arg I2C_IT_TXE: Data register empty flag (Transmitter) + * @arg I2C_IT_RXNE: Data register not empty (Receiver) flag + * @arg I2C_IT_STOPF: Stop detection flag (Slave mode) + * @arg I2C_IT_ADD10: 10-bit header sent flag (Master mode) + * @arg I2C_IT_BTF: Byte transfer finished flag + * @arg I2C_IT_ADDR: Address sent flag (Master mode) "ADSL" + * Address matched flag (Slave mode)"ENDAD" + * @arg I2C_IT_SB: Start bit flag (Master mode) + * @retval The new state of I2C_IT (SET or RESET). + */ +ITStatus I2C_GetITStatus(I2C_TypeDef* I2Cx, uint32_t I2C_IT) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_GET_IT(I2C_IT)); + + /* Check if the interrupt source is enabled or not */ + enablestatus = (uint32_t)(((I2C_IT & ITEN_Mask) >> 16) & (I2Cx->CR2)) ; + + /* Get bit[23:0] of the flag */ + I2C_IT &= FLAG_Mask; + + /* Check the status of the specified I2C flag */ + if (((I2Cx->SR1 & I2C_IT) != (uint32_t)RESET) && enablestatus) + { + /* I2C_IT is set */ + bitstatus = SET; + } + else + { + /* I2C_IT is reset */ + bitstatus = RESET; + } + /* Return the I2C_IT status */ + return bitstatus; +} + +/** + * @brief Clears the I2Cxs interrupt pending bits. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_IT: specifies the interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg I2C_IT_SMBALERT: SMBus Alert interrupt + * @arg I2C_IT_TIMEOUT: Timeout or Tlow error interrupt + * @arg I2C_IT_PECERR: PEC error in reception interrupt + * @arg I2C_IT_OVR: Overrun/Underrun interrupt (Slave mode) + * @arg I2C_IT_AF: Acknowledge failure interrupt + * @arg I2C_IT_ARLO: Arbitration lost interrupt (Master mode) + * @arg I2C_IT_BERR: Bus error interrupt + * + * @note + * - STOPF (STOP detection) is cleared by software sequence: a read operation + * to I2C_SR1 register (I2C_GetITStatus()) followed by a write operation to + * I2C_CR1 register (I2C_Cmd() to re-enable the I2C peripheral). + * - ADD10 (10-bit header sent) is cleared by software sequence: a read + * operation to I2C_SR1 (I2C_GetITStatus()) followed by writing the second + * byte of the address in I2C_DR register. + * - BTF (Byte Transfer Finished) is cleared by software sequence: a read + * operation to I2C_SR1 register (I2C_GetITStatus()) followed by a + * read/write to I2C_DR register (I2C_SendData()). + * - ADDR (Address sent) is cleared by software sequence: a read operation to + * I2C_SR1 register (I2C_GetITStatus()) followed by a read operation to + * I2C_SR2 register ((void)(I2Cx->SR2)). + * - SB (Start Bit) is cleared by software sequence: a read operation to + * I2C_SR1 register (I2C_GetITStatus()) followed by a write operation to + * I2C_DR register (I2C_SendData()). + * @retval None + */ +void I2C_ClearITPendingBit(I2C_TypeDef* I2Cx, uint32_t I2C_IT) +{ + uint32_t flagpos = 0; + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_CLEAR_IT(I2C_IT)); + /* Get the I2C flag position */ + flagpos = I2C_IT & FLAG_Mask; + /* Clear the selected I2C flag */ + I2Cx->SR1 = (uint16_t)~flagpos; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_iwdg.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_iwdg.c new file mode 100644 index 0000000..c7cbf7e --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_iwdg.c @@ -0,0 +1,190 @@ +/** + ****************************************************************************** + * @file stm32f10x_iwdg.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the IWDG firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_iwdg.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup IWDG + * @brief IWDG driver modules + * @{ + */ + +/** @defgroup IWDG_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_Defines + * @{ + */ + +/* ---------------------- IWDG registers bit mask ----------------------------*/ + +/* KR register bit mask */ +#define KR_KEY_Reload ((uint16_t)0xAAAA) +#define KR_KEY_Enable ((uint16_t)0xCCCC) + +/** + * @} + */ + +/** @defgroup IWDG_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_Functions + * @{ + */ + +/** + * @brief Enables or disables write access to IWDG_PR and IWDG_RLR registers. + * @param IWDG_WriteAccess: new state of write access to IWDG_PR and IWDG_RLR registers. + * This parameter can be one of the following values: + * @arg IWDG_WriteAccess_Enable: Enable write access to IWDG_PR and IWDG_RLR registers + * @arg IWDG_WriteAccess_Disable: Disable write access to IWDG_PR and IWDG_RLR registers + * @retval None + */ +void IWDG_WriteAccessCmd(uint16_t IWDG_WriteAccess) +{ + /* Check the parameters */ + assert_param(IS_IWDG_WRITE_ACCESS(IWDG_WriteAccess)); + IWDG->KR = IWDG_WriteAccess; +} + +/** + * @brief Sets IWDG Prescaler value. + * @param IWDG_Prescaler: specifies the IWDG Prescaler value. + * This parameter can be one of the following values: + * @arg IWDG_Prescaler_4: IWDG prescaler set to 4 + * @arg IWDG_Prescaler_8: IWDG prescaler set to 8 + * @arg IWDG_Prescaler_16: IWDG prescaler set to 16 + * @arg IWDG_Prescaler_32: IWDG prescaler set to 32 + * @arg IWDG_Prescaler_64: IWDG prescaler set to 64 + * @arg IWDG_Prescaler_128: IWDG prescaler set to 128 + * @arg IWDG_Prescaler_256: IWDG prescaler set to 256 + * @retval None + */ +void IWDG_SetPrescaler(uint8_t IWDG_Prescaler) +{ + /* Check the parameters */ + assert_param(IS_IWDG_PRESCALER(IWDG_Prescaler)); + IWDG->PR = IWDG_Prescaler; +} + +/** + * @brief Sets IWDG Reload value. + * @param Reload: specifies the IWDG Reload value. + * This parameter must be a number between 0 and 0x0FFF. + * @retval None + */ +void IWDG_SetReload(uint16_t Reload) +{ + /* Check the parameters */ + assert_param(IS_IWDG_RELOAD(Reload)); + IWDG->RLR = Reload; +} + +/** + * @brief Reloads IWDG counter with value defined in the reload register + * (write access to IWDG_PR and IWDG_RLR registers disabled). + * @param None + * @retval None + */ +void IWDG_ReloadCounter(void) +{ + IWDG->KR = KR_KEY_Reload; +} + +/** + * @brief Enables IWDG (write access to IWDG_PR and IWDG_RLR registers disabled). + * @param None + * @retval None + */ +void IWDG_Enable(void) +{ + IWDG->KR = KR_KEY_Enable; +} + +/** + * @brief Checks whether the specified IWDG flag is set or not. + * @param IWDG_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg IWDG_FLAG_PVU: Prescaler Value Update on going + * @arg IWDG_FLAG_RVU: Reload Value Update on going + * @retval The new state of IWDG_FLAG (SET or RESET). + */ +FlagStatus IWDG_GetFlagStatus(uint16_t IWDG_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_IWDG_FLAG(IWDG_FLAG)); + if ((IWDG->SR & IWDG_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the flag status */ + return bitstatus; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_pwr.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_pwr.c new file mode 100644 index 0000000..a5a5c57 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_pwr.c @@ -0,0 +1,307 @@ +/** + ****************************************************************************** + * @file stm32f10x_pwr.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the PWR firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_pwr.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup PWR + * @brief PWR driver modules + * @{ + */ + +/** @defgroup PWR_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_Defines + * @{ + */ + +/* --------- PWR registers bit address in the alias region ---------- */ +#define PWR_OFFSET (PWR_BASE - PERIPH_BASE) + +/* --- CR Register ---*/ + +/* Alias word address of DBP bit */ +#define CR_OFFSET (PWR_OFFSET + 0x00) +#define DBP_BitNumber 0x08 +#define CR_DBP_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (DBP_BitNumber * 4)) + +/* Alias word address of PVDE bit */ +#define PVDE_BitNumber 0x04 +#define CR_PVDE_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PVDE_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of EWUP bit */ +#define CSR_OFFSET (PWR_OFFSET + 0x04) +#define EWUP_BitNumber 0x08 +#define CSR_EWUP_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (EWUP_BitNumber * 4)) + +/* ------------------ PWR registers bit mask ------------------------ */ + +/* CR register bit mask */ +#define CR_DS_MASK ((uint32_t)0xFFFFFFFC) +#define CR_PLS_MASK ((uint32_t)0xFFFFFF1F) + + +/** + * @} + */ + +/** @defgroup PWR_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the PWR peripheral registers to their default reset values. + * @param None + * @retval None + */ +void PWR_DeInit(void) +{ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_PWR, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_PWR, DISABLE); +} + +/** + * @brief Enables or disables access to the RTC and backup registers. + * @param NewState: new state of the access to the RTC and backup registers. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void PWR_BackupAccessCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_DBP_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the Power Voltage Detector(PVD). + * @param NewState: new state of the PVD. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void PWR_PVDCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_PVDE_BB = (uint32_t)NewState; +} + +/** + * @brief Configures the voltage threshold detected by the Power Voltage Detector(PVD). + * @param PWR_PVDLevel: specifies the PVD detection level + * This parameter can be one of the following values: + * @arg PWR_PVDLevel_2V2: PVD detection level set to 2.2V + * @arg PWR_PVDLevel_2V3: PVD detection level set to 2.3V + * @arg PWR_PVDLevel_2V4: PVD detection level set to 2.4V + * @arg PWR_PVDLevel_2V5: PVD detection level set to 2.5V + * @arg PWR_PVDLevel_2V6: PVD detection level set to 2.6V + * @arg PWR_PVDLevel_2V7: PVD detection level set to 2.7V + * @arg PWR_PVDLevel_2V8: PVD detection level set to 2.8V + * @arg PWR_PVDLevel_2V9: PVD detection level set to 2.9V + * @retval None + */ +void PWR_PVDLevelConfig(uint32_t PWR_PVDLevel) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_PWR_PVD_LEVEL(PWR_PVDLevel)); + tmpreg = PWR->CR; + /* Clear PLS[7:5] bits */ + tmpreg &= CR_PLS_MASK; + /* Set PLS[7:5] bits according to PWR_PVDLevel value */ + tmpreg |= PWR_PVDLevel; + /* Store the new value */ + PWR->CR = tmpreg; +} + +/** + * @brief Enables or disables the WakeUp Pin functionality. + * @param NewState: new state of the WakeUp Pin functionality. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void PWR_WakeUpPinCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CSR_EWUP_BB = (uint32_t)NewState; +} + +/** + * @brief Enters STOP mode. + * @param PWR_Regulator: specifies the regulator state in STOP mode. + * This parameter can be one of the following values: + * @arg PWR_Regulator_ON: STOP mode with regulator ON + * @arg PWR_Regulator_LowPower: STOP mode with regulator in low power mode + * @param PWR_STOPEntry: specifies if STOP mode in entered with WFI or WFE instruction. + * This parameter can be one of the following values: + * @arg PWR_STOPEntry_WFI: enter STOP mode with WFI instruction + * @arg PWR_STOPEntry_WFE: enter STOP mode with WFE instruction + * @retval None + */ +void PWR_EnterSTOPMode(uint32_t PWR_Regulator, uint8_t PWR_STOPEntry) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_PWR_REGULATOR(PWR_Regulator)); + assert_param(IS_PWR_STOP_ENTRY(PWR_STOPEntry)); + + /* Select the regulator state in STOP mode ---------------------------------*/ + tmpreg = PWR->CR; + /* Clear PDDS and LPDS bits */ + tmpreg &= CR_DS_MASK; + /* Set LPDS bit according to PWR_Regulator value */ + tmpreg |= PWR_Regulator; + /* Store the new value */ + PWR->CR = tmpreg; + /* Set SLEEPDEEP bit of Cortex System Control Register */ + SCB->SCR |= SCB_SCR_SLEEPDEEP; + + /* Select STOP mode entry --------------------------------------------------*/ + if(PWR_STOPEntry == PWR_STOPEntry_WFI) + { + /* Request Wait For Interrupt */ + __WFI(); + } + else + { + /* Request Wait For Event */ + __WFE(); + } + + /* Reset SLEEPDEEP bit of Cortex System Control Register */ + SCB->SCR &= (uint32_t)~((uint32_t)SCB_SCR_SLEEPDEEP); +} + +/** + * @brief Enters STANDBY mode. + * @param None + * @retval None + */ +void PWR_EnterSTANDBYMode(void) +{ + /* Clear Wake-up flag */ + PWR->CR |= PWR_CR_CWUF; + /* Select STANDBY mode */ + PWR->CR |= PWR_CR_PDDS; + /* Set SLEEPDEEP bit of Cortex System Control Register */ + SCB->SCR |= SCB_SCR_SLEEPDEEP; +/* This option is used to ensure that store operations are completed */ +#if defined ( __CC_ARM ) + __force_stores(); +#endif + /* Request Wait For Interrupt */ + __WFI(); +} + +/** + * @brief Checks whether the specified PWR flag is set or not. + * @param PWR_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg PWR_FLAG_WU: Wake Up flag + * @arg PWR_FLAG_SB: StandBy flag + * @arg PWR_FLAG_PVDO: PVD Output + * @retval The new state of PWR_FLAG (SET or RESET). + */ +FlagStatus PWR_GetFlagStatus(uint32_t PWR_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_PWR_GET_FLAG(PWR_FLAG)); + + if ((PWR->CSR & PWR_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the flag status */ + return bitstatus; +} + +/** + * @brief Clears the PWR's pending flags. + * @param PWR_FLAG: specifies the flag to clear. + * This parameter can be one of the following values: + * @arg PWR_FLAG_WU: Wake Up flag + * @arg PWR_FLAG_SB: StandBy flag + * @retval None + */ +void PWR_ClearFlag(uint32_t PWR_FLAG) +{ + /* Check the parameters */ + assert_param(IS_PWR_CLEAR_FLAG(PWR_FLAG)); + + PWR->CR |= PWR_FLAG << 2; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_rcc.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_rcc.c new file mode 100644 index 0000000..a29034b --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_rcc.c @@ -0,0 +1,1470 @@ +/** + ****************************************************************************** + * @file stm32f10x_rcc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the RCC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup RCC + * @brief RCC driver modules + * @{ + */ + +/** @defgroup RCC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Private_Defines + * @{ + */ + +/* ------------ RCC registers bit address in the alias region ----------- */ +#define RCC_OFFSET (RCC_BASE - PERIPH_BASE) + +/* --- CR Register ---*/ + +/* Alias word address of HSION bit */ +#define CR_OFFSET (RCC_OFFSET + 0x00) +#define HSION_BitNumber 0x00 +#define CR_HSION_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (HSION_BitNumber * 4)) + +/* Alias word address of PLLON bit */ +#define PLLON_BitNumber 0x18 +#define CR_PLLON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PLLON_BitNumber * 4)) + +#ifdef STM32F10X_CL + /* Alias word address of PLL2ON bit */ + #define PLL2ON_BitNumber 0x1A + #define CR_PLL2ON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PLL2ON_BitNumber * 4)) + + /* Alias word address of PLL3ON bit */ + #define PLL3ON_BitNumber 0x1C + #define CR_PLL3ON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PLL3ON_BitNumber * 4)) +#endif /* STM32F10X_CL */ + +/* Alias word address of CSSON bit */ +#define CSSON_BitNumber 0x13 +#define CR_CSSON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (CSSON_BitNumber * 4)) + +/* --- CFGR Register ---*/ + +/* Alias word address of USBPRE bit */ +#define CFGR_OFFSET (RCC_OFFSET + 0x04) + +#ifndef STM32F10X_CL + #define USBPRE_BitNumber 0x16 + #define CFGR_USBPRE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (USBPRE_BitNumber * 4)) +#else + #define OTGFSPRE_BitNumber 0x16 + #define CFGR_OTGFSPRE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (OTGFSPRE_BitNumber * 4)) +#endif /* STM32F10X_CL */ + +/* --- BDCR Register ---*/ + +/* Alias word address of RTCEN bit */ +#define BDCR_OFFSET (RCC_OFFSET + 0x20) +#define RTCEN_BitNumber 0x0F +#define BDCR_RTCEN_BB (PERIPH_BB_BASE + (BDCR_OFFSET * 32) + (RTCEN_BitNumber * 4)) + +/* Alias word address of BDRST bit */ +#define BDRST_BitNumber 0x10 +#define BDCR_BDRST_BB (PERIPH_BB_BASE + (BDCR_OFFSET * 32) + (BDRST_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of LSION bit */ +#define CSR_OFFSET (RCC_OFFSET + 0x24) +#define LSION_BitNumber 0x00 +#define CSR_LSION_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (LSION_BitNumber * 4)) + +#ifdef STM32F10X_CL +/* --- CFGR2 Register ---*/ + + /* Alias word address of I2S2SRC bit */ + #define CFGR2_OFFSET (RCC_OFFSET + 0x2C) + #define I2S2SRC_BitNumber 0x11 + #define CFGR2_I2S2SRC_BB (PERIPH_BB_BASE + (CFGR2_OFFSET * 32) + (I2S2SRC_BitNumber * 4)) + + /* Alias word address of I2S3SRC bit */ + #define I2S3SRC_BitNumber 0x12 + #define CFGR2_I2S3SRC_BB (PERIPH_BB_BASE + (CFGR2_OFFSET * 32) + (I2S3SRC_BitNumber * 4)) +#endif /* STM32F10X_CL */ + +/* ---------------------- RCC registers bit mask ------------------------ */ + +/* CR register bit mask */ +#define CR_HSEBYP_Reset ((uint32_t)0xFFFBFFFF) +#define CR_HSEBYP_Set ((uint32_t)0x00040000) +#define CR_HSEON_Reset ((uint32_t)0xFFFEFFFF) +#define CR_HSEON_Set ((uint32_t)0x00010000) +#define CR_HSITRIM_Mask ((uint32_t)0xFFFFFF07) + +/* CFGR register bit mask */ +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) + #define CFGR_PLL_Mask ((uint32_t)0xFFC2FFFF) +#else + #define CFGR_PLL_Mask ((uint32_t)0xFFC0FFFF) +#endif /* STM32F10X_CL */ + +#define CFGR_PLLMull_Mask ((uint32_t)0x003C0000) +#define CFGR_PLLSRC_Mask ((uint32_t)0x00010000) +#define CFGR_PLLXTPRE_Mask ((uint32_t)0x00020000) +#define CFGR_SWS_Mask ((uint32_t)0x0000000C) +#define CFGR_SW_Mask ((uint32_t)0xFFFFFFFC) +#define CFGR_HPRE_Reset_Mask ((uint32_t)0xFFFFFF0F) +#define CFGR_HPRE_Set_Mask ((uint32_t)0x000000F0) +#define CFGR_PPRE1_Reset_Mask ((uint32_t)0xFFFFF8FF) +#define CFGR_PPRE1_Set_Mask ((uint32_t)0x00000700) +#define CFGR_PPRE2_Reset_Mask ((uint32_t)0xFFFFC7FF) +#define CFGR_PPRE2_Set_Mask ((uint32_t)0x00003800) +#define CFGR_ADCPRE_Reset_Mask ((uint32_t)0xFFFF3FFF) +#define CFGR_ADCPRE_Set_Mask ((uint32_t)0x0000C000) + +/* CSR register bit mask */ +#define CSR_RMVF_Set ((uint32_t)0x01000000) + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) +/* CFGR2 register bit mask */ + #define CFGR2_PREDIV1SRC ((uint32_t)0x00010000) + #define CFGR2_PREDIV1 ((uint32_t)0x0000000F) +#endif +#ifdef STM32F10X_CL + #define CFGR2_PREDIV2 ((uint32_t)0x000000F0) + #define CFGR2_PLL2MUL ((uint32_t)0x00000F00) + #define CFGR2_PLL3MUL ((uint32_t)0x0000F000) +#endif /* STM32F10X_CL */ + +/* RCC Flag Mask */ +#define FLAG_Mask ((uint8_t)0x1F) + +/* CIR register byte 2 (Bits[15:8]) base address */ +#define CIR_BYTE2_ADDRESS ((uint32_t)0x40021009) + +/* CIR register byte 3 (Bits[23:16]) base address */ +#define CIR_BYTE3_ADDRESS ((uint32_t)0x4002100A) + +/* CFGR register byte 4 (Bits[31:24]) base address */ +#define CFGR_BYTE4_ADDRESS ((uint32_t)0x40021007) + +/* BDCR register base address */ +#define BDCR_ADDRESS (PERIPH_BASE + BDCR_OFFSET) + +/** + * @} + */ + +/** @defgroup RCC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Private_Variables + * @{ + */ + +static __I uint8_t APBAHBPrescTable[16] = {0, 0, 0, 0, 1, 2, 3, 4, 1, 2, 3, 4, 6, 7, 8, 9}; +static __I uint8_t ADCPrescTable[4] = {2, 4, 6, 8}; + +/** + * @} + */ + +/** @defgroup RCC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Private_Functions + * @{ + */ + +/** + * @brief Resets the RCC clock configuration to the default reset state. + * @param None + * @retval None + */ +void RCC_DeInit(void) +{ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */ +#ifndef STM32F10X_CL + RCC->CFGR &= (uint32_t)0xF8FF0000; +#else + RCC->CFGR &= (uint32_t)0xF0FF0000; +#endif /* STM32F10X_CL */ + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */ + RCC->CFGR &= (uint32_t)0xFF80FFFF; + +#ifdef STM32F10X_CL + /* Reset PLL2ON and PLL3ON bits */ + RCC->CR &= (uint32_t)0xEBFFFFFF; + + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x00FF0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#else + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; +#endif /* STM32F10X_CL */ + +} + +/** + * @brief Configures the External High Speed oscillator (HSE). + * @note HSE can not be stopped if it is used directly or through the PLL as system clock. + * @param RCC_HSE: specifies the new state of the HSE. + * This parameter can be one of the following values: + * @arg RCC_HSE_OFF: HSE oscillator OFF + * @arg RCC_HSE_ON: HSE oscillator ON + * @arg RCC_HSE_Bypass: HSE oscillator bypassed with external clock + * @retval None + */ +void RCC_HSEConfig(uint32_t RCC_HSE) +{ + /* Check the parameters */ + assert_param(IS_RCC_HSE(RCC_HSE)); + /* Reset HSEON and HSEBYP bits before configuring the HSE ------------------*/ + /* Reset HSEON bit */ + RCC->CR &= CR_HSEON_Reset; + /* Reset HSEBYP bit */ + RCC->CR &= CR_HSEBYP_Reset; + /* Configure HSE (RCC_HSE_OFF is already covered by the code section above) */ + switch(RCC_HSE) + { + case RCC_HSE_ON: + /* Set HSEON bit */ + RCC->CR |= CR_HSEON_Set; + break; + + case RCC_HSE_Bypass: + /* Set HSEBYP and HSEON bits */ + RCC->CR |= CR_HSEBYP_Set | CR_HSEON_Set; + break; + + default: + break; + } +} + +/** + * @brief Waits for HSE start-up. + * @param None + * @retval An ErrorStatus enumuration value: + * - SUCCESS: HSE oscillator is stable and ready to use + * - ERROR: HSE oscillator not yet ready + */ +ErrorStatus RCC_WaitForHSEStartUp(void) +{ + __IO uint32_t StartUpCounter = 0; + ErrorStatus status = ERROR; + FlagStatus HSEStatus = RESET; + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC_GetFlagStatus(RCC_FLAG_HSERDY); + StartUpCounter++; + } while((StartUpCounter != HSE_STARTUP_TIMEOUT) && (HSEStatus == RESET)); + + if (RCC_GetFlagStatus(RCC_FLAG_HSERDY) != RESET) + { + status = SUCCESS; + } + else + { + status = ERROR; + } + return (status); +} + +/** + * @brief Adjusts the Internal High Speed oscillator (HSI) calibration value. + * @param HSICalibrationValue: specifies the calibration trimming value. + * This parameter must be a number between 0 and 0x1F. + * @retval None + */ +void RCC_AdjustHSICalibrationValue(uint8_t HSICalibrationValue) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_CALIBRATION_VALUE(HSICalibrationValue)); + tmpreg = RCC->CR; + /* Clear HSITRIM[4:0] bits */ + tmpreg &= CR_HSITRIM_Mask; + /* Set the HSITRIM[4:0] bits according to HSICalibrationValue value */ + tmpreg |= (uint32_t)HSICalibrationValue << 3; + /* Store the new value */ + RCC->CR = tmpreg; +} + +/** + * @brief Enables or disables the Internal High Speed oscillator (HSI). + * @note HSI can not be stopped if it is used directly or through the PLL as system clock. + * @param NewState: new state of the HSI. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_HSICmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_HSION_BB = (uint32_t)NewState; +} + +/** + * @brief Configures the PLL clock source and multiplication factor. + * @note This function must be used only when the PLL is disabled. + * @param RCC_PLLSource: specifies the PLL entry clock source. + * For @b STM32_Connectivity_line_devices or @b STM32_Value_line_devices, + * this parameter can be one of the following values: + * @arg RCC_PLLSource_HSI_Div2: HSI oscillator clock divided by 2 selected as PLL clock entry + * @arg RCC_PLLSource_PREDIV1: PREDIV1 clock selected as PLL clock entry + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_PLLSource_HSI_Div2: HSI oscillator clock divided by 2 selected as PLL clock entry + * @arg RCC_PLLSource_HSE_Div1: HSE oscillator clock selected as PLL clock entry + * @arg RCC_PLLSource_HSE_Div2: HSE oscillator clock divided by 2 selected as PLL clock entry + * @param RCC_PLLMul: specifies the PLL multiplication factor. + * For @b STM32_Connectivity_line_devices, this parameter can be RCC_PLLMul_x where x:{[4,9], 6_5} + * For @b other_STM32_devices, this parameter can be RCC_PLLMul_x where x:[2,16] + * @retval None + */ +void RCC_PLLConfig(uint32_t RCC_PLLSource, uint32_t RCC_PLLMul) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PLL_SOURCE(RCC_PLLSource)); + assert_param(IS_RCC_PLL_MUL(RCC_PLLMul)); + + tmpreg = RCC->CFGR; + /* Clear PLLSRC, PLLXTPRE and PLLMUL[3:0] bits */ + tmpreg &= CFGR_PLL_Mask; + /* Set the PLL configuration bits */ + tmpreg |= RCC_PLLSource | RCC_PLLMul; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Enables or disables the PLL. + * @note The PLL can not be disabled if it is used as system clock. + * @param NewState: new state of the PLL. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_PLLCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CR_PLLON_BB = (uint32_t)NewState; +} + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) +/** + * @brief Configures the PREDIV1 division factor. + * @note + * - This function must be used only when the PLL is disabled. + * - This function applies only to STM32 Connectivity line and Value line + * devices. + * @param RCC_PREDIV1_Source: specifies the PREDIV1 clock source. + * This parameter can be one of the following values: + * @arg RCC_PREDIV1_Source_HSE: HSE selected as PREDIV1 clock + * @arg RCC_PREDIV1_Source_PLL2: PLL2 selected as PREDIV1 clock + * @note + * For @b STM32_Value_line_devices this parameter is always RCC_PREDIV1_Source_HSE + * @param RCC_PREDIV1_Div: specifies the PREDIV1 clock division factor. + * This parameter can be RCC_PREDIV1_Divx where x:[1,16] + * @retval None + */ +void RCC_PREDIV1Config(uint32_t RCC_PREDIV1_Source, uint32_t RCC_PREDIV1_Div) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PREDIV1_SOURCE(RCC_PREDIV1_Source)); + assert_param(IS_RCC_PREDIV1(RCC_PREDIV1_Div)); + + tmpreg = RCC->CFGR2; + /* Clear PREDIV1[3:0] and PREDIV1SRC bits */ + tmpreg &= ~(CFGR2_PREDIV1 | CFGR2_PREDIV1SRC); + /* Set the PREDIV1 clock source and division factor */ + tmpreg |= RCC_PREDIV1_Source | RCC_PREDIV1_Div ; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} +#endif + +#ifdef STM32F10X_CL +/** + * @brief Configures the PREDIV2 division factor. + * @note + * - This function must be used only when both PLL2 and PLL3 are disabled. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_PREDIV2_Div: specifies the PREDIV2 clock division factor. + * This parameter can be RCC_PREDIV2_Divx where x:[1,16] + * @retval None + */ +void RCC_PREDIV2Config(uint32_t RCC_PREDIV2_Div) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PREDIV2(RCC_PREDIV2_Div)); + + tmpreg = RCC->CFGR2; + /* Clear PREDIV2[3:0] bits */ + tmpreg &= ~CFGR2_PREDIV2; + /* Set the PREDIV2 division factor */ + tmpreg |= RCC_PREDIV2_Div; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} + +/** + * @brief Configures the PLL2 multiplication factor. + * @note + * - This function must be used only when the PLL2 is disabled. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_PLL2Mul: specifies the PLL2 multiplication factor. + * This parameter can be RCC_PLL2Mul_x where x:{[8,14], 16, 20} + * @retval None + */ +void RCC_PLL2Config(uint32_t RCC_PLL2Mul) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PLL2_MUL(RCC_PLL2Mul)); + + tmpreg = RCC->CFGR2; + /* Clear PLL2Mul[3:0] bits */ + tmpreg &= ~CFGR2_PLL2MUL; + /* Set the PLL2 configuration bits */ + tmpreg |= RCC_PLL2Mul; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} + + +/** + * @brief Enables or disables the PLL2. + * @note + * - The PLL2 can not be disabled if it is used indirectly as system clock + * (i.e. it is used as PLL clock entry that is used as System clock). + * - This function applies only to STM32 Connectivity line devices. + * @param NewState: new state of the PLL2. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_PLL2Cmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CR_PLL2ON_BB = (uint32_t)NewState; +} + + +/** + * @brief Configures the PLL3 multiplication factor. + * @note + * - This function must be used only when the PLL3 is disabled. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_PLL3Mul: specifies the PLL3 multiplication factor. + * This parameter can be RCC_PLL3Mul_x where x:{[8,14], 16, 20} + * @retval None + */ +void RCC_PLL3Config(uint32_t RCC_PLL3Mul) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PLL3_MUL(RCC_PLL3Mul)); + + tmpreg = RCC->CFGR2; + /* Clear PLL3Mul[3:0] bits */ + tmpreg &= ~CFGR2_PLL3MUL; + /* Set the PLL3 configuration bits */ + tmpreg |= RCC_PLL3Mul; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} + + +/** + * @brief Enables or disables the PLL3. + * @note This function applies only to STM32 Connectivity line devices. + * @param NewState: new state of the PLL3. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_PLL3Cmd(FunctionalState NewState) +{ + /* Check the parameters */ + + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_PLL3ON_BB = (uint32_t)NewState; +} +#endif /* STM32F10X_CL */ + +/** + * @brief Configures the system clock (SYSCLK). + * @param RCC_SYSCLKSource: specifies the clock source used as system clock. + * This parameter can be one of the following values: + * @arg RCC_SYSCLKSource_HSI: HSI selected as system clock + * @arg RCC_SYSCLKSource_HSE: HSE selected as system clock + * @arg RCC_SYSCLKSource_PLLCLK: PLL selected as system clock + * @retval None + */ +void RCC_SYSCLKConfig(uint32_t RCC_SYSCLKSource) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_SYSCLK_SOURCE(RCC_SYSCLKSource)); + tmpreg = RCC->CFGR; + /* Clear SW[1:0] bits */ + tmpreg &= CFGR_SW_Mask; + /* Set SW[1:0] bits according to RCC_SYSCLKSource value */ + tmpreg |= RCC_SYSCLKSource; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Returns the clock source used as system clock. + * @param None + * @retval The clock source used as system clock. The returned value can + * be one of the following: + * - 0x00: HSI used as system clock + * - 0x04: HSE used as system clock + * - 0x08: PLL used as system clock + */ +uint8_t RCC_GetSYSCLKSource(void) +{ + return ((uint8_t)(RCC->CFGR & CFGR_SWS_Mask)); +} + +/** + * @brief Configures the AHB clock (HCLK). + * @param RCC_SYSCLK: defines the AHB clock divider. This clock is derived from + * the system clock (SYSCLK). + * This parameter can be one of the following values: + * @arg RCC_SYSCLK_Div1: AHB clock = SYSCLK + * @arg RCC_SYSCLK_Div2: AHB clock = SYSCLK/2 + * @arg RCC_SYSCLK_Div4: AHB clock = SYSCLK/4 + * @arg RCC_SYSCLK_Div8: AHB clock = SYSCLK/8 + * @arg RCC_SYSCLK_Div16: AHB clock = SYSCLK/16 + * @arg RCC_SYSCLK_Div64: AHB clock = SYSCLK/64 + * @arg RCC_SYSCLK_Div128: AHB clock = SYSCLK/128 + * @arg RCC_SYSCLK_Div256: AHB clock = SYSCLK/256 + * @arg RCC_SYSCLK_Div512: AHB clock = SYSCLK/512 + * @retval None + */ +void RCC_HCLKConfig(uint32_t RCC_SYSCLK) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_HCLK(RCC_SYSCLK)); + tmpreg = RCC->CFGR; + /* Clear HPRE[3:0] bits */ + tmpreg &= CFGR_HPRE_Reset_Mask; + /* Set HPRE[3:0] bits according to RCC_SYSCLK value */ + tmpreg |= RCC_SYSCLK; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Configures the Low Speed APB clock (PCLK1). + * @param RCC_HCLK: defines the APB1 clock divider. This clock is derived from + * the AHB clock (HCLK). + * This parameter can be one of the following values: + * @arg RCC_HCLK_Div1: APB1 clock = HCLK + * @arg RCC_HCLK_Div2: APB1 clock = HCLK/2 + * @arg RCC_HCLK_Div4: APB1 clock = HCLK/4 + * @arg RCC_HCLK_Div8: APB1 clock = HCLK/8 + * @arg RCC_HCLK_Div16: APB1 clock = HCLK/16 + * @retval None + */ +void RCC_PCLK1Config(uint32_t RCC_HCLK) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_PCLK(RCC_HCLK)); + tmpreg = RCC->CFGR; + /* Clear PPRE1[2:0] bits */ + tmpreg &= CFGR_PPRE1_Reset_Mask; + /* Set PPRE1[2:0] bits according to RCC_HCLK value */ + tmpreg |= RCC_HCLK; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Configures the High Speed APB clock (PCLK2). + * @param RCC_HCLK: defines the APB2 clock divider. This clock is derived from + * the AHB clock (HCLK). + * This parameter can be one of the following values: + * @arg RCC_HCLK_Div1: APB2 clock = HCLK + * @arg RCC_HCLK_Div2: APB2 clock = HCLK/2 + * @arg RCC_HCLK_Div4: APB2 clock = HCLK/4 + * @arg RCC_HCLK_Div8: APB2 clock = HCLK/8 + * @arg RCC_HCLK_Div16: APB2 clock = HCLK/16 + * @retval None + */ +void RCC_PCLK2Config(uint32_t RCC_HCLK) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_PCLK(RCC_HCLK)); + tmpreg = RCC->CFGR; + /* Clear PPRE2[2:0] bits */ + tmpreg &= CFGR_PPRE2_Reset_Mask; + /* Set PPRE2[2:0] bits according to RCC_HCLK value */ + tmpreg |= RCC_HCLK << 3; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Enables or disables the specified RCC interrupts. + * @param RCC_IT: specifies the RCC interrupt sources to be enabled or disabled. + * + * For @b STM32_Connectivity_line_devices, this parameter can be any combination + * of the following values + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_PLL2RDY: PLL2 ready interrupt + * @arg RCC_IT_PLL3RDY: PLL3 ready interrupt + * + * For @b other_STM32_devices, this parameter can be any combination of the + * following values + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * + * @param NewState: new state of the specified RCC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_ITConfig(uint8_t RCC_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_IT(RCC_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Perform Byte access to RCC_CIR bits to enable the selected interrupts */ + *(__IO uint8_t *) CIR_BYTE2_ADDRESS |= RCC_IT; + } + else + { + /* Perform Byte access to RCC_CIR bits to disable the selected interrupts */ + *(__IO uint8_t *) CIR_BYTE2_ADDRESS &= (uint8_t)~RCC_IT; + } +} + +#ifndef STM32F10X_CL +/** + * @brief Configures the USB clock (USBCLK). + * @param RCC_USBCLKSource: specifies the USB clock source. This clock is + * derived from the PLL output. + * This parameter can be one of the following values: + * @arg RCC_USBCLKSource_PLLCLK_1Div5: PLL clock divided by 1,5 selected as USB + * clock source + * @arg RCC_USBCLKSource_PLLCLK_Div1: PLL clock selected as USB clock source + * @retval None + */ +void RCC_USBCLKConfig(uint32_t RCC_USBCLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_USBCLK_SOURCE(RCC_USBCLKSource)); + + *(__IO uint32_t *) CFGR_USBPRE_BB = RCC_USBCLKSource; +} +#else +/** + * @brief Configures the USB OTG FS clock (OTGFSCLK). + * This function applies only to STM32 Connectivity line devices. + * @param RCC_OTGFSCLKSource: specifies the USB OTG FS clock source. + * This clock is derived from the PLL output. + * This parameter can be one of the following values: + * @arg RCC_OTGFSCLKSource_PLLVCO_Div3: PLL VCO clock divided by 2 selected as USB OTG FS clock source + * @arg RCC_OTGFSCLKSource_PLLVCO_Div2: PLL VCO clock divided by 2 selected as USB OTG FS clock source + * @retval None + */ +void RCC_OTGFSCLKConfig(uint32_t RCC_OTGFSCLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_OTGFSCLK_SOURCE(RCC_OTGFSCLKSource)); + + *(__IO uint32_t *) CFGR_OTGFSPRE_BB = RCC_OTGFSCLKSource; +} +#endif /* STM32F10X_CL */ + +/** + * @brief Configures the ADC clock (ADCCLK). + * @param RCC_PCLK2: defines the ADC clock divider. This clock is derived from + * the APB2 clock (PCLK2). + * This parameter can be one of the following values: + * @arg RCC_PCLK2_Div2: ADC clock = PCLK2/2 + * @arg RCC_PCLK2_Div4: ADC clock = PCLK2/4 + * @arg RCC_PCLK2_Div6: ADC clock = PCLK2/6 + * @arg RCC_PCLK2_Div8: ADC clock = PCLK2/8 + * @retval None + */ +void RCC_ADCCLKConfig(uint32_t RCC_PCLK2) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_ADCCLK(RCC_PCLK2)); + tmpreg = RCC->CFGR; + /* Clear ADCPRE[1:0] bits */ + tmpreg &= CFGR_ADCPRE_Reset_Mask; + /* Set ADCPRE[1:0] bits according to RCC_PCLK2 value */ + tmpreg |= RCC_PCLK2; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +#ifdef STM32F10X_CL +/** + * @brief Configures the I2S2 clock source(I2S2CLK). + * @note + * - This function must be called before enabling I2S2 APB clock. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_I2S2CLKSource: specifies the I2S2 clock source. + * This parameter can be one of the following values: + * @arg RCC_I2S2CLKSource_SYSCLK: system clock selected as I2S2 clock entry + * @arg RCC_I2S2CLKSource_PLL3_VCO: PLL3 VCO clock selected as I2S2 clock entry + * @retval None + */ +void RCC_I2S2CLKConfig(uint32_t RCC_I2S2CLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_I2S2CLK_SOURCE(RCC_I2S2CLKSource)); + + *(__IO uint32_t *) CFGR2_I2S2SRC_BB = RCC_I2S2CLKSource; +} + +/** + * @brief Configures the I2S3 clock source(I2S2CLK). + * @note + * - This function must be called before enabling I2S3 APB clock. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_I2S3CLKSource: specifies the I2S3 clock source. + * This parameter can be one of the following values: + * @arg RCC_I2S3CLKSource_SYSCLK: system clock selected as I2S3 clock entry + * @arg RCC_I2S3CLKSource_PLL3_VCO: PLL3 VCO clock selected as I2S3 clock entry + * @retval None + */ +void RCC_I2S3CLKConfig(uint32_t RCC_I2S3CLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_I2S3CLK_SOURCE(RCC_I2S3CLKSource)); + + *(__IO uint32_t *) CFGR2_I2S3SRC_BB = RCC_I2S3CLKSource; +} +#endif /* STM32F10X_CL */ + +/** + * @brief Configures the External Low Speed oscillator (LSE). + * @param RCC_LSE: specifies the new state of the LSE. + * This parameter can be one of the following values: + * @arg RCC_LSE_OFF: LSE oscillator OFF + * @arg RCC_LSE_ON: LSE oscillator ON + * @arg RCC_LSE_Bypass: LSE oscillator bypassed with external clock + * @retval None + */ +void RCC_LSEConfig(uint8_t RCC_LSE) +{ + /* Check the parameters */ + assert_param(IS_RCC_LSE(RCC_LSE)); + /* Reset LSEON and LSEBYP bits before configuring the LSE ------------------*/ + /* Reset LSEON bit */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_OFF; + /* Reset LSEBYP bit */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_OFF; + /* Configure LSE (RCC_LSE_OFF is already covered by the code section above) */ + switch(RCC_LSE) + { + case RCC_LSE_ON: + /* Set LSEON bit */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_ON; + break; + + case RCC_LSE_Bypass: + /* Set LSEBYP and LSEON bits */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_Bypass | RCC_LSE_ON; + break; + + default: + break; + } +} + +/** + * @brief Enables or disables the Internal Low Speed oscillator (LSI). + * @note LSI can not be disabled if the IWDG is running. + * @param NewState: new state of the LSI. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_LSICmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CSR_LSION_BB = (uint32_t)NewState; +} + +/** + * @brief Configures the RTC clock (RTCCLK). + * @note Once the RTC clock is selected it can't be changed unless the Backup domain is reset. + * @param RCC_RTCCLKSource: specifies the RTC clock source. + * This parameter can be one of the following values: + * @arg RCC_RTCCLKSource_LSE: LSE selected as RTC clock + * @arg RCC_RTCCLKSource_LSI: LSI selected as RTC clock + * @arg RCC_RTCCLKSource_HSE_Div128: HSE clock divided by 128 selected as RTC clock + * @retval None + */ +void RCC_RTCCLKConfig(uint32_t RCC_RTCCLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_RTCCLK_SOURCE(RCC_RTCCLKSource)); + /* Select the RTC clock source */ + RCC->BDCR |= RCC_RTCCLKSource; +} + +/** + * @brief Enables or disables the RTC clock. + * @note This function must be used only after the RTC clock was selected using the RCC_RTCCLKConfig function. + * @param NewState: new state of the RTC clock. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_RTCCLKCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) BDCR_RTCEN_BB = (uint32_t)NewState; +} + +/** + * @brief Returns the frequencies of different on chip clocks. + * @param RCC_Clocks: pointer to a RCC_ClocksTypeDef structure which will hold + * the clocks frequencies. + * @note The result of this function could be not correct when using + * fractional value for HSE crystal. + * @retval None + */ +void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks) +{ + uint32_t tmp = 0, pllmull = 0, pllsource = 0, presc = 0; + +#ifdef STM32F10X_CL + uint32_t prediv1source = 0, prediv1factor = 0, prediv2factor = 0, pll2mull = 0; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + uint32_t prediv1factor = 0; +#endif + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & CFGR_SWS_Mask; + + switch (tmp) + { + case 0x00: /* HSI used as system clock */ + RCC_Clocks->SYSCLK_Frequency = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock */ + RCC_Clocks->SYSCLK_Frequency = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock */ + + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & CFGR_PLLMull_Mask; + pllsource = RCC->CFGR & CFGR_PLLSRC_Mask; + +#ifndef STM32F10X_CL + pllmull = ( pllmull >> 18) + 2; + + if (pllsource == 0x00) + {/* HSI oscillator clock divided by 2 selected as PLL clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSI_VALUE >> 1) * pllmull; + } + else + { + #if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + prediv1factor = (RCC->CFGR2 & CFGR2_PREDIV1) + 1; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE / prediv1factor) * pllmull; + #else + /* HSE selected as PLL clock entry */ + if ((RCC->CFGR & CFGR_PLLXTPRE_Mask) != (uint32_t)RESET) + {/* HSE oscillator clock divided by 2 */ + RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE >> 1) * pllmull; + } + else + { + RCC_Clocks->SYSCLK_Frequency = HSE_VALUE * pllmull; + } + #endif + } +#else + pllmull = pllmull >> 18; + + if (pllmull != 0x0D) + { + pllmull += 2; + } + else + { /* PLL multiplication factor = PLL input clock * 6.5 */ + pllmull = 13 / 2; + } + + if (pllsource == 0x00) + {/* HSI oscillator clock divided by 2 selected as PLL clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSI_VALUE >> 1) * pllmull; + } + else + {/* PREDIV1 selected as PLL clock entry */ + + /* Get PREDIV1 clock source and division factor */ + prediv1source = RCC->CFGR2 & CFGR2_PREDIV1SRC; + prediv1factor = (RCC->CFGR2 & CFGR2_PREDIV1) + 1; + + if (prediv1source == 0) + { /* HSE oscillator clock selected as PREDIV1 clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE / prediv1factor) * pllmull; + } + else + {/* PLL2 clock selected as PREDIV1 clock entry */ + + /* Get PREDIV2 division factor and PLL2 multiplication factor */ + prediv2factor = ((RCC->CFGR2 & CFGR2_PREDIV2) >> 4) + 1; + pll2mull = ((RCC->CFGR2 & CFGR2_PLL2MUL) >> 8 ) + 2; + RCC_Clocks->SYSCLK_Frequency = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull; + } + } +#endif /* STM32F10X_CL */ + break; + + default: + RCC_Clocks->SYSCLK_Frequency = HSI_VALUE; + break; + } + + /* Compute HCLK, PCLK1, PCLK2 and ADCCLK clocks frequencies ----------------*/ + /* Get HCLK prescaler */ + tmp = RCC->CFGR & CFGR_HPRE_Set_Mask; + tmp = tmp >> 4; + presc = APBAHBPrescTable[tmp]; + /* HCLK clock frequency */ + RCC_Clocks->HCLK_Frequency = RCC_Clocks->SYSCLK_Frequency >> presc; + /* Get PCLK1 prescaler */ + tmp = RCC->CFGR & CFGR_PPRE1_Set_Mask; + tmp = tmp >> 8; + presc = APBAHBPrescTable[tmp]; + /* PCLK1 clock frequency */ + RCC_Clocks->PCLK1_Frequency = RCC_Clocks->HCLK_Frequency >> presc; + /* Get PCLK2 prescaler */ + tmp = RCC->CFGR & CFGR_PPRE2_Set_Mask; + tmp = tmp >> 11; + presc = APBAHBPrescTable[tmp]; + /* PCLK2 clock frequency */ + RCC_Clocks->PCLK2_Frequency = RCC_Clocks->HCLK_Frequency >> presc; + /* Get ADCCLK prescaler */ + tmp = RCC->CFGR & CFGR_ADCPRE_Set_Mask; + tmp = tmp >> 14; + presc = ADCPrescTable[tmp]; + /* ADCCLK clock frequency */ + RCC_Clocks->ADCCLK_Frequency = RCC_Clocks->PCLK2_Frequency / presc; +} + +/** + * @brief Enables or disables the AHB peripheral clock. + * @param RCC_AHBPeriph: specifies the AHB peripheral to gates its clock. + * + * For @b STM32_Connectivity_line_devices, this parameter can be any combination + * of the following values: + * @arg RCC_AHBPeriph_DMA1 + * @arg RCC_AHBPeriph_DMA2 + * @arg RCC_AHBPeriph_SRAM + * @arg RCC_AHBPeriph_FLITF + * @arg RCC_AHBPeriph_CRC + * @arg RCC_AHBPeriph_OTG_FS + * @arg RCC_AHBPeriph_ETH_MAC + * @arg RCC_AHBPeriph_ETH_MAC_Tx + * @arg RCC_AHBPeriph_ETH_MAC_Rx + * + * For @b other_STM32_devices, this parameter can be any combination of the + * following values: + * @arg RCC_AHBPeriph_DMA1 + * @arg RCC_AHBPeriph_DMA2 + * @arg RCC_AHBPeriph_SRAM + * @arg RCC_AHBPeriph_FLITF + * @arg RCC_AHBPeriph_CRC + * @arg RCC_AHBPeriph_FSMC + * @arg RCC_AHBPeriph_SDIO + * + * @note SRAM and FLITF clock can be disabled only during sleep mode. + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_AHBPeriphClockCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_AHB_PERIPH(RCC_AHBPeriph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + RCC->AHBENR |= RCC_AHBPeriph; + } + else + { + RCC->AHBENR &= ~RCC_AHBPeriph; + } +} + +/** + * @brief Enables or disables the High Speed APB (APB2) peripheral clock. + * @param RCC_APB2Periph: specifies the APB2 peripheral to gates its clock. + * This parameter can be any combination of the following values: + * @arg RCC_APB2Periph_AFIO, RCC_APB2Periph_GPIOA, RCC_APB2Periph_GPIOB, + * RCC_APB2Periph_GPIOC, RCC_APB2Periph_GPIOD, RCC_APB2Periph_GPIOE, + * RCC_APB2Periph_GPIOF, RCC_APB2Periph_GPIOG, RCC_APB2Periph_ADC1, + * RCC_APB2Periph_ADC2, RCC_APB2Periph_TIM1, RCC_APB2Periph_SPI1, + * RCC_APB2Periph_TIM8, RCC_APB2Periph_USART1, RCC_APB2Periph_ADC3, + * RCC_APB2Periph_TIM15, RCC_APB2Periph_TIM16, RCC_APB2Periph_TIM17, + * RCC_APB2Periph_TIM9, RCC_APB2Periph_TIM10, RCC_APB2Periph_TIM11 + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB2PeriphClockCmd(uint32_t RCC_APB2Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB2_PERIPH(RCC_APB2Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB2ENR |= RCC_APB2Periph; + } + else + { + RCC->APB2ENR &= ~RCC_APB2Periph; + } +} + +/** + * @brief Enables or disables the Low Speed APB (APB1) peripheral clock. + * @param RCC_APB1Periph: specifies the APB1 peripheral to gates its clock. + * This parameter can be any combination of the following values: + * @arg RCC_APB1Periph_TIM2, RCC_APB1Periph_TIM3, RCC_APB1Periph_TIM4, + * RCC_APB1Periph_TIM5, RCC_APB1Periph_TIM6, RCC_APB1Periph_TIM7, + * RCC_APB1Periph_WWDG, RCC_APB1Periph_SPI2, RCC_APB1Periph_SPI3, + * RCC_APB1Periph_USART2, RCC_APB1Periph_USART3, RCC_APB1Periph_USART4, + * RCC_APB1Periph_USART5, RCC_APB1Periph_I2C1, RCC_APB1Periph_I2C2, + * RCC_APB1Periph_USB, RCC_APB1Periph_CAN1, RCC_APB1Periph_BKP, + * RCC_APB1Periph_PWR, RCC_APB1Periph_DAC, RCC_APB1Periph_CEC, + * RCC_APB1Periph_TIM12, RCC_APB1Periph_TIM13, RCC_APB1Periph_TIM14 + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB1PeriphClockCmd(uint32_t RCC_APB1Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB1_PERIPH(RCC_APB1Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB1ENR |= RCC_APB1Periph; + } + else + { + RCC->APB1ENR &= ~RCC_APB1Periph; + } +} + +#ifdef STM32F10X_CL +/** + * @brief Forces or releases AHB peripheral reset. + * @note This function applies only to STM32 Connectivity line devices. + * @param RCC_AHBPeriph: specifies the AHB peripheral to reset. + * This parameter can be any combination of the following values: + * @arg RCC_AHBPeriph_OTG_FS + * @arg RCC_AHBPeriph_ETH_MAC + * @param NewState: new state of the specified peripheral reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_AHBPeriphResetCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_AHB_PERIPH_RESET(RCC_AHBPeriph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + RCC->AHBRSTR |= RCC_AHBPeriph; + } + else + { + RCC->AHBRSTR &= ~RCC_AHBPeriph; + } +} +#endif /* STM32F10X_CL */ + +/** + * @brief Forces or releases High Speed APB (APB2) peripheral reset. + * @param RCC_APB2Periph: specifies the APB2 peripheral to reset. + * This parameter can be any combination of the following values: + * @arg RCC_APB2Periph_AFIO, RCC_APB2Periph_GPIOA, RCC_APB2Periph_GPIOB, + * RCC_APB2Periph_GPIOC, RCC_APB2Periph_GPIOD, RCC_APB2Periph_GPIOE, + * RCC_APB2Periph_GPIOF, RCC_APB2Periph_GPIOG, RCC_APB2Periph_ADC1, + * RCC_APB2Periph_ADC2, RCC_APB2Periph_TIM1, RCC_APB2Periph_SPI1, + * RCC_APB2Periph_TIM8, RCC_APB2Periph_USART1, RCC_APB2Periph_ADC3, + * RCC_APB2Periph_TIM15, RCC_APB2Periph_TIM16, RCC_APB2Periph_TIM17, + * RCC_APB2Periph_TIM9, RCC_APB2Periph_TIM10, RCC_APB2Periph_TIM11 + * @param NewState: new state of the specified peripheral reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB2PeriphResetCmd(uint32_t RCC_APB2Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB2_PERIPH(RCC_APB2Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB2RSTR |= RCC_APB2Periph; + } + else + { + RCC->APB2RSTR &= ~RCC_APB2Periph; + } +} + +/** + * @brief Forces or releases Low Speed APB (APB1) peripheral reset. + * @param RCC_APB1Periph: specifies the APB1 peripheral to reset. + * This parameter can be any combination of the following values: + * @arg RCC_APB1Periph_TIM2, RCC_APB1Periph_TIM3, RCC_APB1Periph_TIM4, + * RCC_APB1Periph_TIM5, RCC_APB1Periph_TIM6, RCC_APB1Periph_TIM7, + * RCC_APB1Periph_WWDG, RCC_APB1Periph_SPI2, RCC_APB1Periph_SPI3, + * RCC_APB1Periph_USART2, RCC_APB1Periph_USART3, RCC_APB1Periph_USART4, + * RCC_APB1Periph_USART5, RCC_APB1Periph_I2C1, RCC_APB1Periph_I2C2, + * RCC_APB1Periph_USB, RCC_APB1Periph_CAN1, RCC_APB1Periph_BKP, + * RCC_APB1Periph_PWR, RCC_APB1Periph_DAC, RCC_APB1Periph_CEC, + * RCC_APB1Periph_TIM12, RCC_APB1Periph_TIM13, RCC_APB1Periph_TIM14 + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB1PeriphResetCmd(uint32_t RCC_APB1Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB1_PERIPH(RCC_APB1Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB1RSTR |= RCC_APB1Periph; + } + else + { + RCC->APB1RSTR &= ~RCC_APB1Periph; + } +} + +/** + * @brief Forces or releases the Backup domain reset. + * @param NewState: new state of the Backup domain reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_BackupResetCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) BDCR_BDRST_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the Clock Security System. + * @param NewState: new state of the Clock Security System.. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_ClockSecuritySystemCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_CSSON_BB = (uint32_t)NewState; +} + +/** + * @brief Selects the clock source to output on MCO pin. + * @param RCC_MCO: specifies the clock source to output. + * + * For @b STM32_Connectivity_line_devices, this parameter can be one of the + * following values: + * @arg RCC_MCO_NoClock: No clock selected + * @arg RCC_MCO_SYSCLK: System clock selected + * @arg RCC_MCO_HSI: HSI oscillator clock selected + * @arg RCC_MCO_HSE: HSE oscillator clock selected + * @arg RCC_MCO_PLLCLK_Div2: PLL clock divided by 2 selected + * @arg RCC_MCO_PLL2CLK: PLL2 clock selected + * @arg RCC_MCO_PLL3CLK_Div2: PLL3 clock divided by 2 selected + * @arg RCC_MCO_XT1: External 3-25 MHz oscillator clock selected + * @arg RCC_MCO_PLL3CLK: PLL3 clock selected + * + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_MCO_NoClock: No clock selected + * @arg RCC_MCO_SYSCLK: System clock selected + * @arg RCC_MCO_HSI: HSI oscillator clock selected + * @arg RCC_MCO_HSE: HSE oscillator clock selected + * @arg RCC_MCO_PLLCLK_Div2: PLL clock divided by 2 selected + * + * @retval None + */ +void RCC_MCOConfig(uint8_t RCC_MCO) +{ + /* Check the parameters */ + assert_param(IS_RCC_MCO(RCC_MCO)); + + /* Perform Byte access to MCO bits to select the MCO source */ + *(__IO uint8_t *) CFGR_BYTE4_ADDRESS = RCC_MCO; +} + +/** + * @brief Checks whether the specified RCC flag is set or not. + * @param RCC_FLAG: specifies the flag to check. + * + * For @b STM32_Connectivity_line_devices, this parameter can be one of the + * following values: + * @arg RCC_FLAG_HSIRDY: HSI oscillator clock ready + * @arg RCC_FLAG_HSERDY: HSE oscillator clock ready + * @arg RCC_FLAG_PLLRDY: PLL clock ready + * @arg RCC_FLAG_PLL2RDY: PLL2 clock ready + * @arg RCC_FLAG_PLL3RDY: PLL3 clock ready + * @arg RCC_FLAG_LSERDY: LSE oscillator clock ready + * @arg RCC_FLAG_LSIRDY: LSI oscillator clock ready + * @arg RCC_FLAG_PINRST: Pin reset + * @arg RCC_FLAG_PORRST: POR/PDR reset + * @arg RCC_FLAG_SFTRST: Software reset + * @arg RCC_FLAG_IWDGRST: Independent Watchdog reset + * @arg RCC_FLAG_WWDGRST: Window Watchdog reset + * @arg RCC_FLAG_LPWRRST: Low Power reset + * + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_FLAG_HSIRDY: HSI oscillator clock ready + * @arg RCC_FLAG_HSERDY: HSE oscillator clock ready + * @arg RCC_FLAG_PLLRDY: PLL clock ready + * @arg RCC_FLAG_LSERDY: LSE oscillator clock ready + * @arg RCC_FLAG_LSIRDY: LSI oscillator clock ready + * @arg RCC_FLAG_PINRST: Pin reset + * @arg RCC_FLAG_PORRST: POR/PDR reset + * @arg RCC_FLAG_SFTRST: Software reset + * @arg RCC_FLAG_IWDGRST: Independent Watchdog reset + * @arg RCC_FLAG_WWDGRST: Window Watchdog reset + * @arg RCC_FLAG_LPWRRST: Low Power reset + * + * @retval The new state of RCC_FLAG (SET or RESET). + */ +FlagStatus RCC_GetFlagStatus(uint8_t RCC_FLAG) +{ + uint32_t tmp = 0; + uint32_t statusreg = 0; + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_RCC_FLAG(RCC_FLAG)); + + /* Get the RCC register index */ + tmp = RCC_FLAG >> 5; + if (tmp == 1) /* The flag to check is in CR register */ + { + statusreg = RCC->CR; + } + else if (tmp == 2) /* The flag to check is in BDCR register */ + { + statusreg = RCC->BDCR; + } + else /* The flag to check is in CSR register */ + { + statusreg = RCC->CSR; + } + + /* Get the flag position */ + tmp = RCC_FLAG & FLAG_Mask; + if ((statusreg & ((uint32_t)1 << tmp)) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + + /* Return the flag status */ + return bitstatus; +} + +/** + * @brief Clears the RCC reset flags. + * @note The reset flags are: RCC_FLAG_PINRST, RCC_FLAG_PORRST, RCC_FLAG_SFTRST, + * RCC_FLAG_IWDGRST, RCC_FLAG_WWDGRST, RCC_FLAG_LPWRRST + * @param None + * @retval None + */ +void RCC_ClearFlag(void) +{ + /* Set RMVF bit to clear the reset flags */ + RCC->CSR |= CSR_RMVF_Set; +} + +/** + * @brief Checks whether the specified RCC interrupt has occurred or not. + * @param RCC_IT: specifies the RCC interrupt source to check. + * + * For @b STM32_Connectivity_line_devices, this parameter can be one of the + * following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_PLL2RDY: PLL2 ready interrupt + * @arg RCC_IT_PLL3RDY: PLL3 ready interrupt + * @arg RCC_IT_CSS: Clock Security System interrupt + * + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_CSS: Clock Security System interrupt + * + * @retval The new state of RCC_IT (SET or RESET). + */ +ITStatus RCC_GetITStatus(uint8_t RCC_IT) +{ + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_RCC_GET_IT(RCC_IT)); + + /* Check the status of the specified RCC interrupt */ + if ((RCC->CIR & RCC_IT) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + + /* Return the RCC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the RCC's interrupt pending bits. + * @param RCC_IT: specifies the interrupt pending bit to clear. + * + * For @b STM32_Connectivity_line_devices, this parameter can be any combination + * of the following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_PLL2RDY: PLL2 ready interrupt + * @arg RCC_IT_PLL3RDY: PLL3 ready interrupt + * @arg RCC_IT_CSS: Clock Security System interrupt + * + * For @b other_STM32_devices, this parameter can be any combination of the + * following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * + * @arg RCC_IT_CSS: Clock Security System interrupt + * @retval None + */ +void RCC_ClearITPendingBit(uint8_t RCC_IT) +{ + /* Check the parameters */ + assert_param(IS_RCC_CLEAR_IT(RCC_IT)); + + /* Perform Byte access to RCC_CIR[23:16] bits to clear the selected interrupt + pending bits */ + *(__IO uint8_t *) CIR_BYTE3_ADDRESS = RCC_IT; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_rtc.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_rtc.c new file mode 100644 index 0000000..f05aef5 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_rtc.c @@ -0,0 +1,339 @@ +/** + ****************************************************************************** + * @file stm32f10x_rtc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the RTC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_rtc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup RTC + * @brief RTC driver modules + * @{ + */ + +/** @defgroup RTC_Private_TypesDefinitions + * @{ + */ +/** + * @} + */ + +/** @defgroup RTC_Private_Defines + * @{ + */ +#define RTC_LSB_MASK ((uint32_t)0x0000FFFF) /*!< RTC LSB Mask */ +#define PRLH_MSB_MASK ((uint32_t)0x000F0000) /*!< RTC Prescaler MSB Mask */ + +/** + * @} + */ + +/** @defgroup RTC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Private_Functions + * @{ + */ + +/** + * @brief Enables or disables the specified RTC interrupts. + * @param RTC_IT: specifies the RTC interrupts sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg RTC_IT_OW: Overflow interrupt + * @arg RTC_IT_ALR: Alarm interrupt + * @arg RTC_IT_SEC: Second interrupt + * @param NewState: new state of the specified RTC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RTC_ITConfig(uint16_t RTC_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RTC_IT(RTC_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + RTC->CRH |= RTC_IT; + } + else + { + RTC->CRH &= (uint16_t)~RTC_IT; + } +} + +/** + * @brief Enters the RTC configuration mode. + * @param None + * @retval None + */ +void RTC_EnterConfigMode(void) +{ + /* Set the CNF flag to enter in the Configuration Mode */ + RTC->CRL |= RTC_CRL_CNF; +} + +/** + * @brief Exits from the RTC configuration mode. + * @param None + * @retval None + */ +void RTC_ExitConfigMode(void) +{ + /* Reset the CNF flag to exit from the Configuration Mode */ + RTC->CRL &= (uint16_t)~((uint16_t)RTC_CRL_CNF); +} + +/** + * @brief Gets the RTC counter value. + * @param None + * @retval RTC counter value. + */ +uint32_t RTC_GetCounter(void) +{ + uint16_t tmp = 0; + tmp = RTC->CNTL; + return (((uint32_t)RTC->CNTH << 16 ) | tmp) ; +} + +/** + * @brief Sets the RTC counter value. + * @param CounterValue: RTC counter new value. + * @retval None + */ +void RTC_SetCounter(uint32_t CounterValue) +{ + RTC_EnterConfigMode(); + /* Set RTC COUNTER MSB word */ + RTC->CNTH = CounterValue >> 16; + /* Set RTC COUNTER LSB word */ + RTC->CNTL = (CounterValue & RTC_LSB_MASK); + RTC_ExitConfigMode(); +} + +/** + * @brief Sets the RTC prescaler value. + * @param PrescalerValue: RTC prescaler new value. + * @retval None + */ +void RTC_SetPrescaler(uint32_t PrescalerValue) +{ + /* Check the parameters */ + assert_param(IS_RTC_PRESCALER(PrescalerValue)); + + RTC_EnterConfigMode(); + /* Set RTC PRESCALER MSB word */ + RTC->PRLH = (PrescalerValue & PRLH_MSB_MASK) >> 16; + /* Set RTC PRESCALER LSB word */ + RTC->PRLL = (PrescalerValue & RTC_LSB_MASK); + RTC_ExitConfigMode(); +} + +/** + * @brief Sets the RTC alarm value. + * @param AlarmValue: RTC alarm new value. + * @retval None + */ +void RTC_SetAlarm(uint32_t AlarmValue) +{ + RTC_EnterConfigMode(); + /* Set the ALARM MSB word */ + RTC->ALRH = AlarmValue >> 16; + /* Set the ALARM LSB word */ + RTC->ALRL = (AlarmValue & RTC_LSB_MASK); + RTC_ExitConfigMode(); +} + +/** + * @brief Gets the RTC divider value. + * @param None + * @retval RTC Divider value. + */ +uint32_t RTC_GetDivider(void) +{ + uint32_t tmp = 0x00; + tmp = ((uint32_t)RTC->DIVH & (uint32_t)0x000F) << 16; + tmp |= RTC->DIVL; + return tmp; +} + +/** + * @brief Waits until last write operation on RTC registers has finished. + * @note This function must be called before any write to RTC registers. + * @param None + * @retval None + */ +void RTC_WaitForLastTask(void) +{ + /* Loop until RTOFF flag is set */ + while ((RTC->CRL & RTC_FLAG_RTOFF) == (uint16_t)RESET) + { + } +} + +/** + * @brief Waits until the RTC registers (RTC_CNT, RTC_ALR and RTC_PRL) + * are synchronized with RTC APB clock. + * @note This function must be called before any read operation after an APB reset + * or an APB clock stop. + * @param None + * @retval None + */ +void RTC_WaitForSynchro(void) +{ + /* Clear RSF flag */ + RTC->CRL &= (uint16_t)~RTC_FLAG_RSF; + /* Loop until RSF flag is set */ + while ((RTC->CRL & RTC_FLAG_RSF) == (uint16_t)RESET) + { + } +} + +/** + * @brief Checks whether the specified RTC flag is set or not. + * @param RTC_FLAG: specifies the flag to check. + * This parameter can be one the following values: + * @arg RTC_FLAG_RTOFF: RTC Operation OFF flag + * @arg RTC_FLAG_RSF: Registers Synchronized flag + * @arg RTC_FLAG_OW: Overflow flag + * @arg RTC_FLAG_ALR: Alarm flag + * @arg RTC_FLAG_SEC: Second flag + * @retval The new state of RTC_FLAG (SET or RESET). + */ +FlagStatus RTC_GetFlagStatus(uint16_t RTC_FLAG) +{ + FlagStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_RTC_GET_FLAG(RTC_FLAG)); + + if ((RTC->CRL & RTC_FLAG) != (uint16_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the RTC's pending flags. + * @param RTC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg RTC_FLAG_RSF: Registers Synchronized flag. This flag is cleared only after + * an APB reset or an APB Clock stop. + * @arg RTC_FLAG_OW: Overflow flag + * @arg RTC_FLAG_ALR: Alarm flag + * @arg RTC_FLAG_SEC: Second flag + * @retval None + */ +void RTC_ClearFlag(uint16_t RTC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_RTC_CLEAR_FLAG(RTC_FLAG)); + + /* Clear the corresponding RTC flag */ + RTC->CRL &= (uint16_t)~RTC_FLAG; +} + +/** + * @brief Checks whether the specified RTC interrupt has occurred or not. + * @param RTC_IT: specifies the RTC interrupts sources to check. + * This parameter can be one of the following values: + * @arg RTC_IT_OW: Overflow interrupt + * @arg RTC_IT_ALR: Alarm interrupt + * @arg RTC_IT_SEC: Second interrupt + * @retval The new state of the RTC_IT (SET or RESET). + */ +ITStatus RTC_GetITStatus(uint16_t RTC_IT) +{ + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_RTC_GET_IT(RTC_IT)); + + bitstatus = (ITStatus)(RTC->CRL & RTC_IT); + if (((RTC->CRH & RTC_IT) != (uint16_t)RESET) && (bitstatus != (uint16_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the RTC's interrupt pending bits. + * @param RTC_IT: specifies the interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg RTC_IT_OW: Overflow interrupt + * @arg RTC_IT_ALR: Alarm interrupt + * @arg RTC_IT_SEC: Second interrupt + * @retval None + */ +void RTC_ClearITPendingBit(uint16_t RTC_IT) +{ + /* Check the parameters */ + assert_param(IS_RTC_IT(RTC_IT)); + + /* Clear the corresponding RTC pending bit */ + RTC->CRL &= (uint16_t)~RTC_IT; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_sdio.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_sdio.c new file mode 100644 index 0000000..bc1719d --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_sdio.c @@ -0,0 +1,799 @@ +/** + ****************************************************************************** + * @file stm32f10x_sdio.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the SDIO firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_sdio.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup SDIO + * @brief SDIO driver modules + * @{ + */ + +/** @defgroup SDIO_Private_TypesDefinitions + * @{ + */ + +/* ------------ SDIO registers bit address in the alias region ----------- */ +#define SDIO_OFFSET (SDIO_BASE - PERIPH_BASE) + +/* --- CLKCR Register ---*/ + +/* Alias word address of CLKEN bit */ +#define CLKCR_OFFSET (SDIO_OFFSET + 0x04) +#define CLKEN_BitNumber 0x08 +#define CLKCR_CLKEN_BB (PERIPH_BB_BASE + (CLKCR_OFFSET * 32) + (CLKEN_BitNumber * 4)) + +/* --- CMD Register ---*/ + +/* Alias word address of SDIOSUSPEND bit */ +#define CMD_OFFSET (SDIO_OFFSET + 0x0C) +#define SDIOSUSPEND_BitNumber 0x0B +#define CMD_SDIOSUSPEND_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (SDIOSUSPEND_BitNumber * 4)) + +/* Alias word address of ENCMDCOMPL bit */ +#define ENCMDCOMPL_BitNumber 0x0C +#define CMD_ENCMDCOMPL_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (ENCMDCOMPL_BitNumber * 4)) + +/* Alias word address of NIEN bit */ +#define NIEN_BitNumber 0x0D +#define CMD_NIEN_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (NIEN_BitNumber * 4)) + +/* Alias word address of ATACMD bit */ +#define ATACMD_BitNumber 0x0E +#define CMD_ATACMD_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (ATACMD_BitNumber * 4)) + +/* --- DCTRL Register ---*/ + +/* Alias word address of DMAEN bit */ +#define DCTRL_OFFSET (SDIO_OFFSET + 0x2C) +#define DMAEN_BitNumber 0x03 +#define DCTRL_DMAEN_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (DMAEN_BitNumber * 4)) + +/* Alias word address of RWSTART bit */ +#define RWSTART_BitNumber 0x08 +#define DCTRL_RWSTART_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (RWSTART_BitNumber * 4)) + +/* Alias word address of RWSTOP bit */ +#define RWSTOP_BitNumber 0x09 +#define DCTRL_RWSTOP_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (RWSTOP_BitNumber * 4)) + +/* Alias word address of RWMOD bit */ +#define RWMOD_BitNumber 0x0A +#define DCTRL_RWMOD_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (RWMOD_BitNumber * 4)) + +/* Alias word address of SDIOEN bit */ +#define SDIOEN_BitNumber 0x0B +#define DCTRL_SDIOEN_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (SDIOEN_BitNumber * 4)) + +/* ---------------------- SDIO registers bit mask ------------------------ */ + +/* --- CLKCR Register ---*/ + +/* CLKCR register clear mask */ +#define CLKCR_CLEAR_MASK ((uint32_t)0xFFFF8100) + +/* --- PWRCTRL Register ---*/ + +/* SDIO PWRCTRL Mask */ +#define PWR_PWRCTRL_MASK ((uint32_t)0xFFFFFFFC) + +/* --- DCTRL Register ---*/ + +/* SDIO DCTRL Clear Mask */ +#define DCTRL_CLEAR_MASK ((uint32_t)0xFFFFFF08) + +/* --- CMD Register ---*/ + +/* CMD Register clear mask */ +#define CMD_CLEAR_MASK ((uint32_t)0xFFFFF800) + +/* SDIO RESP Registers Address */ +#define SDIO_RESP_ADDR ((uint32_t)(SDIO_BASE + 0x14)) + +/** + * @} + */ + +/** @defgroup SDIO_Private_Defines + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the SDIO peripheral registers to their default reset values. + * @param None + * @retval None + */ +void SDIO_DeInit(void) +{ + SDIO->POWER = 0x00000000; + SDIO->CLKCR = 0x00000000; + SDIO->ARG = 0x00000000; + SDIO->CMD = 0x00000000; + SDIO->DTIMER = 0x00000000; + SDIO->DLEN = 0x00000000; + SDIO->DCTRL = 0x00000000; + SDIO->ICR = 0x00C007FF; + SDIO->MASK = 0x00000000; +} + +/** + * @brief Initializes the SDIO peripheral according to the specified + * parameters in the SDIO_InitStruct. + * @param SDIO_InitStruct : pointer to a SDIO_InitTypeDef structure + * that contains the configuration information for the SDIO peripheral. + * @retval None + */ +void SDIO_Init(SDIO_InitTypeDef* SDIO_InitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_CLOCK_EDGE(SDIO_InitStruct->SDIO_ClockEdge)); + assert_param(IS_SDIO_CLOCK_BYPASS(SDIO_InitStruct->SDIO_ClockBypass)); + assert_param(IS_SDIO_CLOCK_POWER_SAVE(SDIO_InitStruct->SDIO_ClockPowerSave)); + assert_param(IS_SDIO_BUS_WIDE(SDIO_InitStruct->SDIO_BusWide)); + assert_param(IS_SDIO_HARDWARE_FLOW_CONTROL(SDIO_InitStruct->SDIO_HardwareFlowControl)); + +/*---------------------------- SDIO CLKCR Configuration ------------------------*/ + /* Get the SDIO CLKCR value */ + tmpreg = SDIO->CLKCR; + + /* Clear CLKDIV, PWRSAV, BYPASS, WIDBUS, NEGEDGE, HWFC_EN bits */ + tmpreg &= CLKCR_CLEAR_MASK; + + /* Set CLKDIV bits according to SDIO_ClockDiv value */ + /* Set PWRSAV bit according to SDIO_ClockPowerSave value */ + /* Set BYPASS bit according to SDIO_ClockBypass value */ + /* Set WIDBUS bits according to SDIO_BusWide value */ + /* Set NEGEDGE bits according to SDIO_ClockEdge value */ + /* Set HWFC_EN bits according to SDIO_HardwareFlowControl value */ + tmpreg |= (SDIO_InitStruct->SDIO_ClockDiv | SDIO_InitStruct->SDIO_ClockPowerSave | + SDIO_InitStruct->SDIO_ClockBypass | SDIO_InitStruct->SDIO_BusWide | + SDIO_InitStruct->SDIO_ClockEdge | SDIO_InitStruct->SDIO_HardwareFlowControl); + + /* Write to SDIO CLKCR */ + SDIO->CLKCR = tmpreg; +} + +/** + * @brief Fills each SDIO_InitStruct member with its default value. + * @param SDIO_InitStruct: pointer to an SDIO_InitTypeDef structure which + * will be initialized. + * @retval None + */ +void SDIO_StructInit(SDIO_InitTypeDef* SDIO_InitStruct) +{ + /* SDIO_InitStruct members default value */ + SDIO_InitStruct->SDIO_ClockDiv = 0x00; + SDIO_InitStruct->SDIO_ClockEdge = SDIO_ClockEdge_Rising; + SDIO_InitStruct->SDIO_ClockBypass = SDIO_ClockBypass_Disable; + SDIO_InitStruct->SDIO_ClockPowerSave = SDIO_ClockPowerSave_Disable; + SDIO_InitStruct->SDIO_BusWide = SDIO_BusWide_1b; + SDIO_InitStruct->SDIO_HardwareFlowControl = SDIO_HardwareFlowControl_Disable; +} + +/** + * @brief Enables or disables the SDIO Clock. + * @param NewState: new state of the SDIO Clock. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_ClockCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CLKCR_CLKEN_BB = (uint32_t)NewState; +} + +/** + * @brief Sets the power status of the controller. + * @param SDIO_PowerState: new state of the Power state. + * This parameter can be one of the following values: + * @arg SDIO_PowerState_OFF + * @arg SDIO_PowerState_ON + * @retval None + */ +void SDIO_SetPowerState(uint32_t SDIO_PowerState) +{ + /* Check the parameters */ + assert_param(IS_SDIO_POWER_STATE(SDIO_PowerState)); + + SDIO->POWER &= PWR_PWRCTRL_MASK; + SDIO->POWER |= SDIO_PowerState; +} + +/** + * @brief Gets the power status of the controller. + * @param None + * @retval Power status of the controller. The returned value can + * be one of the following: + * - 0x00: Power OFF + * - 0x02: Power UP + * - 0x03: Power ON + */ +uint32_t SDIO_GetPowerState(void) +{ + return (SDIO->POWER & (~PWR_PWRCTRL_MASK)); +} + +/** + * @brief Enables or disables the SDIO interrupts. + * @param SDIO_IT: specifies the SDIO interrupt sources to be enabled or disabled. + * This parameter can be one or a combination of the following values: + * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt + * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt + * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt + * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt + * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt + * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt + * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt + * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt + * @arg SDIO_IT_DATAEND: Data end (data counter, SDIDCOUNT, is zero) interrupt + * @arg SDIO_IT_STBITERR: Start bit not detected on all data signals in wide + * bus mode interrupt + * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt + * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt + * @arg SDIO_IT_TXACT: Data transmit in progress interrupt + * @arg SDIO_IT_RXACT: Data receive in progress interrupt + * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt + * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt + * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt + * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt + * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt + * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt + * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt + * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt + * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt + * @arg SDIO_IT_CEATAEND: CE-ATA command completion signal received for CMD61 interrupt + * @param NewState: new state of the specified SDIO interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_ITConfig(uint32_t SDIO_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SDIO_IT(SDIO_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the SDIO interrupts */ + SDIO->MASK |= SDIO_IT; + } + else + { + /* Disable the SDIO interrupts */ + SDIO->MASK &= ~SDIO_IT; + } +} + +/** + * @brief Enables or disables the SDIO DMA request. + * @param NewState: new state of the selected SDIO DMA request. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_DMACmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_DMAEN_BB = (uint32_t)NewState; +} + +/** + * @brief Initializes the SDIO Command according to the specified + * parameters in the SDIO_CmdInitStruct and send the command. + * @param SDIO_CmdInitStruct : pointer to a SDIO_CmdInitTypeDef + * structure that contains the configuration information for the SDIO command. + * @retval None + */ +void SDIO_SendCommand(SDIO_CmdInitTypeDef *SDIO_CmdInitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_CMD_INDEX(SDIO_CmdInitStruct->SDIO_CmdIndex)); + assert_param(IS_SDIO_RESPONSE(SDIO_CmdInitStruct->SDIO_Response)); + assert_param(IS_SDIO_WAIT(SDIO_CmdInitStruct->SDIO_Wait)); + assert_param(IS_SDIO_CPSM(SDIO_CmdInitStruct->SDIO_CPSM)); + +/*---------------------------- SDIO ARG Configuration ------------------------*/ + /* Set the SDIO Argument value */ + SDIO->ARG = SDIO_CmdInitStruct->SDIO_Argument; + +/*---------------------------- SDIO CMD Configuration ------------------------*/ + /* Get the SDIO CMD value */ + tmpreg = SDIO->CMD; + /* Clear CMDINDEX, WAITRESP, WAITINT, WAITPEND, CPSMEN bits */ + tmpreg &= CMD_CLEAR_MASK; + /* Set CMDINDEX bits according to SDIO_CmdIndex value */ + /* Set WAITRESP bits according to SDIO_Response value */ + /* Set WAITINT and WAITPEND bits according to SDIO_Wait value */ + /* Set CPSMEN bits according to SDIO_CPSM value */ + tmpreg |= (uint32_t)SDIO_CmdInitStruct->SDIO_CmdIndex | SDIO_CmdInitStruct->SDIO_Response + | SDIO_CmdInitStruct->SDIO_Wait | SDIO_CmdInitStruct->SDIO_CPSM; + + /* Write to SDIO CMD */ + SDIO->CMD = tmpreg; +} + +/** + * @brief Fills each SDIO_CmdInitStruct member with its default value. + * @param SDIO_CmdInitStruct: pointer to an SDIO_CmdInitTypeDef + * structure which will be initialized. + * @retval None + */ +void SDIO_CmdStructInit(SDIO_CmdInitTypeDef* SDIO_CmdInitStruct) +{ + /* SDIO_CmdInitStruct members default value */ + SDIO_CmdInitStruct->SDIO_Argument = 0x00; + SDIO_CmdInitStruct->SDIO_CmdIndex = 0x00; + SDIO_CmdInitStruct->SDIO_Response = SDIO_Response_No; + SDIO_CmdInitStruct->SDIO_Wait = SDIO_Wait_No; + SDIO_CmdInitStruct->SDIO_CPSM = SDIO_CPSM_Disable; +} + +/** + * @brief Returns command index of last command for which response received. + * @param None + * @retval Returns the command index of the last command response received. + */ +uint8_t SDIO_GetCommandResponse(void) +{ + return (uint8_t)(SDIO->RESPCMD); +} + +/** + * @brief Returns response received from the card for the last command. + * @param SDIO_RESP: Specifies the SDIO response register. + * This parameter can be one of the following values: + * @arg SDIO_RESP1: Response Register 1 + * @arg SDIO_RESP2: Response Register 2 + * @arg SDIO_RESP3: Response Register 3 + * @arg SDIO_RESP4: Response Register 4 + * @retval The Corresponding response register value. + */ +uint32_t SDIO_GetResponse(uint32_t SDIO_RESP) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_RESP(SDIO_RESP)); + + tmp = SDIO_RESP_ADDR + SDIO_RESP; + + return (*(__IO uint32_t *) tmp); +} + +/** + * @brief Initializes the SDIO data path according to the specified + * parameters in the SDIO_DataInitStruct. + * @param SDIO_DataInitStruct : pointer to a SDIO_DataInitTypeDef structure that + * contains the configuration information for the SDIO command. + * @retval None + */ +void SDIO_DataConfig(SDIO_DataInitTypeDef* SDIO_DataInitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_DATA_LENGTH(SDIO_DataInitStruct->SDIO_DataLength)); + assert_param(IS_SDIO_BLOCK_SIZE(SDIO_DataInitStruct->SDIO_DataBlockSize)); + assert_param(IS_SDIO_TRANSFER_DIR(SDIO_DataInitStruct->SDIO_TransferDir)); + assert_param(IS_SDIO_TRANSFER_MODE(SDIO_DataInitStruct->SDIO_TransferMode)); + assert_param(IS_SDIO_DPSM(SDIO_DataInitStruct->SDIO_DPSM)); + +/*---------------------------- SDIO DTIMER Configuration ---------------------*/ + /* Set the SDIO Data TimeOut value */ + SDIO->DTIMER = SDIO_DataInitStruct->SDIO_DataTimeOut; + +/*---------------------------- SDIO DLEN Configuration -----------------------*/ + /* Set the SDIO DataLength value */ + SDIO->DLEN = SDIO_DataInitStruct->SDIO_DataLength; + +/*---------------------------- SDIO DCTRL Configuration ----------------------*/ + /* Get the SDIO DCTRL value */ + tmpreg = SDIO->DCTRL; + /* Clear DEN, DTMODE, DTDIR and DBCKSIZE bits */ + tmpreg &= DCTRL_CLEAR_MASK; + /* Set DEN bit according to SDIO_DPSM value */ + /* Set DTMODE bit according to SDIO_TransferMode value */ + /* Set DTDIR bit according to SDIO_TransferDir value */ + /* Set DBCKSIZE bits according to SDIO_DataBlockSize value */ + tmpreg |= (uint32_t)SDIO_DataInitStruct->SDIO_DataBlockSize | SDIO_DataInitStruct->SDIO_TransferDir + | SDIO_DataInitStruct->SDIO_TransferMode | SDIO_DataInitStruct->SDIO_DPSM; + + /* Write to SDIO DCTRL */ + SDIO->DCTRL = tmpreg; +} + +/** + * @brief Fills each SDIO_DataInitStruct member with its default value. + * @param SDIO_DataInitStruct: pointer to an SDIO_DataInitTypeDef structure which + * will be initialized. + * @retval None + */ +void SDIO_DataStructInit(SDIO_DataInitTypeDef* SDIO_DataInitStruct) +{ + /* SDIO_DataInitStruct members default value */ + SDIO_DataInitStruct->SDIO_DataTimeOut = 0xFFFFFFFF; + SDIO_DataInitStruct->SDIO_DataLength = 0x00; + SDIO_DataInitStruct->SDIO_DataBlockSize = SDIO_DataBlockSize_1b; + SDIO_DataInitStruct->SDIO_TransferDir = SDIO_TransferDir_ToCard; + SDIO_DataInitStruct->SDIO_TransferMode = SDIO_TransferMode_Block; + SDIO_DataInitStruct->SDIO_DPSM = SDIO_DPSM_Disable; +} + +/** + * @brief Returns number of remaining data bytes to be transferred. + * @param None + * @retval Number of remaining data bytes to be transferred + */ +uint32_t SDIO_GetDataCounter(void) +{ + return SDIO->DCOUNT; +} + +/** + * @brief Read one data word from Rx FIFO. + * @param None + * @retval Data received + */ +uint32_t SDIO_ReadData(void) +{ + return SDIO->FIFO; +} + +/** + * @brief Write one data word to Tx FIFO. + * @param Data: 32-bit data word to write. + * @retval None + */ +void SDIO_WriteData(uint32_t Data) +{ + SDIO->FIFO = Data; +} + +/** + * @brief Returns the number of words left to be written to or read from FIFO. + * @param None + * @retval Remaining number of words. + */ +uint32_t SDIO_GetFIFOCount(void) +{ + return SDIO->FIFOCNT; +} + +/** + * @brief Starts the SD I/O Read Wait operation. + * @param NewState: new state of the Start SDIO Read Wait operation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_StartSDIOReadWait(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_RWSTART_BB = (uint32_t) NewState; +} + +/** + * @brief Stops the SD I/O Read Wait operation. + * @param NewState: new state of the Stop SDIO Read Wait operation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_StopSDIOReadWait(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_RWSTOP_BB = (uint32_t) NewState; +} + +/** + * @brief Sets one of the two options of inserting read wait interval. + * @param SDIO_ReadWaitMode: SD I/O Read Wait operation mode. + * This parameter can be: + * @arg SDIO_ReadWaitMode_CLK: Read Wait control by stopping SDIOCLK + * @arg SDIO_ReadWaitMode_DATA2: Read Wait control using SDIO_DATA2 + * @retval None + */ +void SDIO_SetSDIOReadWaitMode(uint32_t SDIO_ReadWaitMode) +{ + /* Check the parameters */ + assert_param(IS_SDIO_READWAIT_MODE(SDIO_ReadWaitMode)); + + *(__IO uint32_t *) DCTRL_RWMOD_BB = SDIO_ReadWaitMode; +} + +/** + * @brief Enables or disables the SD I/O Mode Operation. + * @param NewState: new state of SDIO specific operation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_SetSDIOOperation(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_SDIOEN_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the SD I/O Mode suspend command sending. + * @param NewState: new state of the SD I/O Mode suspend command. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_SendSDIOSuspendCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_SDIOSUSPEND_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the command completion signal. + * @param NewState: new state of command completion signal. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_CommandCompletionCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_ENCMDCOMPL_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the CE-ATA interrupt. + * @param NewState: new state of CE-ATA interrupt. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_CEATAITCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_NIEN_BB = (uint32_t)((~((uint32_t)NewState)) & ((uint32_t)0x1)); +} + +/** + * @brief Sends CE-ATA command (CMD61). + * @param NewState: new state of CE-ATA command. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_SendCEATACmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_ATACMD_BB = (uint32_t)NewState; +} + +/** + * @brief Checks whether the specified SDIO flag is set or not. + * @param SDIO_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) + * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) + * @arg SDIO_FLAG_CTIMEOUT: Command response timeout + * @arg SDIO_FLAG_DTIMEOUT: Data timeout + * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error + * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error + * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) + * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) + * @arg SDIO_FLAG_DATAEND: Data end (data counter, SDIDCOUNT, is zero) + * @arg SDIO_FLAG_STBITERR: Start bit not detected on all data signals in wide + * bus mode. + * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) + * @arg SDIO_FLAG_CMDACT: Command transfer in progress + * @arg SDIO_FLAG_TXACT: Data transmit in progress + * @arg SDIO_FLAG_RXACT: Data receive in progress + * @arg SDIO_FLAG_TXFIFOHE: Transmit FIFO Half Empty + * @arg SDIO_FLAG_RXFIFOHF: Receive FIFO Half Full + * @arg SDIO_FLAG_TXFIFOF: Transmit FIFO full + * @arg SDIO_FLAG_RXFIFOF: Receive FIFO full + * @arg SDIO_FLAG_TXFIFOE: Transmit FIFO empty + * @arg SDIO_FLAG_RXFIFOE: Receive FIFO empty + * @arg SDIO_FLAG_TXDAVL: Data available in transmit FIFO + * @arg SDIO_FLAG_RXDAVL: Data available in receive FIFO + * @arg SDIO_FLAG_SDIOIT: SD I/O interrupt received + * @arg SDIO_FLAG_CEATAEND: CE-ATA command completion signal received for CMD61 + * @retval The new state of SDIO_FLAG (SET or RESET). + */ +FlagStatus SDIO_GetFlagStatus(uint32_t SDIO_FLAG) +{ + FlagStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_SDIO_FLAG(SDIO_FLAG)); + + if ((SDIO->STA & SDIO_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the SDIO's pending flags. + * @param SDIO_FLAG: specifies the flag to clear. + * This parameter can be one or a combination of the following values: + * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) + * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) + * @arg SDIO_FLAG_CTIMEOUT: Command response timeout + * @arg SDIO_FLAG_DTIMEOUT: Data timeout + * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error + * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error + * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) + * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) + * @arg SDIO_FLAG_DATAEND: Data end (data counter, SDIDCOUNT, is zero) + * @arg SDIO_FLAG_STBITERR: Start bit not detected on all data signals in wide + * bus mode + * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) + * @arg SDIO_FLAG_SDIOIT: SD I/O interrupt received + * @arg SDIO_FLAG_CEATAEND: CE-ATA command completion signal received for CMD61 + * @retval None + */ +void SDIO_ClearFlag(uint32_t SDIO_FLAG) +{ + /* Check the parameters */ + assert_param(IS_SDIO_CLEAR_FLAG(SDIO_FLAG)); + + SDIO->ICR = SDIO_FLAG; +} + +/** + * @brief Checks whether the specified SDIO interrupt has occurred or not. + * @param SDIO_IT: specifies the SDIO interrupt source to check. + * This parameter can be one of the following values: + * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt + * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt + * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt + * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt + * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt + * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt + * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt + * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt + * @arg SDIO_IT_DATAEND: Data end (data counter, SDIDCOUNT, is zero) interrupt + * @arg SDIO_IT_STBITERR: Start bit not detected on all data signals in wide + * bus mode interrupt + * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt + * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt + * @arg SDIO_IT_TXACT: Data transmit in progress interrupt + * @arg SDIO_IT_RXACT: Data receive in progress interrupt + * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt + * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt + * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt + * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt + * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt + * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt + * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt + * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt + * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt + * @arg SDIO_IT_CEATAEND: CE-ATA command completion signal received for CMD61 interrupt + * @retval The new state of SDIO_IT (SET or RESET). + */ +ITStatus SDIO_GetITStatus(uint32_t SDIO_IT) +{ + ITStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_SDIO_GET_IT(SDIO_IT)); + if ((SDIO->STA & SDIO_IT) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the SDIO's interrupt pending bits. + * @param SDIO_IT: specifies the interrupt pending bit to clear. + * This parameter can be one or a combination of the following values: + * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt + * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt + * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt + * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt + * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt + * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt + * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt + * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt + * @arg SDIO_IT_DATAEND: Data end (data counter, SDIDCOUNT, is zero) interrupt + * @arg SDIO_IT_STBITERR: Start bit not detected on all data signals in wide + * bus mode interrupt + * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt + * @arg SDIO_IT_CEATAEND: CE-ATA command completion signal received for CMD61 + * @retval None + */ +void SDIO_ClearITPendingBit(uint32_t SDIO_IT) +{ + /* Check the parameters */ + assert_param(IS_SDIO_CLEAR_IT(SDIO_IT)); + + SDIO->ICR = SDIO_IT; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_spi.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_spi.c new file mode 100644 index 0000000..4ec65b2 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_spi.c @@ -0,0 +1,908 @@ +/** + ****************************************************************************** + * @file stm32f10x_spi.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the SPI firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_spi.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup SPI + * @brief SPI driver modules + * @{ + */ + +/** @defgroup SPI_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + + +/** @defgroup SPI_Private_Defines + * @{ + */ + +/* SPI SPE mask */ +#define CR1_SPE_Set ((uint16_t)0x0040) +#define CR1_SPE_Reset ((uint16_t)0xFFBF) + +/* I2S I2SE mask */ +#define I2SCFGR_I2SE_Set ((uint16_t)0x0400) +#define I2SCFGR_I2SE_Reset ((uint16_t)0xFBFF) + +/* SPI CRCNext mask */ +#define CR1_CRCNext_Set ((uint16_t)0x1000) + +/* SPI CRCEN mask */ +#define CR1_CRCEN_Set ((uint16_t)0x2000) +#define CR1_CRCEN_Reset ((uint16_t)0xDFFF) + +/* SPI SSOE mask */ +#define CR2_SSOE_Set ((uint16_t)0x0004) +#define CR2_SSOE_Reset ((uint16_t)0xFFFB) + +/* SPI registers Masks */ +#define CR1_CLEAR_Mask ((uint16_t)0x3040) +#define I2SCFGR_CLEAR_Mask ((uint16_t)0xF040) + +/* SPI or I2S mode selection masks */ +#define SPI_Mode_Select ((uint16_t)0xF7FF) +#define I2S_Mode_Select ((uint16_t)0x0800) + +/* I2S clock source selection masks */ +#define I2S2_CLOCK_SRC ((uint32_t)(0x00020000)) +#define I2S3_CLOCK_SRC ((uint32_t)(0x00040000)) +#define I2S_MUL_MASK ((uint32_t)(0x0000F000)) +#define I2S_DIV_MASK ((uint32_t)(0x000000F0)) + +/** + * @} + */ + +/** @defgroup SPI_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the SPIx peripheral registers to their default + * reset values (Affects also the I2Ss). + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @retval None + */ +void SPI_I2S_DeInit(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + if (SPIx == SPI1) + { + /* Enable SPI1 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, ENABLE); + /* Release SPI1 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, DISABLE); + } + else if (SPIx == SPI2) + { + /* Enable SPI2 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, ENABLE); + /* Release SPI2 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, DISABLE); + } + else + { + if (SPIx == SPI3) + { + /* Enable SPI3 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE); + /* Release SPI3 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, DISABLE); + } + } +} + +/** + * @brief Initializes the SPIx peripheral according to the specified + * parameters in the SPI_InitStruct. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_InitStruct: pointer to a SPI_InitTypeDef structure that + * contains the configuration information for the specified SPI peripheral. + * @retval None + */ +void SPI_Init(SPI_TypeDef* SPIx, SPI_InitTypeDef* SPI_InitStruct) +{ + uint16_t tmpreg = 0; + + /* check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Check the SPI parameters */ + assert_param(IS_SPI_DIRECTION_MODE(SPI_InitStruct->SPI_Direction)); + assert_param(IS_SPI_MODE(SPI_InitStruct->SPI_Mode)); + assert_param(IS_SPI_DATASIZE(SPI_InitStruct->SPI_DataSize)); + assert_param(IS_SPI_CPOL(SPI_InitStruct->SPI_CPOL)); + assert_param(IS_SPI_CPHA(SPI_InitStruct->SPI_CPHA)); + assert_param(IS_SPI_NSS(SPI_InitStruct->SPI_NSS)); + assert_param(IS_SPI_BAUDRATE_PRESCALER(SPI_InitStruct->SPI_BaudRatePrescaler)); + assert_param(IS_SPI_FIRST_BIT(SPI_InitStruct->SPI_FirstBit)); + assert_param(IS_SPI_CRC_POLYNOMIAL(SPI_InitStruct->SPI_CRCPolynomial)); + +/*---------------------------- SPIx CR1 Configuration ------------------------*/ + /* Get the SPIx CR1 value */ + tmpreg = SPIx->CR1; + /* Clear BIDIMode, BIDIOE, RxONLY, SSM, SSI, LSBFirst, BR, MSTR, CPOL and CPHA bits */ + tmpreg &= CR1_CLEAR_Mask; + /* Configure SPIx: direction, NSS management, first transmitted bit, BaudRate prescaler + master/salve mode, CPOL and CPHA */ + /* Set BIDImode, BIDIOE and RxONLY bits according to SPI_Direction value */ + /* Set SSM, SSI and MSTR bits according to SPI_Mode and SPI_NSS values */ + /* Set LSBFirst bit according to SPI_FirstBit value */ + /* Set BR bits according to SPI_BaudRatePrescaler value */ + /* Set CPOL bit according to SPI_CPOL value */ + /* Set CPHA bit according to SPI_CPHA value */ + tmpreg |= (uint16_t)((uint32_t)SPI_InitStruct->SPI_Direction | SPI_InitStruct->SPI_Mode | + SPI_InitStruct->SPI_DataSize | SPI_InitStruct->SPI_CPOL | + SPI_InitStruct->SPI_CPHA | SPI_InitStruct->SPI_NSS | + SPI_InitStruct->SPI_BaudRatePrescaler | SPI_InitStruct->SPI_FirstBit); + /* Write to SPIx CR1 */ + SPIx->CR1 = tmpreg; + + /* Activate the SPI mode (Reset I2SMOD bit in I2SCFGR register) */ + SPIx->I2SCFGR &= SPI_Mode_Select; + +/*---------------------------- SPIx CRCPOLY Configuration --------------------*/ + /* Write to SPIx CRCPOLY */ + SPIx->CRCPR = SPI_InitStruct->SPI_CRCPolynomial; +} + +/** + * @brief Initializes the SPIx peripheral according to the specified + * parameters in the I2S_InitStruct. + * @param SPIx: where x can be 2 or 3 to select the SPI peripheral + * (configured in I2S mode). + * @param I2S_InitStruct: pointer to an I2S_InitTypeDef structure that + * contains the configuration information for the specified SPI peripheral + * configured in I2S mode. + * @note + * The function calculates the optimal prescaler needed to obtain the most + * accurate audio frequency (depending on the I2S clock source, the PLL values + * and the product configuration). But in case the prescaler value is greater + * than 511, the default value (0x02) will be configured instead. * + * @retval None + */ +void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct) +{ + uint16_t tmpreg = 0, i2sdiv = 2, i2sodd = 0, packetlength = 1; + uint32_t tmp = 0; + RCC_ClocksTypeDef RCC_Clocks; + uint32_t sourceclock = 0; + + /* Check the I2S parameters */ + assert_param(IS_SPI_23_PERIPH(SPIx)); + assert_param(IS_I2S_MODE(I2S_InitStruct->I2S_Mode)); + assert_param(IS_I2S_STANDARD(I2S_InitStruct->I2S_Standard)); + assert_param(IS_I2S_DATA_FORMAT(I2S_InitStruct->I2S_DataFormat)); + assert_param(IS_I2S_MCLK_OUTPUT(I2S_InitStruct->I2S_MCLKOutput)); + assert_param(IS_I2S_AUDIO_FREQ(I2S_InitStruct->I2S_AudioFreq)); + assert_param(IS_I2S_CPOL(I2S_InitStruct->I2S_CPOL)); + +/*----------------------- SPIx I2SCFGR & I2SPR Configuration -----------------*/ + /* Clear I2SMOD, I2SE, I2SCFG, PCMSYNC, I2SSTD, CKPOL, DATLEN and CHLEN bits */ + SPIx->I2SCFGR &= I2SCFGR_CLEAR_Mask; + SPIx->I2SPR = 0x0002; + + /* Get the I2SCFGR register value */ + tmpreg = SPIx->I2SCFGR; + + /* If the default value has to be written, reinitialize i2sdiv and i2sodd*/ + if(I2S_InitStruct->I2S_AudioFreq == I2S_AudioFreq_Default) + { + i2sodd = (uint16_t)0; + i2sdiv = (uint16_t)2; + } + /* If the requested audio frequency is not the default, compute the prescaler */ + else + { + /* Check the frame length (For the Prescaler computing) */ + if(I2S_InitStruct->I2S_DataFormat == I2S_DataFormat_16b) + { + /* Packet length is 16 bits */ + packetlength = 1; + } + else + { + /* Packet length is 32 bits */ + packetlength = 2; + } + + /* Get the I2S clock source mask depending on the peripheral number */ + if(((uint32_t)SPIx) == SPI2_BASE) + { + /* The mask is relative to I2S2 */ + tmp = I2S2_CLOCK_SRC; + } + else + { + /* The mask is relative to I2S3 */ + tmp = I2S3_CLOCK_SRC; + } + + /* Check the I2S clock source configuration depending on the Device: + Only Connectivity line devices have the PLL3 VCO clock */ +#ifdef STM32F10X_CL + if((RCC->CFGR2 & tmp) != 0) + { + /* Get the configuration bits of RCC PLL3 multiplier */ + tmp = (uint32_t)((RCC->CFGR2 & I2S_MUL_MASK) >> 12); + + /* Get the value of the PLL3 multiplier */ + if((tmp > 5) && (tmp < 15)) + { + /* Multiplier is between 8 and 14 (value 15 is forbidden) */ + tmp += 2; + } + else + { + if (tmp == 15) + { + /* Multiplier is 20 */ + tmp = 20; + } + } + /* Get the PREDIV2 value */ + sourceclock = (uint32_t)(((RCC->CFGR2 & I2S_DIV_MASK) >> 4) + 1); + + /* Calculate the Source Clock frequency based on PLL3 and PREDIV2 values */ + sourceclock = (uint32_t) ((HSE_Value / sourceclock) * tmp * 2); + } + else + { + /* I2S Clock source is System clock: Get System Clock frequency */ + RCC_GetClocksFreq(&RCC_Clocks); + + /* Get the source clock value: based on System Clock value */ + sourceclock = RCC_Clocks.SYSCLK_Frequency; + } +#else /* STM32F10X_HD */ + /* I2S Clock source is System clock: Get System Clock frequency */ + RCC_GetClocksFreq(&RCC_Clocks); + + /* Get the source clock value: based on System Clock value */ + sourceclock = RCC_Clocks.SYSCLK_Frequency; +#endif /* STM32F10X_CL */ + + /* Compute the Real divider depending on the MCLK output state with a floating point */ + if(I2S_InitStruct->I2S_MCLKOutput == I2S_MCLKOutput_Enable) + { + /* MCLK output is enabled */ + tmp = (uint16_t)(((((sourceclock / 256) * 10) / I2S_InitStruct->I2S_AudioFreq)) + 5); + } + else + { + /* MCLK output is disabled */ + tmp = (uint16_t)(((((sourceclock / (32 * packetlength)) *10 ) / I2S_InitStruct->I2S_AudioFreq)) + 5); + } + + /* Remove the floating point */ + tmp = tmp / 10; + + /* Check the parity of the divider */ + i2sodd = (uint16_t)(tmp & (uint16_t)0x0001); + + /* Compute the i2sdiv prescaler */ + i2sdiv = (uint16_t)((tmp - i2sodd) / 2); + + /* Get the Mask for the Odd bit (SPI_I2SPR[8]) register */ + i2sodd = (uint16_t) (i2sodd << 8); + } + + /* Test if the divider is 1 or 0 or greater than 0xFF */ + if ((i2sdiv < 2) || (i2sdiv > 0xFF)) + { + /* Set the default values */ + i2sdiv = 2; + i2sodd = 0; + } + + /* Write to SPIx I2SPR register the computed value */ + SPIx->I2SPR = (uint16_t)(i2sdiv | (uint16_t)(i2sodd | (uint16_t)I2S_InitStruct->I2S_MCLKOutput)); + + /* Configure the I2S with the SPI_InitStruct values */ + tmpreg |= (uint16_t)(I2S_Mode_Select | (uint16_t)(I2S_InitStruct->I2S_Mode | \ + (uint16_t)(I2S_InitStruct->I2S_Standard | (uint16_t)(I2S_InitStruct->I2S_DataFormat | \ + (uint16_t)I2S_InitStruct->I2S_CPOL)))); + + /* Write to SPIx I2SCFGR */ + SPIx->I2SCFGR = tmpreg; +} + +/** + * @brief Fills each SPI_InitStruct member with its default value. + * @param SPI_InitStruct : pointer to a SPI_InitTypeDef structure which will be initialized. + * @retval None + */ +void SPI_StructInit(SPI_InitTypeDef* SPI_InitStruct) +{ +/*--------------- Reset SPI init structure parameters values -----------------*/ + /* Initialize the SPI_Direction member */ + SPI_InitStruct->SPI_Direction = SPI_Direction_2Lines_FullDuplex; + /* initialize the SPI_Mode member */ + SPI_InitStruct->SPI_Mode = SPI_Mode_Slave; + /* initialize the SPI_DataSize member */ + SPI_InitStruct->SPI_DataSize = SPI_DataSize_8b; + /* Initialize the SPI_CPOL member */ + SPI_InitStruct->SPI_CPOL = SPI_CPOL_Low; + /* Initialize the SPI_CPHA member */ + SPI_InitStruct->SPI_CPHA = SPI_CPHA_1Edge; + /* Initialize the SPI_NSS member */ + SPI_InitStruct->SPI_NSS = SPI_NSS_Hard; + /* Initialize the SPI_BaudRatePrescaler member */ + SPI_InitStruct->SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2; + /* Initialize the SPI_FirstBit member */ + SPI_InitStruct->SPI_FirstBit = SPI_FirstBit_MSB; + /* Initialize the SPI_CRCPolynomial member */ + SPI_InitStruct->SPI_CRCPolynomial = 7; +} + +/** + * @brief Fills each I2S_InitStruct member with its default value. + * @param I2S_InitStruct : pointer to a I2S_InitTypeDef structure which will be initialized. + * @retval None + */ +void I2S_StructInit(I2S_InitTypeDef* I2S_InitStruct) +{ +/*--------------- Reset I2S init structure parameters values -----------------*/ + /* Initialize the I2S_Mode member */ + I2S_InitStruct->I2S_Mode = I2S_Mode_SlaveTx; + + /* Initialize the I2S_Standard member */ + I2S_InitStruct->I2S_Standard = I2S_Standard_Phillips; + + /* Initialize the I2S_DataFormat member */ + I2S_InitStruct->I2S_DataFormat = I2S_DataFormat_16b; + + /* Initialize the I2S_MCLKOutput member */ + I2S_InitStruct->I2S_MCLKOutput = I2S_MCLKOutput_Disable; + + /* Initialize the I2S_AudioFreq member */ + I2S_InitStruct->I2S_AudioFreq = I2S_AudioFreq_Default; + + /* Initialize the I2S_CPOL member */ + I2S_InitStruct->I2S_CPOL = I2S_CPOL_Low; +} + +/** + * @brief Enables or disables the specified SPI peripheral. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI peripheral */ + SPIx->CR1 |= CR1_SPE_Set; + } + else + { + /* Disable the selected SPI peripheral */ + SPIx->CR1 &= CR1_SPE_Reset; + } +} + +/** + * @brief Enables or disables the specified SPI peripheral (in I2S mode). + * @param SPIx: where x can be 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2S_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_23_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI peripheral (in I2S mode) */ + SPIx->I2SCFGR |= I2SCFGR_I2SE_Set; + } + else + { + /* Disable the selected SPI peripheral (in I2S mode) */ + SPIx->I2SCFGR &= I2SCFGR_I2SE_Reset; + } +} + +/** + * @brief Enables or disables the specified SPI/I2S interrupts. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_IT: specifies the SPI/I2S interrupt source to be enabled or disabled. + * This parameter can be one of the following values: + * @arg SPI_I2S_IT_TXE: Tx buffer empty interrupt mask + * @arg SPI_I2S_IT_RXNE: Rx buffer not empty interrupt mask + * @arg SPI_I2S_IT_ERR: Error interrupt mask + * @param NewState: new state of the specified SPI/I2S interrupt. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_I2S_ITConfig(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT, FunctionalState NewState) +{ + uint16_t itpos = 0, itmask = 0 ; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_SPI_I2S_CONFIG_IT(SPI_I2S_IT)); + + /* Get the SPI/I2S IT index */ + itpos = SPI_I2S_IT >> 4; + + /* Set the IT mask */ + itmask = (uint16_t)1 << (uint16_t)itpos; + + if (NewState != DISABLE) + { + /* Enable the selected SPI/I2S interrupt */ + SPIx->CR2 |= itmask; + } + else + { + /* Disable the selected SPI/I2S interrupt */ + SPIx->CR2 &= (uint16_t)~itmask; + } +} + +/** + * @brief Enables or disables the SPIx/I2Sx DMA interface. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_DMAReq: specifies the SPI/I2S DMA transfer request to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg SPI_I2S_DMAReq_Tx: Tx buffer DMA transfer request + * @arg SPI_I2S_DMAReq_Rx: Rx buffer DMA transfer request + * @param NewState: new state of the selected SPI/I2S DMA transfer request. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_I2S_DMACmd(SPI_TypeDef* SPIx, uint16_t SPI_I2S_DMAReq, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_SPI_I2S_DMAREQ(SPI_I2S_DMAReq)); + if (NewState != DISABLE) + { + /* Enable the selected SPI/I2S DMA requests */ + SPIx->CR2 |= SPI_I2S_DMAReq; + } + else + { + /* Disable the selected SPI/I2S DMA requests */ + SPIx->CR2 &= (uint16_t)~SPI_I2S_DMAReq; + } +} + +/** + * @brief Transmits a Data through the SPIx/I2Sx peripheral. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param Data : Data to be transmitted. + * @retval None + */ +void SPI_I2S_SendData(SPI_TypeDef* SPIx, uint16_t Data) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Write in the DR register the data to be sent */ + SPIx->DR = Data; +} + +/** + * @brief Returns the most recent received data by the SPIx/I2Sx peripheral. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @retval The value of the received data. + */ +uint16_t SPI_I2S_ReceiveData(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Return the data in the DR register */ + return SPIx->DR; +} + +/** + * @brief Configures internally by software the NSS pin for the selected SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_NSSInternalSoft: specifies the SPI NSS internal state. + * This parameter can be one of the following values: + * @arg SPI_NSSInternalSoft_Set: Set NSS pin internally + * @arg SPI_NSSInternalSoft_Reset: Reset NSS pin internally + * @retval None + */ +void SPI_NSSInternalSoftwareConfig(SPI_TypeDef* SPIx, uint16_t SPI_NSSInternalSoft) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_NSS_INTERNAL(SPI_NSSInternalSoft)); + if (SPI_NSSInternalSoft != SPI_NSSInternalSoft_Reset) + { + /* Set NSS pin internally by software */ + SPIx->CR1 |= SPI_NSSInternalSoft_Set; + } + else + { + /* Reset NSS pin internally by software */ + SPIx->CR1 &= SPI_NSSInternalSoft_Reset; + } +} + +/** + * @brief Enables or disables the SS output for the selected SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx SS output. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_SSOutputCmd(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI SS output */ + SPIx->CR2 |= CR2_SSOE_Set; + } + else + { + /* Disable the selected SPI SS output */ + SPIx->CR2 &= CR2_SSOE_Reset; + } +} + +/** + * @brief Configures the data size for the selected SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_DataSize: specifies the SPI data size. + * This parameter can be one of the following values: + * @arg SPI_DataSize_16b: Set data frame format to 16bit + * @arg SPI_DataSize_8b: Set data frame format to 8bit + * @retval None + */ +void SPI_DataSizeConfig(SPI_TypeDef* SPIx, uint16_t SPI_DataSize) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_DATASIZE(SPI_DataSize)); + /* Clear DFF bit */ + SPIx->CR1 &= (uint16_t)~SPI_DataSize_16b; + /* Set new DFF bit value */ + SPIx->CR1 |= SPI_DataSize; +} + +/** + * @brief Transmit the SPIx CRC value. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @retval None + */ +void SPI_TransmitCRC(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Enable the selected SPI CRC transmission */ + SPIx->CR1 |= CR1_CRCNext_Set; +} + +/** + * @brief Enables or disables the CRC value calculation of the transferred bytes. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx CRC value calculation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_CalculateCRC(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI CRC calculation */ + SPIx->CR1 |= CR1_CRCEN_Set; + } + else + { + /* Disable the selected SPI CRC calculation */ + SPIx->CR1 &= CR1_CRCEN_Reset; + } +} + +/** + * @brief Returns the transmit or the receive CRC register value for the specified SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_CRC: specifies the CRC register to be read. + * This parameter can be one of the following values: + * @arg SPI_CRC_Tx: Selects Tx CRC register + * @arg SPI_CRC_Rx: Selects Rx CRC register + * @retval The selected CRC register value.. + */ +uint16_t SPI_GetCRC(SPI_TypeDef* SPIx, uint8_t SPI_CRC) +{ + uint16_t crcreg = 0; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_CRC(SPI_CRC)); + if (SPI_CRC != SPI_CRC_Rx) + { + /* Get the Tx CRC register */ + crcreg = SPIx->TXCRCR; + } + else + { + /* Get the Rx CRC register */ + crcreg = SPIx->RXCRCR; + } + /* Return the selected CRC register */ + return crcreg; +} + +/** + * @brief Returns the CRC Polynomial register value for the specified SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @retval The CRC Polynomial register value. + */ +uint16_t SPI_GetCRCPolynomial(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Return the CRC polynomial register */ + return SPIx->CRCPR; +} + +/** + * @brief Selects the data transfer direction in bi-directional mode for the specified SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_Direction: specifies the data transfer direction in bi-directional mode. + * This parameter can be one of the following values: + * @arg SPI_Direction_Tx: Selects Tx transmission direction + * @arg SPI_Direction_Rx: Selects Rx receive direction + * @retval None + */ +void SPI_BiDirectionalLineConfig(SPI_TypeDef* SPIx, uint16_t SPI_Direction) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_DIRECTION(SPI_Direction)); + if (SPI_Direction == SPI_Direction_Tx) + { + /* Set the Tx only mode */ + SPIx->CR1 |= SPI_Direction_Tx; + } + else + { + /* Set the Rx only mode */ + SPIx->CR1 &= SPI_Direction_Rx; + } +} + +/** + * @brief Checks whether the specified SPI/I2S flag is set or not. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_FLAG: specifies the SPI/I2S flag to check. + * This parameter can be one of the following values: + * @arg SPI_I2S_FLAG_TXE: Transmit buffer empty flag. + * @arg SPI_I2S_FLAG_RXNE: Receive buffer not empty flag. + * @arg SPI_I2S_FLAG_BSY: Busy flag. + * @arg SPI_I2S_FLAG_OVR: Overrun flag. + * @arg SPI_FLAG_MODF: Mode Fault flag. + * @arg SPI_FLAG_CRCERR: CRC Error flag. + * @arg I2S_FLAG_UDR: Underrun Error flag. + * @arg I2S_FLAG_CHSIDE: Channel Side flag. + * @retval The new state of SPI_I2S_FLAG (SET or RESET). + */ +FlagStatus SPI_I2S_GetFlagStatus(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_GET_FLAG(SPI_I2S_FLAG)); + /* Check the status of the specified SPI/I2S flag */ + if ((SPIx->SR & SPI_I2S_FLAG) != (uint16_t)RESET) + { + /* SPI_I2S_FLAG is set */ + bitstatus = SET; + } + else + { + /* SPI_I2S_FLAG is reset */ + bitstatus = RESET; + } + /* Return the SPI_I2S_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the SPIx CRC Error (CRCERR) flag. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * @param SPI_I2S_FLAG: specifies the SPI flag to clear. + * This function clears only CRCERR flag. + * @note + * - OVR (OverRun error) flag is cleared by software sequence: a read + * operation to SPI_DR register (SPI_I2S_ReceiveData()) followed by a read + * operation to SPI_SR register (SPI_I2S_GetFlagStatus()). + * - UDR (UnderRun error) flag is cleared by a read operation to + * SPI_SR register (SPI_I2S_GetFlagStatus()). + * - MODF (Mode Fault) flag is cleared by software sequence: a read/write + * operation to SPI_SR register (SPI_I2S_GetFlagStatus()) followed by a + * write operation to SPI_CR1 register (SPI_Cmd() to enable the SPI). + * @retval None + */ +void SPI_I2S_ClearFlag(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_CLEAR_FLAG(SPI_I2S_FLAG)); + + /* Clear the selected SPI CRC Error (CRCERR) flag */ + SPIx->SR = (uint16_t)~SPI_I2S_FLAG; +} + +/** + * @brief Checks whether the specified SPI/I2S interrupt has occurred or not. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_IT: specifies the SPI/I2S interrupt source to check. + * This parameter can be one of the following values: + * @arg SPI_I2S_IT_TXE: Transmit buffer empty interrupt. + * @arg SPI_I2S_IT_RXNE: Receive buffer not empty interrupt. + * @arg SPI_I2S_IT_OVR: Overrun interrupt. + * @arg SPI_IT_MODF: Mode Fault interrupt. + * @arg SPI_IT_CRCERR: CRC Error interrupt. + * @arg I2S_IT_UDR: Underrun Error interrupt. + * @retval The new state of SPI_I2S_IT (SET or RESET). + */ +ITStatus SPI_I2S_GetITStatus(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT) +{ + ITStatus bitstatus = RESET; + uint16_t itpos = 0, itmask = 0, enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_GET_IT(SPI_I2S_IT)); + + /* Get the SPI/I2S IT index */ + itpos = 0x01 << (SPI_I2S_IT & 0x0F); + + /* Get the SPI/I2S IT mask */ + itmask = SPI_I2S_IT >> 4; + + /* Set the IT mask */ + itmask = 0x01 << itmask; + + /* Get the SPI_I2S_IT enable bit status */ + enablestatus = (SPIx->CR2 & itmask) ; + + /* Check the status of the specified SPI/I2S interrupt */ + if (((SPIx->SR & itpos) != (uint16_t)RESET) && enablestatus) + { + /* SPI_I2S_IT is set */ + bitstatus = SET; + } + else + { + /* SPI_I2S_IT is reset */ + bitstatus = RESET; + } + /* Return the SPI_I2S_IT status */ + return bitstatus; +} + +/** + * @brief Clears the SPIx CRC Error (CRCERR) interrupt pending bit. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * @param SPI_I2S_IT: specifies the SPI interrupt pending bit to clear. + * This function clears only CRCERR interrupt pending bit. + * @note + * - OVR (OverRun Error) interrupt pending bit is cleared by software + * sequence: a read operation to SPI_DR register (SPI_I2S_ReceiveData()) + * followed by a read operation to SPI_SR register (SPI_I2S_GetITStatus()). + * - UDR (UnderRun Error) interrupt pending bit is cleared by a read + * operation to SPI_SR register (SPI_I2S_GetITStatus()). + * - MODF (Mode Fault) interrupt pending bit is cleared by software sequence: + * a read/write operation to SPI_SR register (SPI_I2S_GetITStatus()) + * followed by a write operation to SPI_CR1 register (SPI_Cmd() to enable + * the SPI). + * @retval None + */ +void SPI_I2S_ClearITPendingBit(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT) +{ + uint16_t itpos = 0; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_CLEAR_IT(SPI_I2S_IT)); + + /* Get the SPI IT index */ + itpos = 0x01 << (SPI_I2S_IT & 0x0F); + + /* Clear the selected SPI CRC Error (CRCERR) interrupt pending bit */ + SPIx->SR = (uint16_t)~itpos; +} +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_tim.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_tim.c new file mode 100644 index 0000000..bfb4dd1 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_tim.c @@ -0,0 +1,2890 @@ +/** + ****************************************************************************** + * @file stm32f10x_tim.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the TIM firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_tim.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup TIM + * @brief TIM driver modules + * @{ + */ + +/** @defgroup TIM_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Defines + * @{ + */ + +/* ---------------------- TIM registers bit mask ------------------------ */ +#define SMCR_ETR_Mask ((uint16_t)0x00FF) +#define CCMR_Offset ((uint16_t)0x0018) +#define CCER_CCE_Set ((uint16_t)0x0001) +#define CCER_CCNE_Set ((uint16_t)0x0004) + +/** + * @} + */ + +/** @defgroup TIM_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_FunctionPrototypes + * @{ + */ + +static void TI1_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +static void TI2_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +static void TI3_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +static void TI4_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +/** + * @} + */ + +/** @defgroup TIM_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the TIMx peripheral registers to their default reset values. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @retval None + */ +void TIM_DeInit(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + + if (TIMx == TIM1) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM1, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM1, DISABLE); + } + else if (TIMx == TIM2) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM2, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM2, DISABLE); + } + else if (TIMx == TIM3) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM3, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM3, DISABLE); + } + else if (TIMx == TIM4) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM4, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM4, DISABLE); + } + else if (TIMx == TIM5) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM5, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM5, DISABLE); + } + else if (TIMx == TIM6) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, DISABLE); + } + else if (TIMx == TIM7) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM7, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM7, DISABLE); + } + else if (TIMx == TIM8) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM8, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM8, DISABLE); + } + else if (TIMx == TIM9) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM9, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM9, DISABLE); + } + else if (TIMx == TIM10) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM10, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM10, DISABLE); + } + else if (TIMx == TIM11) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM11, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM11, DISABLE); + } + else if (TIMx == TIM12) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM12, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM12, DISABLE); + } + else if (TIMx == TIM13) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM13, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM13, DISABLE); + } + else if (TIMx == TIM14) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM14, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM14, DISABLE); + } + else if (TIMx == TIM15) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM15, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM15, DISABLE); + } + else if (TIMx == TIM16) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM16, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM16, DISABLE); + } + else + { + if (TIMx == TIM17) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM17, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM17, DISABLE); + } + } +} + +/** + * @brief Initializes the TIMx Time Base Unit peripheral according to + * the specified parameters in the TIM_TimeBaseInitStruct. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_TimeBaseInitStruct: pointer to a TIM_TimeBaseInitTypeDef + * structure that contains the configuration information for the + * specified TIM peripheral. + * @retval None + */ +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) +{ + uint16_t tmpcr1 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_COUNTER_MODE(TIM_TimeBaseInitStruct->TIM_CounterMode)); + assert_param(IS_TIM_CKD_DIV(TIM_TimeBaseInitStruct->TIM_ClockDivision)); + + tmpcr1 = TIMx->CR1; + + if((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM2) || (TIMx == TIM3)|| + (TIMx == TIM4) || (TIMx == TIM5)) + { + /* Select the Counter Mode */ + tmpcr1 &= (uint16_t)(~((uint16_t)(TIM_CR1_DIR | TIM_CR1_CMS))); + tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_CounterMode; + } + + if((TIMx != TIM6) && (TIMx != TIM7)) + { + /* Set the clock division */ + tmpcr1 &= (uint16_t)(~((uint16_t)TIM_CR1_CKD)); + tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_ClockDivision; + } + + TIMx->CR1 = tmpcr1; + + /* Set the Autoreload value */ + TIMx->ARR = TIM_TimeBaseInitStruct->TIM_Period ; + + /* Set the Prescaler value */ + TIMx->PSC = TIM_TimeBaseInitStruct->TIM_Prescaler; + + if ((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM15)|| (TIMx == TIM16) || (TIMx == TIM17)) + { + /* Set the Repetition Counter value */ + TIMx->RCR = TIM_TimeBaseInitStruct->TIM_RepetitionCounter; + } + + /* Generate an update event to reload the Prescaler and the Repetition counter + values immediately */ + TIMx->EGR = TIM_PSCReloadMode_Immediate; +} + +/** + * @brief Initializes the TIMx Channel1 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 1: Reset the CC1E Bit */ + TIMx->CCER &= (uint16_t)(~(uint16_t)TIM_CCER_CC1E); + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR1 register value */ + tmpccmrx = TIMx->CCMR1; + + /* Reset the Output Compare Mode Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_OC1M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_CC1S)); + + /* Select the Output Compare Mode */ + tmpccmrx |= TIM_OCInitStruct->TIM_OCMode; + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC1P)); + /* Set the Output Compare Polarity */ + tmpccer |= TIM_OCInitStruct->TIM_OCPolarity; + + /* Set the Output State */ + tmpccer |= TIM_OCInitStruct->TIM_OutputState; + + if((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM15)|| + (TIMx == TIM16)|| (TIMx == TIM17)) + { + assert_param(IS_TIM_OUTPUTN_STATE(TIM_OCInitStruct->TIM_OutputNState)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCInitStruct->TIM_OCNPolarity)); + assert_param(IS_TIM_OCNIDLE_STATE(TIM_OCInitStruct->TIM_OCNIdleState)); + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + + /* Reset the Output N Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC1NP)); + /* Set the Output N Polarity */ + tmpccer |= TIM_OCInitStruct->TIM_OCNPolarity; + + /* Reset the Output N State */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC1NE)); + /* Set the Output N State */ + tmpccer |= TIM_OCInitStruct->TIM_OutputNState; + + /* Reset the Output Compare and Output Compare N IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS1)); + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS1N)); + + /* Set the Output Idle state */ + tmpcr2 |= TIM_OCInitStruct->TIM_OCIdleState; + /* Set the Output N Idle state */ + tmpcr2 |= TIM_OCInitStruct->TIM_OCNIdleState; + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR1 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIMx Channel2 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select + * the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 2: Reset the CC2E Bit */ + TIMx->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC2E)); + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR1 register value */ + tmpccmrx = TIMx->CCMR1; + + /* Reset the Output Compare mode and Capture/Compare selection Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_OC2M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_CC2S)); + + /* Select the Output Compare Mode */ + tmpccmrx |= (uint16_t)(TIM_OCInitStruct->TIM_OCMode << 8); + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC2P)); + /* Set the Output Compare Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCPolarity << 4); + + /* Set the Output State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputState << 4); + + if((TIMx == TIM1) || (TIMx == TIM8)) + { + assert_param(IS_TIM_OUTPUTN_STATE(TIM_OCInitStruct->TIM_OutputNState)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCInitStruct->TIM_OCNPolarity)); + assert_param(IS_TIM_OCNIDLE_STATE(TIM_OCInitStruct->TIM_OCNIdleState)); + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + + /* Reset the Output N Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC2NP)); + /* Set the Output N Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCNPolarity << 4); + + /* Reset the Output N State */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC2NE)); + /* Set the Output N State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputNState << 4); + + /* Reset the Output Compare and Output Compare N IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS2)); + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS2N)); + + /* Set the Output Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCIdleState << 2); + /* Set the Output N Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCNIdleState << 2); + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR2 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIMx Channel3 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 2: Reset the CC2E Bit */ + TIMx->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC3E)); + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR2 register value */ + tmpccmrx = TIMx->CCMR2; + + /* Reset the Output Compare mode and Capture/Compare selection Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_OC3M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_CC3S)); + /* Select the Output Compare Mode */ + tmpccmrx |= TIM_OCInitStruct->TIM_OCMode; + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC3P)); + /* Set the Output Compare Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCPolarity << 8); + + /* Set the Output State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputState << 8); + + if((TIMx == TIM1) || (TIMx == TIM8)) + { + assert_param(IS_TIM_OUTPUTN_STATE(TIM_OCInitStruct->TIM_OutputNState)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCInitStruct->TIM_OCNPolarity)); + assert_param(IS_TIM_OCNIDLE_STATE(TIM_OCInitStruct->TIM_OCNIdleState)); + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + + /* Reset the Output N Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC3NP)); + /* Set the Output N Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCNPolarity << 8); + /* Reset the Output N State */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC3NE)); + + /* Set the Output N State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputNState << 8); + /* Reset the Output Compare and Output Compare N IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS3)); + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS3N)); + /* Set the Output Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCIdleState << 4); + /* Set the Output N Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCNIdleState << 4); + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR3 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIMx Channel4 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 2: Reset the CC4E Bit */ + TIMx->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC4E)); + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR2 register value */ + tmpccmrx = TIMx->CCMR2; + + /* Reset the Output Compare mode and Capture/Compare selection Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_OC4M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_CC4S)); + + /* Select the Output Compare Mode */ + tmpccmrx |= (uint16_t)(TIM_OCInitStruct->TIM_OCMode << 8); + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC4P)); + /* Set the Output Compare Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCPolarity << 12); + + /* Set the Output State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputState << 12); + + if((TIMx == TIM1) || (TIMx == TIM8)) + { + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + /* Reset the Output Compare IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS4)); + /* Set the Output Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCIdleState << 6); + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR4 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIM peripheral according to the specified + * parameters in the TIM_ICInitStruct. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ICInitStruct: pointer to a TIM_ICInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct) +{ + /* Check the parameters */ + assert_param(IS_TIM_CHANNEL(TIM_ICInitStruct->TIM_Channel)); + assert_param(IS_TIM_IC_SELECTION(TIM_ICInitStruct->TIM_ICSelection)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICInitStruct->TIM_ICPrescaler)); + assert_param(IS_TIM_IC_FILTER(TIM_ICInitStruct->TIM_ICFilter)); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + assert_param(IS_TIM_IC_POLARITY(TIM_ICInitStruct->TIM_ICPolarity)); + } + else + { + assert_param(IS_TIM_IC_POLARITY_LITE(TIM_ICInitStruct->TIM_ICPolarity)); + } + if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_1) + { + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + /* TI1 Configuration */ + TI1_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC1Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_2) + { + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* TI2 Configuration */ + TI2_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC2Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_3) + { + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* TI3 Configuration */ + TI3_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC3Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else + { + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* TI4 Configuration */ + TI4_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC4Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } +} + +/** + * @brief Configures the TIM peripheral according to the specified + * parameters in the TIM_ICInitStruct to measure an external PWM signal. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ICInitStruct: pointer to a TIM_ICInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct) +{ + uint16_t icoppositepolarity = TIM_ICPolarity_Rising; + uint16_t icoppositeselection = TIM_ICSelection_DirectTI; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Select the Opposite Input Polarity */ + if (TIM_ICInitStruct->TIM_ICPolarity == TIM_ICPolarity_Rising) + { + icoppositepolarity = TIM_ICPolarity_Falling; + } + else + { + icoppositepolarity = TIM_ICPolarity_Rising; + } + /* Select the Opposite Input */ + if (TIM_ICInitStruct->TIM_ICSelection == TIM_ICSelection_DirectTI) + { + icoppositeselection = TIM_ICSelection_IndirectTI; + } + else + { + icoppositeselection = TIM_ICSelection_DirectTI; + } + if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_1) + { + /* TI1 Configuration */ + TI1_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC1Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + /* TI2 Configuration */ + TI2_Config(TIMx, icoppositepolarity, icoppositeselection, TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC2Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else + { + /* TI2 Configuration */ + TI2_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC2Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + /* TI1 Configuration */ + TI1_Config(TIMx, icoppositepolarity, icoppositeselection, TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC1Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } +} + +/** + * @brief Configures the: Break feature, dead time, Lock level, the OSSI, + * the OSSR State and the AOE(automatic output enable). + * @param TIMx: where x can be 1 or 8 to select the TIM + * @param TIM_BDTRInitStruct: pointer to a TIM_BDTRInitTypeDef structure that + * contains the BDTR Register configuration information for the TIM peripheral. + * @retval None + */ +void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_TIM_OSSR_STATE(TIM_BDTRInitStruct->TIM_OSSRState)); + assert_param(IS_TIM_OSSI_STATE(TIM_BDTRInitStruct->TIM_OSSIState)); + assert_param(IS_TIM_LOCK_LEVEL(TIM_BDTRInitStruct->TIM_LOCKLevel)); + assert_param(IS_TIM_BREAK_STATE(TIM_BDTRInitStruct->TIM_Break)); + assert_param(IS_TIM_BREAK_POLARITY(TIM_BDTRInitStruct->TIM_BreakPolarity)); + assert_param(IS_TIM_AUTOMATIC_OUTPUT_STATE(TIM_BDTRInitStruct->TIM_AutomaticOutput)); + /* Set the Lock level, the Break enable Bit and the Ploarity, the OSSR State, + the OSSI State, the dead time value and the Automatic Output Enable Bit */ + TIMx->BDTR = (uint32_t)TIM_BDTRInitStruct->TIM_OSSRState | TIM_BDTRInitStruct->TIM_OSSIState | + TIM_BDTRInitStruct->TIM_LOCKLevel | TIM_BDTRInitStruct->TIM_DeadTime | + TIM_BDTRInitStruct->TIM_Break | TIM_BDTRInitStruct->TIM_BreakPolarity | + TIM_BDTRInitStruct->TIM_AutomaticOutput; +} + +/** + * @brief Fills each TIM_TimeBaseInitStruct member with its default value. + * @param TIM_TimeBaseInitStruct : pointer to a TIM_TimeBaseInitTypeDef + * structure which will be initialized. + * @retval None + */ +void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) +{ + /* Set the default configuration */ + TIM_TimeBaseInitStruct->TIM_Period = 0xFFFF; + TIM_TimeBaseInitStruct->TIM_Prescaler = 0x0000; + TIM_TimeBaseInitStruct->TIM_ClockDivision = TIM_CKD_DIV1; + TIM_TimeBaseInitStruct->TIM_CounterMode = TIM_CounterMode_Up; + TIM_TimeBaseInitStruct->TIM_RepetitionCounter = 0x0000; +} + +/** + * @brief Fills each TIM_OCInitStruct member with its default value. + * @param TIM_OCInitStruct : pointer to a TIM_OCInitTypeDef structure which will + * be initialized. + * @retval None + */ +void TIM_OCStructInit(TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + /* Set the default configuration */ + TIM_OCInitStruct->TIM_OCMode = TIM_OCMode_Timing; + TIM_OCInitStruct->TIM_OutputState = TIM_OutputState_Disable; + TIM_OCInitStruct->TIM_OutputNState = TIM_OutputNState_Disable; + TIM_OCInitStruct->TIM_Pulse = 0x0000; + TIM_OCInitStruct->TIM_OCPolarity = TIM_OCPolarity_High; + TIM_OCInitStruct->TIM_OCNPolarity = TIM_OCPolarity_High; + TIM_OCInitStruct->TIM_OCIdleState = TIM_OCIdleState_Reset; + TIM_OCInitStruct->TIM_OCNIdleState = TIM_OCNIdleState_Reset; +} + +/** + * @brief Fills each TIM_ICInitStruct member with its default value. + * @param TIM_ICInitStruct: pointer to a TIM_ICInitTypeDef structure which will + * be initialized. + * @retval None + */ +void TIM_ICStructInit(TIM_ICInitTypeDef* TIM_ICInitStruct) +{ + /* Set the default configuration */ + TIM_ICInitStruct->TIM_Channel = TIM_Channel_1; + TIM_ICInitStruct->TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStruct->TIM_ICSelection = TIM_ICSelection_DirectTI; + TIM_ICInitStruct->TIM_ICPrescaler = TIM_ICPSC_DIV1; + TIM_ICInitStruct->TIM_ICFilter = 0x00; +} + +/** + * @brief Fills each TIM_BDTRInitStruct member with its default value. + * @param TIM_BDTRInitStruct: pointer to a TIM_BDTRInitTypeDef structure which + * will be initialized. + * @retval None + */ +void TIM_BDTRStructInit(TIM_BDTRInitTypeDef* TIM_BDTRInitStruct) +{ + /* Set the default configuration */ + TIM_BDTRInitStruct->TIM_OSSRState = TIM_OSSRState_Disable; + TIM_BDTRInitStruct->TIM_OSSIState = TIM_OSSIState_Disable; + TIM_BDTRInitStruct->TIM_LOCKLevel = TIM_LOCKLevel_OFF; + TIM_BDTRInitStruct->TIM_DeadTime = 0x00; + TIM_BDTRInitStruct->TIM_Break = TIM_Break_Disable; + TIM_BDTRInitStruct->TIM_BreakPolarity = TIM_BreakPolarity_Low; + TIM_BDTRInitStruct->TIM_AutomaticOutput = TIM_AutomaticOutput_Disable; +} + +/** + * @brief Enables or disables the specified TIM peripheral. + * @param TIMx: where x can be 1 to 17 to select the TIMx peripheral. + * @param NewState: new state of the TIMx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_Cmd(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the TIM Counter */ + TIMx->CR1 |= TIM_CR1_CEN; + } + else + { + /* Disable the TIM Counter */ + TIMx->CR1 &= (uint16_t)(~((uint16_t)TIM_CR1_CEN)); + } +} + +/** + * @brief Enables or disables the TIM peripheral Main Outputs. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIMx peripheral. + * @param NewState: new state of the TIM peripheral Main Outputs. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the TIM Main Output */ + TIMx->BDTR |= TIM_BDTR_MOE; + } + else + { + /* Disable the TIM Main Output */ + TIMx->BDTR &= (uint16_t)(~((uint16_t)TIM_BDTR_MOE)); + } +} + +/** + * @brief Enables or disables the specified TIM interrupts. + * @param TIMx: where x can be 1 to 17 to select the TIMx peripheral. + * @param TIM_IT: specifies the TIM interrupts sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg TIM_IT_Update: TIM update Interrupt source + * @arg TIM_IT_CC1: TIM Capture Compare 1 Interrupt source + * @arg TIM_IT_CC2: TIM Capture Compare 2 Interrupt source + * @arg TIM_IT_CC3: TIM Capture Compare 3 Interrupt source + * @arg TIM_IT_CC4: TIM Capture Compare 4 Interrupt source + * @arg TIM_IT_COM: TIM Commutation Interrupt source + * @arg TIM_IT_Trigger: TIM Trigger Interrupt source + * @arg TIM_IT_Break: TIM Break Interrupt source + * @note + * - TIM6 and TIM7 can only generate an update interrupt. + * - TIM9, TIM12 and TIM15 can have only TIM_IT_Update, TIM_IT_CC1, + * TIM_IT_CC2 or TIM_IT_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_IT_Update or TIM_IT_CC1. + * - TIM_IT_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_IT_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @param NewState: new state of the TIM interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_ITConfig(TIM_TypeDef* TIMx, uint16_t TIM_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_IT(TIM_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the Interrupt sources */ + TIMx->DIER |= TIM_IT; + } + else + { + /* Disable the Interrupt sources */ + TIMx->DIER &= (uint16_t)~TIM_IT; + } +} + +/** + * @brief Configures the TIMx event to be generate by software. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_EventSource: specifies the event source. + * This parameter can be one or more of the following values: + * @arg TIM_EventSource_Update: Timer update Event source + * @arg TIM_EventSource_CC1: Timer Capture Compare 1 Event source + * @arg TIM_EventSource_CC2: Timer Capture Compare 2 Event source + * @arg TIM_EventSource_CC3: Timer Capture Compare 3 Event source + * @arg TIM_EventSource_CC4: Timer Capture Compare 4 Event source + * @arg TIM_EventSource_COM: Timer COM event source + * @arg TIM_EventSource_Trigger: Timer Trigger Event source + * @arg TIM_EventSource_Break: Timer Break event source + * @note + * - TIM6 and TIM7 can only generate an update event. + * - TIM_EventSource_COM and TIM_EventSource_Break are used only with TIM1 and TIM8. + * @retval None + */ +void TIM_GenerateEvent(TIM_TypeDef* TIMx, uint16_t TIM_EventSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_EVENT_SOURCE(TIM_EventSource)); + + /* Set the event sources */ + TIMx->EGR = TIM_EventSource; +} + +/** + * @brief Configures the TIMx's DMA interface. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 15, 16 or 17 to select + * the TIM peripheral. + * @param TIM_DMABase: DMA Base address. + * This parameter can be one of the following values: + * @arg TIM_DMABase_CR, TIM_DMABase_CR2, TIM_DMABase_SMCR, + * TIM_DMABase_DIER, TIM1_DMABase_SR, TIM_DMABase_EGR, + * TIM_DMABase_CCMR1, TIM_DMABase_CCMR2, TIM_DMABase_CCER, + * TIM_DMABase_CNT, TIM_DMABase_PSC, TIM_DMABase_ARR, + * TIM_DMABase_RCR, TIM_DMABase_CCR1, TIM_DMABase_CCR2, + * TIM_DMABase_CCR3, TIM_DMABase_CCR4, TIM_DMABase_BDTR, + * TIM_DMABase_DCR. + * @param TIM_DMABurstLength: DMA Burst length. + * This parameter can be one value between: + * TIM_DMABurstLength_1Transfer and TIM_DMABurstLength_18Transfers. + * @retval None + */ +void TIM_DMAConfig(TIM_TypeDef* TIMx, uint16_t TIM_DMABase, uint16_t TIM_DMABurstLength) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST4_PERIPH(TIMx)); + assert_param(IS_TIM_DMA_BASE(TIM_DMABase)); + assert_param(IS_TIM_DMA_LENGTH(TIM_DMABurstLength)); + /* Set the DMA Base and the DMA Burst Length */ + TIMx->DCR = TIM_DMABase | TIM_DMABurstLength; +} + +/** + * @brief Enables or disables the TIMx's DMA Requests. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 6, 7, 8, 15, 16 or 17 + * to select the TIM peripheral. + * @param TIM_DMASource: specifies the DMA Request sources. + * This parameter can be any combination of the following values: + * @arg TIM_DMA_Update: TIM update Interrupt source + * @arg TIM_DMA_CC1: TIM Capture Compare 1 DMA source + * @arg TIM_DMA_CC2: TIM Capture Compare 2 DMA source + * @arg TIM_DMA_CC3: TIM Capture Compare 3 DMA source + * @arg TIM_DMA_CC4: TIM Capture Compare 4 DMA source + * @arg TIM_DMA_COM: TIM Commutation DMA source + * @arg TIM_DMA_Trigger: TIM Trigger DMA source + * @param NewState: new state of the DMA Request sources. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_DMACmd(TIM_TypeDef* TIMx, uint16_t TIM_DMASource, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST9_PERIPH(TIMx)); + assert_param(IS_TIM_DMA_SOURCE(TIM_DMASource)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the DMA sources */ + TIMx->DIER |= TIM_DMASource; + } + else + { + /* Disable the DMA sources */ + TIMx->DIER &= (uint16_t)~TIM_DMASource; + } +} + +/** + * @brief Configures the TIMx internal Clock + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 + * to select the TIM peripheral. + * @retval None + */ +void TIM_InternalClockConfig(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Disable slave mode to clock the prescaler directly with the internal clock */ + TIMx->SMCR &= (uint16_t)(~((uint16_t)TIM_SMCR_SMS)); +} + +/** + * @brief Configures the TIMx Internal Trigger as External Clock + * @param TIMx: where x can be 1, 2, 3, 4, 5, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ITRSource: Trigger source. + * This parameter can be one of the following values: + * @param TIM_TS_ITR0: Internal Trigger 0 + * @param TIM_TS_ITR1: Internal Trigger 1 + * @param TIM_TS_ITR2: Internal Trigger 2 + * @param TIM_TS_ITR3: Internal Trigger 3 + * @retval None + */ +void TIM_ITRxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_INTERNAL_TRIGGER_SELECTION(TIM_InputTriggerSource)); + /* Select the Internal Trigger */ + TIM_SelectInputTrigger(TIMx, TIM_InputTriggerSource); + /* Select the External clock mode1 */ + TIMx->SMCR |= TIM_SlaveMode_External1; +} + +/** + * @brief Configures the TIMx Trigger as External Clock + * @param TIMx: where x can be 1, 2, 3, 4, 5, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_TIxExternalCLKSource: Trigger source. + * This parameter can be one of the following values: + * @arg TIM_TIxExternalCLK1Source_TI1ED: TI1 Edge Detector + * @arg TIM_TIxExternalCLK1Source_TI1: Filtered Timer Input 1 + * @arg TIM_TIxExternalCLK1Source_TI2: Filtered Timer Input 2 + * @param TIM_ICPolarity: specifies the TIx Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param ICFilter : specifies the filter value. + * This parameter must be a value between 0x0 and 0xF. + * @retval None + */ +void TIM_TIxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_TIxExternalCLKSource, + uint16_t TIM_ICPolarity, uint16_t ICFilter) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_TIXCLK_SOURCE(TIM_TIxExternalCLKSource)); + assert_param(IS_TIM_IC_POLARITY(TIM_ICPolarity)); + assert_param(IS_TIM_IC_FILTER(ICFilter)); + /* Configure the Timer Input Clock Source */ + if (TIM_TIxExternalCLKSource == TIM_TIxExternalCLK1Source_TI2) + { + TI2_Config(TIMx, TIM_ICPolarity, TIM_ICSelection_DirectTI, ICFilter); + } + else + { + TI1_Config(TIMx, TIM_ICPolarity, TIM_ICSelection_DirectTI, ICFilter); + } + /* Select the Trigger source */ + TIM_SelectInputTrigger(TIMx, TIM_TIxExternalCLKSource); + /* Select the External clock mode1 */ + TIMx->SMCR |= TIM_SlaveMode_External1; +} + +/** + * @brief Configures the External clock Mode1 + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ExtTRGPrescaler: The external Trigger Prescaler. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPSC_OFF: ETRP Prescaler OFF. + * @arg TIM_ExtTRGPSC_DIV2: ETRP frequency divided by 2. + * @arg TIM_ExtTRGPSC_DIV4: ETRP frequency divided by 4. + * @arg TIM_ExtTRGPSC_DIV8: ETRP frequency divided by 8. + * @param TIM_ExtTRGPolarity: The external Trigger Polarity. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPolarity_Inverted: active low or falling edge active. + * @arg TIM_ExtTRGPolarity_NonInverted: active high or rising edge active. + * @param ExtTRGFilter: External Trigger Filter. + * This parameter must be a value between 0x00 and 0x0F + * @retval None + */ +void TIM_ETRClockMode1Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter) +{ + uint16_t tmpsmcr = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_EXT_PRESCALER(TIM_ExtTRGPrescaler)); + assert_param(IS_TIM_EXT_POLARITY(TIM_ExtTRGPolarity)); + assert_param(IS_TIM_EXT_FILTER(ExtTRGFilter)); + /* Configure the ETR Clock source */ + TIM_ETRConfig(TIMx, TIM_ExtTRGPrescaler, TIM_ExtTRGPolarity, ExtTRGFilter); + + /* Get the TIMx SMCR register value */ + tmpsmcr = TIMx->SMCR; + /* Reset the SMS Bits */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_SMS)); + /* Select the External clock mode1 */ + tmpsmcr |= TIM_SlaveMode_External1; + /* Select the Trigger selection : ETRF */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_TS)); + tmpsmcr |= TIM_TS_ETRF; + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; +} + +/** + * @brief Configures the External clock Mode2 + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ExtTRGPrescaler: The external Trigger Prescaler. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPSC_OFF: ETRP Prescaler OFF. + * @arg TIM_ExtTRGPSC_DIV2: ETRP frequency divided by 2. + * @arg TIM_ExtTRGPSC_DIV4: ETRP frequency divided by 4. + * @arg TIM_ExtTRGPSC_DIV8: ETRP frequency divided by 8. + * @param TIM_ExtTRGPolarity: The external Trigger Polarity. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPolarity_Inverted: active low or falling edge active. + * @arg TIM_ExtTRGPolarity_NonInverted: active high or rising edge active. + * @param ExtTRGFilter: External Trigger Filter. + * This parameter must be a value between 0x00 and 0x0F + * @retval None + */ +void TIM_ETRClockMode2Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, + uint16_t TIM_ExtTRGPolarity, uint16_t ExtTRGFilter) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_EXT_PRESCALER(TIM_ExtTRGPrescaler)); + assert_param(IS_TIM_EXT_POLARITY(TIM_ExtTRGPolarity)); + assert_param(IS_TIM_EXT_FILTER(ExtTRGFilter)); + /* Configure the ETR Clock source */ + TIM_ETRConfig(TIMx, TIM_ExtTRGPrescaler, TIM_ExtTRGPolarity, ExtTRGFilter); + /* Enable the External clock mode2 */ + TIMx->SMCR |= TIM_SMCR_ECE; +} + +/** + * @brief Configures the TIMx External Trigger (ETR). + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ExtTRGPrescaler: The external Trigger Prescaler. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPSC_OFF: ETRP Prescaler OFF. + * @arg TIM_ExtTRGPSC_DIV2: ETRP frequency divided by 2. + * @arg TIM_ExtTRGPSC_DIV4: ETRP frequency divided by 4. + * @arg TIM_ExtTRGPSC_DIV8: ETRP frequency divided by 8. + * @param TIM_ExtTRGPolarity: The external Trigger Polarity. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPolarity_Inverted: active low or falling edge active. + * @arg TIM_ExtTRGPolarity_NonInverted: active high or rising edge active. + * @param ExtTRGFilter: External Trigger Filter. + * This parameter must be a value between 0x00 and 0x0F + * @retval None + */ +void TIM_ETRConfig(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter) +{ + uint16_t tmpsmcr = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_EXT_PRESCALER(TIM_ExtTRGPrescaler)); + assert_param(IS_TIM_EXT_POLARITY(TIM_ExtTRGPolarity)); + assert_param(IS_TIM_EXT_FILTER(ExtTRGFilter)); + tmpsmcr = TIMx->SMCR; + /* Reset the ETR Bits */ + tmpsmcr &= SMCR_ETR_Mask; + /* Set the Prescaler, the Filter value and the Polarity */ + tmpsmcr |= (uint16_t)(TIM_ExtTRGPrescaler | (uint16_t)(TIM_ExtTRGPolarity | (uint16_t)(ExtTRGFilter << (uint16_t)8))); + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; +} + +/** + * @brief Configures the TIMx Prescaler. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param Prescaler: specifies the Prescaler Register value + * @param TIM_PSCReloadMode: specifies the TIM Prescaler Reload mode + * This parameter can be one of the following values: + * @arg TIM_PSCReloadMode_Update: The Prescaler is loaded at the update event. + * @arg TIM_PSCReloadMode_Immediate: The Prescaler is loaded immediately. + * @retval None + */ +void TIM_PrescalerConfig(TIM_TypeDef* TIMx, uint16_t Prescaler, uint16_t TIM_PSCReloadMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_PRESCALER_RELOAD(TIM_PSCReloadMode)); + /* Set the Prescaler value */ + TIMx->PSC = Prescaler; + /* Set or reset the UG Bit */ + TIMx->EGR = TIM_PSCReloadMode; +} + +/** + * @brief Specifies the TIMx Counter Mode to be used. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_CounterMode: specifies the Counter Mode to be used + * This parameter can be one of the following values: + * @arg TIM_CounterMode_Up: TIM Up Counting Mode + * @arg TIM_CounterMode_Down: TIM Down Counting Mode + * @arg TIM_CounterMode_CenterAligned1: TIM Center Aligned Mode1 + * @arg TIM_CounterMode_CenterAligned2: TIM Center Aligned Mode2 + * @arg TIM_CounterMode_CenterAligned3: TIM Center Aligned Mode3 + * @retval None + */ +void TIM_CounterModeConfig(TIM_TypeDef* TIMx, uint16_t TIM_CounterMode) +{ + uint16_t tmpcr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_COUNTER_MODE(TIM_CounterMode)); + tmpcr1 = TIMx->CR1; + /* Reset the CMS and DIR Bits */ + tmpcr1 &= (uint16_t)(~((uint16_t)(TIM_CR1_DIR | TIM_CR1_CMS))); + /* Set the Counter Mode */ + tmpcr1 |= TIM_CounterMode; + /* Write to TIMx CR1 register */ + TIMx->CR1 = tmpcr1; +} + +/** + * @brief Selects the Input Trigger source + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_InputTriggerSource: The Input Trigger source. + * This parameter can be one of the following values: + * @arg TIM_TS_ITR0: Internal Trigger 0 + * @arg TIM_TS_ITR1: Internal Trigger 1 + * @arg TIM_TS_ITR2: Internal Trigger 2 + * @arg TIM_TS_ITR3: Internal Trigger 3 + * @arg TIM_TS_TI1F_ED: TI1 Edge Detector + * @arg TIM_TS_TI1FP1: Filtered Timer Input 1 + * @arg TIM_TS_TI2FP2: Filtered Timer Input 2 + * @arg TIM_TS_ETRF: External Trigger input + * @retval None + */ +void TIM_SelectInputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource) +{ + uint16_t tmpsmcr = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_TRIGGER_SELECTION(TIM_InputTriggerSource)); + /* Get the TIMx SMCR register value */ + tmpsmcr = TIMx->SMCR; + /* Reset the TS Bits */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_TS)); + /* Set the Input Trigger source */ + tmpsmcr |= TIM_InputTriggerSource; + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; +} + +/** + * @brief Configures the TIMx Encoder Interface. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_EncoderMode: specifies the TIMx Encoder Mode. + * This parameter can be one of the following values: + * @arg TIM_EncoderMode_TI1: Counter counts on TI1FP1 edge depending on TI2FP2 level. + * @arg TIM_EncoderMode_TI2: Counter counts on TI2FP2 edge depending on TI1FP1 level. + * @arg TIM_EncoderMode_TI12: Counter counts on both TI1FP1 and TI2FP2 edges depending + * on the level of the other input. + * @param TIM_IC1Polarity: specifies the IC1 Polarity + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Falling: IC Falling edge. + * @arg TIM_ICPolarity_Rising: IC Rising edge. + * @param TIM_IC2Polarity: specifies the IC2 Polarity + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Falling: IC Falling edge. + * @arg TIM_ICPolarity_Rising: IC Rising edge. + * @retval None + */ +void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode, + uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity) +{ + uint16_t tmpsmcr = 0; + uint16_t tmpccmr1 = 0; + uint16_t tmpccer = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST5_PERIPH(TIMx)); + assert_param(IS_TIM_ENCODER_MODE(TIM_EncoderMode)); + assert_param(IS_TIM_IC_POLARITY(TIM_IC1Polarity)); + assert_param(IS_TIM_IC_POLARITY(TIM_IC2Polarity)); + + /* Get the TIMx SMCR register value */ + tmpsmcr = TIMx->SMCR; + + /* Get the TIMx CCMR1 register value */ + tmpccmr1 = TIMx->CCMR1; + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + + /* Set the encoder Mode */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_SMS)); + tmpsmcr |= TIM_EncoderMode; + + /* Select the Capture Compare 1 and the Capture Compare 2 as input */ + tmpccmr1 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR1_CC1S)) & (uint16_t)(~((uint16_t)TIM_CCMR1_CC2S))); + tmpccmr1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0; + + /* Set the TI1 and the TI2 Polarities */ + tmpccer &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCER_CC1P)) & ((uint16_t)~((uint16_t)TIM_CCER_CC2P))); + tmpccer |= (uint16_t)(TIM_IC1Polarity | (uint16_t)(TIM_IC2Polarity << (uint16_t)4)); + + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmr1; + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Forces the TIMx output 1 waveform to active or inactive level. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC1REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC1REF. + * @retval None + */ +void TIM_ForcedOC1Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC1M Bits */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1M); + /* Configure The Forced output Mode */ + tmpccmr1 |= TIM_ForcedAction; + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Forces the TIMx output 2 waveform to active or inactive level. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC2REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC2REF. + * @retval None + */ +void TIM_ForcedOC2Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2M Bits */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2M); + /* Configure The Forced output Mode */ + tmpccmr1 |= (uint16_t)(TIM_ForcedAction << 8); + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Forces the TIMx output 3 waveform to active or inactive level. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC3REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC3REF. + * @retval None + */ +void TIM_ForcedOC3Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC1M Bits */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3M); + /* Configure The Forced output Mode */ + tmpccmr2 |= TIM_ForcedAction; + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Forces the TIMx output 4 waveform to active or inactive level. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC4REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC4REF. + * @retval None + */ +void TIM_ForcedOC4Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC2M Bits */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4M); + /* Configure The Forced output Mode */ + tmpccmr2 |= (uint16_t)(TIM_ForcedAction << 8); + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Enables or disables TIMx peripheral Preload register on ARR. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param NewState: new state of the TIMx peripheral Preload register + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_ARRPreloadConfig(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the ARR Preload Bit */ + TIMx->CR1 |= TIM_CR1_ARPE; + } + else + { + /* Reset the ARR Preload Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_ARPE); + } +} + +/** + * @brief Selects the TIM peripheral Commutation event. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIMx peripheral + * @param NewState: new state of the Commutation event. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_SelectCOM(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the COM Bit */ + TIMx->CR2 |= TIM_CR2_CCUS; + } + else + { + /* Reset the COM Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_CCUS); + } +} + +/** + * @brief Selects the TIMx peripheral Capture Compare DMA source. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 15, 16 or 17 to select + * the TIM peripheral. + * @param NewState: new state of the Capture Compare DMA source + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_SelectCCDMA(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST4_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the CCDS Bit */ + TIMx->CR2 |= TIM_CR2_CCDS; + } + else + { + /* Reset the CCDS Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_CCDS); + } +} + +/** + * @brief Sets or Resets the TIM peripheral Capture Compare Preload Control bit. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8 or 15 + * to select the TIMx peripheral + * @param NewState: new state of the Capture Compare Preload Control bit + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_CCPreloadControl(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST5_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the CCPC Bit */ + TIMx->CR2 |= TIM_CR2_CCPC; + } + else + { + /* Reset the CCPC Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_CCPC); + } +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR1. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC1PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC1PE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr1 |= TIM_OCPreload; + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR2. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select + * the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC2PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2PE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr1 |= (uint16_t)(TIM_OCPreload << 8); + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR3. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC3PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC3PE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr2 |= TIM_OCPreload; + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR4. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC4PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC4PE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr2 |= (uint16_t)(TIM_OCPreload << 8); + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Configures the TIMx Output Compare 1 Fast feature. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC1FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR1 register value */ + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC1FE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr1 |= TIM_OCFast; + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Configures the TIMx Output Compare 2 Fast feature. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select + * the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC2FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR1 register value */ + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2FE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr1 |= (uint16_t)(TIM_OCFast << 8); + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Configures the TIMx Output Compare 3 Fast feature. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC3FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR2 register value */ + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC3FE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr2 |= TIM_OCFast; + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Configures the TIMx Output Compare 4 Fast feature. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC4FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR2 register value */ + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC4FE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr2 |= (uint16_t)(TIM_OCFast << 8); + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Clears or safeguards the OCREF1 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC1Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + + tmpccmr1 = TIMx->CCMR1; + + /* Reset the OC1CE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr1 |= TIM_OCClear; + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Clears or safeguards the OCREF2 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC2Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2CE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr1 |= (uint16_t)(TIM_OCClear << 8); + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Clears or safeguards the OCREF3 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC3Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC3CE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr2 |= TIM_OCClear; + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Clears or safeguards the OCREF4 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC4Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC4CE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr2 |= (uint16_t)(TIM_OCClear << 8); + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Configures the TIMx channel 1 polarity. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC1 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC1PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC1P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC1P); + tmpccer |= TIM_OCPolarity; + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx Channel 1N polarity. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIM peripheral. + * @param TIM_OCNPolarity: specifies the OC1N Polarity + * This parameter can be one of the following values: + * @arg TIM_OCNPolarity_High: Output Compare active high + * @arg TIM_OCNPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC1NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCNPolarity)); + + tmpccer = TIMx->CCER; + /* Set or Reset the CC1NP Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC1NP); + tmpccer |= TIM_OCNPolarity; + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx channel 2 polarity. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC2 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC2PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC2P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC2P); + tmpccer |= (uint16_t)(TIM_OCPolarity << 4); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx Channel 2N polarity. + * @param TIMx: where x can be 1 or 8 to select the TIM peripheral. + * @param TIM_OCNPolarity: specifies the OC2N Polarity + * This parameter can be one of the following values: + * @arg TIM_OCNPolarity_High: Output Compare active high + * @arg TIM_OCNPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC2NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST1_PERIPH(TIMx)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCNPolarity)); + + tmpccer = TIMx->CCER; + /* Set or Reset the CC2NP Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC2NP); + tmpccer |= (uint16_t)(TIM_OCNPolarity << 4); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx channel 3 polarity. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC3 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC3PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC3P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC3P); + tmpccer |= (uint16_t)(TIM_OCPolarity << 8); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx Channel 3N polarity. + * @param TIMx: where x can be 1 or 8 to select the TIM peripheral. + * @param TIM_OCNPolarity: specifies the OC3N Polarity + * This parameter can be one of the following values: + * @arg TIM_OCNPolarity_High: Output Compare active high + * @arg TIM_OCNPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC3NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity) +{ + uint16_t tmpccer = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST1_PERIPH(TIMx)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCNPolarity)); + + tmpccer = TIMx->CCER; + /* Set or Reset the CC3NP Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC3NP); + tmpccer |= (uint16_t)(TIM_OCNPolarity << 8); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx channel 4 polarity. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC4 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC4PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC4P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC4P); + tmpccer |= (uint16_t)(TIM_OCPolarity << 12); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Enables or disables the TIM Capture Compare Channel x. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_Channel: specifies the TIM Channel + * This parameter can be one of the following values: + * @arg TIM_Channel_1: TIM Channel 1 + * @arg TIM_Channel_2: TIM Channel 2 + * @arg TIM_Channel_3: TIM Channel 3 + * @arg TIM_Channel_4: TIM Channel 4 + * @param TIM_CCx: specifies the TIM Channel CCxE bit new state. + * This parameter can be: TIM_CCx_Enable or TIM_CCx_Disable. + * @retval None + */ +void TIM_CCxCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCx) +{ + uint16_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_CHANNEL(TIM_Channel)); + assert_param(IS_TIM_CCX(TIM_CCx)); + + tmp = CCER_CCE_Set << TIM_Channel; + + /* Reset the CCxE Bit */ + TIMx->CCER &= (uint16_t)~ tmp; + + /* Set or reset the CCxE Bit */ + TIMx->CCER |= (uint16_t)(TIM_CCx << TIM_Channel); +} + +/** + * @brief Enables or disables the TIM Capture Compare Channel xN. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIM peripheral. + * @param TIM_Channel: specifies the TIM Channel + * This parameter can be one of the following values: + * @arg TIM_Channel_1: TIM Channel 1 + * @arg TIM_Channel_2: TIM Channel 2 + * @arg TIM_Channel_3: TIM Channel 3 + * @param TIM_CCxN: specifies the TIM Channel CCxNE bit new state. + * This parameter can be: TIM_CCxN_Enable or TIM_CCxN_Disable. + * @retval None + */ +void TIM_CCxNCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCxN) +{ + uint16_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_TIM_COMPLEMENTARY_CHANNEL(TIM_Channel)); + assert_param(IS_TIM_CCXN(TIM_CCxN)); + + tmp = CCER_CCNE_Set << TIM_Channel; + + /* Reset the CCxNE Bit */ + TIMx->CCER &= (uint16_t) ~tmp; + + /* Set or reset the CCxNE Bit */ + TIMx->CCER |= (uint16_t)(TIM_CCxN << TIM_Channel); +} + +/** + * @brief Selects the TIM Output Compare Mode. + * @note This function disables the selected channel before changing the Output + * Compare Mode. + * User has to enable this channel using TIM_CCxCmd and TIM_CCxNCmd functions. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_Channel: specifies the TIM Channel + * This parameter can be one of the following values: + * @arg TIM_Channel_1: TIM Channel 1 + * @arg TIM_Channel_2: TIM Channel 2 + * @arg TIM_Channel_3: TIM Channel 3 + * @arg TIM_Channel_4: TIM Channel 4 + * @param TIM_OCMode: specifies the TIM Output Compare Mode. + * This parameter can be one of the following values: + * @arg TIM_OCMode_Timing + * @arg TIM_OCMode_Active + * @arg TIM_OCMode_Toggle + * @arg TIM_OCMode_PWM1 + * @arg TIM_OCMode_PWM2 + * @arg TIM_ForcedAction_Active + * @arg TIM_ForcedAction_InActive + * @retval None + */ +void TIM_SelectOCxM(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode) +{ + uint32_t tmp = 0; + uint16_t tmp1 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_CHANNEL(TIM_Channel)); + assert_param(IS_TIM_OCM(TIM_OCMode)); + + tmp = (uint32_t) TIMx; + tmp += CCMR_Offset; + + tmp1 = CCER_CCE_Set << (uint16_t)TIM_Channel; + + /* Disable the Channel: Reset the CCxE Bit */ + TIMx->CCER &= (uint16_t) ~tmp1; + + if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3)) + { + tmp += (TIM_Channel>>1); + + /* Reset the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M); + + /* Configure the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp |= TIM_OCMode; + } + else + { + tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1; + + /* Reset the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M); + + /* Configure the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8); + } +} + +/** + * @brief Enables or Disables the TIMx Update event. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param NewState: new state of the TIMx UDIS bit + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_UpdateDisableConfig(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the Update Disable Bit */ + TIMx->CR1 |= TIM_CR1_UDIS; + } + else + { + /* Reset the Update Disable Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_UDIS); + } +} + +/** + * @brief Configures the TIMx Update Request Interrupt source. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_UpdateSource: specifies the Update source. + * This parameter can be one of the following values: + * @arg TIM_UpdateSource_Regular: Source of update is the counter overflow/underflow + or the setting of UG bit, or an update generation + through the slave mode controller. + * @arg TIM_UpdateSource_Global: Source of update is counter overflow/underflow. + * @retval None + */ +void TIM_UpdateRequestConfig(TIM_TypeDef* TIMx, uint16_t TIM_UpdateSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_UPDATE_SOURCE(TIM_UpdateSource)); + if (TIM_UpdateSource != TIM_UpdateSource_Global) + { + /* Set the URS Bit */ + TIMx->CR1 |= TIM_CR1_URS; + } + else + { + /* Reset the URS Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_URS); + } +} + +/** + * @brief Enables or disables the TIMx's Hall sensor interface. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param NewState: new state of the TIMx Hall sensor interface. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_SelectHallSensor(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the TI1S Bit */ + TIMx->CR2 |= TIM_CR2_TI1S; + } + else + { + /* Reset the TI1S Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_TI1S); + } +} + +/** + * @brief Selects the TIMx's One Pulse Mode. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_OPMode: specifies the OPM Mode to be used. + * This parameter can be one of the following values: + * @arg TIM_OPMode_Single + * @arg TIM_OPMode_Repetitive + * @retval None + */ +void TIM_SelectOnePulseMode(TIM_TypeDef* TIMx, uint16_t TIM_OPMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_OPM_MODE(TIM_OPMode)); + /* Reset the OPM Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_OPM); + /* Configure the OPM Mode */ + TIMx->CR1 |= TIM_OPMode; +} + +/** + * @brief Selects the TIMx Trigger Output Mode. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_TRGOSource: specifies the Trigger Output source. + * This paramter can be one of the following values: + * + * - For all TIMx + * @arg TIM_TRGOSource_Reset: The UG bit in the TIM_EGR register is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_Enable: The Counter Enable CEN is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_Update: The update event is selected as the trigger output (TRGO). + * + * - For all TIMx except TIM6 and TIM7 + * @arg TIM_TRGOSource_OC1: The trigger output sends a positive pulse when the CC1IF flag + * is to be set, as soon as a capture or compare match occurs (TRGO). + * @arg TIM_TRGOSource_OC1Ref: OC1REF signal is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_OC2Ref: OC2REF signal is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_OC3Ref: OC3REF signal is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_OC4Ref: OC4REF signal is used as the trigger output (TRGO). + * + * @retval None + */ +void TIM_SelectOutputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_TRGOSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST7_PERIPH(TIMx)); + assert_param(IS_TIM_TRGO_SOURCE(TIM_TRGOSource)); + /* Reset the MMS Bits */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_MMS); + /* Select the TRGO source */ + TIMx->CR2 |= TIM_TRGOSource; +} + +/** + * @brief Selects the TIMx Slave Mode. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_SlaveMode: specifies the Timer Slave Mode. + * This parameter can be one of the following values: + * @arg TIM_SlaveMode_Reset: Rising edge of the selected trigger signal (TRGI) re-initializes + * the counter and triggers an update of the registers. + * @arg TIM_SlaveMode_Gated: The counter clock is enabled when the trigger signal (TRGI) is high. + * @arg TIM_SlaveMode_Trigger: The counter starts at a rising edge of the trigger TRGI. + * @arg TIM_SlaveMode_External1: Rising edges of the selected trigger (TRGI) clock the counter. + * @retval None + */ +void TIM_SelectSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_SlaveMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_SLAVE_MODE(TIM_SlaveMode)); + /* Reset the SMS Bits */ + TIMx->SMCR &= (uint16_t)~((uint16_t)TIM_SMCR_SMS); + /* Select the Slave Mode */ + TIMx->SMCR |= TIM_SlaveMode; +} + +/** + * @brief Sets or Resets the TIMx Master/Slave Mode. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_MasterSlaveMode: specifies the Timer Master Slave Mode. + * This parameter can be one of the following values: + * @arg TIM_MasterSlaveMode_Enable: synchronization between the current timer + * and its slaves (through TRGO). + * @arg TIM_MasterSlaveMode_Disable: No action + * @retval None + */ +void TIM_SelectMasterSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_MasterSlaveMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_MSM_STATE(TIM_MasterSlaveMode)); + /* Reset the MSM Bit */ + TIMx->SMCR &= (uint16_t)~((uint16_t)TIM_SMCR_MSM); + + /* Set or Reset the MSM Bit */ + TIMx->SMCR |= TIM_MasterSlaveMode; +} + +/** + * @brief Sets the TIMx Counter Register value + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param Counter: specifies the Counter register new value. + * @retval None + */ +void TIM_SetCounter(TIM_TypeDef* TIMx, uint16_t Counter) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Set the Counter Register value */ + TIMx->CNT = Counter; +} + +/** + * @brief Sets the TIMx Autoreload Register value + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param Autoreload: specifies the Autoreload register new value. + * @retval None + */ +void TIM_SetAutoreload(TIM_TypeDef* TIMx, uint16_t Autoreload) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Set the Autoreload Register value */ + TIMx->ARR = Autoreload; +} + +/** + * @brief Sets the TIMx Capture Compare1 Register value + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param Compare1: specifies the Capture Compare1 register new value. + * @retval None + */ +void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare1) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + /* Set the Capture Compare1 Register value */ + TIMx->CCR1 = Compare1; +} + +/** + * @brief Sets the TIMx Capture Compare2 Register value + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param Compare2: specifies the Capture Compare2 register new value. + * @retval None + */ +void TIM_SetCompare2(TIM_TypeDef* TIMx, uint16_t Compare2) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Set the Capture Compare2 Register value */ + TIMx->CCR2 = Compare2; +} + +/** + * @brief Sets the TIMx Capture Compare3 Register value + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param Compare3: specifies the Capture Compare3 register new value. + * @retval None + */ +void TIM_SetCompare3(TIM_TypeDef* TIMx, uint16_t Compare3) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Set the Capture Compare3 Register value */ + TIMx->CCR3 = Compare3; +} + +/** + * @brief Sets the TIMx Capture Compare4 Register value + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param Compare4: specifies the Capture Compare4 register new value. + * @retval None + */ +void TIM_SetCompare4(TIM_TypeDef* TIMx, uint16_t Compare4) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Set the Capture Compare4 Register value */ + TIMx->CCR4 = Compare4; +} + +/** + * @brief Sets the TIMx Input Capture 1 prescaler. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture1 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC1Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC1PSC Bits */ + TIMx->CCMR1 &= (uint16_t)~((uint16_t)TIM_CCMR1_IC1PSC); + /* Set the IC1PSC value */ + TIMx->CCMR1 |= TIM_ICPSC; +} + +/** + * @brief Sets the TIMx Input Capture 2 prescaler. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture2 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC2Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC2PSC Bits */ + TIMx->CCMR1 &= (uint16_t)~((uint16_t)TIM_CCMR1_IC2PSC); + /* Set the IC2PSC value */ + TIMx->CCMR1 |= (uint16_t)(TIM_ICPSC << 8); +} + +/** + * @brief Sets the TIMx Input Capture 3 prescaler. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture3 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC3Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC3PSC Bits */ + TIMx->CCMR2 &= (uint16_t)~((uint16_t)TIM_CCMR2_IC3PSC); + /* Set the IC3PSC value */ + TIMx->CCMR2 |= TIM_ICPSC; +} + +/** + * @brief Sets the TIMx Input Capture 4 prescaler. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture4 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC4Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC4PSC Bits */ + TIMx->CCMR2 &= (uint16_t)~((uint16_t)TIM_CCMR2_IC4PSC); + /* Set the IC4PSC value */ + TIMx->CCMR2 |= (uint16_t)(TIM_ICPSC << 8); +} + +/** + * @brief Sets the TIMx Clock Division value. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select + * the TIM peripheral. + * @param TIM_CKD: specifies the clock division value. + * This parameter can be one of the following value: + * @arg TIM_CKD_DIV1: TDTS = Tck_tim + * @arg TIM_CKD_DIV2: TDTS = 2*Tck_tim + * @arg TIM_CKD_DIV4: TDTS = 4*Tck_tim + * @retval None + */ +void TIM_SetClockDivision(TIM_TypeDef* TIMx, uint16_t TIM_CKD) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_CKD_DIV(TIM_CKD)); + /* Reset the CKD Bits */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_CKD); + /* Set the CKD value */ + TIMx->CR1 |= TIM_CKD; +} + +/** + * @brief Gets the TIMx Input Capture 1 value. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @retval Capture Compare 1 Register value. + */ +uint16_t TIM_GetCapture1(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + /* Get the Capture 1 Register value */ + return TIMx->CCR1; +} + +/** + * @brief Gets the TIMx Input Capture 2 value. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @retval Capture Compare 2 Register value. + */ +uint16_t TIM_GetCapture2(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Get the Capture 2 Register value */ + return TIMx->CCR2; +} + +/** + * @brief Gets the TIMx Input Capture 3 value. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @retval Capture Compare 3 Register value. + */ +uint16_t TIM_GetCapture3(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Get the Capture 3 Register value */ + return TIMx->CCR3; +} + +/** + * @brief Gets the TIMx Input Capture 4 value. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @retval Capture Compare 4 Register value. + */ +uint16_t TIM_GetCapture4(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Get the Capture 4 Register value */ + return TIMx->CCR4; +} + +/** + * @brief Gets the TIMx Counter value. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @retval Counter Register value. + */ +uint16_t TIM_GetCounter(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Get the Counter Register value */ + return TIMx->CNT; +} + +/** + * @brief Gets the TIMx Prescaler value. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @retval Prescaler Register value. + */ +uint16_t TIM_GetPrescaler(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Get the Prescaler Register value */ + return TIMx->PSC; +} + +/** + * @brief Checks whether the specified TIM flag is set or not. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg TIM_FLAG_Update: TIM update Flag + * @arg TIM_FLAG_CC1: TIM Capture Compare 1 Flag + * @arg TIM_FLAG_CC2: TIM Capture Compare 2 Flag + * @arg TIM_FLAG_CC3: TIM Capture Compare 3 Flag + * @arg TIM_FLAG_CC4: TIM Capture Compare 4 Flag + * @arg TIM_FLAG_COM: TIM Commutation Flag + * @arg TIM_FLAG_Trigger: TIM Trigger Flag + * @arg TIM_FLAG_Break: TIM Break Flag + * @arg TIM_FLAG_CC1OF: TIM Capture Compare 1 overcapture Flag + * @arg TIM_FLAG_CC2OF: TIM Capture Compare 2 overcapture Flag + * @arg TIM_FLAG_CC3OF: TIM Capture Compare 3 overcapture Flag + * @arg TIM_FLAG_CC4OF: TIM Capture Compare 4 overcapture Flag + * @note + * - TIM6 and TIM7 can have only one update flag. + * - TIM9, TIM12 and TIM15 can have only TIM_FLAG_Update, TIM_FLAG_CC1, + * TIM_FLAG_CC2 or TIM_FLAG_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_FLAG_Update or TIM_FLAG_CC1. + * - TIM_FLAG_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_FLAG_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval The new state of TIM_FLAG (SET or RESET). + */ +FlagStatus TIM_GetFlagStatus(TIM_TypeDef* TIMx, uint16_t TIM_FLAG) +{ + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_GET_FLAG(TIM_FLAG)); + + if ((TIMx->SR & TIM_FLAG) != (uint16_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the TIMx's pending flags. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_FLAG: specifies the flag bit to clear. + * This parameter can be any combination of the following values: + * @arg TIM_FLAG_Update: TIM update Flag + * @arg TIM_FLAG_CC1: TIM Capture Compare 1 Flag + * @arg TIM_FLAG_CC2: TIM Capture Compare 2 Flag + * @arg TIM_FLAG_CC3: TIM Capture Compare 3 Flag + * @arg TIM_FLAG_CC4: TIM Capture Compare 4 Flag + * @arg TIM_FLAG_COM: TIM Commutation Flag + * @arg TIM_FLAG_Trigger: TIM Trigger Flag + * @arg TIM_FLAG_Break: TIM Break Flag + * @arg TIM_FLAG_CC1OF: TIM Capture Compare 1 overcapture Flag + * @arg TIM_FLAG_CC2OF: TIM Capture Compare 2 overcapture Flag + * @arg TIM_FLAG_CC3OF: TIM Capture Compare 3 overcapture Flag + * @arg TIM_FLAG_CC4OF: TIM Capture Compare 4 overcapture Flag + * @note + * - TIM6 and TIM7 can have only one update flag. + * - TIM9, TIM12 and TIM15 can have only TIM_FLAG_Update, TIM_FLAG_CC1, + * TIM_FLAG_CC2 or TIM_FLAG_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_FLAG_Update or TIM_FLAG_CC1. + * - TIM_FLAG_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_FLAG_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval None + */ +void TIM_ClearFlag(TIM_TypeDef* TIMx, uint16_t TIM_FLAG) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_CLEAR_FLAG(TIM_FLAG)); + + /* Clear the flags */ + TIMx->SR = (uint16_t)~TIM_FLAG; +} + +/** + * @brief Checks whether the TIM interrupt has occurred or not. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_IT: specifies the TIM interrupt source to check. + * This parameter can be one of the following values: + * @arg TIM_IT_Update: TIM update Interrupt source + * @arg TIM_IT_CC1: TIM Capture Compare 1 Interrupt source + * @arg TIM_IT_CC2: TIM Capture Compare 2 Interrupt source + * @arg TIM_IT_CC3: TIM Capture Compare 3 Interrupt source + * @arg TIM_IT_CC4: TIM Capture Compare 4 Interrupt source + * @arg TIM_IT_COM: TIM Commutation Interrupt source + * @arg TIM_IT_Trigger: TIM Trigger Interrupt source + * @arg TIM_IT_Break: TIM Break Interrupt source + * @note + * - TIM6 and TIM7 can generate only an update interrupt. + * - TIM9, TIM12 and TIM15 can have only TIM_IT_Update, TIM_IT_CC1, + * TIM_IT_CC2 or TIM_IT_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_IT_Update or TIM_IT_CC1. + * - TIM_IT_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_IT_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval The new state of the TIM_IT(SET or RESET). + */ +ITStatus TIM_GetITStatus(TIM_TypeDef* TIMx, uint16_t TIM_IT) +{ + ITStatus bitstatus = RESET; + uint16_t itstatus = 0x0, itenable = 0x0; + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_GET_IT(TIM_IT)); + + itstatus = TIMx->SR & TIM_IT; + + itenable = TIMx->DIER & TIM_IT; + if ((itstatus != (uint16_t)RESET) && (itenable != (uint16_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the TIMx's interrupt pending bits. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_IT: specifies the pending bit to clear. + * This parameter can be any combination of the following values: + * @arg TIM_IT_Update: TIM1 update Interrupt source + * @arg TIM_IT_CC1: TIM Capture Compare 1 Interrupt source + * @arg TIM_IT_CC2: TIM Capture Compare 2 Interrupt source + * @arg TIM_IT_CC3: TIM Capture Compare 3 Interrupt source + * @arg TIM_IT_CC4: TIM Capture Compare 4 Interrupt source + * @arg TIM_IT_COM: TIM Commutation Interrupt source + * @arg TIM_IT_Trigger: TIM Trigger Interrupt source + * @arg TIM_IT_Break: TIM Break Interrupt source + * @note + * - TIM6 and TIM7 can generate only an update interrupt. + * - TIM9, TIM12 and TIM15 can have only TIM_IT_Update, TIM_IT_CC1, + * TIM_IT_CC2 or TIM_IT_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_IT_Update or TIM_IT_CC1. + * - TIM_IT_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_IT_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval None + */ +void TIM_ClearITPendingBit(TIM_TypeDef* TIMx, uint16_t TIM_IT) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_IT(TIM_IT)); + /* Clear the IT pending Bit */ + TIMx->SR = (uint16_t)~TIM_IT; +} + +/** + * @brief Configure the TI1 as Input. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 1 is selected to be connected to IC1. + * @arg TIM_ICSelection_IndirectTI: TIM Input 1 is selected to be connected to IC2. + * @arg TIM_ICSelection_TRC: TIM Input 1 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI1_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr1 = 0, tmpccer = 0; + /* Disable the Channel 1: Reset the CC1E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC1E); + tmpccmr1 = TIMx->CCMR1; + tmpccer = TIMx->CCER; + /* Select the Input and set the filter */ + tmpccmr1 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR1_CC1S)) & ((uint16_t)~((uint16_t)TIM_CCMR1_IC1F))); + tmpccmr1 |= (uint16_t)(TIM_ICSelection | (uint16_t)(TIM_ICFilter << (uint16_t)4)); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC1E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC1P)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC1E); + } + else + { + /* Select the Polarity and set the CC1E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC1P | TIM_CCER_CC1NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC1E); + } + + /* Write to TIMx CCMR1 and CCER registers */ + TIMx->CCMR1 = tmpccmr1; + TIMx->CCER = tmpccer; +} + +/** + * @brief Configure the TI2 as Input. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 2 is selected to be connected to IC2. + * @arg TIM_ICSelection_IndirectTI: TIM Input 2 is selected to be connected to IC1. + * @arg TIM_ICSelection_TRC: TIM Input 2 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI2_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr1 = 0, tmpccer = 0, tmp = 0; + /* Disable the Channel 2: Reset the CC2E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC2E); + tmpccmr1 = TIMx->CCMR1; + tmpccer = TIMx->CCER; + tmp = (uint16_t)(TIM_ICPolarity << 4); + /* Select the Input and set the filter */ + tmpccmr1 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR1_CC2S)) & ((uint16_t)~((uint16_t)TIM_CCMR1_IC2F))); + tmpccmr1 |= (uint16_t)(TIM_ICFilter << 12); + tmpccmr1 |= (uint16_t)(TIM_ICSelection << 8); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC2E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC2P)); + tmpccer |= (uint16_t)(tmp | (uint16_t)TIM_CCER_CC2E); + } + else + { + /* Select the Polarity and set the CC2E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC2P | TIM_CCER_CC2NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC2E); + } + + /* Write to TIMx CCMR1 and CCER registers */ + TIMx->CCMR1 = tmpccmr1 ; + TIMx->CCER = tmpccer; +} + +/** + * @brief Configure the TI3 as Input. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 3 is selected to be connected to IC3. + * @arg TIM_ICSelection_IndirectTI: TIM Input 3 is selected to be connected to IC4. + * @arg TIM_ICSelection_TRC: TIM Input 3 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI3_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr2 = 0, tmpccer = 0, tmp = 0; + /* Disable the Channel 3: Reset the CC3E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC3E); + tmpccmr2 = TIMx->CCMR2; + tmpccer = TIMx->CCER; + tmp = (uint16_t)(TIM_ICPolarity << 8); + /* Select the Input and set the filter */ + tmpccmr2 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR2_CC3S)) & ((uint16_t)~((uint16_t)TIM_CCMR2_IC3F))); + tmpccmr2 |= (uint16_t)(TIM_ICSelection | (uint16_t)(TIM_ICFilter << (uint16_t)4)); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC3E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC3P)); + tmpccer |= (uint16_t)(tmp | (uint16_t)TIM_CCER_CC3E); + } + else + { + /* Select the Polarity and set the CC3E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC3P | TIM_CCER_CC3NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC3E); + } + + /* Write to TIMx CCMR2 and CCER registers */ + TIMx->CCMR2 = tmpccmr2; + TIMx->CCER = tmpccer; +} + +/** + * @brief Configure the TI4 as Input. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 4 is selected to be connected to IC4. + * @arg TIM_ICSelection_IndirectTI: TIM Input 4 is selected to be connected to IC3. + * @arg TIM_ICSelection_TRC: TIM Input 4 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI4_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr2 = 0, tmpccer = 0, tmp = 0; + + /* Disable the Channel 4: Reset the CC4E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC4E); + tmpccmr2 = TIMx->CCMR2; + tmpccer = TIMx->CCER; + tmp = (uint16_t)(TIM_ICPolarity << 12); + /* Select the Input and set the filter */ + tmpccmr2 &= (uint16_t)((uint16_t)(~(uint16_t)TIM_CCMR2_CC4S) & ((uint16_t)~((uint16_t)TIM_CCMR2_IC4F))); + tmpccmr2 |= (uint16_t)(TIM_ICSelection << 8); + tmpccmr2 |= (uint16_t)(TIM_ICFilter << 12); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC4E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC4P)); + tmpccer |= (uint16_t)(tmp | (uint16_t)TIM_CCER_CC4E); + } + else + { + /* Select the Polarity and set the CC4E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC3P | TIM_CCER_CC4NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC4E); + } + /* Write to TIMx CCMR2 and CCER registers */ + TIMx->CCMR2 = tmpccmr2; + TIMx->CCER = tmpccer; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_usart.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_usart.c new file mode 100644 index 0000000..e794eae --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_usart.c @@ -0,0 +1,1058 @@ +/** + ****************************************************************************** + * @file stm32f10x_usart.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the USART firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_usart.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup USART + * @brief USART driver modules + * @{ + */ + +/** @defgroup USART_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_Defines + * @{ + */ + +#define CR1_UE_Set ((uint16_t)0x2000) /*!< USART Enable Mask */ +#define CR1_UE_Reset ((uint16_t)0xDFFF) /*!< USART Disable Mask */ + +#define CR1_WAKE_Mask ((uint16_t)0xF7FF) /*!< USART WakeUp Method Mask */ + +#define CR1_RWU_Set ((uint16_t)0x0002) /*!< USART mute mode Enable Mask */ +#define CR1_RWU_Reset ((uint16_t)0xFFFD) /*!< USART mute mode Enable Mask */ +#define CR1_SBK_Set ((uint16_t)0x0001) /*!< USART Break Character send Mask */ +#define CR1_CLEAR_Mask ((uint16_t)0xE9F3) /*!< USART CR1 Mask */ +#define CR2_Address_Mask ((uint16_t)0xFFF0) /*!< USART address Mask */ + +#define CR2_LINEN_Set ((uint16_t)0x4000) /*!< USART LIN Enable Mask */ +#define CR2_LINEN_Reset ((uint16_t)0xBFFF) /*!< USART LIN Disable Mask */ + +#define CR2_LBDL_Mask ((uint16_t)0xFFDF) /*!< USART LIN Break detection Mask */ +#define CR2_STOP_CLEAR_Mask ((uint16_t)0xCFFF) /*!< USART CR2 STOP Bits Mask */ +#define CR2_CLOCK_CLEAR_Mask ((uint16_t)0xF0FF) /*!< USART CR2 Clock Mask */ + +#define CR3_SCEN_Set ((uint16_t)0x0020) /*!< USART SC Enable Mask */ +#define CR3_SCEN_Reset ((uint16_t)0xFFDF) /*!< USART SC Disable Mask */ + +#define CR3_NACK_Set ((uint16_t)0x0010) /*!< USART SC NACK Enable Mask */ +#define CR3_NACK_Reset ((uint16_t)0xFFEF) /*!< USART SC NACK Disable Mask */ + +#define CR3_HDSEL_Set ((uint16_t)0x0008) /*!< USART Half-Duplex Enable Mask */ +#define CR3_HDSEL_Reset ((uint16_t)0xFFF7) /*!< USART Half-Duplex Disable Mask */ + +#define CR3_IRLP_Mask ((uint16_t)0xFFFB) /*!< USART IrDA LowPower mode Mask */ +#define CR3_CLEAR_Mask ((uint16_t)0xFCFF) /*!< USART CR3 Mask */ + +#define CR3_IREN_Set ((uint16_t)0x0002) /*!< USART IrDA Enable Mask */ +#define CR3_IREN_Reset ((uint16_t)0xFFFD) /*!< USART IrDA Disable Mask */ +#define GTPR_LSB_Mask ((uint16_t)0x00FF) /*!< Guard Time Register LSB Mask */ +#define GTPR_MSB_Mask ((uint16_t)0xFF00) /*!< Guard Time Register MSB Mask */ +#define IT_Mask ((uint16_t)0x001F) /*!< USART Interrupt Mask */ + +/* USART OverSampling-8 Mask */ +#define CR1_OVER8_Set ((u16)0x8000) /* USART OVER8 mode Enable Mask */ +#define CR1_OVER8_Reset ((u16)0x7FFF) /* USART OVER8 mode Disable Mask */ + +/* USART One Bit Sampling Mask */ +#define CR3_ONEBITE_Set ((u16)0x0800) /* USART ONEBITE mode Enable Mask */ +#define CR3_ONEBITE_Reset ((u16)0xF7FF) /* USART ONEBITE mode Disable Mask */ + +/** + * @} + */ + +/** @defgroup USART_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the USARTx peripheral registers to their default reset values. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @retval None + */ +void USART_DeInit(USART_TypeDef* USARTx) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + if (USARTx == USART1) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_USART1, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_USART1, DISABLE); + } + else if (USARTx == USART2) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART2, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART2, DISABLE); + } + else if (USARTx == USART3) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART3, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART3, DISABLE); + } + else if (USARTx == UART4) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART4, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART4, DISABLE); + } + else + { + if (USARTx == UART5) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART5, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART5, DISABLE); + } + } +} + +/** + * @brief Initializes the USARTx peripheral according to the specified + * parameters in the USART_InitStruct . + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_InitStruct: pointer to a USART_InitTypeDef structure + * that contains the configuration information for the specified USART + * peripheral. + * @retval None + */ +void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct) +{ + uint32_t tmpreg = 0x00, apbclock = 0x00; + uint32_t integerdivider = 0x00; + uint32_t fractionaldivider = 0x00; + uint32_t usartxbase = 0; + RCC_ClocksTypeDef RCC_ClocksStatus; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_BAUDRATE(USART_InitStruct->USART_BaudRate)); + assert_param(IS_USART_WORD_LENGTH(USART_InitStruct->USART_WordLength)); + assert_param(IS_USART_STOPBITS(USART_InitStruct->USART_StopBits)); + assert_param(IS_USART_PARITY(USART_InitStruct->USART_Parity)); + assert_param(IS_USART_MODE(USART_InitStruct->USART_Mode)); + assert_param(IS_USART_HARDWARE_FLOW_CONTROL(USART_InitStruct->USART_HardwareFlowControl)); + /* The hardware flow control is available only for USART1, USART2 and USART3 */ + if (USART_InitStruct->USART_HardwareFlowControl != USART_HardwareFlowControl_None) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + usartxbase = (uint32_t)USARTx; + +/*---------------------------- USART CR2 Configuration -----------------------*/ + tmpreg = USARTx->CR2; + /* Clear STOP[13:12] bits */ + tmpreg &= CR2_STOP_CLEAR_Mask; + /* Configure the USART Stop Bits, Clock, CPOL, CPHA and LastBit ------------*/ + /* Set STOP[13:12] bits according to USART_StopBits value */ + tmpreg |= (uint32_t)USART_InitStruct->USART_StopBits; + + /* Write to USART CR2 */ + USARTx->CR2 = (uint16_t)tmpreg; + +/*---------------------------- USART CR1 Configuration -----------------------*/ + tmpreg = USARTx->CR1; + /* Clear M, PCE, PS, TE and RE bits */ + tmpreg &= CR1_CLEAR_Mask; + /* Configure the USART Word Length, Parity and mode ----------------------- */ + /* Set the M bits according to USART_WordLength value */ + /* Set PCE and PS bits according to USART_Parity value */ + /* Set TE and RE bits according to USART_Mode value */ + tmpreg |= (uint32_t)USART_InitStruct->USART_WordLength | USART_InitStruct->USART_Parity | + USART_InitStruct->USART_Mode; + /* Write to USART CR1 */ + USARTx->CR1 = (uint16_t)tmpreg; + +/*---------------------------- USART CR3 Configuration -----------------------*/ + tmpreg = USARTx->CR3; + /* Clear CTSE and RTSE bits */ + tmpreg &= CR3_CLEAR_Mask; + /* Configure the USART HFC -------------------------------------------------*/ + /* Set CTSE and RTSE bits according to USART_HardwareFlowControl value */ + tmpreg |= USART_InitStruct->USART_HardwareFlowControl; + /* Write to USART CR3 */ + USARTx->CR3 = (uint16_t)tmpreg; + +/*---------------------------- USART BRR Configuration -----------------------*/ + /* Configure the USART Baud Rate -------------------------------------------*/ + RCC_GetClocksFreq(&RCC_ClocksStatus); + if (usartxbase == USART1_BASE) + { + apbclock = RCC_ClocksStatus.PCLK2_Frequency; + } + else + { + apbclock = RCC_ClocksStatus.PCLK1_Frequency; + } + + /* Determine the integer part */ + if ((USARTx->CR1 & CR1_OVER8_Set) != 0) + { + /* Integer part computing in case Oversampling mode is 8 Samples */ + integerdivider = ((25 * apbclock) / (2 * (USART_InitStruct->USART_BaudRate))); + } + else /* if ((USARTx->CR1 & CR1_OVER8_Set) == 0) */ + { + /* Integer part computing in case Oversampling mode is 16 Samples */ + integerdivider = ((25 * apbclock) / (4 * (USART_InitStruct->USART_BaudRate))); + } + tmpreg = (integerdivider / 100) << 4; + + /* Determine the fractional part */ + fractionaldivider = integerdivider - (100 * (tmpreg >> 4)); + + /* Implement the fractional part in the register */ + if ((USARTx->CR1 & CR1_OVER8_Set) != 0) + { + tmpreg |= ((((fractionaldivider * 8) + 50) / 100)) & ((uint8_t)0x07); + } + else /* if ((USARTx->CR1 & CR1_OVER8_Set) == 0) */ + { + tmpreg |= ((((fractionaldivider * 16) + 50) / 100)) & ((uint8_t)0x0F); + } + + /* Write to USART BRR */ + USARTx->BRR = (uint16_t)tmpreg; +} + +/** + * @brief Fills each USART_InitStruct member with its default value. + * @param USART_InitStruct: pointer to a USART_InitTypeDef structure + * which will be initialized. + * @retval None + */ +void USART_StructInit(USART_InitTypeDef* USART_InitStruct) +{ + /* USART_InitStruct members default value */ + USART_InitStruct->USART_BaudRate = 9600; + USART_InitStruct->USART_WordLength = USART_WordLength_8b; + USART_InitStruct->USART_StopBits = USART_StopBits_1; + USART_InitStruct->USART_Parity = USART_Parity_No ; + USART_InitStruct->USART_Mode = USART_Mode_Rx | USART_Mode_Tx; + USART_InitStruct->USART_HardwareFlowControl = USART_HardwareFlowControl_None; +} + +/** + * @brief Initializes the USARTx peripheral Clock according to the + * specified parameters in the USART_ClockInitStruct . + * @param USARTx: where x can be 1, 2, 3 to select the USART peripheral. + * @param USART_ClockInitStruct: pointer to a USART_ClockInitTypeDef + * structure that contains the configuration information for the specified + * USART peripheral. + * @note The Smart Card and Synchronous modes are not available for UART4 and UART5. + * @retval None + */ +void USART_ClockInit(USART_TypeDef* USARTx, USART_ClockInitTypeDef* USART_ClockInitStruct) +{ + uint32_t tmpreg = 0x00; + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + assert_param(IS_USART_CLOCK(USART_ClockInitStruct->USART_Clock)); + assert_param(IS_USART_CPOL(USART_ClockInitStruct->USART_CPOL)); + assert_param(IS_USART_CPHA(USART_ClockInitStruct->USART_CPHA)); + assert_param(IS_USART_LASTBIT(USART_ClockInitStruct->USART_LastBit)); + +/*---------------------------- USART CR2 Configuration -----------------------*/ + tmpreg = USARTx->CR2; + /* Clear CLKEN, CPOL, CPHA and LBCL bits */ + tmpreg &= CR2_CLOCK_CLEAR_Mask; + /* Configure the USART Clock, CPOL, CPHA and LastBit ------------*/ + /* Set CLKEN bit according to USART_Clock value */ + /* Set CPOL bit according to USART_CPOL value */ + /* Set CPHA bit according to USART_CPHA value */ + /* Set LBCL bit according to USART_LastBit value */ + tmpreg |= (uint32_t)USART_ClockInitStruct->USART_Clock | USART_ClockInitStruct->USART_CPOL | + USART_ClockInitStruct->USART_CPHA | USART_ClockInitStruct->USART_LastBit; + /* Write to USART CR2 */ + USARTx->CR2 = (uint16_t)tmpreg; +} + +/** + * @brief Fills each USART_ClockInitStruct member with its default value. + * @param USART_ClockInitStruct: pointer to a USART_ClockInitTypeDef + * structure which will be initialized. + * @retval None + */ +void USART_ClockStructInit(USART_ClockInitTypeDef* USART_ClockInitStruct) +{ + /* USART_ClockInitStruct members default value */ + USART_ClockInitStruct->USART_Clock = USART_Clock_Disable; + USART_ClockInitStruct->USART_CPOL = USART_CPOL_Low; + USART_ClockInitStruct->USART_CPHA = USART_CPHA_1Edge; + USART_ClockInitStruct->USART_LastBit = USART_LastBit_Disable; +} + +/** + * @brief Enables or disables the specified USART peripheral. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USARTx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_Cmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected USART by setting the UE bit in the CR1 register */ + USARTx->CR1 |= CR1_UE_Set; + } + else + { + /* Disable the selected USART by clearing the UE bit in the CR1 register */ + USARTx->CR1 &= CR1_UE_Reset; + } +} + +/** + * @brief Enables or disables the specified USART interrupts. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IT: specifies the USART interrupt sources to be enabled or disabled. + * This parameter can be one of the following values: + * @arg USART_IT_CTS: CTS change interrupt (not available for UART4 and UART5) + * @arg USART_IT_LBD: LIN Break detection interrupt + * @arg USART_IT_TXE: Transmit Data Register empty interrupt + * @arg USART_IT_TC: Transmission complete interrupt + * @arg USART_IT_RXNE: Receive Data register not empty interrupt + * @arg USART_IT_IDLE: Idle line detection interrupt + * @arg USART_IT_PE: Parity Error interrupt + * @arg USART_IT_ERR: Error interrupt(Frame error, noise error, overrun error) + * @param NewState: new state of the specified USARTx interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_ITConfig(USART_TypeDef* USARTx, uint16_t USART_IT, FunctionalState NewState) +{ + uint32_t usartreg = 0x00, itpos = 0x00, itmask = 0x00; + uint32_t usartxbase = 0x00; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_CONFIG_IT(USART_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + /* The CTS interrupt is not available for UART4 and UART5 */ + if (USART_IT == USART_IT_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + usartxbase = (uint32_t)USARTx; + + /* Get the USART register index */ + usartreg = (((uint8_t)USART_IT) >> 0x05); + + /* Get the interrupt position */ + itpos = USART_IT & IT_Mask; + itmask = (((uint32_t)0x01) << itpos); + + if (usartreg == 0x01) /* The IT is in CR1 register */ + { + usartxbase += 0x0C; + } + else if (usartreg == 0x02) /* The IT is in CR2 register */ + { + usartxbase += 0x10; + } + else /* The IT is in CR3 register */ + { + usartxbase += 0x14; + } + if (NewState != DISABLE) + { + *(__IO uint32_t*)usartxbase |= itmask; + } + else + { + *(__IO uint32_t*)usartxbase &= ~itmask; + } +} + +/** + * @brief Enables or disables the USARTs DMA interface. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_DMAReq: specifies the DMA request. + * This parameter can be any combination of the following values: + * @arg USART_DMAReq_Tx: USART DMA transmit request + * @arg USART_DMAReq_Rx: USART DMA receive request + * @param NewState: new state of the DMA Request sources. + * This parameter can be: ENABLE or DISABLE. + * @note The DMA mode is not available for UART5 except in the STM32 + * High density value line devices(STM32F10X_HD_VL). + * @retval None + */ +void USART_DMACmd(USART_TypeDef* USARTx, uint16_t USART_DMAReq, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_DMAREQ(USART_DMAReq)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the DMA transfer for selected requests by setting the DMAT and/or + DMAR bits in the USART CR3 register */ + USARTx->CR3 |= USART_DMAReq; + } + else + { + /* Disable the DMA transfer for selected requests by clearing the DMAT and/or + DMAR bits in the USART CR3 register */ + USARTx->CR3 &= (uint16_t)~USART_DMAReq; + } +} + +/** + * @brief Sets the address of the USART node. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_Address: Indicates the address of the USART node. + * @retval None + */ +void USART_SetAddress(USART_TypeDef* USARTx, uint8_t USART_Address) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_ADDRESS(USART_Address)); + + /* Clear the USART address */ + USARTx->CR2 &= CR2_Address_Mask; + /* Set the USART address node */ + USARTx->CR2 |= USART_Address; +} + +/** + * @brief Selects the USART WakeUp method. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_WakeUp: specifies the USART wakeup method. + * This parameter can be one of the following values: + * @arg USART_WakeUp_IdleLine: WakeUp by an idle line detection + * @arg USART_WakeUp_AddressMark: WakeUp by an address mark + * @retval None + */ +void USART_WakeUpConfig(USART_TypeDef* USARTx, uint16_t USART_WakeUp) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_WAKEUP(USART_WakeUp)); + + USARTx->CR1 &= CR1_WAKE_Mask; + USARTx->CR1 |= USART_WakeUp; +} + +/** + * @brief Determines if the USART is in mute mode or not. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART mute mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_ReceiverWakeUpCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the USART mute mode by setting the RWU bit in the CR1 register */ + USARTx->CR1 |= CR1_RWU_Set; + } + else + { + /* Disable the USART mute mode by clearing the RWU bit in the CR1 register */ + USARTx->CR1 &= CR1_RWU_Reset; + } +} + +/** + * @brief Sets the USART LIN Break detection length. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_LINBreakDetectLength: specifies the LIN break detection length. + * This parameter can be one of the following values: + * @arg USART_LINBreakDetectLength_10b: 10-bit break detection + * @arg USART_LINBreakDetectLength_11b: 11-bit break detection + * @retval None + */ +void USART_LINBreakDetectLengthConfig(USART_TypeDef* USARTx, uint16_t USART_LINBreakDetectLength) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_LIN_BREAK_DETECT_LENGTH(USART_LINBreakDetectLength)); + + USARTx->CR2 &= CR2_LBDL_Mask; + USARTx->CR2 |= USART_LINBreakDetectLength; +} + +/** + * @brief Enables or disables the USARTs LIN mode. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART LIN mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_LINCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the LIN mode by setting the LINEN bit in the CR2 register */ + USARTx->CR2 |= CR2_LINEN_Set; + } + else + { + /* Disable the LIN mode by clearing the LINEN bit in the CR2 register */ + USARTx->CR2 &= CR2_LINEN_Reset; + } +} + +/** + * @brief Transmits single data through the USARTx peripheral. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param Data: the data to transmit. + * @retval None + */ +void USART_SendData(USART_TypeDef* USARTx, uint16_t Data) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_DATA(Data)); + + /* Transmit Data */ + USARTx->DR = (Data & (uint16_t)0x01FF); +} + +/** + * @brief Returns the most recent received data by the USARTx peripheral. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @retval The received data. + */ +uint16_t USART_ReceiveData(USART_TypeDef* USARTx) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + /* Receive Data */ + return (uint16_t)(USARTx->DR & (uint16_t)0x01FF); +} + +/** + * @brief Transmits break characters. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @retval None + */ +void USART_SendBreak(USART_TypeDef* USARTx) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + /* Send break characters */ + USARTx->CR1 |= CR1_SBK_Set; +} + +/** + * @brief Sets the specified USART guard time. + * @param USARTx: where x can be 1, 2 or 3 to select the USART peripheral. + * @param USART_GuardTime: specifies the guard time. + * @note The guard time bits are not available for UART4 and UART5. + * @retval None + */ +void USART_SetGuardTime(USART_TypeDef* USARTx, uint8_t USART_GuardTime) +{ + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + + /* Clear the USART Guard time */ + USARTx->GTPR &= GTPR_LSB_Mask; + /* Set the USART guard time */ + USARTx->GTPR |= (uint16_t)((uint16_t)USART_GuardTime << 0x08); +} + +/** + * @brief Sets the system clock prescaler. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_Prescaler: specifies the prescaler clock. + * @note The function is used for IrDA mode with UART4 and UART5. + * @retval None + */ +void USART_SetPrescaler(USART_TypeDef* USARTx, uint8_t USART_Prescaler) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + /* Clear the USART prescaler */ + USARTx->GTPR &= GTPR_MSB_Mask; + /* Set the USART prescaler */ + USARTx->GTPR |= USART_Prescaler; +} + +/** + * @brief Enables or disables the USARTs Smart Card mode. + * @param USARTx: where x can be 1, 2 or 3 to select the USART peripheral. + * @param NewState: new state of the Smart Card mode. + * This parameter can be: ENABLE or DISABLE. + * @note The Smart Card mode is not available for UART4 and UART5. + * @retval None + */ +void USART_SmartCardCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the SC mode by setting the SCEN bit in the CR3 register */ + USARTx->CR3 |= CR3_SCEN_Set; + } + else + { + /* Disable the SC mode by clearing the SCEN bit in the CR3 register */ + USARTx->CR3 &= CR3_SCEN_Reset; + } +} + +/** + * @brief Enables or disables NACK transmission. + * @param USARTx: where x can be 1, 2 or 3 to select the USART peripheral. + * @param NewState: new state of the NACK transmission. + * This parameter can be: ENABLE or DISABLE. + * @note The Smart Card mode is not available for UART4 and UART5. + * @retval None + */ +void USART_SmartCardNACKCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the NACK transmission by setting the NACK bit in the CR3 register */ + USARTx->CR3 |= CR3_NACK_Set; + } + else + { + /* Disable the NACK transmission by clearing the NACK bit in the CR3 register */ + USARTx->CR3 &= CR3_NACK_Reset; + } +} + +/** + * @brief Enables or disables the USARTs Half Duplex communication. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART Communication. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_HalfDuplexCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the Half-Duplex mode by setting the HDSEL bit in the CR3 register */ + USARTx->CR3 |= CR3_HDSEL_Set; + } + else + { + /* Disable the Half-Duplex mode by clearing the HDSEL bit in the CR3 register */ + USARTx->CR3 &= CR3_HDSEL_Reset; + } +} + + +/** + * @brief Enables or disables the USART's 8x oversampling mode. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART one bit sampling method. + * This parameter can be: ENABLE or DISABLE. + * @note + * This function has to be called before calling USART_Init() + * function in order to have correct baudrate Divider value. + * @retval None + */ +void USART_OverSampling8Cmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the 8x Oversampling mode by setting the OVER8 bit in the CR1 register */ + USARTx->CR1 |= CR1_OVER8_Set; + } + else + { + /* Disable the 8x Oversampling mode by clearing the OVER8 bit in the CR1 register */ + USARTx->CR1 &= CR1_OVER8_Reset; + } +} + +/** + * @brief Enables or disables the USART's one bit sampling method. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART one bit sampling method. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_OneBitMethodCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the one bit method by setting the ONEBITE bit in the CR3 register */ + USARTx->CR3 |= CR3_ONEBITE_Set; + } + else + { + /* Disable tthe one bit method by clearing the ONEBITE bit in the CR3 register */ + USARTx->CR3 &= CR3_ONEBITE_Reset; + } +} + +/** + * @brief Configures the USART's IrDA interface. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IrDAMode: specifies the IrDA mode. + * This parameter can be one of the following values: + * @arg USART_IrDAMode_LowPower + * @arg USART_IrDAMode_Normal + * @retval None + */ +void USART_IrDAConfig(USART_TypeDef* USARTx, uint16_t USART_IrDAMode) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_IRDA_MODE(USART_IrDAMode)); + + USARTx->CR3 &= CR3_IRLP_Mask; + USARTx->CR3 |= USART_IrDAMode; +} + +/** + * @brief Enables or disables the USART's IrDA interface. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the IrDA mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_IrDACmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the IrDA mode by setting the IREN bit in the CR3 register */ + USARTx->CR3 |= CR3_IREN_Set; + } + else + { + /* Disable the IrDA mode by clearing the IREN bit in the CR3 register */ + USARTx->CR3 &= CR3_IREN_Reset; + } +} + +/** + * @brief Checks whether the specified USART flag is set or not. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg USART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5) + * @arg USART_FLAG_LBD: LIN Break detection flag + * @arg USART_FLAG_TXE: Transmit data register empty flag + * @arg USART_FLAG_TC: Transmission Complete flag + * @arg USART_FLAG_RXNE: Receive data register not empty flag + * @arg USART_FLAG_IDLE: Idle Line detection flag + * @arg USART_FLAG_ORE: OverRun Error flag + * @arg USART_FLAG_NE: Noise Error flag + * @arg USART_FLAG_FE: Framing Error flag + * @arg USART_FLAG_PE: Parity Error flag + * @retval The new state of USART_FLAG (SET or RESET). + */ +FlagStatus USART_GetFlagStatus(USART_TypeDef* USARTx, uint16_t USART_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_FLAG(USART_FLAG)); + /* The CTS flag is not available for UART4 and UART5 */ + if (USART_FLAG == USART_FLAG_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + if ((USARTx->SR & USART_FLAG) != (uint16_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the USARTx's pending flags. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg USART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5). + * @arg USART_FLAG_LBD: LIN Break detection flag. + * @arg USART_FLAG_TC: Transmission Complete flag. + * @arg USART_FLAG_RXNE: Receive data register not empty flag. + * + * @note + * - PE (Parity error), FE (Framing error), NE (Noise error), ORE (OverRun + * error) and IDLE (Idle line detected) flags are cleared by software + * sequence: a read operation to USART_SR register (USART_GetFlagStatus()) + * followed by a read operation to USART_DR register (USART_ReceiveData()). + * - RXNE flag can be also cleared by a read to the USART_DR register + * (USART_ReceiveData()). + * - TC flag can be also cleared by software sequence: a read operation to + * USART_SR register (USART_GetFlagStatus()) followed by a write operation + * to USART_DR register (USART_SendData()). + * - TXE flag is cleared only by a write to the USART_DR register + * (USART_SendData()). + * @retval None + */ +void USART_ClearFlag(USART_TypeDef* USARTx, uint16_t USART_FLAG) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_CLEAR_FLAG(USART_FLAG)); + /* The CTS flag is not available for UART4 and UART5 */ + if ((USART_FLAG & USART_FLAG_CTS) == USART_FLAG_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + USARTx->SR = (uint16_t)~USART_FLAG; +} + +/** + * @brief Checks whether the specified USART interrupt has occurred or not. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IT: specifies the USART interrupt source to check. + * This parameter can be one of the following values: + * @arg USART_IT_CTS: CTS change interrupt (not available for UART4 and UART5) + * @arg USART_IT_LBD: LIN Break detection interrupt + * @arg USART_IT_TXE: Tansmit Data Register empty interrupt + * @arg USART_IT_TC: Transmission complete interrupt + * @arg USART_IT_RXNE: Receive Data register not empty interrupt + * @arg USART_IT_IDLE: Idle line detection interrupt + * @arg USART_IT_ORE: OverRun Error interrupt + * @arg USART_IT_NE: Noise Error interrupt + * @arg USART_IT_FE: Framing Error interrupt + * @arg USART_IT_PE: Parity Error interrupt + * @retval The new state of USART_IT (SET or RESET). + */ +ITStatus USART_GetITStatus(USART_TypeDef* USARTx, uint16_t USART_IT) +{ + uint32_t bitpos = 0x00, itmask = 0x00, usartreg = 0x00; + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_GET_IT(USART_IT)); + /* The CTS interrupt is not available for UART4 and UART5 */ + if (USART_IT == USART_IT_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + /* Get the USART register index */ + usartreg = (((uint8_t)USART_IT) >> 0x05); + /* Get the interrupt position */ + itmask = USART_IT & IT_Mask; + itmask = (uint32_t)0x01 << itmask; + + if (usartreg == 0x01) /* The IT is in CR1 register */ + { + itmask &= USARTx->CR1; + } + else if (usartreg == 0x02) /* The IT is in CR2 register */ + { + itmask &= USARTx->CR2; + } + else /* The IT is in CR3 register */ + { + itmask &= USARTx->CR3; + } + + bitpos = USART_IT >> 0x08; + bitpos = (uint32_t)0x01 << bitpos; + bitpos &= USARTx->SR; + if ((itmask != (uint16_t)RESET)&&(bitpos != (uint16_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + + return bitstatus; +} + +/** + * @brief Clears the USARTx's interrupt pending bits. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IT: specifies the interrupt pending bit to clear. + * This parameter can be one of the following values: + * @arg USART_IT_CTS: CTS change interrupt (not available for UART4 and UART5) + * @arg USART_IT_LBD: LIN Break detection interrupt + * @arg USART_IT_TC: Transmission complete interrupt. + * @arg USART_IT_RXNE: Receive Data register not empty interrupt. + * + * @note + * - PE (Parity error), FE (Framing error), NE (Noise error), ORE (OverRun + * error) and IDLE (Idle line detected) pending bits are cleared by + * software sequence: a read operation to USART_SR register + * (USART_GetITStatus()) followed by a read operation to USART_DR register + * (USART_ReceiveData()). + * - RXNE pending bit can be also cleared by a read to the USART_DR register + * (USART_ReceiveData()). + * - TC pending bit can be also cleared by software sequence: a read + * operation to USART_SR register (USART_GetITStatus()) followed by a write + * operation to USART_DR register (USART_SendData()). + * - TXE pending bit is cleared only by a write to the USART_DR register + * (USART_SendData()). + * @retval None + */ +void USART_ClearITPendingBit(USART_TypeDef* USARTx, uint16_t USART_IT) +{ + uint16_t bitpos = 0x00, itmask = 0x00; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_CLEAR_IT(USART_IT)); + /* The CTS interrupt is not available for UART4 and UART5 */ + if (USART_IT == USART_IT_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + bitpos = USART_IT >> 0x08; + itmask = ((uint16_t)0x01 << (uint16_t)bitpos); + USARTx->SR = (uint16_t)~itmask; +} +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_wwdg.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_wwdg.c new file mode 100644 index 0000000..4a901e4 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/STM32F10x_FWLib/src/stm32f10x_wwdg.c @@ -0,0 +1,224 @@ +/** + ****************************************************************************** + * @file stm32f10x_wwdg.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the WWDG firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_wwdg.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup WWDG + * @brief WWDG driver modules + * @{ + */ + +/** @defgroup WWDG_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_Defines + * @{ + */ + +/* ----------- WWDG registers bit address in the alias region ----------- */ +#define WWDG_OFFSET (WWDG_BASE - PERIPH_BASE) + +/* Alias word address of EWI bit */ +#define CFR_OFFSET (WWDG_OFFSET + 0x04) +#define EWI_BitNumber 0x09 +#define CFR_EWI_BB (PERIPH_BB_BASE + (CFR_OFFSET * 32) + (EWI_BitNumber * 4)) + +/* --------------------- WWDG registers bit mask ------------------------ */ + +/* CR register bit mask */ +#define CR_WDGA_Set ((uint32_t)0x00000080) + +/* CFR register bit mask */ +#define CFR_WDGTB_Mask ((uint32_t)0xFFFFFE7F) +#define CFR_W_Mask ((uint32_t)0xFFFFFF80) +#define BIT_Mask ((uint8_t)0x7F) + +/** + * @} + */ + +/** @defgroup WWDG_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the WWDG peripheral registers to their default reset values. + * @param None + * @retval None + */ +void WWDG_DeInit(void) +{ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_WWDG, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_WWDG, DISABLE); +} + +/** + * @brief Sets the WWDG Prescaler. + * @param WWDG_Prescaler: specifies the WWDG Prescaler. + * This parameter can be one of the following values: + * @arg WWDG_Prescaler_1: WWDG counter clock = (PCLK1/4096)/1 + * @arg WWDG_Prescaler_2: WWDG counter clock = (PCLK1/4096)/2 + * @arg WWDG_Prescaler_4: WWDG counter clock = (PCLK1/4096)/4 + * @arg WWDG_Prescaler_8: WWDG counter clock = (PCLK1/4096)/8 + * @retval None + */ +void WWDG_SetPrescaler(uint32_t WWDG_Prescaler) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_WWDG_PRESCALER(WWDG_Prescaler)); + /* Clear WDGTB[1:0] bits */ + tmpreg = WWDG->CFR & CFR_WDGTB_Mask; + /* Set WDGTB[1:0] bits according to WWDG_Prescaler value */ + tmpreg |= WWDG_Prescaler; + /* Store the new value */ + WWDG->CFR = tmpreg; +} + +/** + * @brief Sets the WWDG window value. + * @param WindowValue: specifies the window value to be compared to the downcounter. + * This parameter value must be lower than 0x80. + * @retval None + */ +void WWDG_SetWindowValue(uint8_t WindowValue) +{ + __IO uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_WWDG_WINDOW_VALUE(WindowValue)); + /* Clear W[6:0] bits */ + + tmpreg = WWDG->CFR & CFR_W_Mask; + + /* Set W[6:0] bits according to WindowValue value */ + tmpreg |= WindowValue & (uint32_t) BIT_Mask; + + /* Store the new value */ + WWDG->CFR = tmpreg; +} + +/** + * @brief Enables the WWDG Early Wakeup interrupt(EWI). + * @param None + * @retval None + */ +void WWDG_EnableIT(void) +{ + *(__IO uint32_t *) CFR_EWI_BB = (uint32_t)ENABLE; +} + +/** + * @brief Sets the WWDG counter value. + * @param Counter: specifies the watchdog counter value. + * This parameter must be a number between 0x40 and 0x7F. + * @retval None + */ +void WWDG_SetCounter(uint8_t Counter) +{ + /* Check the parameters */ + assert_param(IS_WWDG_COUNTER(Counter)); + /* Write to T[6:0] bits to configure the counter value, no need to do + a read-modify-write; writing a 0 to WDGA bit does nothing */ + WWDG->CR = Counter & BIT_Mask; +} + +/** + * @brief Enables WWDG and load the counter value. + * @param Counter: specifies the watchdog counter value. + * This parameter must be a number between 0x40 and 0x7F. + * @retval None + */ +void WWDG_Enable(uint8_t Counter) +{ + /* Check the parameters */ + assert_param(IS_WWDG_COUNTER(Counter)); + WWDG->CR = CR_WDGA_Set | Counter; +} + +/** + * @brief Checks whether the Early Wakeup interrupt flag is set or not. + * @param None + * @retval The new state of the Early Wakeup interrupt flag (SET or RESET) + */ +FlagStatus WWDG_GetFlagStatus(void) +{ + return (FlagStatus)(WWDG->SR); +} + +/** + * @brief Clears Early Wakeup interrupt flag. + * @param None + * @retval None + */ +void WWDG_ClearFlag(void) +{ + WWDG->SR = (uint32_t)RESET; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/delay/delay.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/delay/delay.c new file mode 100644 index 0000000..e747dbf --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/delay/delay.c @@ -0,0 +1,301 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#include "delay.h" +////////////////////////////////////////////////////////////////////////////////// +//ҪʹOS,ͷļ. +#if SYSTEM_SUPPORT_OS +#include "includes.h" //ucos ʹ +#endif + +static u8 fac_us=0; //usʱ +static u16 fac_ms=0; //msʱ,ucos,ÿĵms + +#if SYSTEM_SUPPORT_OS //SYSTEM_SUPPORT_OS,˵Ҫ֧OS(UCOS). +//delay_us/delay_msҪ֧OSʱҪOSصĺ궨ͺ֧ +//3궨: +//delay_osrunning:ڱʾOSǰǷ,ԾǷʹغ +//delay_ostickspersec:ڱʾOS趨ʱӽ,delay_initʼsystick +//delay_osintnesting:ڱʾOSжǶ׼,Ϊж治Ե,delay_msʹøò +//Ȼ3: +//delay_osschedlock:OS,ֹ +//delay_osschedunlock:ڽOS,¿ +//delay_ostimedly:OSʱ,. + +//̽UCOSIIUCOSIII֧,OS,вοֲ +//֧UCOSII +#ifdef OS_CRITICAL_METHOD //OS_CRITICAL_METHOD,˵Ҫ֧UCOSII +#define delay_osrunning OSRunning //OSǷб,0,;1, +#define delay_ostickspersec OS_TICKS_PER_SEC //OSʱӽ,ÿȴ +#define delay_osintnesting OSIntNesting //жǶ׼,жǶ״ +#endif + +//֧UCOSIII +#ifdef CPU_CFG_CRITICAL_METHOD //CPU_CFG_CRITICAL_METHOD,˵Ҫ֧UCOSIII +#define delay_osrunning OSRunning //OSǷб,0,;1, +#define delay_ostickspersec OSCfg_TickRate_Hz //OSʱӽ,ÿȴ +#define delay_osintnesting OSIntNestingCtr //жǶ׼,жǶ״ +#endif +/************************************************************************** +Function: Turn off task scheduling when us level delay occurs (to prevent interruption of us level delay) +Input : none +Output : none +ܣusʱʱ,ر(ֹusӳ) +ڲ + ֵ +**************************************************************************/ +void delay_osschedlock(void) +{ +#ifdef CPU_CFG_CRITICAL_METHOD //ʹUCOSIII + OS_ERR err; + OSSchedLock(&err); //UCOSIIIķʽ,ֹȣֹusʱ +#else //UCOSII + OSSchedLock(); //UCOSIIķʽ,ֹȣֹusʱ +#endif +} + +/************************************************************************** +Function: Us level delay, resume task scheduling +Input : none +Output : none +ܣusʱ,ָ +ڲ + ֵ +**************************************************************************/ +void delay_osschedunlock(void) +{ +#ifdef CPU_CFG_CRITICAL_METHOD //ʹUCOSIII + OS_ERR err; + OSSchedUnlock(&err); //UCOSIIIķʽ,ָ +#else //UCOSII + OSSchedUnlock(); //UCOSIIķʽ,ָ +#endif +} + +/************************************************************************** +Function: Call the delay function of OS to delay +Input : ticksBeat number of delay +Output : none +ܣOSԴʱʱ +ڲticks:ʱĽ + ֵ +**************************************************************************/ +void delay_ostimedly(u32 ticks) +{ +#ifdef CPU_CFG_CRITICAL_METHOD + OS_ERR err; + OSTimeDly(ticks,OS_OPT_TIME_PERIODIC,&err); //UCOSIIIʱģʽ +#else + OSTimeDly(ticks); //UCOSIIʱ +#endif +} + +/************************************************************************** +Function: SYSTICK interrupts the service function for use with ucos +Input : none +Output : none +ܣsystickжϷ,ʹucosʱõ +ڲ + ֵ +**************************************************************************/ +void SysTick_Handler(void) +{ + if(delay_osrunning==1) //OSʼ,ִĵȴ + { + OSIntEnter(); //ж + OSTimeTick(); //ucosʱӷ + OSIntExit(); //лж + } +} +#endif + + +/************************************************************************** +Function: Initialize the delay function +Input : SYSCLKSystem clock +Output : none +ܣʼӳٺ +ڲSYSCLK:ϵͳʱ + ֵ +**************************************************************************/ +//ʹucosʱ,˺ʼucosʱӽ +//SYSTICKʱӹ̶ΪHCLKʱӵ1/8 +void delay_init() +{ +#if SYSTEM_SUPPORT_OS //Ҫ֧OS. + u32 reload; +#endif + SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); //ѡⲿʱ HCLK/8 + fac_us=SystemCoreClock/8000000; //Ϊϵͳʱӵ1/8 +#if SYSTEM_SUPPORT_OS //Ҫ֧OS. + reload=SystemCoreClock/8000000; //ÿӵļ λΪM + reload*=1000000/delay_ostickspersec; //delay_ostickspersec趨ʱ + //reloadΪ24λĴ,ֵ:16777216,72M,Լ1.86s + fac_ms=1000/delay_ostickspersec; //OSʱٵλ + + SysTick->CTRL|=SysTick_CTRL_TICKINT_Msk; //SYSTICKж + SysTick->LOAD=reload; //ÿ1/delay_ostickspersecжһ + SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk; //SYSTICK + +#else + fac_ms=(u16)fac_us*1000; //OS,ÿmsҪsystickʱ +#endif +} + +#if SYSTEM_SUPPORT_OS //Ҫ֧OS. +/************************************************************************** +Function: Delay functionus +Input : nusThe number of us to delay +Output : none +ܣʱus +ڲnusҪʱus + ֵ +**************************************************************************/ +void delay_us(u32 nus) +{ + u32 ticks; + u32 told,tnow,tcnt=0; + u32 reload=SysTick->LOAD; //LOADֵ + ticks=nus*fac_us; //ҪĽ + tcnt=0; + delay_osschedlock(); //ֹOSȣֹusʱ + told=SysTick->VAL; //սʱļֵ + while(1) + { + tnow=SysTick->VAL; + if(tnow!=told) + { + if(tnow=ticks)break; //ʱ䳬/Ҫӳٵʱ,˳. + } + }; + delay_osschedunlock(); //ָOS +} +/************************************************************************** +Function: Delay functionms +Input : musThe number of ms to delay +Output : none +ܣʱus +ڲmusҪʱms + ֵ +**************************************************************************/ +void delay_ms(u16 nms) +{ + if(delay_osrunning&&delay_osintnesting==0) //OSѾ,Ҳж(ж治) + { + if(nms>=fac_ms) //ʱʱOSʱ + { + delay_ostimedly(nms/fac_ms); //OSʱ + } + nms%=fac_ms; //OSѾ޷ṩôСʱ,ͨʽʱ + } + delay_us((u32)(nms*1000)); //ͨʽʱ +} +#else +//ucosʱ +/************************************************************************** +Function: Delay functionus +Input : nusThe number of us to delay +Output : none +ܣʱus +ڲnusҪʱus + ֵ +**************************************************************************/ +void delay_us(u32 nus) +{ + u32 temp; + SysTick->LOAD=nus*fac_us; //ʱ + SysTick->VAL=0x00; //ռ + SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk ; //ʼ + do + { + temp=SysTick->CTRL; + }while((temp&0x01)&&!(temp&(1<<16))); //ȴʱ䵽 + SysTick->CTRL&=~SysTick_CTRL_ENABLE_Msk; //رռ + SysTick->VAL =0X00; //ռ +} +/************************************************************************** +Function: Delay functionms +Input : musThe number of ms to delay +Output : none +ܣʱus +ڲmusҪʱms + ֵ +**************************************************************************/ +//עnmsķΧ +//SysTick->LOADΪ24λĴ,,ʱΪ: +//nms<=0xffffff*8*1000/SYSCLK +//SYSCLKλΪHz,nmsλΪms +//72M,nms<=1864 +void delay_ms(u16 nms) +{ + u32 temp; + SysTick->LOAD=(u32)nms*fac_ms; //ʱ(SysTick->LOADΪ24bit) + SysTick->VAL =0x00; //ռ + SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk ; //ʼ + do + { + temp=SysTick->CTRL; + }while((temp&0x01)&&!(temp&(1<<16))); //ȴʱ䵽 + SysTick->CTRL&=~SysTick_CTRL_ENABLE_Msk; //رռ + SysTick->VAL =0X00; //ռ +} +#endif + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/delay/delay.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/delay/delay.h new file mode 100644 index 0000000..8f9f51b --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/delay/delay.h @@ -0,0 +1,57 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __DELAY_H +#define __DELAY_H +#include "sys.h" + +void delay_init(void); +void delay_ms(u16 nms); +void delay_us(u32 nus); + +#endif + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/sys/sys.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/sys/sys.c new file mode 100644 index 0000000..2de0c60 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/sys/sys.c @@ -0,0 +1,240 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#include "sys.h" +/************************************************************************** +Function: Set the vector table offset address +Input : Base site Offsets +Output : none +ܣƫƵַ +ڲNVIC_VectTab:ַ Offset:ƫ + ֵ +**************************************************************************/ +void MY_NVIC_SetVectorTable(u32 NVIC_VectTab, u32 Offset) +{ + SCB->VTOR = NVIC_VectTab|(Offset & (u32)0x1FFFFF80);//NVICƫƼĴ + //ڱʶCODERAM +} +/************************************************************************** +Function: Set NVIC group +Input : NVIC_Group +Output : none +ܣжϷ +ڲNVIC_Group:NVIC 0~4 ܹ5 + ֵ +**************************************************************************/ +void MY_NVIC_PriorityGroupConfig(u8 NVIC_Group) +{ + u32 temp,temp1; + temp1=(~NVIC_Group)&0x07;//ȡλ + temp1<<=8; + temp=SCB->AIRCR; //ȡǰ + temp&=0X0000F8FF; //ǰ + temp|=0X05FA0000; //дԿ + temp|=temp1; + SCB->AIRCR=temp; //÷ +} +/************************************************************************** +Function: Set NVIC group +Input : NVIC_PreemptionPriority NVIC_SubPriority NVIC_Channel NVIC_Group +Output : none +ܣжϷ +ڲռȼ Ӧȼ жϱ жϷ + ֵ +* жϷ | + * --------+-------------------------------------- + * 0 | 0λռȼ,4λӦȼ + * 1 | 1λռȼ,3λӦȼ + * 2 | 2λռȼ,2λӦȼ + * 3 | 3λռȼ,1λӦȼ + * 4 | 4λռȼ,0λӦȼ + *NVIC_SubPriorityNVIC_PreemptionPriorityԭ,ֵԽС,Խ +**************************************************************************/ +void MY_NVIC_Init(u8 NVIC_PreemptionPriority,u8 NVIC_SubPriority,u8 NVIC_Channel,u8 NVIC_Group) +{ //עȼܳ趨ķΧ!벻Ĵ + u32 temp; + MY_NVIC_PriorityGroupConfig(NVIC_Group); //÷ + temp=NVIC_PreemptionPriority<<(4-NVIC_Group); + temp|=NVIC_SubPriority&(0x0f>>NVIC_Group); + temp&=0xf;//ȡλ + NVIC->ISER[NVIC_Channel/32]|=(1<IP[NVIC_Channel]|=temp<<4; //Ӧȼȼ +} +/************************************************************************** +Function: External interrupt function configuration +Input : GPIOxGeneral-purpose input/output BITxThe port needed enable + TRIMTrigger mode +Output : none +ܣⲿжϺ +ڲGPIOx:0~6,GPIOA~G + BITx:Ҫʹܵλ; TRIM:ģʽ,1,;2,Ͻ;3ƽ + ֵ +**************************************************************************/ +//úһֻ1IO,IO,ε +//úԶӦж,Լ +void Ex_NVIC_Config(u8 GPIOx,u8 BITx,u8 TRIM) +{ + u8 EXTADDR; + u8 EXTOFFSET; + EXTADDR=BITx/4;//õжϼĴı + EXTOFFSET=(BITx%4)*4; + RCC->APB2ENR|=0x01;//ʹioʱ + AFIO->EXTICR[EXTADDR]&=~(0x000F<EXTICR[EXTADDR]|=GPIOx<IMR|=1<EMR|=1<FTSR|=1<RTSR|=1<APB1RSTR = 0x00000000;//λ + RCC->APB2RSTR = 0x00000000; + + RCC->AHBENR = 0x00000014; //˯ģʽSRAMʱʹ.ر. + RCC->APB2ENR = 0x00000000; //ʱӹر. + RCC->APB1ENR = 0x00000000; + RCC->CR |= 0x00000001; //ʹڲʱHSION + RCC->CFGR &= 0xF8FF0000; //λSW[1:0],HPRE[3:0],PPRE1[2:0],PPRE2[2:0],ADCPRE[1:0],MCO[2:0] + RCC->CR &= 0xFEF6FFFF; //λHSEON,CSSON,PLLON + RCC->CR &= 0xFFFBFFFF; //λHSEBYP + RCC->CFGR &= 0xFF80FFFF; //λPLLSRC, PLLXTPRE, PLLMUL[3:0] and USBPRE + RCC->CIR = 0x00000000; //رж + // +#ifdef VECT_TAB_RAM + MY_NVIC_SetVectorTable(0x20000000, 0x0); +#else + MY_NVIC_SetVectorTable(0x08000000,0x0); +#endif +} +//THUMBָֻ֧ +//·ʵִлָWFI +__asm void WFI_SET(void) +{ + WFI; +} +//رж +__asm void INTX_DISABLE(void) +{ + CPSID I; +} +//ж +__asm void INTX_ENABLE(void) +{ + CPSIE I; +} +//ջַ +//addr:ջַ +__asm void MSR_MSP(u32 addr) +{ + MSR MSP, r0 //set Main Stack value + BX r14 +} + +/************************************************************************** +Function: Go to standby mode +Input : none +Output : none +ܣģʽ +ڲ + ֵ +**************************************************************************/ +void Sys_Standby(void) +{ + SCB->SCR|=1<<2; //ʹSLEEPDEEPλ (SYS->CTRL) + RCC->APB1ENR|=1<<28; //ʹܵԴʱ + PWR->CSR|=1<<8; //WKUPڻ + PWR->CR|=1<<2; //Wake-up ־ + PWR->CR|=1<<1; //PDDSλ + WFI_SET(); //ִWFIָ +} +/************************************************************************** +Function: System soft reset +Input : none +Output : none +ܣϵͳλ +ڲ + ֵ +**************************************************************************/ +void Sys_Soft_Reset(void) +{ + SCB->AIRCR =0X05FA0000|(u32)0x04; +} +/************************************************************************** +Function: Set JTAG mode +Input : mode:JTAG, swd mode settings00all enable01enable SWD10Full shutdown +Output : none +ܣJTAGģʽ +ڲmode:jtag,swdģʽ;00,ȫʹ;01,ʹSWD;10,ȫر; + ֵ +**************************************************************************/ +//#define JTAG_SWD_DISABLE 0X02 +//#define SWD_ENABLE 0X01 +//#define JTAG_SWD_ENABLE 0X00 +void JTAG_Set(u8 mode) +{ + u32 temp; + temp=mode; + temp<<=25; + RCC->APB2ENR|=1<<0; //ʱ + AFIO->MAPR&=0XF8FFFFFF; //MAPR[26:24] + AFIO->MAPR|=temp; //jtagģʽ +} +/************************************************************************** +Function: System clock initialization function +Input : pllSelected frequency multiplicationStarting at 2, the maximum value is 16 +Output : none +ܣϵͳʱӳʼ +ڲpll:ѡıƵ2ʼֵΪ16 + ֵ +**************************************************************************/ +void Stm32_Clock_Init(u8 PLL) +{ + unsigned char temp=0; + MYRCC_DeInit(); //λ + RCC->CR|=0x00010000; //ⲿʱʹHSEON + while(!(RCC->CR>>17)); //ȴⲿʱӾ + RCC->CFGR=0X00000400; //APB1=DIV2;APB2=DIV1;AHB=DIV1; + PLL-=2; //2λ + RCC->CFGR|=PLL<<18; //PLLֵ 2~16 + RCC->CFGR|=1<<16; //PLLSRC ON + FLASH->ACR|=0x32; //FLASH 2ʱ + + RCC->CR|=0x01000000; //PLLON + while(!(RCC->CR>>25)); //ȴPLL + RCC->CFGR|=0x00000002; //PLLΪϵͳʱ + while(temp!=0x02) //ȴPLLΪϵͳʱóɹ + { + temp=RCC->CFGR>>2; + temp&=0x03; + } +} + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/sys/sys.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/sys/sys.h new file mode 100644 index 0000000..4c6f03a --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/sys/sys.h @@ -0,0 +1,139 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __SYS_H +#define __SYS_H +#include +//0,֧ucos +//1,֧ucos +#define SYSTEM_SUPPORT_UCOS 0 //ϵͳļǷ֧UCOS + + +//λ,ʵ51ƵGPIOƹ +//ʵ˼,ο<>(87ҳ~92ҳ). +//IOڲ궨 +#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2)) +#define MEM_ADDR(addr) *((volatile unsigned long *)(addr)) +#define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum)) +//IOڵַӳ +#define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C +#define GPIOB_ODR_Addr (GPIOB_BASE+12) //0x40010C0C +#define GPIOC_ODR_Addr (GPIOC_BASE+12) //0x4001100C +#define GPIOD_ODR_Addr (GPIOD_BASE+12) //0x4001140C +#define GPIOE_ODR_Addr (GPIOE_BASE+12) //0x4001180C +#define GPIOF_ODR_Addr (GPIOF_BASE+12) //0x40011A0C +#define GPIOG_ODR_Addr (GPIOG_BASE+12) //0x40011E0C + +#define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808 +#define GPIOB_IDR_Addr (GPIOB_BASE+8) //0x40010C08 +#define GPIOC_IDR_Addr (GPIOC_BASE+8) //0x40011008 +#define GPIOD_IDR_Addr (GPIOD_BASE+8) //0x40011408 +#define GPIOE_IDR_Addr (GPIOE_BASE+8) //0x40011808 +#define GPIOF_IDR_Addr (GPIOF_BASE+8) //0x40011A08 +#define GPIOG_IDR_Addr (GPIOG_BASE+8) //0x40011E08 + +//IOڲ,ֻԵһIO! +//ȷnֵС16! +#define PAout(n) BIT_ADDR(GPIOA_ODR_Addr,n) // +#define PAin(n) BIT_ADDR(GPIOA_IDR_Addr,n) // + +#define PBout(n) BIT_ADDR(GPIOB_ODR_Addr,n) // +#define PBin(n) BIT_ADDR(GPIOB_IDR_Addr,n) // + +#define PCout(n) BIT_ADDR(GPIOC_ODR_Addr,n) // +#define PCin(n) BIT_ADDR(GPIOC_IDR_Addr,n) // + +#define PDout(n) BIT_ADDR(GPIOD_ODR_Addr,n) // +#define PDin(n) BIT_ADDR(GPIOD_IDR_Addr,n) // + +#define PEout(n) BIT_ADDR(GPIOE_ODR_Addr,n) // +#define PEin(n) BIT_ADDR(GPIOE_IDR_Addr,n) // + +#define PFout(n) BIT_ADDR(GPIOF_ODR_Addr,n) // +#define PFin(n) BIT_ADDR(GPIOF_IDR_Addr,n) // + +#define PGout(n) BIT_ADDR(GPIOG_ODR_Addr,n) // +#define PGin(n) BIT_ADDR(GPIOG_IDR_Addr,n) // +///////////////////////////////////////////////////////////////// +//Ex_NVIC_Configרö +#define GPIO_A 0 +#define GPIO_B 1 +#define GPIO_C 2 +#define GPIO_D 3 +#define GPIO_E 4 +#define GPIO_F 5 +#define GPIO_G 6 + +#define FTIR 1 //½ش +#define RTIR 2 //ش +#include "delay.h" +#include "key.h" +#include "oled.h" +#include "usart.h" +#include "motor.h" +#include "encoder.h" +#include "ioi2c.h" +#include "mpu6050.h" +#include "show.h" +#include "exti.h" +#include "control.h" +//JTAGģʽö +#define JTAG_SWD_DISABLE 0X02 +#define SWD_ENABLE 0X01 +#define JTAG_SWD_ENABLE 0X00 +extern int Encoder_Left,Encoder_Right; //ұ +extern u8 Flag_Stop; //ֹͣ־λ ʾ־λ Ĭֹͣ ʾ +extern float Angle_Balance,Gyro_Balance; //ƽ ƽ ת +///////////////////////////////////////////////////////////////// +void Stm32_Clock_Init(u8 PLL); //ʱӳʼ +void Sys_Soft_Reset(void); //ϵͳλ +void Sys_Standby(void); //ģʽ +void MY_NVIC_SetVectorTable(u32 NVIC_VectTab, u32 Offset);//ƫƵַ +void MY_NVIC_PriorityGroupConfig(u8 NVIC_Group);//NVIC +void MY_NVIC_Init(u8 NVIC_PreemptionPriority,u8 NVIC_SubPriority,u8 NVIC_Channel,u8 NVIC_Group);//ж +void Ex_NVIC_Config(u8 GPIOx,u8 BITx,u8 TRIM);//ⲿжú(ֻGPIOA~G) +void JTAG_Set(u8 mode); +////////////////////////////////////////////////////////////////////////////// +//Ϊຯ +void WFI_SET(void); //ִWFIָ +void INTX_DISABLE(void);//رж +void INTX_ENABLE(void); //ж +void MSR_MSP(u32 addr); //öջַ +#include "inv_mpu.h" +#include "inv_mpu_dmp_motion_driver.h" +#include "dmpKey.h" +#include "dmpmap.h" +#include +#include +#include +#include +#include +#include +#endif + + + + + + + + + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/usart/usart.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/usart/usart.c new file mode 100644 index 0000000..d1566ba --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/usart/usart.c @@ -0,0 +1,68 @@ +#include "sys.h" +#include "usart.h" +#if SYSTEM_SUPPORT_OS +#include "includes.h" //ucos ʹ +#endif +////////////////////////////////////////////////////////////////// +// ´,֧printf,Ҫѡuse MicroLIB +#if 1 +#pragma import(__use_no_semihosting) +// ׼Ҫֺ֧ +struct __FILE +{ + int handle; +}; + +FILE __stdout; +// _sys_exit()Աʹðģʽ +_sys_exit(int x) +{ + x = x; +} +// ضfputc +int fputc(int ch, FILE *f) +{ + while ((USART1->SR & 0X40) == 0); // ʹô1 + USART1->DR = (u8)ch; + return ch; +} +#endif +/************************************************************************** +Function: Serial port 1 initialization +Input : boundBaud rate +Output : none +ܣ1ʼ +ڲbound + ֵ +**************************************************************************/ +void uart_init(u32 bound) +{ + // GPIO˿ + GPIO_InitTypeDef GPIO_InitStructure; + USART_InitTypeDef USART_InitStructure; + + RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE); // ʹUSART1GPIOAʱ + + // USART1_TX GPIOA.9 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; // PA.9 + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // + GPIO_Init(GPIOA, &GPIO_InitStructure); // ʼGPIOA.9 + + // USART1_RX GPIOA.10ʼ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; // PA10 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; // + GPIO_Init(GPIOA, &GPIO_InitStructure); // ʼGPIOA.10 + // USART ʼ + + USART_InitStructure.USART_BaudRate = bound; // ڲ + USART_InitStructure.USART_WordLength = USART_WordLength_8b; // ֳΪ8λݸʽ + USART_InitStructure.USART_StopBits = USART_StopBits_1; // һֹͣλ + USART_InitStructure.USART_Parity = USART_Parity_No; // żУλ + USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; // Ӳ + USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; // շģʽ + + USART_Init(USART1, &USART_InitStructure); // ʼ1 + USART_ITConfig(USART1, USART_IT_RXNE, DISABLE); // ڽж + USART_Cmd(USART1, ENABLE); // ʹܴ1 +} diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/usart/usart.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/usart/usart.h new file mode 100644 index 0000000..c81e5c2 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/SYSTEM/usart/usart.h @@ -0,0 +1,28 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __USART_H +#define __USART_H +#include "stdio.h" +#include "sys.h" + +void uart_init(u32 bound); +#endif + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.c new file mode 100644 index 0000000..7ca5660 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.c @@ -0,0 +1,45 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#include "stm32f10x.h" +#include "sys.h" +u8 Flag_Stop=1; //ֹͣ־λĬϹر +int Encoder_Left,Encoder_Right; //ұ +float Angle_Balance,Gyro_Balance; //ƽ ƽ +int main(void) +{ + MY_NVIC_PriorityGroupConfig(2); //жϷ + delay_init(); //ʱʼ + JTAG_Set(JTAG_SWD_DISABLE); //رJTAGӿ + JTAG_Set(SWD_ENABLE); //SWDӿ SWDӿڵ + KEY_Init(); //ʼ + MiniBalance_PWM_Init(7199,0); //ʼPWM 10KHZ ʼӿ ΪMiniBalance_PWM_Init(9999,35) 200HZ + Encoder_Init_TIM2(); //ӿ + Encoder_Init_TIM4(); //ʼ2 + IIC_Init(); //IICʼ + OLED_Init(); //OLEDʼ + MPU6050_initialize(); //MPU6050ʼ + DMP_Init(); //ʼDMP + MiniBalance_EXTI_Init(); //MPU6050 5msʱжϳʼ + while(1) + { + oled_show(); //ʾ + } +} + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map new file mode 100644 index 0000000..77e1e64 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.map @@ -0,0 +1,415 @@ +Component: ARM Compiler 5.06 update 3 (build 300) Tool: armlink [4d35c9] + +============================================================================== + +Section Cross References + + system_stm32f10x.o(.text) refers to system_stm32f10x.o(.data) for SystemCoreClock + minibalance.o(.text) refers to sys.o(.text) for MY_NVIC_PriorityGroupConfig + minibalance.o(.text) refers to delay.o(.text) for delay_init + minibalance.o(.text) refers to key.o(.text) for KEY_Init + minibalance.o(.text) refers to motor.o(.text) for MiniBalance_PWM_Init + minibalance.o(.text) refers to encoder.o(.text) for Encoder_Init_TIM2 + minibalance.o(.text) refers to ioi2c.o(.text) for IIC_Init + minibalance.o(.text) refers to oled.o(.text) for OLED_Init + minibalance.o(.text) refers to mpu6050.o(.text) for MPU6050_initialize + minibalance.o(.text) refers to exti.o(.text) for MiniBalance_EXTI_Init + minibalance.o(.text) refers to show.o(.text) for oled_show + startup_stm32f10x_md.o(STACK) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_md.o(HEAP) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_md.o(RESET) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_md.o(RESET) refers to startup_stm32f10x_md.o(STACK) for __initial_sp + startup_stm32f10x_md.o(RESET) refers to startup_stm32f10x_md.o(.text) for Reset_Handler + startup_stm32f10x_md.o(RESET) refers to stm32f10x_it.o(.text) for NMI_Handler + startup_stm32f10x_md.o(RESET) refers to encoder.o(.text) for TIM2_IRQHandler + startup_stm32f10x_md.o(RESET) refers to control.o(.text) for EXTI15_10_IRQHandler + startup_stm32f10x_md.o(.text) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_md.o(.text) refers to system_stm32f10x.o(.text) for SystemInit + startup_stm32f10x_md.o(.text) refers to __main.o(!!!main) for __main + startup_stm32f10x_md.o(.text) refers to startup_stm32f10x_md.o(HEAP) for Heap_Mem + startup_stm32f10x_md.o(.text) refers to startup_stm32f10x_md.o(STACK) for Stack_Mem + stm32f10x_adc.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_bkp.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_BackupResetCmd + stm32f10x_can.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_cec.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_dac.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_gpio.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_i2c.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_pwr.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_rcc.o(.text) refers to stm32f10x_rcc.o(.data) for APBAHBPrescTable + stm32f10x_spi.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_tim.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_usart.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_wwdg.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + delay.o(.text) refers to misc.o(.text) for SysTick_CLKSourceConfig + delay.o(.text) refers to system_stm32f10x.o(.data) for SystemCoreClock + delay.o(.text) refers to delay.o(.data) for fac_us + sys.o(.text) refers to sys.o(.emb_text) for WFI_SET + usart.o(.text) refers (Special) to use_no_semi_2.o(.text) for __use_no_semihosting + usart.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + usart.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + usart.o(.text) refers to stm32f10x_usart.o(.text) for USART_Init + usart.o(.data) refers (Special) to use_no_semi_2.o(.text) for __use_no_semihosting + key.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + key.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + key.o(.text) refers to key.o(.data) for flag_key + oled.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + oled.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + oled.o(.text) refers to stm32f10x_pwr.o(.text) for PWR_BackupAccessCmd + oled.o(.text) refers to stm32f10x_bkp.o(.text) for BKP_TamperPinCmd + oled.o(.text) refers to delay.o(.text) for delay_ms + oled.o(.text) refers to oled.o(.bss) for OLED_GRAM + oled.o(.text) refers to oled.o(.constdata) for oled_asc2_1206 + motor.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + motor.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + motor.o(.text) refers to stm32f10x_tim.o(.text) for TIM_TimeBaseInit + encoder.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphClockCmd + encoder.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + encoder.o(.text) refers to stm32f10x_tim.o(.text) for TIM_TimeBaseStructInit + ioi2c.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + ioi2c.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + ioi2c.o(.text) refers to delay.o(.text) for delay_us + exti.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + exti.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + exti.o(.text) refers to stm32f10x_exti.o(.text) for EXTI_Init + exti.o(.text) refers to misc.o(.text) for NVIC_Init + control.o(.text) refers to fleqf.o(x$fpl$fleqf) for __aeabi_cfcmple + control.o(.text) refers to frleqf.o(x$fpl$frleqf) for __aeabi_cfrcmple + control.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f + control.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + control.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + control.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f + control.o(.text) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + control.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd + control.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + control.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub + control.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + control.o(.text) refers to faddsub_clz.o(x$fpl$frsb) for __aeabi_frsub + control.o(.text) refers to key.o(.text) for click + control.o(.text) refers to mpu6050.o(.text) for Read_DMP + control.o(.text) refers to encoder.o(.text) for Read_Encoder + control.o(.text) refers to minibalance.o(.data) for Flag_Stop + control.o(.text) refers to control.o(.data) for Encoder_Least + control.o(.text) refers to mpu6050.o(.data) for Pitch + show.o(.text) refers to oled.o(.text) for OLED_Display_On + show.o(.text) refers to fleqf.o(x$fpl$fleqf) for __aeabi_cfcmple + show.o(.text) refers to frleqf.o(x$fpl$frleqf) for __aeabi_cfrcmple + show.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + show.o(.text) refers to control.o(.text) for myabs + show.o(.text) refers to minibalance.o(.data) for Encoder_Left + show.o(.text) refers to control.o(.data) for Angle_Balance + inv_mpu.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + inv_mpu.o(.text) refers to _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) for _printf_d + inv_mpu.o(.text) refers to _printf_dec.o(.text) for _printf_int_dec + inv_mpu.o(.text) refers to ioi2c.o(.text) for i2cWrite + inv_mpu.o(.text) refers to delay.o(.text) for delay_ms + inv_mpu.o(.text) refers to inv_mpu.o(.data) for st + inv_mpu.o(.text) refers to noretval__2printf.o(.text) for __2printf + inv_mpu.o(.text) refers to fflt_clz.o(x$fpl$ffltu) for __aeabi_ui2f + inv_mpu.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f + inv_mpu.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub + inv_mpu.o(.text) refers to fdiv.o(x$fpl$fdiv) for __aeabi_fdiv + inv_mpu.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd + inv_mpu.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + inv_mpu.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + inv_mpu.o(.text) refers to inv_mpu.o(.conststring) for .conststring + inv_mpu.o(.text) refers to feqf.o(x$fpl$feqf) for __aeabi_cfcmpeq + inv_mpu.o(.text) refers to frleqf.o(x$fpl$frleqf) for __aeabi_cfrcmple + inv_mpu.o(.text) refers to fleqf.o(x$fpl$fleqf) for __aeabi_cfcmple + inv_mpu.o(.text) refers to inv_mpu.o(.constdata) for test + inv_mpu.o(.text) refers to llsdiv.o(.text) for __aeabi_ldivmod + inv_mpu.o(.text) refers to memcmp.o(.text) for memcmp + inv_mpu.o(.data) refers to inv_mpu.o(.constdata) for reg + inv_mpu_dmp_motion_driver.o(.text) refers to inv_mpu.o(.text) for mpu_load_firmware + inv_mpu_dmp_motion_driver.o(.text) refers to inv_mpu_dmp_motion_driver.o(.constdata) for dmp_memory + inv_mpu_dmp_motion_driver.o(.text) refers to inv_mpu_dmp_motion_driver.o(.bss) for dmp + inv_mpu_dmp_motion_driver.o(.text) refers to fflt_clz.o(x$fpl$ffltu) for __aeabi_ui2f + inv_mpu_dmp_motion_driver.o(.text) refers to fdiv.o(x$fpl$fdiv) for __aeabi_fdiv + inv_mpu_dmp_motion_driver.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + inv_mpu_dmp_motion_driver.o(.text) refers to ffixu.o(x$fpl$ffixu) for __aeabi_f2uiz + inv_mpu_dmp_motion_driver.o(.text) refers to aeabi_memset.o(.text) for __aeabi_memset + mpu6050.o(.text) refers to inv_mpu.o(.text) for mpu_run_self_test + mpu6050.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f + mpu6050.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + mpu6050.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + mpu6050.o(.text) refers to inv_mpu_dmp_motion_driver.o(.text) for dmp_set_gyro_bias + mpu6050.o(.text) refers to noretval__2printf.o(.text) for __2printf + mpu6050.o(.text) refers to ioi2c.o(.text) for IICwriteBits + mpu6050.o(.text) refers to fdiv.o(x$fpl$fdiv) for __aeabi_fdiv + mpu6050.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub + mpu6050.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd + mpu6050.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + mpu6050.o(.text) refers to mpu6050.o(.bss) for MPU6050_FIFO + mpu6050.o(.text) refers to mpu6050.o(.data) for gyro_orientation + mpu6050.o(.text) refers to atan2.o(i.atan2) for atan2 + mpu6050.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + mpu6050.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f + use_no_semi_2.o(.text) refers (Special) to use_no_semi.o(.text) for __use_no_semihosting_swi + llsdiv.o(.text) refers to lludivv7m.o(.text) for __aeabi_uldivmod + __2printf.o(.text) refers to _printf_char_file.o(.text) for _printf_char_file + __2printf.o(.text) refers to usart.o(.data) for __stdout + noretval__2printf.o(.text) refers to _printf_char_file.o(.text) for _printf_char_file + noretval__2printf.o(.text) refers to usart.o(.data) for __stdout + __printf.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + _printf_dec.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + __printf_flags.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags.o(.text) refers to __printf_flags.o(.constdata) for .constdata + __printf_ss.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss.o(.text) refers to __printf_flags_ss.o(.constdata) for .constdata + __printf_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_flags_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_wp.o(.text) refers to __printf_flags_wp.o(.constdata) for .constdata + __printf_ss_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_ss_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_flags_ss_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss_wp.o(.text) refers to __printf_flags_ss_wp.o(.constdata) for .constdata + _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) refers (Weak) to _printf_dec.o(.text) for _printf_int_dec + _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) refers (Special) to _printf_percent_end.o(.ARM.Collect$$_printf_percent$$00000017) for _printf_percent_end + aeabi_memset.o(.text) refers to rt_memclr.o(.text) for _memset + __main.o(!!!main) refers to __rtentry.o(.ARM.Collect$$rtentry$$00000000) for __rt_entry + d2f.o(x$fpl$d2f) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + d2f.o(x$fpl$d2f) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + d2f.o(x$fpl$d2f) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + daddsub_clz.o(x$fpl$dadd) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + daddsub_clz.o(x$fpl$dadd) refers to daddsub_clz.o(x$fpl$dsub) for _dsub1 + daddsub_clz.o(x$fpl$dadd) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + daddsub_clz.o(x$fpl$dadd) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + daddsub_clz.o(x$fpl$drsb) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + daddsub_clz.o(x$fpl$drsb) refers to daddsub_clz.o(x$fpl$dadd) for _dadd1 + daddsub_clz.o(x$fpl$drsb) refers to daddsub_clz.o(x$fpl$dsub) for _dsub1 + daddsub_clz.o(x$fpl$dsub) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + daddsub_clz.o(x$fpl$dsub) refers to daddsub_clz.o(x$fpl$dadd) for _dadd1 + daddsub_clz.o(x$fpl$dsub) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + dmul.o(x$fpl$dmul) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dmul.o(x$fpl$dmul) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + dmul.o(x$fpl$dmul) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + f2d.o(x$fpl$f2d) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + f2d.o(x$fpl$f2d) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + f2d.o(x$fpl$f2d) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + faddsub_clz.o(x$fpl$fadd) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + faddsub_clz.o(x$fpl$fadd) refers to faddsub_clz.o(x$fpl$fsub) for _fsub1 + faddsub_clz.o(x$fpl$fadd) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + faddsub_clz.o(x$fpl$fadd) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + faddsub_clz.o(x$fpl$frsb) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + faddsub_clz.o(x$fpl$frsb) refers to faddsub_clz.o(x$fpl$fadd) for _fadd1 + faddsub_clz.o(x$fpl$frsb) refers to faddsub_clz.o(x$fpl$fsub) for _fsub1 + faddsub_clz.o(x$fpl$fsub) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + faddsub_clz.o(x$fpl$fsub) refers to faddsub_clz.o(x$fpl$fadd) for _fadd1 + faddsub_clz.o(x$fpl$fsub) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + fdiv.o(x$fpl$frdiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fdiv.o(x$fpl$frdiv) refers to fdiv.o(x$fpl$fdiv) for _fdiv1 + fdiv.o(x$fpl$fdiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fdiv.o(x$fpl$fdiv) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + fdiv.o(x$fpl$fdiv) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + feqf.o(x$fpl$feqf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + feqf.o(x$fpl$feqf) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + feqf.o(x$fpl$feqf) refers to fcmpi.o(x$fpl$fcmpinf) for __fpl_fcmp_Inf + ffix.o(x$fpl$ffix) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffix.o(x$fpl$ffix) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + ffix.o(x$fpl$ffixr) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffix.o(x$fpl$ffixr) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + ffixu.o(x$fpl$ffixu) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffixu.o(x$fpl$ffixu) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + ffixu.o(x$fpl$ffixur) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffixu.o(x$fpl$ffixur) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + fflt_clz.o(x$fpl$ffltu) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fflt_clz.o(x$fpl$fflt) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fflt_clz.o(x$fpl$ffltn) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fleqf.o(x$fpl$fleqf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fleqf.o(x$fpl$fleqf) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + fleqf.o(x$fpl$fleqf) refers to fcmpi.o(x$fpl$fcmpinf) for __fpl_fcmp_Inf + fmul.o(x$fpl$fmul) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fmul.o(x$fpl$fmul) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + fmul.o(x$fpl$fmul) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + frleqf.o(x$fpl$frleqf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + frleqf.o(x$fpl$frleqf) refers to fleqf.o(x$fpl$fleqf) for __fpl_fcmple_InfNaN + atan2.o(i.__softfp_atan2) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2.o(i.__softfp_atan2) refers to atan2.o(i.atan2) for atan2 + atan2.o(i.atan2) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2.o(i.atan2) refers to dunder.o(i.__mathlib_dbl_infnan2) for __mathlib_dbl_infnan2 + atan2.o(i.atan2) refers to atan.o(i.atan) for atan + atan2.o(i.atan2) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan2.o(i.atan2) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan2.o(i.atan2) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan2.o(i.atan2) refers to qnan.o(.constdata) for __mathlib_zero + atan2_x.o(i.____softfp_atan2$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2_x.o(i.____softfp_atan2$lsc) refers to atan2_x.o(i.__atan2$lsc) for __atan2$lsc + atan2_x.o(i.__atan2$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2_x.o(i.__atan2$lsc) refers to dunder.o(i.__mathlib_dbl_infnan2) for __mathlib_dbl_infnan2 + atan2_x.o(i.__atan2$lsc) refers to atan.o(i.atan) for atan + atan2_x.o(i.__atan2$lsc) refers to _rserrno.o(.text) for __set_errno + atan2_x.o(i.__atan2$lsc) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan2_x.o(i.__atan2$lsc) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan2_x.o(i.__atan2$lsc) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan2_x.o(i.__atan2$lsc) refers to qnan.o(.constdata) for __mathlib_zero + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) for __rt_entry_li + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) for __rt_entry_main + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000C) for __rt_entry_postli_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$00000009) for __rt_entry_postsh_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$00000002) for __rt_entry_presh_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry4.o(.ARM.Collect$$rtentry$$00000004) for __rt_entry_sh + _rserrno.o(.text) refers to rt_errno_addr_intlibspace.o(.text) for __aeabi_errno_addr + _printf_char_file.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common + _printf_char_file.o(.text) refers to ferror.o(.text) for ferror + _printf_char_file.o(.text) refers to usart.o(.text) for fputc + rt_memclr.o(.text) refers to rt_memclr_w.o(.text) for _memset_w + ddiv.o(x$fpl$drdiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ddiv.o(x$fpl$drdiv) refers to ddiv.o(x$fpl$ddiv) for ddiv_entry + ddiv.o(x$fpl$ddiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ddiv.o(x$fpl$ddiv) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + ddiv.o(x$fpl$ddiv) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + dnaninf.o(x$fpl$dnaninf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dretinf.o(x$fpl$dretinf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fcmpi.o(x$fpl$fcmpinf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fnaninf.o(x$fpl$fnaninf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fretinf.o(x$fpl$fretinf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan.o(i.__softfp_atan) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan.o(i.__softfp_atan) refers to atan.o(i.atan) for atan + atan.o(i.atan) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan.o(i.atan) refers to dunder.o(i.__mathlib_dbl_infnan) for __mathlib_dbl_infnan + atan.o(i.atan) refers to fpclassify.o(i.__ARM_fpclassify) for __ARM_fpclassify + atan.o(i.atan) refers to dunder.o(i.__mathlib_dbl_underflow) for __mathlib_dbl_underflow + atan.o(i.atan) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + atan.o(i.atan) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + atan.o(i.atan) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan.o(i.atan) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan.o(i.atan) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + atan.o(i.atan) refers to poly.o(i.__kernel_poly) for __kernel_poly + atan.o(i.atan) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan.o(i.atan) refers to atan.o(.constdata) for .constdata + atan.o(.constdata) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan_x.o(i.____softfp_atan$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan_x.o(i.____softfp_atan$lsc) refers to atan_x.o(i.__atan$lsc) for __atan$lsc + atan_x.o(i.__atan$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan_x.o(i.__atan$lsc) refers to dunder.o(i.__mathlib_dbl_infnan) for __mathlib_dbl_infnan + atan_x.o(i.__atan$lsc) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + atan_x.o(i.__atan$lsc) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + atan_x.o(i.__atan$lsc) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan_x.o(i.__atan$lsc) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan_x.o(i.__atan$lsc) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + atan_x.o(i.__atan$lsc) refers to poly.o(i.__kernel_poly) for __kernel_poly + atan_x.o(i.__atan$lsc) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan_x.o(i.__atan$lsc) refers to atan_x.o(.constdata) for .constdata + atan_x.o(.constdata) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dunder.o(i.__mathlib_dbl_divzero) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + dunder.o(i.__mathlib_dbl_infnan) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + dunder.o(i.__mathlib_dbl_infnan2) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + dunder.o(i.__mathlib_dbl_invalid) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + dunder.o(i.__mathlib_dbl_overflow) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + dunder.o(i.__mathlib_dbl_posinfnan) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + dunder.o(i.__mathlib_dbl_underflow) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + qnan.o(.constdata) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + __rtentry2.o(.ARM.Collect$$rtentry$$00000008) refers to boardinit2.o(.text) for _platform_post_stackheap_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) refers to libinit.o(.ARM.Collect$$libinit$$00000000) for __rt_lib_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000B) refers to boardinit3.o(.text) for _platform_post_lib_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to minibalance.o(.text) for main + __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to exit.o(.text) for exit + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000001) for .ARM.Collect$$rtentry$$00000001 + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000008) for .ARM.Collect$$rtentry$$00000008 + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) for .ARM.Collect$$rtentry$$0000000A + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000B) for .ARM.Collect$$rtentry$$0000000B + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) for .ARM.Collect$$rtentry$$0000000D + __rtentry4.o(.ARM.Collect$$rtentry$$00000004) refers to sys_stackheap_outer.o(.text) for __user_setup_stackheap + __rtentry4.o(.ARM.exidx) refers to __rtentry4.o(.ARM.Collect$$rtentry$$00000004) for .ARM.Collect$$rtentry$$00000004 + aeabi_ldiv0_sigfpe.o(.text) refers to rt_div0.o(.text) for __rt_div0 + rt_errno_addr.o(.text) refers to rt_errno_addr.o(.bss) for __aeabi_errno_addr_data + rt_errno_addr_intlibspace.o(.text) refers to libspace.o(.bss) for __libspace_start + _printf_char_common.o(.text) refers to __printf.o(.text) for __printf + scalbn.o(x$fpl$scalbn) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + scalbn.o(x$fpl$scalbn) refers to dcheck1.o(x$fpl$dcheck1) for __fpl_dcheck_NaN1 + fpclassify.o(i.__ARM_fpclassify) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + poly.o(i.__kernel_poly) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + poly.o(i.__kernel_poly) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + poly.o(i.__kernel_poly) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + libspace.o(.text) refers to libspace.o(.bss) for __libspace_start + sys_stackheap_outer.o(.text) refers to libspace.o(.text) for __user_perproc_libspace + sys_stackheap_outer.o(.text) refers to startup_stm32f10x_md.o(.text) for __user_initial_stackheap + rt_div0.o(.text) refers to defsig_fpe_outer.o(.text) for __rt_SIGFPE + exit.o(.text) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for __rt_exit + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002E) for __rt_lib_init_alloca_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002C) for __rt_lib_init_argv_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001B) for __rt_lib_init_atexit_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000021) for __rt_lib_init_clock_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000032) for __rt_lib_init_cpp_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000030) for __rt_lib_init_exceptions_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000002) for __rt_lib_init_fp_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001F) for __rt_lib_init_fp_trap_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000023) for __rt_lib_init_getenv_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000A) for __rt_lib_init_heap_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000011) for __rt_lib_init_lc_collate_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000013) for __rt_lib_init_lc_ctype_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000015) for __rt_lib_init_lc_monetary_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000017) for __rt_lib_init_lc_numeric_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000019) for __rt_lib_init_lc_time_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000004) for __rt_lib_init_preinit_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000E) for __rt_lib_init_rand_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000033) for __rt_lib_init_return + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001D) for __rt_lib_init_signal_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000025) for __rt_lib_init_stdio_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000C) for __rt_lib_init_user_alloc_1 + dcheck1.o(x$fpl$dcheck1) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dcheck1.o(x$fpl$dcheck1) refers to retnan.o(x$fpl$retnan) for __fpl_return_NaN + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for __rt_exit_exit + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000002) for __rt_exit_prels_1 + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for __rt_exit_exit + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000002) for __rt_exit_prels_1 + rtexit.o(.ARM.exidx) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for .ARM.Collect$$rtexit$$00000000 + defsig_fpe_outer.o(.text) refers to defsig_fpe_inner.o(.text) for __rt_SIGFPE_inner + defsig_fpe_outer.o(.text) refers to defsig_exit.o(.text) for __sig_exit + defsig_fpe_formal.o(.text) refers to rt_raise.o(.text) for __rt_raise + libinit2.o(.ARM.Collect$$libinit$$00000010) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000012) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000014) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000016) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000018) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000026) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer + libinit2.o(.ARM.Collect$$libinit$$00000027) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer + retnan.o(x$fpl$retnan) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + retnan.o(x$fpl$retnan) refers to trapv.o(x$fpl$trapveneer) for __fpl_cmpreturn + rtexit2.o(.ARM.Collect$$rtexit$$00000003) refers to libshutdown.o(.ARM.Collect$$libshutdown$$00000000) for __rt_lib_shutdown + rtexit2.o(.ARM.Collect$$rtexit$$00000004) refers to usart.o(.text) for _sys_exit + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000001) for .ARM.Collect$$rtexit$$00000001 + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for .ARM.Collect$$rtexit$$00000003 + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for .ARM.Collect$$rtexit$$00000004 + rt_raise.o(.text) refers to __raise.o(.text) for __raise + rt_raise.o(.text) refers to usart.o(.text) for _sys_exit + defsig_exit.o(.text) refers to usart.o(.text) for _sys_exit + defsig_fpe_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + argv_veneer.o(.emb_text) refers to no_argv.o(.text) for __ARM_get_argv + trapv.o(x$fpl$trapveneer) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + __raise.o(.text) refers to defsig.o(CL$$defsig) for __default_signal_handler + defsig_general.o(.text) refers to sys_wrch.o(.text) for _ttywrch + _get_argv_nomalloc.o(.text) refers (Special) to hrguard.o(.text) for __heap_region$guard + _get_argv_nomalloc.o(.text) refers to defsig_rtmem_outer.o(.text) for __rt_SIGRTMEM + _get_argv_nomalloc.o(.text) refers to sys_command.o(.text) for _sys_command_string + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) for __rt_lib_shutdown_cpp_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) for __rt_lib_shutdown_fp_trap_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) for __rt_lib_shutdown_heap_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) for __rt_lib_shutdown_return + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) for __rt_lib_shutdown_signal_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) for __rt_lib_shutdown_stdio_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) for __rt_lib_shutdown_user_alloc_1 + sys_wrch.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting + sys_wrch.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function + sys_command.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting + sys_command.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function + defsig_rtmem_outer.o(.text) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner + defsig_rtmem_outer.o(.text) refers to defsig_exit.o(.text) for __sig_exit + defsig_rtmem_formal.o(.text) refers to rt_raise.o(.text) for __rt_raise + defsig.o(CL$$defsig) refers to defsig_fpe_inner.o(.text) for __rt_SIGFPE_inner + defsig.o(CL$$defsig) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner + defsig_abrt_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_rtred_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_rtmem_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_stak_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_pvfn_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_cppl_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_segv_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_other.o(.text) refers to defsig_general.o(.text) for __default_signal_display + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.uvgui.passoni b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.uvgui.passoni new file mode 100644 index 0000000..05657dc --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.uvgui.passoni @@ -0,0 +1,3205 @@ + + + + -4.1 + +
### uVision Project, (C) Keil Software
+ + + + + + 38003 + Registers + 115 116 + + + 346 + Code Coverage + 678 160 + + + 204 + Performance Analyzer + 838 + + + + + + 1506 + Symbols + + 133 133 133 + + + 1936 + Watch 1 + + 133 133 133 + + + 1937 + Watch 2 + + 133 133 133 + + + 1935 + Call Stack + Locals + + 133 133 133 + + + 2506 + Trace Data + + 75 135 130 95 70 230 200 + + + + + + 1 + 1 + 0 + + + + + + + 44 + 0 + 1 + + -1 + -1 + + + -1 + -1 + + + 4 + -1493 + -190 + 1066 + + + + 0 + + 13754 + 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### uVision Project, (C) Keil Software
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BIN\UL2CM3.DLL + + + + 0 + UL2CM3 + UL2CM3(-S0 -C0 -P0 ) -FN1 -FC1000 -FD20000000 -FF0STM32F10x_128 -FL020000 -FS08000000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM) + + + + + 0 + + + 0 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + USER + 1 + 0 + 0 + 0 + + 1 + 1 + 1 + 0 + 0 + 38 + 0 + 109 + 139 + 0 + .\stm32f10x_it.c + stm32f10x_it.c + 0 + 0 + + + 1 + 2 + 1 + 0 + 0 + 13 + 0 + 3 + 4 + 0 + .\system_stm32f10x.c + system_stm32f10x.c + 0 + 0 + + + 1 + 3 + 1 + 0 + 0 + 46 + 0 + 6 + 29 + 0 + .\MiniBalance.c + MiniBalance.c + 0 + 0 + + + + + CORE + 1 + 0 + 0 + 0 + + 2 + 4 + 1 + 0 + 0 + 0 + 0 + 1 + 1 + 0 + ..\MiniBalance_COER\core_cm3.c + core_cm3.c + 0 + 0 + + + 2 + 5 + 2 + 0 + 0 + 0 + 0 + 1 + 1 + 0 + ..\MiniBalance_COER\startup_stm32f10x_md.s + startup_stm32f10x_md.s + 0 + 0 + + + + + FWLIB + 0 + 0 + 0 + 0 + + 3 + 6 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + ..\STM32F10x_FWLib\src\misc.c + misc.c + 0 + 0 + + + 3 + 7 + 1 + 0 + 0 + 0 + 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平衡小车源码（库函数精简入门版）/USER/MiniBalance.uvoptx @@ -0,0 +1,749 @@ + + + + 1.0 + +
### uVision Project, (C) Keil Software
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1.1 + +
### uVision Project, (C) Keil Software
+ + + + MiniBalance + 0x4 + ARM-ADS + + + STM32F103C8 + STMicroelectronics + IROM(0x08000000,0x10000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(72000000) ELITTLE + + + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)) + 4235 + $$Device:STM32F103C8$Device\Include\stm32f10x.h + + + + + + + + + + $$Device:STM32F103C8$SVD\STM32F103xx.svd + 0 + 0 + + + + + + + 0 + 0 + 0 + 0 + 1 + + ..\OBJ\ + MiniBalance + 1 + 0 + 1 + 1 + 1 + .\ + 1 + 0 + 0 + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + + 0 + 0 + + 0 + + + + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 3 + + + 1 + + + SARMCM3.DLL + -REMAP + DCM.DLL + -pCM3 + SARMCM3.DLL + + TCM.DLL + -pCM3 + + + + 1 + 0 + 0 + 0 + 16 + + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + + + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 1 + 1 + + 0 + 1 + + + + + + + + + + + + + + BIN\UL2CM3.DLL + + + + + 1 + 0 + 0 + 1 + 0 + -1 + + 1 + BIN\UL2CM3.DLL + + + + + + 0 + + + + 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..\USER;..\MiniBalance_COER;..\STM32F10x_FWLib\inc;..\MiniBalance_HARDWARE;..\SYSTEM;..\SYSTEM\delay;..\SYSTEM\sys;..\SYSTEM\usart;..\MiniBalance_HARDWARE\DMP;..\MiniBalance_HARDWARE\IIC;..\MiniBalance_HARDWARE\MPU6050;..\MiniBalance_HARDWARE\ENCODER;..\MiniBalance_HARDWARE\OLED;..\MiniBalance\show;..\MiniBalance_HARDWARE\LED;..\MiniBalance_HARDWARE\KEY;..\MiniBalance_HARDWARE\ADC;..\MiniBalance_HARDWARE\MOTOR;..\MiniBalance_HARDWARE\TIMER;..\MiniBalance_HARDWARE\USART3;..\MiniBalance_HARDWARE\EXTI;..\MiniBalance_HARDWARE\DataScope_DP;..\MiniBalance\filter;..\MiniBalance_HARDWARE\STMFLASH + + + + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + 1 + 0 + 0 + 0 + 1 + 0 + 0x08000000 + 0x20000000 + + + + + + + + + + + + + USER + + + stm32f10x_it.c + 1 + .\stm32f10x_it.c + + + system_stm32f10x.c + 1 + .\system_stm32f10x.c + + + MiniBalance.c + 1 + .\MiniBalance.c + + + + + CORE + + + core_cm3.c + 1 + ..\MiniBalance_COER\core_cm3.c + + + startup_stm32f10x_md.s + 2 + 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stm32f10x_iwdg.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_iwdg.c + + + stm32f10x_pwr.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_pwr.c + + + stm32f10x_rcc.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_rcc.c + + + stm32f10x_rtc.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_rtc.c + + + stm32f10x_sdio.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_sdio.c + + + stm32f10x_spi.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_spi.c + + + stm32f10x_tim.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_tim.c + + + stm32f10x_usart.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_usart.c + + + stm32f10x_wwdg.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_wwdg.c + + + + + SYSTEM + + + delay.c + 1 + ..\SYSTEM\delay\delay.c + + + sys.c + 1 + ..\SYSTEM\sys\sys.c + + + usart.c + 1 + ..\SYSTEM\usart\usart.c + + + + + HAREWARE + + + LED.C + 1 + ..\MiniBalance_HARDWARE\LED\LED.C + + + key.c + 1 + ..\MiniBalance_HARDWARE\KEY\key.c + + + oled.c + 1 + ..\MiniBalance_HARDWARE\OLED\oled.c + + + adc.c + 1 + ..\MiniBalance_HARDWARE\ADC\adc.c + + + timer.c + 1 + ..\MiniBalance_HARDWARE\TIMER\timer.c + + + motor.c + 1 + ..\MiniBalance_HARDWARE\MOTOR\motor.c + + + encoder.c + 1 + ..\MiniBalance_HARDWARE\ENCODER\encoder.c + + + IOI2C.c + 1 + ..\MiniBalance_HARDWARE\IIC\IOI2C.c + + + usart3.c + 1 + ..\MiniBalance_HARDWARE\USART3\usart3.c + + + exti.c + 1 + ..\MiniBalance_HARDWARE\EXTI\exti.c + + + stmflash.c + 1 + ..\MiniBalance_HARDWARE\STMFLASH\stmflash.c + + + + + MiniBalance + + + control.c + 1 + ..\MiniBalance\CONTROL\control.c + + + inv_mpu.c + 1 + ..\MiniBalance\DMP\inv_mpu.c + + + inv_mpu_dmp_motion_driver.c + 1 + ..\MiniBalance\DMP\inv_mpu_dmp_motion_driver.c + + + MPU6050.c + 1 + ..\MiniBalance\MPU6050\MPU6050.c + + + show.c + 1 + ..\MiniBalance\show\show.c + + + DataScope_DP.C + 1 + ..\MiniBalance_HARDWARE\DataScope_DP\DataScope_DP.C + + + filter.c + 1 + ..\MiniBalance\filter\filter.c + + + + + + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.uvprojx b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.uvprojx new file mode 100644 index 0000000..d8e2029 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/MiniBalance.uvprojx @@ -0,0 +1,639 @@ + + + + 2.1 + +
### uVision Project, (C) Keil Software
+ + + + MiniBalance + 0x4 + ARM-ADS + 5060300::V5.06 update 3 (build 300)::ARMCC + + + STM32F103C8 + STMicroelectronics + Keil.STM32F1xx_DFP.1.1.0 + http://www.keil.com/pack/ + IRAM(0x20000000,0x5000) IROM(0x08000000,0x10000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE + + + UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000 -FP0($$Device:STM32F103C8$Flash\STM32F10x_128.FLM)) + 4235 + $$Device:STM32F103C8$Device\Include\stm32f10x.h + + + + + + + + + + $$Device:STM32F103C8$SVD\STM32F103xx.svd + 0 + 0 + + + + + + + 0 + 0 + 0 + 0 + 1 + + ..\OBJ\ + MiniBalance + 1 + 0 + 1 + 1 + 1 + .\ + 1 + 0 + 0 + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + 0 + 0 + + + 0 + 0 + + + 0 + 0 + 0 + 0 + + 0 + + + + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 3 + + + 1 + + + SARMCM3.DLL + + DARMSTM.DLL + -pSTM32F103C8 + SARMCM3.DLL + + TARMSTM.DLL + -pSTM32F103C8 + + + + 1 + 0 + 0 + 0 + 16 + + + + + 1 + 0 + 0 + 1 + 1 + -1 + + 1 + BIN\UL2CM3.DLL + + + + + + 0 + + + + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 1 + 1 + 0 + 1 + 1 + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + "Cortex-M3" + + 0 + 0 + 0 + 1 + 1 + 0 + 0 + 0 + 0 + 0 + 8 + 0 + 0 + 0 + 0 + 3 + 3 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 1 + 0 + 0 + 0 + 0 + 1 + 0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x20000000 + 0x5000 + + + 1 + 0x8000000 + 0x10000 + + + 0 + 0x0 + 0x0 + + + 1 + 0x0 + 0x0 + + + 1 + 0x0 + 0x0 + + + 1 + 0x0 + 0x0 + + + 1 + 0x8000000 + 0x10000 + + + 1 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x0 + 0x0 + + + 0 + 0x20000000 + 0x5000 + + + 0 + 0x0 + 0x0 + + + + + + 1 + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + + + STM32F10X_ HD,USE_STDPERIPH_DRIVER + + ..\USER;..\MiniBalance_COER;..\STM32F10x_FWLib\inc;..\MiniBalance_HARDWARE;..\SYSTEM;..\SYSTEM\delay;..\SYSTEM\sys;..\SYSTEM\usart;..\MiniBalance_HARDWARE\IIC;..\MiniBalance_HARDWARE\ENCODER;..\MiniBalance_HARDWARE\OLED;..\MiniBalance\show;..\MiniBalance_HARDWARE\LED;..\MiniBalance_HARDWARE\KEY;..\MiniBalance_HARDWARE\ADC;..\MiniBalance_HARDWARE\MOTOR;..\MiniBalance_HARDWARE\TIMER;..\MiniBalance_HARDWARE\USART3;..\MiniBalance_HARDWARE\EXTI;..\MiniBalance_HARDWARE\DataScope_DP;..\MiniBalance\filter;..\MiniBalance_HARDWARE\STMFLASH;..\MiniBalance_HARDWARE\DMP;..\MiniBalance_HARDWARE\MPU6050;..\MiniBalance\CONTROL + + + + 1 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + 0 + + + + + + + + + 1 + 0 + 0 + 0 + 1 + 0 + 0x08000000 + 0x20000000 + + + + + + + + + + + + + USER + + + stm32f10x_it.c + 1 + .\stm32f10x_it.c + + + system_stm32f10x.c + 1 + .\system_stm32f10x.c + + + MiniBalance.c + 1 + .\MiniBalance.c + + + + + CORE + + + core_cm3.c + 1 + ..\MiniBalance_COER\core_cm3.c + + + startup_stm32f10x_md.s + 2 + ..\MiniBalance_COER\startup_stm32f10x_md.s + + + + + FWLIB + + + misc.c + 1 + ..\STM32F10x_FWLib\src\misc.c + + + stm32f10x_adc.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_adc.c + + + stm32f10x_bkp.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_bkp.c + + + stm32f10x_can.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_can.c + + + stm32f10x_cec.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_cec.c + + + stm32f10x_crc.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_crc.c + + + stm32f10x_dac.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_dac.c + + + stm32f10x_dbgmcu.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_dbgmcu.c + + + stm32f10x_dma.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_dma.c + + + stm32f10x_exti.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_exti.c + + + stm32f10x_flash.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_flash.c + + + stm32f10x_fsmc.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_fsmc.c + + + stm32f10x_gpio.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_gpio.c + + + stm32f10x_i2c.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_i2c.c + + + stm32f10x_iwdg.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_iwdg.c + + + stm32f10x_pwr.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_pwr.c + + + stm32f10x_rcc.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_rcc.c + + + stm32f10x_rtc.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_rtc.c + + + stm32f10x_sdio.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_sdio.c + + + stm32f10x_spi.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_spi.c + + + stm32f10x_tim.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_tim.c + + + stm32f10x_usart.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_usart.c + + + stm32f10x_wwdg.c + 1 + ..\STM32F10x_FWLib\src\stm32f10x_wwdg.c + + + + + SYSTEM + + + delay.c + 1 + ..\SYSTEM\delay\delay.c + + + sys.c + 1 + ..\SYSTEM\sys\sys.c + + + usart.c + 1 + ..\SYSTEM\usart\usart.c + + + + + HAREWARE + + + key.c + 1 + ..\MiniBalance_HARDWARE\KEY\key.c + + + oled.c + 1 + ..\MiniBalance_HARDWARE\OLED\oled.c + + + motor.c + 1 + ..\MiniBalance_HARDWARE\MOTOR\motor.c + + + encoder.c + 1 + ..\MiniBalance_HARDWARE\ENCODER\encoder.c + + + IOI2C.c + 1 + ..\MiniBalance_HARDWARE\IIC\IOI2C.c + + + exti.c + 1 + ..\MiniBalance_HARDWARE\EXTI\exti.c + + + + + MiniBalance + + + control.c + 1 + ..\MiniBalance\CONTROL\control.c + + + show.c + 1 + ..\MiniBalance\show\show.c + + + inv_mpu.c + 1 + ..\MiniBalance_HARDWARE\DMP\inv_mpu.c + + + inv_mpu_dmp_motion_driver.c + 1 + ..\MiniBalance_HARDWARE\DMP\inv_mpu_dmp_motion_driver.c + + + MPU6050.c + 1 + ..\MiniBalance_HARDWARE\MPU6050\MPU6050.c + + + + + ::CMSIS + + + + + + + + + + + + + + + + + + + diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/RTE/RTE_Components.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/RTE/RTE_Components.h new file mode 100644 index 0000000..45fb6ef --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/RTE/RTE_Components.h @@ -0,0 +1,20 @@ + +/* + * Auto generated Run-Time-Environment Component Configuration File + * *** Do not modify ! *** + * + * Project: 'MiniBalance' + * Target: 'MiniBalance' + */ + +#ifndef RTE_COMPONENTS_H +#define RTE_COMPONENTS_H + + +/* + * Define the Device Header File: + */ +#define CMSIS_device_header "stm32f10x.h" + + +#endif /* RTE_COMPONENTS_H */ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/RTE/_MiniBalance/RTE_Components.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/RTE/_MiniBalance/RTE_Components.h new file mode 100644 index 0000000..82302ad --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/RTE/_MiniBalance/RTE_Components.h @@ -0,0 +1,21 @@ + +/* + * Auto generated Run-Time-Environment Configuration File + * *** Do not modify ! *** + * + * Project: 'MiniBalance' + * Target: 'MiniBalance' + */ + +#ifndef RTE_COMPONENTS_H +#define RTE_COMPONENTS_H + + +/* + * Define the Device Header File: + */ +#define CMSIS_device_header "stm32f10x.h" + + + +#endif /* RTE_COMPONENTS_H */ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/startup_stm32f10x_md.lst b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/startup_stm32f10x_md.lst new file mode 100644 index 0000000..53cf7ca --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/startup_stm32f10x_md.lst @@ -0,0 +1,1211 @@ + + + +ARM Macro Assembler Page 1 + + + 1 00000000 ;******************** (C) COPYRIGHT 2011 STMicroelectron + ics ******************** + 2 00000000 ;* File Name : startup_stm32f10x_md.s + 3 00000000 ;* Author : MCD Application Team + 4 00000000 ;* Version : V3.5.0 + 5 00000000 ;* Date : 11-March-2011 + 6 00000000 ;* Description : STM32F10x Medium Density Devices + vector table for MDK-ARM + 7 00000000 ;* toolchain. + 8 00000000 ;* This module performs: + 9 00000000 ;* - Set the initial SP + 10 00000000 ;* - Set the initial PC == Reset_Ha + ndler + 11 00000000 ;* - Set the vector table entries w + ith the exceptions ISR address + 12 00000000 ;* - Configure the clock system + 13 00000000 ;* - Branches to __main in the C li + brary (which eventually + 14 00000000 ;* calls main()). + 15 00000000 ;* After Reset the CortexM3 process + or is in Thread mode, + 16 00000000 ;* priority is Privileged, and the + Stack is set to Main. + 17 00000000 ;* <<< Use Configuration Wizard in Context Menu >>> + 18 00000000 ;******************************************************* + ************************ + 19 00000000 ; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS A + T PROVIDING CUSTOMERS + 20 00000000 ; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN OR + DER FOR THEM TO SAVE TIME. + 21 00000000 ; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIAB + LE FOR ANY DIRECT, + 22 00000000 ; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY + CLAIMS ARISING FROM THE + 23 00000000 ; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOM + ERS OF THE CODING + 24 00000000 ; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR + PRODUCTS. + 25 00000000 ;******************************************************* + ************************ + 26 00000000 + 27 00000000 ; Amount of memory (in bytes) allocated for Stack + 28 00000000 ; Tailor this value to your application needs + 29 00000000 ; Stack Configuration + 30 00000000 ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> + 31 00000000 ; + 32 00000000 + 33 00000000 00000400 + Stack_Size + EQU 0x00000400 + 34 00000000 + 35 00000000 AREA STACK, NOINIT, READWRITE, ALIGN +=3 + 36 00000000 Stack_Mem + SPACE Stack_Size + 37 00000400 __initial_sp + 38 00000400 + 39 00000400 + 40 00000400 ; Heap Configuration + + + +ARM Macro Assembler Page 2 + + + 41 00000400 ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> + 42 00000400 ; + 43 00000400 + 44 00000400 00000200 + Heap_Size + EQU 0x00000200 + 45 00000400 + 46 00000400 AREA HEAP, NOINIT, READWRITE, ALIGN= +3 + 47 00000000 __heap_base + 48 00000000 Heap_Mem + SPACE Heap_Size + 49 00000200 __heap_limit + 50 00000200 + 51 00000200 PRESERVE8 + 52 00000200 THUMB + 53 00000200 + 54 00000200 + 55 00000200 ; Vector Table Mapped to Address 0 at Reset + 56 00000200 AREA RESET, DATA, READONLY + 57 00000000 EXPORT __Vectors + 58 00000000 EXPORT __Vectors_End + 59 00000000 EXPORT __Vectors_Size + 60 00000000 + 61 00000000 00000000 + __Vectors + DCD __initial_sp ; Top of Stack + 62 00000004 00000000 DCD Reset_Handler ; Reset Handler + 63 00000008 00000000 DCD NMI_Handler ; NMI Handler + 64 0000000C 00000000 DCD HardFault_Handler ; Hard Fault + Handler + 65 00000010 00000000 DCD MemManage_Handler + ; MPU Fault Handler + + 66 00000014 00000000 DCD BusFault_Handler + ; Bus Fault Handler + + 67 00000018 00000000 DCD UsageFault_Handler ; Usage Faul + t Handler + 68 0000001C 00000000 DCD 0 ; Reserved + 69 00000020 00000000 DCD 0 ; Reserved + 70 00000024 00000000 DCD 0 ; Reserved + 71 00000028 00000000 DCD 0 ; Reserved + 72 0000002C 00000000 DCD SVC_Handler ; SVCall Handler + 73 00000030 00000000 DCD DebugMon_Handler ; Debug Monito + r Handler + 74 00000034 00000000 DCD 0 ; Reserved + 75 00000038 00000000 DCD PendSV_Handler ; PendSV Handler + + 76 0000003C 00000000 DCD SysTick_Handler + ; SysTick Handler + 77 00000040 + 78 00000040 ; External Interrupts + 79 00000040 00000000 DCD WWDG_IRQHandler + ; Window Watchdog + 80 00000044 00000000 DCD PVD_IRQHandler ; PVD through EX + TI Line detect + 81 00000048 00000000 DCD TAMPER_IRQHandler ; Tamper + 82 0000004C 00000000 DCD RTC_IRQHandler ; RTC + + + +ARM Macro Assembler Page 3 + + + 83 00000050 00000000 DCD FLASH_IRQHandler ; Flash + 84 00000054 00000000 DCD RCC_IRQHandler ; RCC + 85 00000058 00000000 DCD EXTI0_IRQHandler ; EXTI Line 0 + 86 0000005C 00000000 DCD EXTI1_IRQHandler ; EXTI Line 1 + 87 00000060 00000000 DCD EXTI2_IRQHandler ; EXTI Line 2 + 88 00000064 00000000 DCD EXTI3_IRQHandler ; EXTI Line 3 + 89 00000068 00000000 DCD EXTI4_IRQHandler ; EXTI Line 4 + 90 0000006C 00000000 DCD DMA1_Channel1_IRQHandler + ; DMA1 Channel 1 + 91 00000070 00000000 DCD DMA1_Channel2_IRQHandler + ; DMA1 Channel 2 + 92 00000074 00000000 DCD DMA1_Channel3_IRQHandler + ; DMA1 Channel 3 + 93 00000078 00000000 DCD DMA1_Channel4_IRQHandler + ; DMA1 Channel 4 + 94 0000007C 00000000 DCD DMA1_Channel5_IRQHandler + ; DMA1 Channel 5 + 95 00000080 00000000 DCD DMA1_Channel6_IRQHandler + ; DMA1 Channel 6 + 96 00000084 00000000 DCD DMA1_Channel7_IRQHandler + ; DMA1 Channel 7 + 97 00000088 00000000 DCD ADC1_2_IRQHandler ; ADC1_2 + 98 0000008C 00000000 DCD USB_HP_CAN1_TX_IRQHandler ; USB + High Priority or C + AN1 TX + 99 00000090 00000000 DCD USB_LP_CAN1_RX0_IRQHandler ; US + B Low Priority or + CAN1 RX0 + 100 00000094 00000000 DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + 101 00000098 00000000 DCD CAN1_SCE_IRQHandler ; CAN1 SCE + 102 0000009C 00000000 DCD EXTI9_5_IRQHandler + ; EXTI Line 9..5 + 103 000000A0 00000000 DCD TIM1_BRK_IRQHandler + ; TIM1 Break + 104 000000A4 00000000 DCD TIM1_UP_IRQHandler + ; TIM1 Update + 105 000000A8 00000000 DCD TIM1_TRG_COM_IRQHandler ; TIM1 + Trigger and Commuta + tion + 106 000000AC 00000000 DCD TIM1_CC_IRQHandler ; TIM1 Captu + re Compare + 107 000000B0 00000000 DCD TIM2_IRQHandler ; TIM2 + 108 000000B4 00000000 DCD TIM3_IRQHandler ; TIM3 + 109 000000B8 00000000 DCD TIM4_IRQHandler ; TIM4 + 110 000000BC 00000000 DCD I2C1_EV_IRQHandler ; I2C1 Event + + 111 000000C0 00000000 DCD I2C1_ER_IRQHandler ; I2C1 Error + + 112 000000C4 00000000 DCD I2C2_EV_IRQHandler ; I2C2 Event + + 113 000000C8 00000000 DCD I2C2_ER_IRQHandler ; I2C2 Error + + 114 000000CC 00000000 DCD SPI1_IRQHandler ; SPI1 + 115 000000D0 00000000 DCD SPI2_IRQHandler ; SPI2 + 116 000000D4 00000000 DCD USART1_IRQHandler ; USART1 + 117 000000D8 00000000 DCD USART2_IRQHandler ; USART2 + 118 000000DC 00000000 DCD USART3_IRQHandler ; USART3 + 119 000000E0 00000000 DCD EXTI15_10_IRQHandler + ; EXTI Line 15..10 + + + +ARM Macro Assembler Page 4 + + + 120 000000E4 00000000 DCD RTCAlarm_IRQHandler ; RTC Alarm + through EXTI Line + 121 000000E8 00000000 DCD USBWakeUp_IRQHandler ; USB Wake + up from suspend + 122 000000EC __Vectors_End + 123 000000EC + 124 000000EC 000000EC + __Vectors_Size + EQU __Vectors_End - __Vectors + 125 000000EC + 126 000000EC AREA |.text|, CODE, READONLY + 127 00000000 + 128 00000000 ; Reset handler + 129 00000000 Reset_Handler + PROC + 130 00000000 EXPORT Reset_Handler [WEAK +] + 131 00000000 IMPORT __main + 132 00000000 IMPORT SystemInit + 133 00000000 4809 LDR R0, =SystemInit + 134 00000002 4780 BLX R0 + 135 00000004 4809 LDR R0, =__main + 136 00000006 4700 BX R0 + 137 00000008 ENDP + 138 00000008 + 139 00000008 ; Dummy Exception Handlers (infinite loops which can be + modified) + 140 00000008 + 141 00000008 NMI_Handler + PROC + 142 00000008 EXPORT NMI_Handler [WEA +K] + 143 00000008 E7FE B . + 144 0000000A ENDP + 146 0000000A HardFault_Handler + PROC + 147 0000000A EXPORT HardFault_Handler [WEA +K] + 148 0000000A E7FE B . + 149 0000000C ENDP + 151 0000000C MemManage_Handler + PROC + 152 0000000C EXPORT MemManage_Handler [WEA +K] + 153 0000000C E7FE B . + 154 0000000E ENDP + 156 0000000E BusFault_Handler + PROC + 157 0000000E EXPORT BusFault_Handler [WEA +K] + 158 0000000E E7FE B . + 159 00000010 ENDP + 161 00000010 UsageFault_Handler + PROC + 162 00000010 EXPORT UsageFault_Handler [WEA +K] + 163 00000010 E7FE B . + 164 00000012 ENDP + 165 00000012 SVC_Handler + + + +ARM Macro Assembler Page 5 + + + PROC + 166 00000012 EXPORT SVC_Handler [WEA +K] + 167 00000012 E7FE B . + 168 00000014 ENDP + 170 00000014 DebugMon_Handler + PROC + 171 00000014 EXPORT DebugMon_Handler [WEA +K] + 172 00000014 E7FE B . + 173 00000016 ENDP + 174 00000016 PendSV_Handler + PROC + 175 00000016 EXPORT PendSV_Handler [WEA +K] + 176 00000016 E7FE B . + 177 00000018 ENDP + 178 00000018 SysTick_Handler + PROC + 179 00000018 EXPORT SysTick_Handler [WEA +K] + 180 00000018 E7FE B . + 181 0000001A ENDP + 182 0000001A + 183 0000001A Default_Handler + PROC + 184 0000001A + 185 0000001A EXPORT WWDG_IRQHandler [WEA +K] + 186 0000001A EXPORT PVD_IRQHandler [WEA +K] + 187 0000001A EXPORT TAMPER_IRQHandler [WEA +K] + 188 0000001A EXPORT RTC_IRQHandler [WEA +K] + 189 0000001A EXPORT FLASH_IRQHandler [WEA +K] + 190 0000001A EXPORT RCC_IRQHandler [WEA +K] + 191 0000001A EXPORT EXTI0_IRQHandler [WEA +K] + 192 0000001A EXPORT EXTI1_IRQHandler [WEA +K] + 193 0000001A EXPORT EXTI2_IRQHandler [WEA +K] + 194 0000001A EXPORT EXTI3_IRQHandler [WEA +K] + 195 0000001A EXPORT EXTI4_IRQHandler [WEA +K] + 196 0000001A EXPORT DMA1_Channel1_IRQHandler [WEA +K] + 197 0000001A EXPORT DMA1_Channel2_IRQHandler [WEA +K] + 198 0000001A EXPORT DMA1_Channel3_IRQHandler [WEA +K] + 199 0000001A EXPORT DMA1_Channel4_IRQHandler [WEA +K] + 200 0000001A EXPORT DMA1_Channel5_IRQHandler [WEA +K] + + + +ARM Macro Assembler Page 6 + + + 201 0000001A EXPORT DMA1_Channel6_IRQHandler [WEA +K] + 202 0000001A EXPORT DMA1_Channel7_IRQHandler [WEA +K] + 203 0000001A EXPORT ADC1_2_IRQHandler [WEA +K] + 204 0000001A EXPORT USB_HP_CAN1_TX_IRQHandler [WEA +K] + 205 0000001A EXPORT USB_LP_CAN1_RX0_IRQHandler [WEA +K] + 206 0000001A EXPORT CAN1_RX1_IRQHandler [WEA +K] + 207 0000001A EXPORT CAN1_SCE_IRQHandler [WEA +K] + 208 0000001A EXPORT EXTI9_5_IRQHandler [WEA +K] + 209 0000001A EXPORT TIM1_BRK_IRQHandler [WEA +K] + 210 0000001A EXPORT TIM1_UP_IRQHandler [WEA +K] + 211 0000001A EXPORT TIM1_TRG_COM_IRQHandler [WEA +K] + 212 0000001A EXPORT TIM1_CC_IRQHandler [WEA +K] + 213 0000001A EXPORT TIM2_IRQHandler [WEA +K] + 214 0000001A EXPORT TIM3_IRQHandler [WEA +K] + 215 0000001A EXPORT TIM4_IRQHandler [WEA +K] + 216 0000001A EXPORT I2C1_EV_IRQHandler [WEA +K] + 217 0000001A EXPORT I2C1_ER_IRQHandler [WEA +K] + 218 0000001A EXPORT I2C2_EV_IRQHandler [WEA +K] + 219 0000001A EXPORT I2C2_ER_IRQHandler [WEA +K] + 220 0000001A EXPORT SPI1_IRQHandler [WEA +K] + 221 0000001A EXPORT SPI2_IRQHandler [WEA +K] + 222 0000001A EXPORT USART1_IRQHandler [WEA +K] + 223 0000001A EXPORT USART2_IRQHandler [WEA +K] + 224 0000001A EXPORT USART3_IRQHandler [WEA +K] + 225 0000001A EXPORT EXTI15_10_IRQHandler [WEA +K] + 226 0000001A EXPORT RTCAlarm_IRQHandler [WEA +K] + 227 0000001A EXPORT USBWakeUp_IRQHandler [WEA +K] + 228 0000001A + 229 0000001A WWDG_IRQHandler + 230 0000001A PVD_IRQHandler + 231 0000001A TAMPER_IRQHandler + 232 0000001A RTC_IRQHandler + + + +ARM Macro Assembler Page 7 + + + 233 0000001A FLASH_IRQHandler + 234 0000001A RCC_IRQHandler + 235 0000001A EXTI0_IRQHandler + 236 0000001A EXTI1_IRQHandler + 237 0000001A EXTI2_IRQHandler + 238 0000001A EXTI3_IRQHandler + 239 0000001A EXTI4_IRQHandler + 240 0000001A DMA1_Channel1_IRQHandler + 241 0000001A DMA1_Channel2_IRQHandler + 242 0000001A DMA1_Channel3_IRQHandler + 243 0000001A DMA1_Channel4_IRQHandler + 244 0000001A DMA1_Channel5_IRQHandler + 245 0000001A DMA1_Channel6_IRQHandler + 246 0000001A DMA1_Channel7_IRQHandler + 247 0000001A ADC1_2_IRQHandler + 248 0000001A USB_HP_CAN1_TX_IRQHandler + 249 0000001A USB_LP_CAN1_RX0_IRQHandler + 250 0000001A CAN1_RX1_IRQHandler + 251 0000001A CAN1_SCE_IRQHandler + 252 0000001A EXTI9_5_IRQHandler + 253 0000001A TIM1_BRK_IRQHandler + 254 0000001A TIM1_UP_IRQHandler + 255 0000001A TIM1_TRG_COM_IRQHandler + 256 0000001A TIM1_CC_IRQHandler + 257 0000001A TIM2_IRQHandler + 258 0000001A TIM3_IRQHandler + 259 0000001A TIM4_IRQHandler + 260 0000001A I2C1_EV_IRQHandler + 261 0000001A I2C1_ER_IRQHandler + 262 0000001A I2C2_EV_IRQHandler + 263 0000001A I2C2_ER_IRQHandler + 264 0000001A SPI1_IRQHandler + 265 0000001A SPI2_IRQHandler + 266 0000001A USART1_IRQHandler + 267 0000001A USART2_IRQHandler + 268 0000001A USART3_IRQHandler + 269 0000001A EXTI15_10_IRQHandler + 270 0000001A RTCAlarm_IRQHandler + 271 0000001A USBWakeUp_IRQHandler + 272 0000001A + 273 0000001A E7FE B . + 274 0000001C + 275 0000001C ENDP + 276 0000001C + 277 0000001C ALIGN + 278 0000001C + 279 0000001C ;******************************************************* + ************************ + 280 0000001C ; User Stack and Heap initialization + 281 0000001C ;******************************************************* + ************************ + 282 0000001C IF :DEF:__MICROLIB + 289 0000001C + 290 0000001C IMPORT __use_two_region_memory + 291 0000001C EXPORT __user_initial_stackheap + 292 0000001C + 293 0000001C __user_initial_stackheap + 294 0000001C + 295 0000001C 4804 LDR R0, = Heap_Mem + + + +ARM Macro Assembler Page 8 + + + 296 0000001E 4905 LDR R1, =(Stack_Mem + Stack_Size) + 297 00000020 4A05 LDR R2, = (Heap_Mem + Heap_Size) + 298 00000022 4B06 LDR R3, = Stack_Mem + 299 00000024 4770 BX LR + 300 00000026 + 301 00000026 00 00 ALIGN + 302 00000028 + 303 00000028 ENDIF + 304 00000028 + 305 00000028 END + 00000000 + 00000000 + 00000000 + 00000400 + 00000200 + 00000000 +Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw +ork --depend=..\obj\startup_stm32f10x_md.d -o..\obj\startup_stm32f10x_md.o -I"D +:\Hardware Project\GeBalanceBot\4.WHEELTEC B570 ƽСԴ루⺯Ű +\USER\RTE" -I"D:\Program Files\Keilv5\ARM\PACK\ARM\CMSIS\4.5.0\CMSIS\Include" +-I"D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include" -- +predefine="__UVISION_VERSION SETA 521" --predefine="_RTE_ SETA 1" --predefine=" +STM32F10X_MD SETA 1" --list=.\startup_stm32f10x_md.lst ..\MiniBalance_COER\star +tup_stm32f10x_md.s + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +STACK 00000000 + +Symbol: STACK + Definitions + At line 35 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: STACK unused +Stack_Mem 00000000 + +Symbol: Stack_Mem + Definitions + At line 36 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 296 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 298 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +__initial_sp 00000400 + +Symbol: __initial_sp + Definitions + At line 37 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 61 in file ..\MiniBalance_COER\startup_stm32f10x_md.s +Comment: __initial_sp used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +HEAP 00000000 + +Symbol: HEAP + Definitions + At line 46 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: HEAP unused +Heap_Mem 00000000 + +Symbol: Heap_Mem + Definitions + At line 48 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 295 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 297 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +__heap_base 00000000 + +Symbol: __heap_base + Definitions + At line 47 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: __heap_base unused +__heap_limit 00000200 + +Symbol: __heap_limit + Definitions + At line 49 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: __heap_limit unused +4 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +RESET 00000000 + +Symbol: RESET + Definitions + At line 56 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: RESET unused +__Vectors 00000000 + +Symbol: __Vectors + Definitions + At line 61 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 57 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 124 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +__Vectors_End 000000EC + +Symbol: __Vectors_End + Definitions + At line 122 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 58 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 124 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +.text 00000000 + +Symbol: .text + Definitions + At line 126 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: .text unused +ADC1_2_IRQHandler 0000001A + +Symbol: ADC1_2_IRQHandler + Definitions + At line 247 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 97 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 203 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +BusFault_Handler 0000000E + +Symbol: BusFault_Handler + Definitions + At line 156 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 66 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 157 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +CAN1_RX1_IRQHandler 0000001A + +Symbol: CAN1_RX1_IRQHandler + Definitions + At line 250 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 100 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 206 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +CAN1_SCE_IRQHandler 0000001A + +Symbol: CAN1_SCE_IRQHandler + Definitions + At line 251 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 101 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 207 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DMA1_Channel1_IRQHandler 0000001A + +Symbol: DMA1_Channel1_IRQHandler + Definitions + At line 240 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 90 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 196 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DMA1_Channel2_IRQHandler 0000001A + +Symbol: DMA1_Channel2_IRQHandler + Definitions + At line 241 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + + + +ARM Macro Assembler Page 2 Alphabetic symbol ordering +Relocatable symbols + + At line 91 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 197 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DMA1_Channel3_IRQHandler 0000001A + +Symbol: DMA1_Channel3_IRQHandler + Definitions + At line 242 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 92 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 198 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DMA1_Channel4_IRQHandler 0000001A + +Symbol: DMA1_Channel4_IRQHandler + Definitions + At line 243 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 93 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 199 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DMA1_Channel5_IRQHandler 0000001A + +Symbol: DMA1_Channel5_IRQHandler + Definitions + At line 244 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 94 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 200 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DMA1_Channel6_IRQHandler 0000001A + +Symbol: DMA1_Channel6_IRQHandler + Definitions + At line 245 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 95 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 201 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DMA1_Channel7_IRQHandler 0000001A + +Symbol: DMA1_Channel7_IRQHandler + Definitions + At line 246 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 96 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 202 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +DebugMon_Handler 00000014 + +Symbol: DebugMon_Handler + Definitions + At line 170 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 73 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 171 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +Default_Handler 0000001A + + + + +ARM Macro Assembler Page 3 Alphabetic symbol ordering +Relocatable symbols + +Symbol: Default_Handler + Definitions + At line 183 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: Default_Handler unused +EXTI0_IRQHandler 0000001A + +Symbol: EXTI0_IRQHandler + Definitions + At line 235 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 85 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 191 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +EXTI15_10_IRQHandler 0000001A + +Symbol: EXTI15_10_IRQHandler + Definitions + At line 269 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 119 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 225 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +EXTI1_IRQHandler 0000001A + +Symbol: EXTI1_IRQHandler + Definitions + At line 236 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 86 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 192 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +EXTI2_IRQHandler 0000001A + +Symbol: EXTI2_IRQHandler + Definitions + At line 237 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 87 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 193 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +EXTI3_IRQHandler 0000001A + +Symbol: EXTI3_IRQHandler + Definitions + At line 238 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 88 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 194 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +EXTI4_IRQHandler 0000001A + +Symbol: EXTI4_IRQHandler + Definitions + At line 239 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 89 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 195 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + + + +ARM Macro Assembler Page 4 Alphabetic symbol ordering +Relocatable symbols + + +EXTI9_5_IRQHandler 0000001A + +Symbol: EXTI9_5_IRQHandler + Definitions + At line 252 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 102 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 208 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +FLASH_IRQHandler 0000001A + +Symbol: FLASH_IRQHandler + Definitions + At line 233 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 83 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 189 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +HardFault_Handler 0000000A + +Symbol: HardFault_Handler + Definitions + At line 146 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 64 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 147 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +I2C1_ER_IRQHandler 0000001A + +Symbol: I2C1_ER_IRQHandler + Definitions + At line 261 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 111 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 217 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +I2C1_EV_IRQHandler 0000001A + +Symbol: I2C1_EV_IRQHandler + Definitions + At line 260 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 110 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 216 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +I2C2_ER_IRQHandler 0000001A + +Symbol: I2C2_ER_IRQHandler + Definitions + At line 263 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 113 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 219 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +I2C2_EV_IRQHandler 0000001A + +Symbol: I2C2_EV_IRQHandler + Definitions + + + +ARM Macro Assembler Page 5 Alphabetic symbol ordering +Relocatable symbols + + At line 262 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 112 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 218 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +MemManage_Handler 0000000C + +Symbol: MemManage_Handler + Definitions + At line 151 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 65 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 152 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +NMI_Handler 00000008 + +Symbol: NMI_Handler + Definitions + At line 141 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 63 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 142 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +PVD_IRQHandler 0000001A + +Symbol: PVD_IRQHandler + Definitions + At line 230 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 80 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 186 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +PendSV_Handler 00000016 + +Symbol: PendSV_Handler + Definitions + At line 174 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 75 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 175 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +RCC_IRQHandler 0000001A + +Symbol: RCC_IRQHandler + Definitions + At line 234 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 84 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 190 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +RTCAlarm_IRQHandler 0000001A + +Symbol: RTCAlarm_IRQHandler + Definitions + At line 270 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 120 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 226 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + + + + +ARM Macro Assembler Page 6 Alphabetic symbol ordering +Relocatable symbols + +RTC_IRQHandler 0000001A + +Symbol: RTC_IRQHandler + Definitions + At line 232 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 82 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 188 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +Reset_Handler 00000000 + +Symbol: Reset_Handler + Definitions + At line 129 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 62 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 130 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +SPI1_IRQHandler 0000001A + +Symbol: SPI1_IRQHandler + Definitions + At line 264 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 114 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 220 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +SPI2_IRQHandler 0000001A + +Symbol: SPI2_IRQHandler + Definitions + At line 265 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 115 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 221 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +SVC_Handler 00000012 + +Symbol: SVC_Handler + Definitions + At line 165 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 72 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 166 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +SysTick_Handler 00000018 + +Symbol: SysTick_Handler + Definitions + At line 178 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 76 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 179 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TAMPER_IRQHandler 0000001A + +Symbol: TAMPER_IRQHandler + Definitions + At line 231 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + + + +ARM Macro Assembler Page 7 Alphabetic symbol ordering +Relocatable symbols + + Uses + At line 81 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 187 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TIM1_BRK_IRQHandler 0000001A + +Symbol: TIM1_BRK_IRQHandler + Definitions + At line 253 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 103 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 209 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TIM1_CC_IRQHandler 0000001A + +Symbol: TIM1_CC_IRQHandler + Definitions + At line 256 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 106 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 212 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TIM1_TRG_COM_IRQHandler 0000001A + +Symbol: TIM1_TRG_COM_IRQHandler + Definitions + At line 255 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 105 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 211 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TIM1_UP_IRQHandler 0000001A + +Symbol: TIM1_UP_IRQHandler + Definitions + At line 254 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 104 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 210 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TIM2_IRQHandler 0000001A + +Symbol: TIM2_IRQHandler + Definitions + At line 257 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 107 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 213 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TIM3_IRQHandler 0000001A + +Symbol: TIM3_IRQHandler + Definitions + At line 258 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 108 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 214 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +TIM4_IRQHandler 0000001A + + + +ARM Macro Assembler Page 8 Alphabetic symbol ordering +Relocatable symbols + + +Symbol: TIM4_IRQHandler + Definitions + At line 259 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 109 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 215 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +USART1_IRQHandler 0000001A + +Symbol: USART1_IRQHandler + Definitions + At line 266 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 116 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 222 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +USART2_IRQHandler 0000001A + +Symbol: USART2_IRQHandler + Definitions + At line 267 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 117 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 223 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +USART3_IRQHandler 0000001A + +Symbol: USART3_IRQHandler + Definitions + At line 268 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 118 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 224 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +USBWakeUp_IRQHandler 0000001A + +Symbol: USBWakeUp_IRQHandler + Definitions + At line 271 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 121 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 227 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +USB_HP_CAN1_TX_IRQHandler 0000001A + +Symbol: USB_HP_CAN1_TX_IRQHandler + Definitions + At line 248 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 98 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 204 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +USB_LP_CAN1_RX0_IRQHandler 0000001A + +Symbol: USB_LP_CAN1_RX0_IRQHandler + Definitions + At line 249 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + + + +ARM Macro Assembler Page 9 Alphabetic symbol ordering +Relocatable symbols + + At line 99 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 205 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +UsageFault_Handler 00000010 + +Symbol: UsageFault_Handler + Definitions + At line 161 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 67 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 162 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +WWDG_IRQHandler 0000001A + +Symbol: WWDG_IRQHandler + Definitions + At line 229 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 79 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 185 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +__user_initial_stackheap 0000001C + +Symbol: __user_initial_stackheap + Definitions + At line 293 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 291 in file ..\MiniBalance_COER\startup_stm32f10x_md.s +Comment: __user_initial_stackheap used once +56 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Absolute symbols + +Heap_Size 00000200 + +Symbol: Heap_Size + Definitions + At line 44 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 48 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 297 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +Stack_Size 00000400 + +Symbol: Stack_Size + Definitions + At line 33 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 36 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + At line 296 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + +__Vectors_Size 000000EC + +Symbol: __Vectors_Size + Definitions + At line 124 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 59 in file ..\MiniBalance_COER\startup_stm32f10x_md.s +Comment: __Vectors_Size used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +External symbols + +SystemInit 00000000 + +Symbol: SystemInit + Definitions + At line 132 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 133 in file ..\MiniBalance_COER\startup_stm32f10x_md.s +Comment: SystemInit used once +__main 00000000 + +Symbol: __main + Definitions + At line 131 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + At line 135 in file ..\MiniBalance_COER\startup_stm32f10x_md.s +Comment: __main used once +__use_two_region_memory 00000000 + +Symbol: __use_two_region_memory + Definitions + At line 290 in file ..\MiniBalance_COER\startup_stm32f10x_md.s + Uses + None +Comment: __use_two_region_memory unused +3 symbols +409 symbols in table diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x.h new file mode 100644 index 0000000..8bf7624 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x.h @@ -0,0 +1,8336 @@ +/** + ****************************************************************************** + * @file stm32f10x.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief CMSIS Cortex-M3 Device Peripheral Access Layer Header File. + * This file contains all the peripheral register's definitions, bits + * definitions and memory mapping for STM32F10x Connectivity line, + * High density, High density value line, Medium density, + * Medium density Value line, Low density, Low density Value line + * and XL-density devices. + * + * The file is the unique include file that the application programmer + * is using in the C source code, usually in main.c. This file contains: + * - Configuration section that allows to select: + * - The device used in the target application + * - To use or not the peripherals drivers in application code(i.e. + * code will be based on direct access to peripherals registers + * rather than drivers API), this option is controlled by + * "#define USE_STDPERIPH_DRIVER" + * - To change few application-specific parameters such as the HSE + * crystal frequency + * - Data structures and the address mapping for all peripherals + * - Peripheral's registers declarations and bits definition + * - Macros to access peripherals registers hardware + * + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f10x + * @{ + */ + +#ifndef __STM32F10x_H +#define __STM32F10x_H + +#ifdef __cplusplus + extern "C" { +#endif + +/** @addtogroup Library_configuration_section + * @{ + */ + +/* Uncomment the line below according to the target STM32 device used in your + application + */ + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD) && !defined (STM32F10X_HD_VL) && !defined (STM32F10X_XL) && !defined (STM32F10X_CL) + /* #define STM32F10X_LD */ /*!< STM32F10X_LD: STM32 Low density devices */ + /* #define STM32F10X_LD_VL */ /*!< STM32F10X_LD_VL: STM32 Low density Value Line devices */ + /* #define STM32F10X_MD */ /*!< STM32F10X_MD: STM32 Medium density devices */ + /* #define STM32F10X_MD_VL */ /*!< STM32F10X_MD_VL: STM32 Medium density Value Line devices */ + /* #define STM32F10X_HD */ /*!< STM32F10X_HD: STM32 High density devices */ + /* #define STM32F10X_HD_VL */ /*!< STM32F10X_HD_VL: STM32 High density value line devices */ + /* #define STM32F10X_XL */ /*!< STM32F10X_XL: STM32 XL-density devices */ + /* #define STM32F10X_CL */ /*!< STM32F10X_CL: STM32 Connectivity line devices */ +#endif +/* Tip: To avoid modifying this file each time you need to switch between these + devices, you can define the device in your toolchain compiler preprocessor. + + - Low-density devices are STM32F101xx, STM32F102xx and STM32F103xx microcontrollers + where the Flash memory density ranges between 16 and 32 Kbytes. + - Low-density value line devices are STM32F100xx microcontrollers where the Flash + memory density ranges between 16 and 32 Kbytes. + - Medium-density devices are STM32F101xx, STM32F102xx and STM32F103xx microcontrollers + where the Flash memory density ranges between 64 and 128 Kbytes. + - Medium-density value line devices are STM32F100xx microcontrollers where the + Flash memory density ranges between 64 and 128 Kbytes. + - High-density devices are STM32F101xx and STM32F103xx microcontrollers where + the Flash memory density ranges between 256 and 512 Kbytes. + - High-density value line devices are STM32F100xx microcontrollers where the + Flash memory density ranges between 256 and 512 Kbytes. + - XL-density devices are STM32F101xx and STM32F103xx microcontrollers where + the Flash memory density ranges between 512 and 1024 Kbytes. + - Connectivity line devices are STM32F105xx and STM32F107xx microcontrollers. + */ + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD) && !defined (STM32F10X_HD_VL) && !defined (STM32F10X_XL) && !defined (STM32F10X_CL) + #error "Please select first the target STM32F10x device used in your application (in stm32f10x.h file)" +#endif + +#if !defined USE_STDPERIPH_DRIVER +/** + * @brief Comment the line below if you will not use the peripherals drivers. + In this case, these drivers will not be included and the application code will + be based on direct access to peripherals registers + */ + /*#define USE_STDPERIPH_DRIVER*/ +#endif + +/** + * @brief In the following line adjust the value of External High Speed oscillator (HSE) + used in your application + + Tip: To avoid modifying this file each time you need to use different HSE, you + can define the HSE value in your toolchain compiler preprocessor. + */ +#if !defined HSE_VALUE + #ifdef STM32F10X_CL + #define HSE_VALUE ((uint32_t)25000000) /*!< Value of the External oscillator in Hz */ + #else + #define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */ + #endif /* STM32F10X_CL */ +#endif /* HSE_VALUE */ + + +/** + * @brief In the following line adjust the External High Speed oscillator (HSE) Startup + Timeout value + */ +#define HSE_STARTUP_TIMEOUT ((uint16_t)0x0500) /*!< Time out for HSE start up */ + +#define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/ + +/** + * @brief STM32F10x Standard Peripheral Library version number + */ +#define __STM32F10X_STDPERIPH_VERSION_MAIN (0x03) /*!< [31:24] main version */ +#define __STM32F10X_STDPERIPH_VERSION_SUB1 (0x05) /*!< [23:16] sub1 version */ +#define __STM32F10X_STDPERIPH_VERSION_SUB2 (0x00) /*!< [15:8] sub2 version */ +#define __STM32F10X_STDPERIPH_VERSION_RC (0x00) /*!< [7:0] release candidate */ +#define __STM32F10X_STDPERIPH_VERSION ( (__STM32F10X_STDPERIPH_VERSION_MAIN << 24)\ + |(__STM32F10X_STDPERIPH_VERSION_SUB1 << 16)\ + |(__STM32F10X_STDPERIPH_VERSION_SUB2 << 8)\ + |(__STM32F10X_STDPERIPH_VERSION_RC)) + +/** + * @} + */ + +/** @addtogroup Configuration_section_for_CMSIS + * @{ + */ + +/** + * @brief Configuration of the Cortex-M3 Processor and Core Peripherals + */ +#ifdef STM32F10X_XL + #define __MPU_PRESENT 1 /*!< STM32 XL-density devices provide an MPU */ +#else + #define __MPU_PRESENT 0 /*!< Other STM32 devices does not provide an MPU */ +#endif /* STM32F10X_XL */ +#define __NVIC_PRIO_BITS 4 /*!< STM32 uses 4 Bits for the Priority Levels */ +#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */ + +/** + * @brief STM32F10x Interrupt Number Definition, according to the selected device + * in @ref Library_configuration_section + */ +typedef enum IRQn +{ +/****** Cortex-M3 Processor Exceptions Numbers ***************************************************/ + NonMaskableInt_IRQn = -14, /*!< 2 Non Maskable Interrupt */ + MemoryManagement_IRQn = -12, /*!< 4 Cortex-M3 Memory Management Interrupt */ + BusFault_IRQn = -11, /*!< 5 Cortex-M3 Bus Fault Interrupt */ + UsageFault_IRQn = -10, /*!< 6 Cortex-M3 Usage Fault Interrupt */ + SVCall_IRQn = -5, /*!< 11 Cortex-M3 SV Call Interrupt */ + DebugMonitor_IRQn = -4, /*!< 12 Cortex-M3 Debug Monitor Interrupt */ + PendSV_IRQn = -2, /*!< 14 Cortex-M3 Pend SV Interrupt */ + SysTick_IRQn = -1, /*!< 15 Cortex-M3 System Tick Interrupt */ + +/****** STM32 specific Interrupt Numbers *********************************************************/ + WWDG_IRQn = 0, /*!< Window WatchDog Interrupt */ + PVD_IRQn = 1, /*!< PVD through EXTI Line detection Interrupt */ + TAMPER_IRQn = 2, /*!< Tamper Interrupt */ + RTC_IRQn = 3, /*!< RTC global Interrupt */ + FLASH_IRQn = 4, /*!< FLASH global Interrupt */ + RCC_IRQn = 5, /*!< RCC global Interrupt */ + EXTI0_IRQn = 6, /*!< EXTI Line0 Interrupt */ + EXTI1_IRQn = 7, /*!< EXTI Line1 Interrupt */ + EXTI2_IRQn = 8, /*!< EXTI Line2 Interrupt */ + EXTI3_IRQn = 9, /*!< EXTI Line3 Interrupt */ + EXTI4_IRQn = 10, /*!< EXTI Line4 Interrupt */ + DMA1_Channel1_IRQn = 11, /*!< DMA1 Channel 1 global Interrupt */ + DMA1_Channel2_IRQn = 12, /*!< DMA1 Channel 2 global Interrupt */ + DMA1_Channel3_IRQn = 13, /*!< DMA1 Channel 3 global Interrupt */ + DMA1_Channel4_IRQn = 14, /*!< DMA1 Channel 4 global Interrupt */ + DMA1_Channel5_IRQn = 15, /*!< DMA1 Channel 5 global Interrupt */ + DMA1_Channel6_IRQn = 16, /*!< DMA1 Channel 6 global Interrupt */ + DMA1_Channel7_IRQn = 17, /*!< DMA1 Channel 7 global Interrupt */ + +#ifdef STM32F10X_LD + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42 /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ +#endif /* STM32F10X_LD */ + +#ifdef STM32F10X_LD_VL + ADC1_IRQn = 18, /*!< ADC1 global Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM15_IRQn = 24, /*!< TIM1 Break and TIM15 Interrupts */ + TIM1_UP_TIM16_IRQn = 25, /*!< TIM1 Update and TIM16 Interrupts */ + TIM1_TRG_COM_TIM17_IRQn = 26, /*!< TIM1 Trigger and Commutation and TIM17 Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + CEC_IRQn = 42, /*!< HDMI-CEC Interrupt */ + TIM6_DAC_IRQn = 54, /*!< TIM6 and DAC underrun Interrupt */ + TIM7_IRQn = 55 /*!< TIM7 Interrupt */ +#endif /* STM32F10X_LD_VL */ + +#ifdef STM32F10X_MD + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42 /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ +#endif /* STM32F10X_MD */ + +#ifdef STM32F10X_MD_VL + ADC1_IRQn = 18, /*!< ADC1 global Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM15_IRQn = 24, /*!< TIM1 Break and TIM15 Interrupts */ + TIM1_UP_TIM16_IRQn = 25, /*!< TIM1 Update and TIM16 Interrupts */ + TIM1_TRG_COM_TIM17_IRQn = 26, /*!< TIM1 Trigger and Commutation and TIM17 Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + CEC_IRQn = 42, /*!< HDMI-CEC Interrupt */ + TIM6_DAC_IRQn = 54, /*!< TIM6 and DAC underrun Interrupt */ + TIM7_IRQn = 55 /*!< TIM7 Interrupt */ +#endif /* STM32F10X_MD_VL */ + +#ifdef STM32F10X_HD + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42, /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ + TIM8_BRK_IRQn = 43, /*!< TIM8 Break Interrupt */ + TIM8_UP_IRQn = 44, /*!< TIM8 Update Interrupt */ + TIM8_TRG_COM_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt */ + TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare Interrupt */ + ADC3_IRQn = 47, /*!< ADC3 global Interrupt */ + FSMC_IRQn = 48, /*!< FSMC global Interrupt */ + SDIO_IRQn = 49, /*!< SDIO global Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_IRQn = 54, /*!< TIM6 global Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 global Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_5_IRQn = 59 /*!< DMA2 Channel 4 and Channel 5 global Interrupt */ +#endif /* STM32F10X_HD */ + +#ifdef STM32F10X_HD_VL + ADC1_IRQn = 18, /*!< ADC1 global Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM15_IRQn = 24, /*!< TIM1 Break and TIM15 Interrupts */ + TIM1_UP_TIM16_IRQn = 25, /*!< TIM1 Update and TIM16 Interrupts */ + TIM1_TRG_COM_TIM17_IRQn = 26, /*!< TIM1 Trigger and Commutation and TIM17 Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + CEC_IRQn = 42, /*!< HDMI-CEC Interrupt */ + TIM12_IRQn = 43, /*!< TIM12 global Interrupt */ + TIM13_IRQn = 44, /*!< TIM13 global Interrupt */ + TIM14_IRQn = 45, /*!< TIM14 global Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_DAC_IRQn = 54, /*!< TIM6 and DAC underrun Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_5_IRQn = 59, /*!< DMA2 Channel 4 and Channel 5 global Interrupt */ + DMA2_Channel5_IRQn = 60 /*!< DMA2 Channel 5 global Interrupt (DMA2 Channel 5 is + mapped at position 60 only if the MISC_REMAP bit in + the AFIO_MAPR2 register is set) */ +#endif /* STM32F10X_HD_VL */ + +#ifdef STM32F10X_XL + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM9_IRQn = 24, /*!< TIM1 Break Interrupt and TIM9 global Interrupt */ + TIM1_UP_TIM10_IRQn = 25, /*!< TIM1 Update Interrupt and TIM10 global Interrupt */ + TIM1_TRG_COM_TIM11_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt and TIM11 global interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42, /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ + TIM8_BRK_TIM12_IRQn = 43, /*!< TIM8 Break Interrupt and TIM12 global Interrupt */ + TIM8_UP_TIM13_IRQn = 44, /*!< TIM8 Update Interrupt and TIM13 global Interrupt */ + TIM8_TRG_COM_TIM14_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */ + TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare Interrupt */ + ADC3_IRQn = 47, /*!< ADC3 global Interrupt */ + FSMC_IRQn = 48, /*!< FSMC global Interrupt */ + SDIO_IRQn = 49, /*!< SDIO global Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_IRQn = 54, /*!< TIM6 global Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 global Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_5_IRQn = 59 /*!< DMA2 Channel 4 and Channel 5 global Interrupt */ +#endif /* STM32F10X_XL */ + +#ifdef STM32F10X_CL + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + OTG_FS_WKUP_IRQn = 42, /*!< USB OTG FS WakeUp from suspend through EXTI Line Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_IRQn = 54, /*!< TIM6 global Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 global Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_IRQn = 59, /*!< DMA2 Channel 4 global Interrupt */ + DMA2_Channel5_IRQn = 60, /*!< DMA2 Channel 5 global Interrupt */ + ETH_IRQn = 61, /*!< Ethernet global Interrupt */ + ETH_WKUP_IRQn = 62, /*!< Ethernet Wakeup through EXTI line Interrupt */ + CAN2_TX_IRQn = 63, /*!< CAN2 TX Interrupt */ + CAN2_RX0_IRQn = 64, /*!< CAN2 RX0 Interrupt */ + CAN2_RX1_IRQn = 65, /*!< CAN2 RX1 Interrupt */ + CAN2_SCE_IRQn = 66, /*!< CAN2 SCE Interrupt */ + OTG_FS_IRQn = 67 /*!< USB OTG FS global Interrupt */ +#endif /* STM32F10X_CL */ +} IRQn_Type; + +/** + * @} + */ + +#include "core_cm3.h" +#include "system_stm32f10x.h" +#include + +/** @addtogroup Exported_types + * @{ + */ + +/*!< STM32F10x Standard Peripheral Library old types (maintained for legacy purpose) */ +typedef int32_t s32; +typedef int16_t s16; +typedef int8_t s8; + +typedef const int32_t sc32; /*!< Read Only */ +typedef const int16_t sc16; /*!< Read Only */ +typedef const int8_t sc8; /*!< Read Only */ + +typedef __IO int32_t vs32; +typedef __IO int16_t vs16; +typedef __IO int8_t vs8; + +typedef __I int32_t vsc32; /*!< Read Only */ +typedef __I int16_t vsc16; /*!< Read Only */ +typedef __I int8_t vsc8; /*!< Read Only */ + +typedef uint32_t u32; +typedef uint16_t u16; +typedef uint8_t u8; + +typedef const uint32_t uc32; /*!< Read Only */ +typedef const uint16_t uc16; /*!< Read Only */ +typedef const uint8_t uc8; /*!< Read Only */ + +typedef __IO uint32_t vu32; +typedef __IO uint16_t vu16; +typedef __IO uint8_t vu8; + +typedef __I uint32_t vuc32; /*!< Read Only */ +typedef __I uint16_t vuc16; /*!< Read Only */ +typedef __I uint8_t vuc8; /*!< Read Only */ + +typedef enum {RESET = 0, SET = !RESET} FlagStatus, ITStatus; + +typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState; +#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE)) + +typedef enum {ERROR = 0, SUCCESS = !ERROR} ErrorStatus; + +/*!< STM32F10x Standard Peripheral Library old definitions (maintained for legacy purpose) */ +#define HSEStartUp_TimeOut HSE_STARTUP_TIMEOUT +#define HSE_Value HSE_VALUE +#define HSI_Value HSI_VALUE +/** + * @} + */ + +/** @addtogroup Peripheral_registers_structures + * @{ + */ + +/** + * @brief Analog to Digital Converter + */ + +typedef struct +{ + __IO uint32_t SR; + __IO uint32_t CR1; + __IO uint32_t CR2; + __IO uint32_t SMPR1; + __IO uint32_t SMPR2; + __IO uint32_t JOFR1; + __IO uint32_t JOFR2; + __IO uint32_t JOFR3; + __IO uint32_t JOFR4; + __IO uint32_t HTR; + __IO uint32_t LTR; + __IO uint32_t SQR1; + __IO uint32_t SQR2; + __IO uint32_t SQR3; + __IO uint32_t JSQR; + __IO uint32_t JDR1; + __IO uint32_t JDR2; + __IO uint32_t JDR3; + __IO uint32_t JDR4; + __IO uint32_t DR; +} ADC_TypeDef; + +/** + * @brief Backup Registers + */ + +typedef struct +{ + uint32_t RESERVED0; + __IO uint16_t DR1; + uint16_t RESERVED1; + __IO uint16_t DR2; + uint16_t RESERVED2; + __IO uint16_t DR3; + uint16_t RESERVED3; + __IO uint16_t DR4; + uint16_t RESERVED4; + __IO uint16_t DR5; + uint16_t RESERVED5; + __IO uint16_t DR6; + uint16_t RESERVED6; + __IO uint16_t DR7; + uint16_t RESERVED7; + __IO uint16_t DR8; + uint16_t RESERVED8; + __IO uint16_t DR9; + uint16_t RESERVED9; + __IO uint16_t DR10; + uint16_t RESERVED10; + __IO uint16_t RTCCR; + uint16_t RESERVED11; + __IO uint16_t CR; + uint16_t RESERVED12; + __IO uint16_t CSR; + uint16_t RESERVED13[5]; + __IO uint16_t DR11; + uint16_t RESERVED14; + __IO uint16_t DR12; + uint16_t RESERVED15; + __IO uint16_t DR13; + uint16_t RESERVED16; + __IO uint16_t DR14; + uint16_t RESERVED17; + __IO uint16_t DR15; + uint16_t RESERVED18; + __IO uint16_t DR16; + uint16_t RESERVED19; + __IO uint16_t DR17; + uint16_t RESERVED20; + __IO uint16_t DR18; + uint16_t RESERVED21; + __IO uint16_t DR19; + uint16_t RESERVED22; + __IO uint16_t DR20; + uint16_t RESERVED23; + __IO uint16_t DR21; + uint16_t RESERVED24; + __IO uint16_t DR22; + uint16_t RESERVED25; + __IO uint16_t DR23; + uint16_t RESERVED26; + __IO uint16_t DR24; + uint16_t RESERVED27; + __IO uint16_t DR25; + uint16_t RESERVED28; + __IO uint16_t DR26; + uint16_t RESERVED29; + __IO uint16_t DR27; + uint16_t RESERVED30; + __IO uint16_t DR28; + uint16_t RESERVED31; + __IO uint16_t DR29; + uint16_t RESERVED32; + __IO uint16_t DR30; + uint16_t RESERVED33; + __IO uint16_t DR31; + uint16_t RESERVED34; + __IO uint16_t DR32; + uint16_t RESERVED35; + __IO uint16_t DR33; + uint16_t RESERVED36; + __IO uint16_t DR34; + uint16_t RESERVED37; + __IO uint16_t DR35; + uint16_t RESERVED38; + __IO uint16_t DR36; + uint16_t RESERVED39; + __IO uint16_t DR37; + uint16_t RESERVED40; + __IO uint16_t DR38; + uint16_t RESERVED41; + __IO uint16_t DR39; + uint16_t RESERVED42; + __IO uint16_t DR40; + uint16_t RESERVED43; + __IO uint16_t DR41; + uint16_t RESERVED44; + __IO uint16_t DR42; + uint16_t RESERVED45; +} BKP_TypeDef; + +/** + * @brief Controller Area Network TxMailBox + */ + +typedef struct +{ + __IO uint32_t TIR; + __IO uint32_t TDTR; + __IO uint32_t TDLR; + __IO uint32_t TDHR; +} CAN_TxMailBox_TypeDef; + +/** + * @brief Controller Area Network FIFOMailBox + */ + +typedef struct +{ + __IO uint32_t RIR; + __IO uint32_t RDTR; + __IO uint32_t RDLR; + __IO uint32_t RDHR; +} CAN_FIFOMailBox_TypeDef; + +/** + * @brief Controller Area Network FilterRegister + */ + +typedef struct +{ + __IO uint32_t FR1; + __IO uint32_t FR2; +} CAN_FilterRegister_TypeDef; + +/** + * @brief Controller Area Network + */ + +typedef struct +{ + __IO uint32_t MCR; + __IO uint32_t MSR; + __IO uint32_t TSR; + __IO uint32_t RF0R; + __IO uint32_t RF1R; + __IO uint32_t IER; + __IO uint32_t ESR; + __IO uint32_t BTR; + uint32_t RESERVED0[88]; + CAN_TxMailBox_TypeDef sTxMailBox[3]; + CAN_FIFOMailBox_TypeDef sFIFOMailBox[2]; + uint32_t RESERVED1[12]; + __IO uint32_t FMR; + __IO uint32_t FM1R; + uint32_t RESERVED2; + __IO uint32_t FS1R; + uint32_t RESERVED3; + __IO uint32_t FFA1R; + uint32_t RESERVED4; + __IO uint32_t FA1R; + uint32_t RESERVED5[8]; +#ifndef STM32F10X_CL + CAN_FilterRegister_TypeDef sFilterRegister[14]; +#else + CAN_FilterRegister_TypeDef sFilterRegister[28]; +#endif /* STM32F10X_CL */ +} CAN_TypeDef; + +/** + * @brief Consumer Electronics Control (CEC) + */ +typedef struct +{ + __IO uint32_t CFGR; + __IO uint32_t OAR; + __IO uint32_t PRES; + __IO uint32_t ESR; + __IO uint32_t CSR; + __IO uint32_t TXD; + __IO uint32_t RXD; +} CEC_TypeDef; + +/** + * @brief CRC calculation unit + */ + +typedef struct +{ + __IO uint32_t DR; + __IO uint8_t IDR; + uint8_t RESERVED0; + uint16_t RESERVED1; + __IO uint32_t CR; +} CRC_TypeDef; + +/** + * @brief Digital to Analog Converter + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t SWTRIGR; + __IO uint32_t DHR12R1; + __IO uint32_t DHR12L1; + __IO uint32_t DHR8R1; + __IO uint32_t DHR12R2; + __IO uint32_t DHR12L2; + __IO uint32_t DHR8R2; + __IO uint32_t DHR12RD; + __IO uint32_t DHR12LD; + __IO uint32_t DHR8RD; + __IO uint32_t DOR1; + __IO uint32_t DOR2; +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + __IO uint32_t SR; +#endif +} DAC_TypeDef; + +/** + * @brief Debug MCU + */ + +typedef struct +{ + __IO uint32_t IDCODE; + __IO uint32_t CR; +}DBGMCU_TypeDef; + +/** + * @brief DMA Controller + */ + +typedef struct +{ + __IO uint32_t CCR; + __IO uint32_t CNDTR; + __IO uint32_t CPAR; + __IO uint32_t CMAR; +} DMA_Channel_TypeDef; + +typedef struct +{ + __IO uint32_t ISR; + __IO uint32_t IFCR; +} DMA_TypeDef; + +/** + * @brief Ethernet MAC + */ + +typedef struct +{ + __IO uint32_t MACCR; + __IO uint32_t MACFFR; + __IO uint32_t MACHTHR; + __IO uint32_t MACHTLR; + __IO uint32_t MACMIIAR; + __IO uint32_t MACMIIDR; + __IO uint32_t MACFCR; + __IO uint32_t MACVLANTR; /* 8 */ + uint32_t RESERVED0[2]; + __IO uint32_t MACRWUFFR; /* 11 */ + __IO uint32_t MACPMTCSR; + uint32_t RESERVED1[2]; + __IO uint32_t MACSR; /* 15 */ + __IO uint32_t MACIMR; + __IO uint32_t MACA0HR; + __IO uint32_t MACA0LR; + __IO uint32_t MACA1HR; + __IO uint32_t MACA1LR; + __IO uint32_t MACA2HR; + __IO uint32_t MACA2LR; + __IO uint32_t MACA3HR; + __IO uint32_t MACA3LR; /* 24 */ + uint32_t RESERVED2[40]; + __IO uint32_t MMCCR; /* 65 */ + __IO uint32_t MMCRIR; + __IO uint32_t MMCTIR; + __IO uint32_t MMCRIMR; + __IO uint32_t MMCTIMR; /* 69 */ + uint32_t RESERVED3[14]; + __IO uint32_t MMCTGFSCCR; /* 84 */ + __IO uint32_t MMCTGFMSCCR; + uint32_t RESERVED4[5]; + __IO uint32_t MMCTGFCR; + uint32_t RESERVED5[10]; + __IO uint32_t MMCRFCECR; + __IO uint32_t MMCRFAECR; + uint32_t RESERVED6[10]; + __IO uint32_t MMCRGUFCR; + uint32_t RESERVED7[334]; + __IO uint32_t PTPTSCR; + __IO uint32_t PTPSSIR; + __IO uint32_t PTPTSHR; + __IO uint32_t PTPTSLR; + __IO uint32_t PTPTSHUR; + __IO uint32_t PTPTSLUR; + __IO uint32_t PTPTSAR; + __IO uint32_t PTPTTHR; + __IO uint32_t PTPTTLR; + uint32_t RESERVED8[567]; + __IO uint32_t DMABMR; + __IO uint32_t DMATPDR; + __IO uint32_t DMARPDR; + __IO uint32_t DMARDLAR; + __IO uint32_t DMATDLAR; + __IO uint32_t DMASR; + __IO uint32_t DMAOMR; + __IO uint32_t DMAIER; + __IO uint32_t DMAMFBOCR; + uint32_t RESERVED9[9]; + __IO uint32_t DMACHTDR; + __IO uint32_t DMACHRDR; + __IO uint32_t DMACHTBAR; + __IO uint32_t DMACHRBAR; +} ETH_TypeDef; + +/** + * @brief External Interrupt/Event Controller + */ + +typedef struct +{ + __IO uint32_t IMR; + __IO uint32_t EMR; + __IO uint32_t RTSR; + __IO uint32_t FTSR; + __IO uint32_t SWIER; + __IO uint32_t PR; +} EXTI_TypeDef; + +/** + * @brief FLASH Registers + */ + +typedef struct +{ + __IO uint32_t ACR; + __IO uint32_t KEYR; + __IO uint32_t OPTKEYR; + __IO uint32_t SR; + __IO uint32_t CR; + __IO uint32_t AR; + __IO uint32_t RESERVED; + __IO uint32_t OBR; + __IO uint32_t WRPR; +#ifdef STM32F10X_XL + uint32_t RESERVED1[8]; + __IO uint32_t KEYR2; + uint32_t RESERVED2; + __IO uint32_t SR2; + __IO uint32_t CR2; + __IO uint32_t AR2; +#endif /* STM32F10X_XL */ +} FLASH_TypeDef; + +/** + * @brief Option Bytes Registers + */ + +typedef struct +{ + __IO uint16_t RDP; + __IO uint16_t USER; + __IO uint16_t Data0; + __IO uint16_t Data1; + __IO uint16_t WRP0; + __IO uint16_t WRP1; + __IO uint16_t WRP2; + __IO uint16_t WRP3; +} OB_TypeDef; + +/** + * @brief Flexible Static Memory Controller + */ + +typedef struct +{ + __IO uint32_t BTCR[8]; +} FSMC_Bank1_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank1E + */ + +typedef struct +{ + __IO uint32_t BWTR[7]; +} FSMC_Bank1E_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank2 + */ + +typedef struct +{ + __IO uint32_t PCR2; + __IO uint32_t SR2; + __IO uint32_t PMEM2; + __IO uint32_t PATT2; + uint32_t RESERVED0; + __IO uint32_t ECCR2; +} FSMC_Bank2_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank3 + */ + +typedef struct +{ + __IO uint32_t PCR3; + __IO uint32_t SR3; + __IO uint32_t PMEM3; + __IO uint32_t PATT3; + uint32_t RESERVED0; + __IO uint32_t ECCR3; +} FSMC_Bank3_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank4 + */ + +typedef struct +{ + __IO uint32_t PCR4; + __IO uint32_t SR4; + __IO uint32_t PMEM4; + __IO uint32_t PATT4; + __IO uint32_t PIO4; +} FSMC_Bank4_TypeDef; + +/** + * @brief General Purpose I/O + */ + +typedef struct +{ + __IO uint32_t CRL; + __IO uint32_t CRH; + __IO uint32_t IDR; + __IO uint32_t ODR; + __IO uint32_t BSRR; + __IO uint32_t BRR; + __IO uint32_t LCKR; +} GPIO_TypeDef; + +/** + * @brief Alternate Function I/O + */ + +typedef struct +{ + __IO uint32_t EVCR; + __IO uint32_t MAPR; + __IO uint32_t EXTICR[4]; + uint32_t RESERVED0; + __IO uint32_t MAPR2; +} AFIO_TypeDef; +/** + * @brief Inter Integrated Circuit Interface + */ + +typedef struct +{ + __IO uint16_t CR1; + uint16_t RESERVED0; + __IO uint16_t CR2; + uint16_t RESERVED1; + __IO uint16_t OAR1; + uint16_t RESERVED2; + __IO uint16_t OAR2; + uint16_t RESERVED3; + __IO uint16_t DR; + uint16_t RESERVED4; + __IO uint16_t SR1; + uint16_t RESERVED5; + __IO uint16_t SR2; + uint16_t RESERVED6; + __IO uint16_t CCR; + uint16_t RESERVED7; + __IO uint16_t TRISE; + uint16_t RESERVED8; +} I2C_TypeDef; + +/** + * @brief Independent WATCHDOG + */ + +typedef struct +{ + __IO uint32_t KR; + __IO uint32_t PR; + __IO uint32_t RLR; + __IO uint32_t SR; +} IWDG_TypeDef; + +/** + * @brief Power Control + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t CSR; +} PWR_TypeDef; + +/** + * @brief Reset and Clock Control + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t CFGR; + __IO uint32_t CIR; + __IO uint32_t APB2RSTR; + __IO uint32_t APB1RSTR; + __IO uint32_t AHBENR; + __IO uint32_t APB2ENR; + __IO uint32_t APB1ENR; + __IO uint32_t BDCR; + __IO uint32_t CSR; + +#ifdef STM32F10X_CL + __IO uint32_t AHBRSTR; + __IO uint32_t CFGR2; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + uint32_t RESERVED0; + __IO uint32_t CFGR2; +#endif /* STM32F10X_LD_VL || STM32F10X_MD_VL || STM32F10X_HD_VL */ +} RCC_TypeDef; + +/** + * @brief Real-Time Clock + */ + +typedef struct +{ + __IO uint16_t CRH; + uint16_t RESERVED0; + __IO uint16_t CRL; + uint16_t RESERVED1; + __IO uint16_t PRLH; + uint16_t RESERVED2; + __IO uint16_t PRLL; + uint16_t RESERVED3; + __IO uint16_t DIVH; + uint16_t RESERVED4; + __IO uint16_t DIVL; + uint16_t RESERVED5; + __IO uint16_t CNTH; + uint16_t RESERVED6; + __IO uint16_t CNTL; + uint16_t RESERVED7; + __IO uint16_t ALRH; + uint16_t RESERVED8; + __IO uint16_t ALRL; + uint16_t RESERVED9; +} RTC_TypeDef; + +/** + * @brief SD host Interface + */ + +typedef struct +{ + __IO uint32_t POWER; + __IO uint32_t CLKCR; + __IO uint32_t ARG; + __IO uint32_t CMD; + __I uint32_t RESPCMD; + __I uint32_t RESP1; + __I uint32_t RESP2; + __I uint32_t RESP3; + __I uint32_t RESP4; + __IO uint32_t DTIMER; + __IO uint32_t DLEN; + __IO uint32_t DCTRL; + __I uint32_t DCOUNT; + __I uint32_t STA; + __IO uint32_t ICR; + __IO uint32_t MASK; + uint32_t RESERVED0[2]; + __I uint32_t FIFOCNT; + uint32_t RESERVED1[13]; + __IO uint32_t FIFO; +} SDIO_TypeDef; + +/** + * @brief Serial Peripheral Interface + */ + +typedef struct +{ + __IO uint16_t CR1; + uint16_t RESERVED0; + __IO uint16_t CR2; + uint16_t RESERVED1; + __IO uint16_t SR; + uint16_t RESERVED2; + __IO uint16_t DR; + uint16_t RESERVED3; + __IO uint16_t CRCPR; + uint16_t RESERVED4; + __IO uint16_t RXCRCR; + uint16_t RESERVED5; + __IO uint16_t TXCRCR; + uint16_t RESERVED6; + __IO uint16_t I2SCFGR; + uint16_t RESERVED7; + __IO uint16_t I2SPR; + uint16_t RESERVED8; +} SPI_TypeDef; + +/** + * @brief TIM + */ + +typedef struct +{ + __IO uint16_t CR1; + uint16_t RESERVED0; + __IO uint16_t CR2; + uint16_t RESERVED1; + __IO uint16_t SMCR; + uint16_t RESERVED2; + __IO uint16_t DIER; + uint16_t RESERVED3; + __IO uint16_t SR; + uint16_t RESERVED4; + __IO uint16_t EGR; + uint16_t RESERVED5; + __IO uint16_t CCMR1; + uint16_t RESERVED6; + __IO uint16_t CCMR2; + uint16_t RESERVED7; + __IO uint16_t CCER; + uint16_t RESERVED8; + __IO uint16_t CNT; + uint16_t RESERVED9; + __IO uint16_t PSC; + uint16_t RESERVED10; + __IO uint16_t ARR; + uint16_t RESERVED11; + __IO uint16_t RCR; + uint16_t RESERVED12; + __IO uint16_t CCR1; + uint16_t RESERVED13; + __IO uint16_t CCR2; + uint16_t RESERVED14; + __IO uint16_t CCR3; + uint16_t RESERVED15; + __IO uint16_t CCR4; + uint16_t RESERVED16; + __IO uint16_t BDTR; + uint16_t RESERVED17; + __IO uint16_t DCR; + uint16_t RESERVED18; + __IO uint16_t DMAR; + uint16_t RESERVED19; +} TIM_TypeDef; + +/** + * @brief Universal Synchronous Asynchronous Receiver Transmitter + */ + +typedef struct +{ + __IO uint16_t SR; + uint16_t RESERVED0; + __IO uint16_t DR; + uint16_t RESERVED1; + __IO uint16_t BRR; + uint16_t RESERVED2; + __IO uint16_t CR1; + uint16_t RESERVED3; + __IO uint16_t CR2; + uint16_t RESERVED4; + __IO uint16_t CR3; + uint16_t RESERVED5; + __IO uint16_t GTPR; + uint16_t RESERVED6; +} USART_TypeDef; + +/** + * @brief Window WATCHDOG + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t CFR; + __IO uint32_t SR; +} WWDG_TypeDef; + +/** + * @} + */ + +/** @addtogroup Peripheral_memory_map + * @{ + */ + + +#define FLASH_BASE ((uint32_t)0x08000000) /*!< FLASH base address in the alias region */ +#define SRAM_BASE ((uint32_t)0x20000000) /*!< SRAM base address in the alias region */ +#define PERIPH_BASE ((uint32_t)0x40000000) /*!< Peripheral base address in the alias region */ + +#define SRAM_BB_BASE ((uint32_t)0x22000000) /*!< SRAM base address in the bit-band region */ +#define PERIPH_BB_BASE ((uint32_t)0x42000000) /*!< Peripheral base address in the bit-band region */ + +#define FSMC_R_BASE ((uint32_t)0xA0000000) /*!< FSMC registers base address */ + +/*!< Peripheral memory map */ +#define APB1PERIPH_BASE PERIPH_BASE +#define APB2PERIPH_BASE (PERIPH_BASE + 0x10000) +#define AHBPERIPH_BASE (PERIPH_BASE + 0x20000) + +#define TIM2_BASE (APB1PERIPH_BASE + 0x0000) +#define TIM3_BASE (APB1PERIPH_BASE + 0x0400) +#define TIM4_BASE (APB1PERIPH_BASE + 0x0800) +#define TIM5_BASE (APB1PERIPH_BASE + 0x0C00) +#define TIM6_BASE (APB1PERIPH_BASE + 0x1000) +#define TIM7_BASE (APB1PERIPH_BASE + 0x1400) +#define TIM12_BASE (APB1PERIPH_BASE + 0x1800) +#define TIM13_BASE (APB1PERIPH_BASE + 0x1C00) +#define TIM14_BASE (APB1PERIPH_BASE + 0x2000) +#define RTC_BASE (APB1PERIPH_BASE + 0x2800) +#define WWDG_BASE (APB1PERIPH_BASE + 0x2C00) +#define IWDG_BASE (APB1PERIPH_BASE + 0x3000) +#define SPI2_BASE (APB1PERIPH_BASE + 0x3800) +#define SPI3_BASE (APB1PERIPH_BASE + 0x3C00) +#define USART2_BASE (APB1PERIPH_BASE + 0x4400) +#define USART3_BASE (APB1PERIPH_BASE + 0x4800) +#define UART4_BASE (APB1PERIPH_BASE + 0x4C00) +#define UART5_BASE (APB1PERIPH_BASE + 0x5000) +#define I2C1_BASE (APB1PERIPH_BASE + 0x5400) +#define I2C2_BASE (APB1PERIPH_BASE + 0x5800) +#define CAN1_BASE (APB1PERIPH_BASE + 0x6400) +#define CAN2_BASE (APB1PERIPH_BASE + 0x6800) +#define BKP_BASE (APB1PERIPH_BASE + 0x6C00) +#define PWR_BASE (APB1PERIPH_BASE + 0x7000) +#define DAC_BASE (APB1PERIPH_BASE + 0x7400) +#define CEC_BASE (APB1PERIPH_BASE + 0x7800) + +#define AFIO_BASE (APB2PERIPH_BASE + 0x0000) +#define EXTI_BASE (APB2PERIPH_BASE + 0x0400) +#define GPIOA_BASE (APB2PERIPH_BASE + 0x0800) +#define GPIOB_BASE (APB2PERIPH_BASE + 0x0C00) +#define GPIOC_BASE (APB2PERIPH_BASE + 0x1000) +#define GPIOD_BASE (APB2PERIPH_BASE + 0x1400) +#define GPIOE_BASE (APB2PERIPH_BASE + 0x1800) +#define GPIOF_BASE (APB2PERIPH_BASE + 0x1C00) +#define GPIOG_BASE (APB2PERIPH_BASE + 0x2000) +#define ADC1_BASE (APB2PERIPH_BASE + 0x2400) +#define ADC2_BASE (APB2PERIPH_BASE + 0x2800) +#define TIM1_BASE (APB2PERIPH_BASE + 0x2C00) +#define SPI1_BASE (APB2PERIPH_BASE + 0x3000) +#define TIM8_BASE (APB2PERIPH_BASE + 0x3400) +#define USART1_BASE (APB2PERIPH_BASE + 0x3800) +#define ADC3_BASE (APB2PERIPH_BASE + 0x3C00) +#define TIM15_BASE (APB2PERIPH_BASE + 0x4000) +#define TIM16_BASE (APB2PERIPH_BASE + 0x4400) +#define TIM17_BASE (APB2PERIPH_BASE + 0x4800) +#define TIM9_BASE (APB2PERIPH_BASE + 0x4C00) +#define TIM10_BASE (APB2PERIPH_BASE + 0x5000) +#define TIM11_BASE (APB2PERIPH_BASE + 0x5400) + +#define SDIO_BASE (PERIPH_BASE + 0x18000) + +#define DMA1_BASE (AHBPERIPH_BASE + 0x0000) +#define DMA1_Channel1_BASE (AHBPERIPH_BASE + 0x0008) +#define DMA1_Channel2_BASE (AHBPERIPH_BASE + 0x001C) +#define DMA1_Channel3_BASE (AHBPERIPH_BASE + 0x0030) +#define DMA1_Channel4_BASE (AHBPERIPH_BASE + 0x0044) +#define DMA1_Channel5_BASE (AHBPERIPH_BASE + 0x0058) +#define DMA1_Channel6_BASE (AHBPERIPH_BASE + 0x006C) +#define DMA1_Channel7_BASE (AHBPERIPH_BASE + 0x0080) +#define DMA2_BASE (AHBPERIPH_BASE + 0x0400) +#define DMA2_Channel1_BASE (AHBPERIPH_BASE + 0x0408) +#define DMA2_Channel2_BASE (AHBPERIPH_BASE + 0x041C) +#define DMA2_Channel3_BASE (AHBPERIPH_BASE + 0x0430) +#define DMA2_Channel4_BASE (AHBPERIPH_BASE + 0x0444) +#define DMA2_Channel5_BASE (AHBPERIPH_BASE + 0x0458) +#define RCC_BASE (AHBPERIPH_BASE + 0x1000) +#define CRC_BASE (AHBPERIPH_BASE + 0x3000) + +#define FLASH_R_BASE (AHBPERIPH_BASE + 0x2000) /*!< Flash registers base address */ +#define OB_BASE ((uint32_t)0x1FFFF800) /*!< Flash Option Bytes base address */ + +#define ETH_BASE (AHBPERIPH_BASE + 0x8000) +#define ETH_MAC_BASE (ETH_BASE) +#define ETH_MMC_BASE (ETH_BASE + 0x0100) +#define ETH_PTP_BASE (ETH_BASE + 0x0700) +#define ETH_DMA_BASE (ETH_BASE + 0x1000) + +#define FSMC_Bank1_R_BASE (FSMC_R_BASE + 0x0000) /*!< FSMC Bank1 registers base address */ +#define FSMC_Bank1E_R_BASE (FSMC_R_BASE + 0x0104) /*!< FSMC Bank1E registers base address */ +#define FSMC_Bank2_R_BASE (FSMC_R_BASE + 0x0060) /*!< FSMC Bank2 registers base address */ +#define FSMC_Bank3_R_BASE (FSMC_R_BASE + 0x0080) /*!< FSMC Bank3 registers base address */ +#define FSMC_Bank4_R_BASE (FSMC_R_BASE + 0x00A0) /*!< FSMC Bank4 registers base address */ + +#define DBGMCU_BASE ((uint32_t)0xE0042000) /*!< Debug MCU registers base address */ + +/** + * @} + */ + +/** @addtogroup Peripheral_declaration + * @{ + */ + +#define TIM2 ((TIM_TypeDef *) TIM2_BASE) +#define TIM3 ((TIM_TypeDef *) TIM3_BASE) +#define TIM4 ((TIM_TypeDef *) TIM4_BASE) +#define TIM5 ((TIM_TypeDef *) TIM5_BASE) +#define TIM6 ((TIM_TypeDef *) TIM6_BASE) +#define TIM7 ((TIM_TypeDef *) TIM7_BASE) +#define TIM12 ((TIM_TypeDef *) TIM12_BASE) +#define TIM13 ((TIM_TypeDef *) TIM13_BASE) +#define TIM14 ((TIM_TypeDef *) TIM14_BASE) +#define RTC ((RTC_TypeDef *) RTC_BASE) +#define WWDG ((WWDG_TypeDef *) WWDG_BASE) +#define IWDG ((IWDG_TypeDef *) IWDG_BASE) +#define SPI2 ((SPI_TypeDef *) SPI2_BASE) +#define SPI3 ((SPI_TypeDef *) SPI3_BASE) +#define USART2 ((USART_TypeDef *) USART2_BASE) +#define USART3 ((USART_TypeDef *) USART3_BASE) +#define UART4 ((USART_TypeDef *) UART4_BASE) +#define UART5 ((USART_TypeDef *) UART5_BASE) +#define I2C1 ((I2C_TypeDef *) I2C1_BASE) +#define I2C2 ((I2C_TypeDef *) I2C2_BASE) +#define CAN1 ((CAN_TypeDef *) CAN1_BASE) +#define CAN2 ((CAN_TypeDef *) CAN2_BASE) +#define BKP ((BKP_TypeDef *) BKP_BASE) +#define PWR ((PWR_TypeDef *) PWR_BASE) +#define DAC ((DAC_TypeDef *) DAC_BASE) +#define CEC ((CEC_TypeDef *) CEC_BASE) +#define AFIO ((AFIO_TypeDef *) AFIO_BASE) +#define EXTI ((EXTI_TypeDef *) EXTI_BASE) +#define GPIOA ((GPIO_TypeDef *) GPIOA_BASE) +#define GPIOB ((GPIO_TypeDef *) GPIOB_BASE) +#define GPIOC ((GPIO_TypeDef *) GPIOC_BASE) +#define GPIOD ((GPIO_TypeDef *) GPIOD_BASE) +#define GPIOE ((GPIO_TypeDef *) GPIOE_BASE) +#define GPIOF ((GPIO_TypeDef *) GPIOF_BASE) +#define GPIOG ((GPIO_TypeDef *) GPIOG_BASE) +#define ADC1 ((ADC_TypeDef *) ADC1_BASE) +#define ADC2 ((ADC_TypeDef *) ADC2_BASE) +#define TIM1 ((TIM_TypeDef *) TIM1_BASE) +#define SPI1 ((SPI_TypeDef *) SPI1_BASE) +#define TIM8 ((TIM_TypeDef *) TIM8_BASE) +#define USART1 ((USART_TypeDef *) USART1_BASE) +#define ADC3 ((ADC_TypeDef *) ADC3_BASE) +#define TIM15 ((TIM_TypeDef *) TIM15_BASE) +#define TIM16 ((TIM_TypeDef *) TIM16_BASE) +#define TIM17 ((TIM_TypeDef *) TIM17_BASE) +#define TIM9 ((TIM_TypeDef *) TIM9_BASE) +#define TIM10 ((TIM_TypeDef *) TIM10_BASE) +#define TIM11 ((TIM_TypeDef *) TIM11_BASE) +#define SDIO ((SDIO_TypeDef *) SDIO_BASE) +#define DMA1 ((DMA_TypeDef *) DMA1_BASE) +#define DMA2 ((DMA_TypeDef *) DMA2_BASE) +#define DMA1_Channel1 ((DMA_Channel_TypeDef *) DMA1_Channel1_BASE) +#define DMA1_Channel2 ((DMA_Channel_TypeDef *) DMA1_Channel2_BASE) +#define DMA1_Channel3 ((DMA_Channel_TypeDef *) DMA1_Channel3_BASE) +#define DMA1_Channel4 ((DMA_Channel_TypeDef *) DMA1_Channel4_BASE) +#define DMA1_Channel5 ((DMA_Channel_TypeDef *) DMA1_Channel5_BASE) +#define DMA1_Channel6 ((DMA_Channel_TypeDef *) DMA1_Channel6_BASE) +#define DMA1_Channel7 ((DMA_Channel_TypeDef *) DMA1_Channel7_BASE) +#define DMA2_Channel1 ((DMA_Channel_TypeDef *) DMA2_Channel1_BASE) +#define DMA2_Channel2 ((DMA_Channel_TypeDef *) DMA2_Channel2_BASE) +#define DMA2_Channel3 ((DMA_Channel_TypeDef *) DMA2_Channel3_BASE) +#define DMA2_Channel4 ((DMA_Channel_TypeDef *) DMA2_Channel4_BASE) +#define DMA2_Channel5 ((DMA_Channel_TypeDef *) DMA2_Channel5_BASE) +#define RCC ((RCC_TypeDef *) RCC_BASE) +#define CRC ((CRC_TypeDef *) CRC_BASE) +#define FLASH ((FLASH_TypeDef *) FLASH_R_BASE) +#define OB ((OB_TypeDef *) OB_BASE) +#define ETH ((ETH_TypeDef *) ETH_BASE) +#define FSMC_Bank1 ((FSMC_Bank1_TypeDef *) FSMC_Bank1_R_BASE) +#define FSMC_Bank1E ((FSMC_Bank1E_TypeDef *) FSMC_Bank1E_R_BASE) +#define FSMC_Bank2 ((FSMC_Bank2_TypeDef *) FSMC_Bank2_R_BASE) +#define FSMC_Bank3 ((FSMC_Bank3_TypeDef *) FSMC_Bank3_R_BASE) +#define FSMC_Bank4 ((FSMC_Bank4_TypeDef *) FSMC_Bank4_R_BASE) +#define DBGMCU ((DBGMCU_TypeDef *) DBGMCU_BASE) + +/** + * @} + */ + +/** @addtogroup Exported_constants + * @{ + */ + + /** @addtogroup Peripheral_Registers_Bits_Definition + * @{ + */ + +/******************************************************************************/ +/* Peripheral Registers_Bits_Definition */ +/******************************************************************************/ + +/******************************************************************************/ +/* */ +/* CRC calculation unit */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for CRC_DR register *********************/ +#define CRC_DR_DR ((uint32_t)0xFFFFFFFF) /*!< Data register bits */ + + +/******************* Bit definition for CRC_IDR register ********************/ +#define CRC_IDR_IDR ((uint8_t)0xFF) /*!< General-purpose 8-bit data register bits */ + + +/******************** Bit definition for CRC_CR register ********************/ +#define CRC_CR_RESET ((uint8_t)0x01) /*!< RESET bit */ + +/******************************************************************************/ +/* */ +/* Power Control */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for PWR_CR register ********************/ +#define PWR_CR_LPDS ((uint16_t)0x0001) /*!< Low-Power Deepsleep */ +#define PWR_CR_PDDS ((uint16_t)0x0002) /*!< Power Down Deepsleep */ +#define PWR_CR_CWUF ((uint16_t)0x0004) /*!< Clear Wakeup Flag */ +#define PWR_CR_CSBF ((uint16_t)0x0008) /*!< Clear Standby Flag */ +#define PWR_CR_PVDE ((uint16_t)0x0010) /*!< Power Voltage Detector Enable */ + +#define PWR_CR_PLS ((uint16_t)0x00E0) /*!< PLS[2:0] bits (PVD Level Selection) */ +#define PWR_CR_PLS_0 ((uint16_t)0x0020) /*!< Bit 0 */ +#define PWR_CR_PLS_1 ((uint16_t)0x0040) /*!< Bit 1 */ +#define PWR_CR_PLS_2 ((uint16_t)0x0080) /*!< Bit 2 */ + +/*!< PVD level configuration */ +#define PWR_CR_PLS_2V2 ((uint16_t)0x0000) /*!< PVD level 2.2V */ +#define PWR_CR_PLS_2V3 ((uint16_t)0x0020) /*!< PVD level 2.3V */ +#define PWR_CR_PLS_2V4 ((uint16_t)0x0040) /*!< PVD level 2.4V */ +#define PWR_CR_PLS_2V5 ((uint16_t)0x0060) /*!< PVD level 2.5V */ +#define PWR_CR_PLS_2V6 ((uint16_t)0x0080) /*!< PVD level 2.6V */ +#define PWR_CR_PLS_2V7 ((uint16_t)0x00A0) /*!< PVD level 2.7V */ +#define PWR_CR_PLS_2V8 ((uint16_t)0x00C0) /*!< PVD level 2.8V */ +#define PWR_CR_PLS_2V9 ((uint16_t)0x00E0) /*!< PVD level 2.9V */ + +#define PWR_CR_DBP ((uint16_t)0x0100) /*!< Disable Backup Domain write protection */ + + +/******************* Bit definition for PWR_CSR register ********************/ +#define PWR_CSR_WUF ((uint16_t)0x0001) /*!< Wakeup Flag */ +#define PWR_CSR_SBF ((uint16_t)0x0002) /*!< Standby Flag */ +#define PWR_CSR_PVDO ((uint16_t)0x0004) /*!< PVD Output */ +#define PWR_CSR_EWUP ((uint16_t)0x0100) /*!< Enable WKUP pin */ + +/******************************************************************************/ +/* */ +/* Backup registers */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for BKP_DR1 register ********************/ +#define BKP_DR1_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR2 register ********************/ +#define BKP_DR2_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR3 register ********************/ +#define BKP_DR3_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR4 register ********************/ +#define BKP_DR4_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR5 register ********************/ +#define BKP_DR5_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR6 register ********************/ +#define BKP_DR6_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR7 register ********************/ +#define BKP_DR7_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR8 register ********************/ +#define BKP_DR8_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR9 register ********************/ +#define BKP_DR9_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR10 register *******************/ +#define BKP_DR10_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR11 register *******************/ +#define BKP_DR11_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR12 register *******************/ +#define BKP_DR12_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR13 register *******************/ +#define BKP_DR13_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR14 register *******************/ +#define BKP_DR14_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR15 register *******************/ +#define BKP_DR15_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR16 register *******************/ +#define BKP_DR16_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR17 register *******************/ +#define BKP_DR17_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/****************** Bit definition for BKP_DR18 register ********************/ +#define BKP_DR18_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR19 register *******************/ +#define BKP_DR19_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR20 register *******************/ +#define BKP_DR20_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR21 register *******************/ +#define BKP_DR21_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR22 register *******************/ +#define BKP_DR22_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR23 register *******************/ +#define BKP_DR23_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR24 register *******************/ +#define BKP_DR24_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR25 register *******************/ +#define BKP_DR25_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR26 register *******************/ +#define BKP_DR26_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR27 register *******************/ +#define BKP_DR27_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR28 register *******************/ +#define BKP_DR28_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR29 register *******************/ +#define BKP_DR29_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR30 register *******************/ +#define BKP_DR30_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR31 register *******************/ +#define BKP_DR31_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR32 register *******************/ +#define BKP_DR32_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR33 register *******************/ +#define BKP_DR33_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR34 register *******************/ +#define BKP_DR34_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR35 register *******************/ +#define BKP_DR35_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR36 register *******************/ +#define BKP_DR36_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR37 register *******************/ +#define BKP_DR37_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR38 register *******************/ +#define BKP_DR38_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR39 register *******************/ +#define BKP_DR39_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR40 register *******************/ +#define BKP_DR40_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR41 register *******************/ +#define BKP_DR41_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR42 register *******************/ +#define BKP_DR42_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/****************** Bit definition for BKP_RTCCR register *******************/ +#define BKP_RTCCR_CAL ((uint16_t)0x007F) /*!< Calibration value */ +#define BKP_RTCCR_CCO ((uint16_t)0x0080) /*!< Calibration Clock Output */ +#define BKP_RTCCR_ASOE ((uint16_t)0x0100) /*!< Alarm or Second Output Enable */ +#define BKP_RTCCR_ASOS ((uint16_t)0x0200) /*!< Alarm or Second Output Selection */ + +/******************** Bit definition for BKP_CR register ********************/ +#define BKP_CR_TPE ((uint8_t)0x01) /*!< TAMPER pin enable */ +#define BKP_CR_TPAL ((uint8_t)0x02) /*!< TAMPER pin active level */ + +/******************* Bit definition for BKP_CSR register ********************/ +#define BKP_CSR_CTE ((uint16_t)0x0001) /*!< Clear Tamper event */ +#define BKP_CSR_CTI ((uint16_t)0x0002) /*!< Clear Tamper Interrupt */ +#define BKP_CSR_TPIE ((uint16_t)0x0004) /*!< TAMPER Pin interrupt enable */ +#define BKP_CSR_TEF ((uint16_t)0x0100) /*!< Tamper Event Flag */ +#define BKP_CSR_TIF ((uint16_t)0x0200) /*!< Tamper Interrupt Flag */ + +/******************************************************************************/ +/* */ +/* Reset and Clock Control */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for RCC_CR register ********************/ +#define RCC_CR_HSION ((uint32_t)0x00000001) /*!< Internal High Speed clock enable */ +#define RCC_CR_HSIRDY ((uint32_t)0x00000002) /*!< Internal High Speed clock ready flag */ +#define RCC_CR_HSITRIM ((uint32_t)0x000000F8) /*!< Internal High Speed clock trimming */ +#define RCC_CR_HSICAL ((uint32_t)0x0000FF00) /*!< Internal High Speed clock Calibration */ +#define RCC_CR_HSEON ((uint32_t)0x00010000) /*!< External High Speed clock enable */ +#define RCC_CR_HSERDY ((uint32_t)0x00020000) /*!< External High Speed clock ready flag */ +#define RCC_CR_HSEBYP ((uint32_t)0x00040000) /*!< External High Speed clock Bypass */ +#define RCC_CR_CSSON ((uint32_t)0x00080000) /*!< Clock Security System enable */ +#define RCC_CR_PLLON ((uint32_t)0x01000000) /*!< PLL enable */ +#define RCC_CR_PLLRDY ((uint32_t)0x02000000) /*!< PLL clock ready flag */ + +#ifdef STM32F10X_CL + #define RCC_CR_PLL2ON ((uint32_t)0x04000000) /*!< PLL2 enable */ + #define RCC_CR_PLL2RDY ((uint32_t)0x08000000) /*!< PLL2 clock ready flag */ + #define RCC_CR_PLL3ON ((uint32_t)0x10000000) /*!< PLL3 enable */ + #define RCC_CR_PLL3RDY ((uint32_t)0x20000000) /*!< PLL3 clock ready flag */ +#endif /* STM32F10X_CL */ + +/******************* Bit definition for RCC_CFGR register *******************/ +/*!< SW configuration */ +#define RCC_CFGR_SW ((uint32_t)0x00000003) /*!< SW[1:0] bits (System clock Switch) */ +#define RCC_CFGR_SW_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define RCC_CFGR_SW_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + +#define RCC_CFGR_SW_HSI ((uint32_t)0x00000000) /*!< HSI selected as system clock */ +#define RCC_CFGR_SW_HSE ((uint32_t)0x00000001) /*!< HSE selected as system clock */ +#define RCC_CFGR_SW_PLL ((uint32_t)0x00000002) /*!< PLL selected as system clock */ + +/*!< SWS configuration */ +#define RCC_CFGR_SWS ((uint32_t)0x0000000C) /*!< SWS[1:0] bits (System Clock Switch Status) */ +#define RCC_CFGR_SWS_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define RCC_CFGR_SWS_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define RCC_CFGR_SWS_HSI ((uint32_t)0x00000000) /*!< HSI oscillator used as system clock */ +#define RCC_CFGR_SWS_HSE ((uint32_t)0x00000004) /*!< HSE oscillator used as system clock */ +#define RCC_CFGR_SWS_PLL ((uint32_t)0x00000008) /*!< PLL used as system clock */ + +/*!< HPRE configuration */ +#define RCC_CFGR_HPRE ((uint32_t)0x000000F0) /*!< HPRE[3:0] bits (AHB prescaler) */ +#define RCC_CFGR_HPRE_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define RCC_CFGR_HPRE_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define RCC_CFGR_HPRE_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define RCC_CFGR_HPRE_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define RCC_CFGR_HPRE_DIV1 ((uint32_t)0x00000000) /*!< SYSCLK not divided */ +#define RCC_CFGR_HPRE_DIV2 ((uint32_t)0x00000080) /*!< SYSCLK divided by 2 */ +#define RCC_CFGR_HPRE_DIV4 ((uint32_t)0x00000090) /*!< SYSCLK divided by 4 */ +#define RCC_CFGR_HPRE_DIV8 ((uint32_t)0x000000A0) /*!< SYSCLK divided by 8 */ +#define RCC_CFGR_HPRE_DIV16 ((uint32_t)0x000000B0) /*!< SYSCLK divided by 16 */ +#define RCC_CFGR_HPRE_DIV64 ((uint32_t)0x000000C0) /*!< SYSCLK divided by 64 */ +#define RCC_CFGR_HPRE_DIV128 ((uint32_t)0x000000D0) /*!< SYSCLK divided by 128 */ +#define RCC_CFGR_HPRE_DIV256 ((uint32_t)0x000000E0) /*!< SYSCLK divided by 256 */ +#define RCC_CFGR_HPRE_DIV512 ((uint32_t)0x000000F0) /*!< SYSCLK divided by 512 */ + +/*!< PPRE1 configuration */ +#define RCC_CFGR_PPRE1 ((uint32_t)0x00000700) /*!< PRE1[2:0] bits (APB1 prescaler) */ +#define RCC_CFGR_PPRE1_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define RCC_CFGR_PPRE1_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define RCC_CFGR_PPRE1_2 ((uint32_t)0x00000400) /*!< Bit 2 */ + +#define RCC_CFGR_PPRE1_DIV1 ((uint32_t)0x00000000) /*!< HCLK not divided */ +#define RCC_CFGR_PPRE1_DIV2 ((uint32_t)0x00000400) /*!< HCLK divided by 2 */ +#define RCC_CFGR_PPRE1_DIV4 ((uint32_t)0x00000500) /*!< HCLK divided by 4 */ +#define RCC_CFGR_PPRE1_DIV8 ((uint32_t)0x00000600) /*!< HCLK divided by 8 */ +#define RCC_CFGR_PPRE1_DIV16 ((uint32_t)0x00000700) /*!< HCLK divided by 16 */ + +/*!< PPRE2 configuration */ +#define RCC_CFGR_PPRE2 ((uint32_t)0x00003800) /*!< PRE2[2:0] bits (APB2 prescaler) */ +#define RCC_CFGR_PPRE2_0 ((uint32_t)0x00000800) /*!< Bit 0 */ +#define RCC_CFGR_PPRE2_1 ((uint32_t)0x00001000) /*!< Bit 1 */ +#define RCC_CFGR_PPRE2_2 ((uint32_t)0x00002000) /*!< Bit 2 */ + +#define RCC_CFGR_PPRE2_DIV1 ((uint32_t)0x00000000) /*!< HCLK not divided */ +#define RCC_CFGR_PPRE2_DIV2 ((uint32_t)0x00002000) /*!< HCLK divided by 2 */ +#define RCC_CFGR_PPRE2_DIV4 ((uint32_t)0x00002800) /*!< HCLK divided by 4 */ +#define RCC_CFGR_PPRE2_DIV8 ((uint32_t)0x00003000) /*!< HCLK divided by 8 */ +#define RCC_CFGR_PPRE2_DIV16 ((uint32_t)0x00003800) /*!< HCLK divided by 16 */ + +/*!< ADCPPRE configuration */ +#define RCC_CFGR_ADCPRE ((uint32_t)0x0000C000) /*!< ADCPRE[1:0] bits (ADC prescaler) */ +#define RCC_CFGR_ADCPRE_0 ((uint32_t)0x00004000) /*!< Bit 0 */ +#define RCC_CFGR_ADCPRE_1 ((uint32_t)0x00008000) /*!< Bit 1 */ + +#define RCC_CFGR_ADCPRE_DIV2 ((uint32_t)0x00000000) /*!< PCLK2 divided by 2 */ +#define RCC_CFGR_ADCPRE_DIV4 ((uint32_t)0x00004000) /*!< PCLK2 divided by 4 */ +#define RCC_CFGR_ADCPRE_DIV6 ((uint32_t)0x00008000) /*!< PCLK2 divided by 6 */ +#define RCC_CFGR_ADCPRE_DIV8 ((uint32_t)0x0000C000) /*!< PCLK2 divided by 8 */ + +#define RCC_CFGR_PLLSRC ((uint32_t)0x00010000) /*!< PLL entry clock source */ + +#define RCC_CFGR_PLLXTPRE ((uint32_t)0x00020000) /*!< HSE divider for PLL entry */ + +/*!< PLLMUL configuration */ +#define RCC_CFGR_PLLMULL ((uint32_t)0x003C0000) /*!< PLLMUL[3:0] bits (PLL multiplication factor) */ +#define RCC_CFGR_PLLMULL_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define RCC_CFGR_PLLMULL_1 ((uint32_t)0x00080000) /*!< Bit 1 */ +#define RCC_CFGR_PLLMULL_2 ((uint32_t)0x00100000) /*!< Bit 2 */ +#define RCC_CFGR_PLLMULL_3 ((uint32_t)0x00200000) /*!< Bit 3 */ + +#ifdef STM32F10X_CL + #define RCC_CFGR_PLLSRC_HSI_Div2 ((uint32_t)0x00000000) /*!< HSI clock divided by 2 selected as PLL entry clock source */ + #define RCC_CFGR_PLLSRC_PREDIV1 ((uint32_t)0x00010000) /*!< PREDIV1 clock selected as PLL entry clock source */ + + #define RCC_CFGR_PLLXTPRE_PREDIV1 ((uint32_t)0x00000000) /*!< PREDIV1 clock not divided for PLL entry */ + #define RCC_CFGR_PLLXTPRE_PREDIV1_Div2 ((uint32_t)0x00020000) /*!< PREDIV1 clock divided by 2 for PLL entry */ + + #define RCC_CFGR_PLLMULL4 ((uint32_t)0x00080000) /*!< PLL input clock * 4 */ + #define RCC_CFGR_PLLMULL5 ((uint32_t)0x000C0000) /*!< PLL input clock * 5 */ + #define RCC_CFGR_PLLMULL6 ((uint32_t)0x00100000) /*!< PLL input clock * 6 */ + #define RCC_CFGR_PLLMULL7 ((uint32_t)0x00140000) /*!< PLL input clock * 7 */ + #define RCC_CFGR_PLLMULL8 ((uint32_t)0x00180000) /*!< PLL input clock * 8 */ + #define RCC_CFGR_PLLMULL9 ((uint32_t)0x001C0000) /*!< PLL input clock * 9 */ + #define RCC_CFGR_PLLMULL6_5 ((uint32_t)0x00340000) /*!< PLL input clock * 6.5 */ + + #define RCC_CFGR_OTGFSPRE ((uint32_t)0x00400000) /*!< USB OTG FS prescaler */ + +/*!< MCO configuration */ + #define RCC_CFGR_MCO ((uint32_t)0x0F000000) /*!< MCO[3:0] bits (Microcontroller Clock Output) */ + #define RCC_CFGR_MCO_0 ((uint32_t)0x01000000) /*!< Bit 0 */ + #define RCC_CFGR_MCO_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + #define RCC_CFGR_MCO_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + #define RCC_CFGR_MCO_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + + #define RCC_CFGR_MCO_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ + #define RCC_CFGR_MCO_SYSCLK ((uint32_t)0x04000000) /*!< System clock selected as MCO source */ + #define RCC_CFGR_MCO_HSI ((uint32_t)0x05000000) /*!< HSI clock selected as MCO source */ + #define RCC_CFGR_MCO_HSE ((uint32_t)0x06000000) /*!< HSE clock selected as MCO source */ + #define RCC_CFGR_MCO_PLLCLK_Div2 ((uint32_t)0x07000000) /*!< PLL clock divided by 2 selected as MCO source */ + #define RCC_CFGR_MCO_PLL2CLK ((uint32_t)0x08000000) /*!< PLL2 clock selected as MCO source*/ + #define RCC_CFGR_MCO_PLL3CLK_Div2 ((uint32_t)0x09000000) /*!< PLL3 clock divided by 2 selected as MCO source*/ + #define RCC_CFGR_MCO_Ext_HSE ((uint32_t)0x0A000000) /*!< XT1 external 3-25 MHz oscillator clock selected as MCO source */ + #define RCC_CFGR_MCO_PLL3CLK ((uint32_t)0x0B000000) /*!< PLL3 clock selected as MCO source */ +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + #define RCC_CFGR_PLLSRC_HSI_Div2 ((uint32_t)0x00000000) /*!< HSI clock divided by 2 selected as PLL entry clock source */ + #define RCC_CFGR_PLLSRC_PREDIV1 ((uint32_t)0x00010000) /*!< PREDIV1 clock selected as PLL entry clock source */ + + #define RCC_CFGR_PLLXTPRE_PREDIV1 ((uint32_t)0x00000000) /*!< PREDIV1 clock not divided for PLL entry */ + #define RCC_CFGR_PLLXTPRE_PREDIV1_Div2 ((uint32_t)0x00020000) /*!< PREDIV1 clock divided by 2 for PLL entry */ + + #define RCC_CFGR_PLLMULL2 ((uint32_t)0x00000000) /*!< PLL input clock*2 */ + #define RCC_CFGR_PLLMULL3 ((uint32_t)0x00040000) /*!< PLL input clock*3 */ + #define RCC_CFGR_PLLMULL4 ((uint32_t)0x00080000) /*!< PLL input clock*4 */ + #define RCC_CFGR_PLLMULL5 ((uint32_t)0x000C0000) /*!< PLL input clock*5 */ + #define RCC_CFGR_PLLMULL6 ((uint32_t)0x00100000) /*!< PLL input clock*6 */ + #define RCC_CFGR_PLLMULL7 ((uint32_t)0x00140000) /*!< PLL input clock*7 */ + #define RCC_CFGR_PLLMULL8 ((uint32_t)0x00180000) /*!< PLL input clock*8 */ + #define RCC_CFGR_PLLMULL9 ((uint32_t)0x001C0000) /*!< PLL input clock*9 */ + #define RCC_CFGR_PLLMULL10 ((uint32_t)0x00200000) /*!< PLL input clock10 */ + #define RCC_CFGR_PLLMULL11 ((uint32_t)0x00240000) /*!< PLL input clock*11 */ + #define RCC_CFGR_PLLMULL12 ((uint32_t)0x00280000) /*!< PLL input clock*12 */ + #define RCC_CFGR_PLLMULL13 ((uint32_t)0x002C0000) /*!< PLL input clock*13 */ + #define RCC_CFGR_PLLMULL14 ((uint32_t)0x00300000) /*!< PLL input clock*14 */ + #define RCC_CFGR_PLLMULL15 ((uint32_t)0x00340000) /*!< PLL input clock*15 */ + #define RCC_CFGR_PLLMULL16 ((uint32_t)0x00380000) /*!< PLL input clock*16 */ + +/*!< MCO configuration */ + #define RCC_CFGR_MCO ((uint32_t)0x07000000) /*!< MCO[2:0] bits (Microcontroller Clock Output) */ + #define RCC_CFGR_MCO_0 ((uint32_t)0x01000000) /*!< Bit 0 */ + #define RCC_CFGR_MCO_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + #define RCC_CFGR_MCO_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + + #define RCC_CFGR_MCO_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ + #define RCC_CFGR_MCO_SYSCLK ((uint32_t)0x04000000) /*!< System clock selected as MCO source */ + #define RCC_CFGR_MCO_HSI ((uint32_t)0x05000000) /*!< HSI clock selected as MCO source */ + #define RCC_CFGR_MCO_HSE ((uint32_t)0x06000000) /*!< HSE clock selected as MCO source */ + #define RCC_CFGR_MCO_PLL ((uint32_t)0x07000000) /*!< PLL clock divided by 2 selected as MCO source */ +#else + #define RCC_CFGR_PLLSRC_HSI_Div2 ((uint32_t)0x00000000) /*!< HSI clock divided by 2 selected as PLL entry clock source */ + #define RCC_CFGR_PLLSRC_HSE ((uint32_t)0x00010000) /*!< HSE clock selected as PLL entry clock source */ + + #define RCC_CFGR_PLLXTPRE_HSE ((uint32_t)0x00000000) /*!< HSE clock not divided for PLL entry */ + #define RCC_CFGR_PLLXTPRE_HSE_Div2 ((uint32_t)0x00020000) /*!< HSE clock divided by 2 for PLL entry */ + + #define RCC_CFGR_PLLMULL2 ((uint32_t)0x00000000) /*!< PLL input clock*2 */ + #define RCC_CFGR_PLLMULL3 ((uint32_t)0x00040000) /*!< PLL input clock*3 */ + #define RCC_CFGR_PLLMULL4 ((uint32_t)0x00080000) /*!< PLL input clock*4 */ + #define RCC_CFGR_PLLMULL5 ((uint32_t)0x000C0000) /*!< PLL input clock*5 */ + #define RCC_CFGR_PLLMULL6 ((uint32_t)0x00100000) /*!< PLL input clock*6 */ + #define RCC_CFGR_PLLMULL7 ((uint32_t)0x00140000) /*!< PLL input clock*7 */ + #define RCC_CFGR_PLLMULL8 ((uint32_t)0x00180000) /*!< PLL input clock*8 */ + #define RCC_CFGR_PLLMULL9 ((uint32_t)0x001C0000) /*!< PLL input clock*9 */ + #define RCC_CFGR_PLLMULL10 ((uint32_t)0x00200000) /*!< PLL input clock10 */ + #define RCC_CFGR_PLLMULL11 ((uint32_t)0x00240000) /*!< PLL input clock*11 */ + #define RCC_CFGR_PLLMULL12 ((uint32_t)0x00280000) /*!< PLL input clock*12 */ + #define RCC_CFGR_PLLMULL13 ((uint32_t)0x002C0000) /*!< PLL input clock*13 */ + #define RCC_CFGR_PLLMULL14 ((uint32_t)0x00300000) /*!< PLL input clock*14 */ + #define RCC_CFGR_PLLMULL15 ((uint32_t)0x00340000) /*!< PLL input clock*15 */ + #define RCC_CFGR_PLLMULL16 ((uint32_t)0x00380000) /*!< PLL input clock*16 */ + #define RCC_CFGR_USBPRE ((uint32_t)0x00400000) /*!< USB Device prescaler */ + +/*!< MCO configuration */ + #define RCC_CFGR_MCO ((uint32_t)0x07000000) /*!< MCO[2:0] bits (Microcontroller Clock Output) */ + #define RCC_CFGR_MCO_0 ((uint32_t)0x01000000) /*!< Bit 0 */ + #define RCC_CFGR_MCO_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + #define RCC_CFGR_MCO_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + + #define RCC_CFGR_MCO_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ + #define RCC_CFGR_MCO_SYSCLK ((uint32_t)0x04000000) /*!< System clock selected as MCO source */ + #define RCC_CFGR_MCO_HSI ((uint32_t)0x05000000) /*!< HSI clock selected as MCO source */ + #define RCC_CFGR_MCO_HSE ((uint32_t)0x06000000) /*!< HSE clock selected as MCO source */ + #define RCC_CFGR_MCO_PLL ((uint32_t)0x07000000) /*!< PLL clock divided by 2 selected as MCO source */ +#endif /* STM32F10X_CL */ + +/*!<****************** Bit definition for RCC_CIR register ********************/ +#define RCC_CIR_LSIRDYF ((uint32_t)0x00000001) /*!< LSI Ready Interrupt flag */ +#define RCC_CIR_LSERDYF ((uint32_t)0x00000002) /*!< LSE Ready Interrupt flag */ +#define RCC_CIR_HSIRDYF ((uint32_t)0x00000004) /*!< HSI Ready Interrupt flag */ +#define RCC_CIR_HSERDYF ((uint32_t)0x00000008) /*!< HSE Ready Interrupt flag */ +#define RCC_CIR_PLLRDYF ((uint32_t)0x00000010) /*!< PLL Ready Interrupt flag */ +#define RCC_CIR_CSSF ((uint32_t)0x00000080) /*!< Clock Security System Interrupt flag */ +#define RCC_CIR_LSIRDYIE ((uint32_t)0x00000100) /*!< LSI Ready Interrupt Enable */ +#define RCC_CIR_LSERDYIE ((uint32_t)0x00000200) /*!< LSE Ready Interrupt Enable */ +#define RCC_CIR_HSIRDYIE ((uint32_t)0x00000400) /*!< HSI Ready Interrupt Enable */ +#define RCC_CIR_HSERDYIE ((uint32_t)0x00000800) /*!< HSE Ready Interrupt Enable */ +#define RCC_CIR_PLLRDYIE ((uint32_t)0x00001000) /*!< PLL Ready Interrupt Enable */ +#define RCC_CIR_LSIRDYC ((uint32_t)0x00010000) /*!< LSI Ready Interrupt Clear */ +#define RCC_CIR_LSERDYC ((uint32_t)0x00020000) /*!< LSE Ready Interrupt Clear */ +#define RCC_CIR_HSIRDYC ((uint32_t)0x00040000) /*!< HSI Ready Interrupt Clear */ +#define RCC_CIR_HSERDYC ((uint32_t)0x00080000) /*!< HSE Ready Interrupt Clear */ +#define RCC_CIR_PLLRDYC ((uint32_t)0x00100000) /*!< PLL Ready Interrupt Clear */ +#define RCC_CIR_CSSC ((uint32_t)0x00800000) /*!< Clock Security System Interrupt Clear */ + +#ifdef STM32F10X_CL + #define RCC_CIR_PLL2RDYF ((uint32_t)0x00000020) /*!< PLL2 Ready Interrupt flag */ + #define RCC_CIR_PLL3RDYF ((uint32_t)0x00000040) /*!< PLL3 Ready Interrupt flag */ + #define RCC_CIR_PLL2RDYIE ((uint32_t)0x00002000) /*!< PLL2 Ready Interrupt Enable */ + #define RCC_CIR_PLL3RDYIE ((uint32_t)0x00004000) /*!< PLL3 Ready Interrupt Enable */ + #define RCC_CIR_PLL2RDYC ((uint32_t)0x00200000) /*!< PLL2 Ready Interrupt Clear */ + #define RCC_CIR_PLL3RDYC ((uint32_t)0x00400000) /*!< PLL3 Ready Interrupt Clear */ +#endif /* STM32F10X_CL */ + +/***************** Bit definition for RCC_APB2RSTR register *****************/ +#define RCC_APB2RSTR_AFIORST ((uint32_t)0x00000001) /*!< Alternate Function I/O reset */ +#define RCC_APB2RSTR_IOPARST ((uint32_t)0x00000004) /*!< I/O port A reset */ +#define RCC_APB2RSTR_IOPBRST ((uint32_t)0x00000008) /*!< I/O port B reset */ +#define RCC_APB2RSTR_IOPCRST ((uint32_t)0x00000010) /*!< I/O port C reset */ +#define RCC_APB2RSTR_IOPDRST ((uint32_t)0x00000020) /*!< I/O port D reset */ +#define RCC_APB2RSTR_ADC1RST ((uint32_t)0x00000200) /*!< ADC 1 interface reset */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB2RSTR_ADC2RST ((uint32_t)0x00000400) /*!< ADC 2 interface reset */ +#endif + +#define RCC_APB2RSTR_TIM1RST ((uint32_t)0x00000800) /*!< TIM1 Timer reset */ +#define RCC_APB2RSTR_SPI1RST ((uint32_t)0x00001000) /*!< SPI 1 reset */ +#define RCC_APB2RSTR_USART1RST ((uint32_t)0x00004000) /*!< USART1 reset */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +#define RCC_APB2RSTR_TIM15RST ((uint32_t)0x00010000) /*!< TIM15 Timer reset */ +#define RCC_APB2RSTR_TIM16RST ((uint32_t)0x00020000) /*!< TIM16 Timer reset */ +#define RCC_APB2RSTR_TIM17RST ((uint32_t)0x00040000) /*!< TIM17 Timer reset */ +#endif + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB2RSTR_IOPERST ((uint32_t)0x00000040) /*!< I/O port E reset */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_XL) + #define RCC_APB2RSTR_IOPFRST ((uint32_t)0x00000080) /*!< I/O port F reset */ + #define RCC_APB2RSTR_IOPGRST ((uint32_t)0x00000100) /*!< I/O port G reset */ + #define RCC_APB2RSTR_TIM8RST ((uint32_t)0x00002000) /*!< TIM8 Timer reset */ + #define RCC_APB2RSTR_ADC3RST ((uint32_t)0x00008000) /*!< ADC3 interface reset */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_APB2RSTR_IOPFRST ((uint32_t)0x00000080) /*!< I/O port F reset */ + #define RCC_APB2RSTR_IOPGRST ((uint32_t)0x00000100) /*!< I/O port G reset */ +#endif + +#ifdef STM32F10X_XL + #define RCC_APB2RSTR_TIM9RST ((uint32_t)0x00080000) /*!< TIM9 Timer reset */ + #define RCC_APB2RSTR_TIM10RST ((uint32_t)0x00100000) /*!< TIM10 Timer reset */ + #define RCC_APB2RSTR_TIM11RST ((uint32_t)0x00200000) /*!< TIM11 Timer reset */ +#endif /* STM32F10X_XL */ + +/***************** Bit definition for RCC_APB1RSTR register *****************/ +#define RCC_APB1RSTR_TIM2RST ((uint32_t)0x00000001) /*!< Timer 2 reset */ +#define RCC_APB1RSTR_TIM3RST ((uint32_t)0x00000002) /*!< Timer 3 reset */ +#define RCC_APB1RSTR_WWDGRST ((uint32_t)0x00000800) /*!< Window Watchdog reset */ +#define RCC_APB1RSTR_USART2RST ((uint32_t)0x00020000) /*!< USART 2 reset */ +#define RCC_APB1RSTR_I2C1RST ((uint32_t)0x00200000) /*!< I2C 1 reset */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB1RSTR_CAN1RST ((uint32_t)0x02000000) /*!< CAN1 reset */ +#endif + +#define RCC_APB1RSTR_BKPRST ((uint32_t)0x08000000) /*!< Backup interface reset */ +#define RCC_APB1RSTR_PWRRST ((uint32_t)0x10000000) /*!< Power interface reset */ + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB1RSTR_TIM4RST ((uint32_t)0x00000004) /*!< Timer 4 reset */ + #define RCC_APB1RSTR_SPI2RST ((uint32_t)0x00004000) /*!< SPI 2 reset */ + #define RCC_APB1RSTR_USART3RST ((uint32_t)0x00040000) /*!< USART 3 reset */ + #define RCC_APB1RSTR_I2C2RST ((uint32_t)0x00400000) /*!< I2C 2 reset */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_MD) || defined (STM32F10X_LD) || defined (STM32F10X_XL) + #define RCC_APB1RSTR_USBRST ((uint32_t)0x00800000) /*!< USB Device reset */ +#endif + +#if defined (STM32F10X_HD) || defined (STM32F10X_CL) || defined (STM32F10X_XL) + #define RCC_APB1RSTR_TIM5RST ((uint32_t)0x00000008) /*!< Timer 5 reset */ + #define RCC_APB1RSTR_TIM6RST ((uint32_t)0x00000010) /*!< Timer 6 reset */ + #define RCC_APB1RSTR_TIM7RST ((uint32_t)0x00000020) /*!< Timer 7 reset */ + #define RCC_APB1RSTR_SPI3RST ((uint32_t)0x00008000) /*!< SPI 3 reset */ + #define RCC_APB1RSTR_UART4RST ((uint32_t)0x00080000) /*!< UART 4 reset */ + #define RCC_APB1RSTR_UART5RST ((uint32_t)0x00100000) /*!< UART 5 reset */ + #define RCC_APB1RSTR_DACRST ((uint32_t)0x20000000) /*!< DAC interface reset */ +#endif + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + #define RCC_APB1RSTR_TIM6RST ((uint32_t)0x00000010) /*!< Timer 6 reset */ + #define RCC_APB1RSTR_TIM7RST ((uint32_t)0x00000020) /*!< Timer 7 reset */ + #define RCC_APB1RSTR_DACRST ((uint32_t)0x20000000) /*!< DAC interface reset */ + #define RCC_APB1RSTR_CECRST ((uint32_t)0x40000000) /*!< CEC interface reset */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_APB1RSTR_TIM5RST ((uint32_t)0x00000008) /*!< Timer 5 reset */ + #define RCC_APB1RSTR_TIM12RST ((uint32_t)0x00000040) /*!< TIM12 Timer reset */ + #define RCC_APB1RSTR_TIM13RST ((uint32_t)0x00000080) /*!< TIM13 Timer reset */ + #define RCC_APB1RSTR_TIM14RST ((uint32_t)0x00000100) /*!< TIM14 Timer reset */ + #define RCC_APB1RSTR_SPI3RST ((uint32_t)0x00008000) /*!< SPI 3 reset */ + #define RCC_APB1RSTR_UART4RST ((uint32_t)0x00080000) /*!< UART 4 reset */ + #define RCC_APB1RSTR_UART5RST ((uint32_t)0x00100000) /*!< UART 5 reset */ +#endif + +#ifdef STM32F10X_CL + #define RCC_APB1RSTR_CAN2RST ((uint32_t)0x04000000) /*!< CAN2 reset */ +#endif /* STM32F10X_CL */ + +#ifdef STM32F10X_XL + #define RCC_APB1RSTR_TIM12RST ((uint32_t)0x00000040) /*!< TIM12 Timer reset */ + #define RCC_APB1RSTR_TIM13RST ((uint32_t)0x00000080) /*!< TIM13 Timer reset */ + #define RCC_APB1RSTR_TIM14RST ((uint32_t)0x00000100) /*!< TIM14 Timer reset */ +#endif /* STM32F10X_XL */ + +/****************** Bit definition for RCC_AHBENR register ******************/ +#define RCC_AHBENR_DMA1EN ((uint16_t)0x0001) /*!< DMA1 clock enable */ +#define RCC_AHBENR_SRAMEN ((uint16_t)0x0004) /*!< SRAM interface clock enable */ +#define RCC_AHBENR_FLITFEN ((uint16_t)0x0010) /*!< FLITF clock enable */ +#define RCC_AHBENR_CRCEN ((uint16_t)0x0040) /*!< CRC clock enable */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_CL) || defined (STM32F10X_HD_VL) + #define RCC_AHBENR_DMA2EN ((uint16_t)0x0002) /*!< DMA2 clock enable */ +#endif + +#if defined (STM32F10X_HD) || defined (STM32F10X_XL) + #define RCC_AHBENR_FSMCEN ((uint16_t)0x0100) /*!< FSMC clock enable */ + #define RCC_AHBENR_SDIOEN ((uint16_t)0x0400) /*!< SDIO clock enable */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_AHBENR_FSMCEN ((uint16_t)0x0100) /*!< FSMC clock enable */ +#endif + +#ifdef STM32F10X_CL + #define RCC_AHBENR_OTGFSEN ((uint32_t)0x00001000) /*!< USB OTG FS clock enable */ + #define RCC_AHBENR_ETHMACEN ((uint32_t)0x00004000) /*!< ETHERNET MAC clock enable */ + #define RCC_AHBENR_ETHMACTXEN ((uint32_t)0x00008000) /*!< ETHERNET MAC Tx clock enable */ + #define RCC_AHBENR_ETHMACRXEN ((uint32_t)0x00010000) /*!< ETHERNET MAC Rx clock enable */ +#endif /* STM32F10X_CL */ + +/****************** Bit definition for RCC_APB2ENR register *****************/ +#define RCC_APB2ENR_AFIOEN ((uint32_t)0x00000001) /*!< Alternate Function I/O clock enable */ +#define RCC_APB2ENR_IOPAEN ((uint32_t)0x00000004) /*!< I/O port A clock enable */ +#define RCC_APB2ENR_IOPBEN ((uint32_t)0x00000008) /*!< I/O port B clock enable */ +#define RCC_APB2ENR_IOPCEN ((uint32_t)0x00000010) /*!< I/O port C clock enable */ +#define RCC_APB2ENR_IOPDEN ((uint32_t)0x00000020) /*!< I/O port D clock enable */ +#define RCC_APB2ENR_ADC1EN ((uint32_t)0x00000200) /*!< ADC 1 interface clock enable */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB2ENR_ADC2EN ((uint32_t)0x00000400) /*!< ADC 2 interface clock enable */ +#endif + +#define RCC_APB2ENR_TIM1EN ((uint32_t)0x00000800) /*!< TIM1 Timer clock enable */ +#define RCC_APB2ENR_SPI1EN ((uint32_t)0x00001000) /*!< SPI 1 clock enable */ +#define RCC_APB2ENR_USART1EN ((uint32_t)0x00004000) /*!< USART1 clock enable */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +#define RCC_APB2ENR_TIM15EN ((uint32_t)0x00010000) /*!< TIM15 Timer clock enable */ +#define RCC_APB2ENR_TIM16EN ((uint32_t)0x00020000) /*!< TIM16 Timer clock enable */ +#define RCC_APB2ENR_TIM17EN ((uint32_t)0x00040000) /*!< TIM17 Timer clock enable */ +#endif + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB2ENR_IOPEEN ((uint32_t)0x00000040) /*!< I/O port E clock enable */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_XL) + #define RCC_APB2ENR_IOPFEN ((uint32_t)0x00000080) /*!< I/O port F clock enable */ + #define RCC_APB2ENR_IOPGEN ((uint32_t)0x00000100) /*!< I/O port G clock enable */ + #define RCC_APB2ENR_TIM8EN ((uint32_t)0x00002000) /*!< TIM8 Timer clock enable */ + #define RCC_APB2ENR_ADC3EN ((uint32_t)0x00008000) /*!< DMA1 clock enable */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_APB2ENR_IOPFEN ((uint32_t)0x00000080) /*!< I/O port F clock enable */ + #define RCC_APB2ENR_IOPGEN ((uint32_t)0x00000100) /*!< I/O port G clock enable */ +#endif + +#ifdef STM32F10X_XL + #define RCC_APB2ENR_TIM9EN ((uint32_t)0x00080000) /*!< TIM9 Timer clock enable */ + #define RCC_APB2ENR_TIM10EN ((uint32_t)0x00100000) /*!< TIM10 Timer clock enable */ + #define RCC_APB2ENR_TIM11EN ((uint32_t)0x00200000) /*!< TIM11 Timer clock enable */ +#endif + +/***************** Bit definition for RCC_APB1ENR register ******************/ +#define RCC_APB1ENR_TIM2EN ((uint32_t)0x00000001) /*!< Timer 2 clock enabled*/ +#define RCC_APB1ENR_TIM3EN ((uint32_t)0x00000002) /*!< Timer 3 clock enable */ +#define RCC_APB1ENR_WWDGEN ((uint32_t)0x00000800) /*!< Window Watchdog clock enable */ +#define RCC_APB1ENR_USART2EN ((uint32_t)0x00020000) /*!< USART 2 clock enable */ +#define RCC_APB1ENR_I2C1EN ((uint32_t)0x00200000) /*!< I2C 1 clock enable */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB1ENR_CAN1EN ((uint32_t)0x02000000) /*!< CAN1 clock enable */ +#endif + +#define RCC_APB1ENR_BKPEN ((uint32_t)0x08000000) /*!< Backup interface clock enable */ +#define RCC_APB1ENR_PWREN ((uint32_t)0x10000000) /*!< Power interface clock enable */ + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB1ENR_TIM4EN ((uint32_t)0x00000004) /*!< Timer 4 clock enable */ + #define RCC_APB1ENR_SPI2EN ((uint32_t)0x00004000) /*!< SPI 2 clock enable */ + #define RCC_APB1ENR_USART3EN ((uint32_t)0x00040000) /*!< USART 3 clock enable */ + #define RCC_APB1ENR_I2C2EN ((uint32_t)0x00400000) /*!< I2C 2 clock enable */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_MD) || defined (STM32F10X_LD) + #define RCC_APB1ENR_USBEN ((uint32_t)0x00800000) /*!< USB Device clock enable */ +#endif + +#if defined (STM32F10X_HD) || defined (STM32F10X_CL) + #define RCC_APB1ENR_TIM5EN ((uint32_t)0x00000008) /*!< Timer 5 clock enable */ + #define RCC_APB1ENR_TIM6EN ((uint32_t)0x00000010) /*!< Timer 6 clock enable */ + #define RCC_APB1ENR_TIM7EN ((uint32_t)0x00000020) /*!< Timer 7 clock enable */ + #define RCC_APB1ENR_SPI3EN ((uint32_t)0x00008000) /*!< SPI 3 clock enable */ + #define RCC_APB1ENR_UART4EN ((uint32_t)0x00080000) /*!< UART 4 clock enable */ + #define RCC_APB1ENR_UART5EN ((uint32_t)0x00100000) /*!< UART 5 clock enable */ + #define RCC_APB1ENR_DACEN ((uint32_t)0x20000000) /*!< DAC interface clock enable */ +#endif + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + #define RCC_APB1ENR_TIM6EN ((uint32_t)0x00000010) /*!< Timer 6 clock enable */ + #define RCC_APB1ENR_TIM7EN ((uint32_t)0x00000020) /*!< Timer 7 clock enable */ + #define RCC_APB1ENR_DACEN ((uint32_t)0x20000000) /*!< DAC interface clock enable */ + #define RCC_APB1ENR_CECEN ((uint32_t)0x40000000) /*!< CEC interface clock enable */ +#endif + +#ifdef STM32F10X_HD_VL + #define RCC_APB1ENR_TIM5EN ((uint32_t)0x00000008) /*!< Timer 5 clock enable */ + #define RCC_APB1ENR_TIM12EN ((uint32_t)0x00000040) /*!< TIM12 Timer clock enable */ + #define RCC_APB1ENR_TIM13EN ((uint32_t)0x00000080) /*!< TIM13 Timer clock enable */ + #define RCC_APB1ENR_TIM14EN ((uint32_t)0x00000100) /*!< TIM14 Timer clock enable */ + #define RCC_APB1ENR_SPI3EN ((uint32_t)0x00008000) /*!< SPI 3 clock enable */ + #define RCC_APB1ENR_UART4EN ((uint32_t)0x00080000) /*!< UART 4 clock enable */ + #define RCC_APB1ENR_UART5EN ((uint32_t)0x00100000) /*!< UART 5 clock enable */ +#endif /* STM32F10X_HD_VL */ + +#ifdef STM32F10X_CL + #define RCC_APB1ENR_CAN2EN ((uint32_t)0x04000000) /*!< CAN2 clock enable */ +#endif /* STM32F10X_CL */ + +#ifdef STM32F10X_XL + #define RCC_APB1ENR_TIM12EN ((uint32_t)0x00000040) /*!< TIM12 Timer clock enable */ + #define RCC_APB1ENR_TIM13EN ((uint32_t)0x00000080) /*!< TIM13 Timer clock enable */ + #define RCC_APB1ENR_TIM14EN ((uint32_t)0x00000100) /*!< TIM14 Timer clock enable */ +#endif /* STM32F10X_XL */ + +/******************* Bit definition for RCC_BDCR register *******************/ +#define RCC_BDCR_LSEON ((uint32_t)0x00000001) /*!< External Low Speed oscillator enable */ +#define RCC_BDCR_LSERDY ((uint32_t)0x00000002) /*!< External Low Speed oscillator Ready */ +#define RCC_BDCR_LSEBYP ((uint32_t)0x00000004) /*!< External Low Speed oscillator Bypass */ + +#define RCC_BDCR_RTCSEL ((uint32_t)0x00000300) /*!< RTCSEL[1:0] bits (RTC clock source selection) */ +#define RCC_BDCR_RTCSEL_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define RCC_BDCR_RTCSEL_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +/*!< RTC congiguration */ +#define RCC_BDCR_RTCSEL_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ +#define RCC_BDCR_RTCSEL_LSE ((uint32_t)0x00000100) /*!< LSE oscillator clock used as RTC clock */ +#define RCC_BDCR_RTCSEL_LSI ((uint32_t)0x00000200) /*!< LSI oscillator clock used as RTC clock */ +#define RCC_BDCR_RTCSEL_HSE ((uint32_t)0x00000300) /*!< HSE oscillator clock divided by 128 used as RTC clock */ + +#define RCC_BDCR_RTCEN ((uint32_t)0x00008000) /*!< RTC clock enable */ +#define RCC_BDCR_BDRST ((uint32_t)0x00010000) /*!< Backup domain software reset */ + +/******************* Bit definition for RCC_CSR register ********************/ +#define RCC_CSR_LSION ((uint32_t)0x00000001) /*!< Internal Low Speed oscillator enable */ +#define RCC_CSR_LSIRDY ((uint32_t)0x00000002) /*!< Internal Low Speed oscillator Ready */ +#define RCC_CSR_RMVF ((uint32_t)0x01000000) /*!< Remove reset flag */ +#define RCC_CSR_PINRSTF ((uint32_t)0x04000000) /*!< PIN reset flag */ +#define RCC_CSR_PORRSTF ((uint32_t)0x08000000) /*!< POR/PDR reset flag */ +#define RCC_CSR_SFTRSTF ((uint32_t)0x10000000) /*!< Software Reset flag */ +#define RCC_CSR_IWDGRSTF ((uint32_t)0x20000000) /*!< Independent Watchdog reset flag */ +#define RCC_CSR_WWDGRSTF ((uint32_t)0x40000000) /*!< Window watchdog reset flag */ +#define RCC_CSR_LPWRRSTF ((uint32_t)0x80000000) /*!< Low-Power reset flag */ + +#ifdef STM32F10X_CL +/******************* Bit definition for RCC_AHBRSTR register ****************/ + #define RCC_AHBRSTR_OTGFSRST ((uint32_t)0x00001000) /*!< USB OTG FS reset */ + #define RCC_AHBRSTR_ETHMACRST ((uint32_t)0x00004000) /*!< ETHERNET MAC reset */ + +/******************* Bit definition for RCC_CFGR2 register ******************/ +/*!< PREDIV1 configuration */ + #define RCC_CFGR2_PREDIV1 ((uint32_t)0x0000000F) /*!< PREDIV1[3:0] bits */ + #define RCC_CFGR2_PREDIV1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ + #define RCC_CFGR2_PREDIV1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + #define RCC_CFGR2_PREDIV1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + #define RCC_CFGR2_PREDIV1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + + #define RCC_CFGR2_PREDIV1_DIV1 ((uint32_t)0x00000000) /*!< PREDIV1 input clock not divided */ + #define RCC_CFGR2_PREDIV1_DIV2 ((uint32_t)0x00000001) /*!< PREDIV1 input clock divided by 2 */ + #define RCC_CFGR2_PREDIV1_DIV3 ((uint32_t)0x00000002) /*!< PREDIV1 input clock divided by 3 */ + #define RCC_CFGR2_PREDIV1_DIV4 ((uint32_t)0x00000003) /*!< PREDIV1 input clock divided by 4 */ + #define RCC_CFGR2_PREDIV1_DIV5 ((uint32_t)0x00000004) /*!< PREDIV1 input clock divided by 5 */ + #define RCC_CFGR2_PREDIV1_DIV6 ((uint32_t)0x00000005) /*!< PREDIV1 input clock divided by 6 */ + #define RCC_CFGR2_PREDIV1_DIV7 ((uint32_t)0x00000006) /*!< PREDIV1 input clock divided by 7 */ + #define RCC_CFGR2_PREDIV1_DIV8 ((uint32_t)0x00000007) /*!< PREDIV1 input clock divided by 8 */ + #define RCC_CFGR2_PREDIV1_DIV9 ((uint32_t)0x00000008) /*!< PREDIV1 input clock divided by 9 */ + #define RCC_CFGR2_PREDIV1_DIV10 ((uint32_t)0x00000009) /*!< PREDIV1 input clock divided by 10 */ + #define RCC_CFGR2_PREDIV1_DIV11 ((uint32_t)0x0000000A) /*!< PREDIV1 input clock divided by 11 */ + #define RCC_CFGR2_PREDIV1_DIV12 ((uint32_t)0x0000000B) /*!< PREDIV1 input clock divided by 12 */ + #define RCC_CFGR2_PREDIV1_DIV13 ((uint32_t)0x0000000C) /*!< PREDIV1 input clock divided by 13 */ + #define RCC_CFGR2_PREDIV1_DIV14 ((uint32_t)0x0000000D) /*!< PREDIV1 input clock divided by 14 */ + #define RCC_CFGR2_PREDIV1_DIV15 ((uint32_t)0x0000000E) /*!< PREDIV1 input clock divided by 15 */ + #define RCC_CFGR2_PREDIV1_DIV16 ((uint32_t)0x0000000F) /*!< PREDIV1 input clock divided by 16 */ + +/*!< PREDIV2 configuration */ + #define RCC_CFGR2_PREDIV2 ((uint32_t)0x000000F0) /*!< PREDIV2[3:0] bits */ + #define RCC_CFGR2_PREDIV2_0 ((uint32_t)0x00000010) /*!< Bit 0 */ + #define RCC_CFGR2_PREDIV2_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + #define RCC_CFGR2_PREDIV2_2 ((uint32_t)0x00000040) /*!< Bit 2 */ + #define RCC_CFGR2_PREDIV2_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + + #define RCC_CFGR2_PREDIV2_DIV1 ((uint32_t)0x00000000) /*!< PREDIV2 input clock not divided */ + #define RCC_CFGR2_PREDIV2_DIV2 ((uint32_t)0x00000010) /*!< PREDIV2 input clock divided by 2 */ + #define RCC_CFGR2_PREDIV2_DIV3 ((uint32_t)0x00000020) /*!< PREDIV2 input clock divided by 3 */ + #define RCC_CFGR2_PREDIV2_DIV4 ((uint32_t)0x00000030) /*!< PREDIV2 input clock divided by 4 */ + #define RCC_CFGR2_PREDIV2_DIV5 ((uint32_t)0x00000040) /*!< PREDIV2 input clock divided by 5 */ + #define RCC_CFGR2_PREDIV2_DIV6 ((uint32_t)0x00000050) /*!< PREDIV2 input clock divided by 6 */ + #define RCC_CFGR2_PREDIV2_DIV7 ((uint32_t)0x00000060) /*!< PREDIV2 input clock divided by 7 */ + #define RCC_CFGR2_PREDIV2_DIV8 ((uint32_t)0x00000070) /*!< PREDIV2 input clock divided by 8 */ + #define RCC_CFGR2_PREDIV2_DIV9 ((uint32_t)0x00000080) /*!< PREDIV2 input clock divided by 9 */ + #define RCC_CFGR2_PREDIV2_DIV10 ((uint32_t)0x00000090) /*!< PREDIV2 input clock divided by 10 */ + #define RCC_CFGR2_PREDIV2_DIV11 ((uint32_t)0x000000A0) /*!< PREDIV2 input clock divided by 11 */ + #define RCC_CFGR2_PREDIV2_DIV12 ((uint32_t)0x000000B0) /*!< PREDIV2 input clock divided by 12 */ + #define RCC_CFGR2_PREDIV2_DIV13 ((uint32_t)0x000000C0) /*!< PREDIV2 input clock divided by 13 */ + #define RCC_CFGR2_PREDIV2_DIV14 ((uint32_t)0x000000D0) /*!< PREDIV2 input clock divided by 14 */ + #define RCC_CFGR2_PREDIV2_DIV15 ((uint32_t)0x000000E0) /*!< PREDIV2 input clock divided by 15 */ + #define RCC_CFGR2_PREDIV2_DIV16 ((uint32_t)0x000000F0) /*!< PREDIV2 input clock divided by 16 */ + +/*!< PLL2MUL configuration */ + #define RCC_CFGR2_PLL2MUL ((uint32_t)0x00000F00) /*!< PLL2MUL[3:0] bits */ + #define RCC_CFGR2_PLL2MUL_0 ((uint32_t)0x00000100) /*!< Bit 0 */ + #define RCC_CFGR2_PLL2MUL_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + #define RCC_CFGR2_PLL2MUL_2 ((uint32_t)0x00000400) /*!< Bit 2 */ + #define RCC_CFGR2_PLL2MUL_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + + #define RCC_CFGR2_PLL2MUL8 ((uint32_t)0x00000600) /*!< PLL2 input clock * 8 */ + #define RCC_CFGR2_PLL2MUL9 ((uint32_t)0x00000700) /*!< PLL2 input clock * 9 */ + #define RCC_CFGR2_PLL2MUL10 ((uint32_t)0x00000800) /*!< PLL2 input clock * 10 */ + #define RCC_CFGR2_PLL2MUL11 ((uint32_t)0x00000900) /*!< PLL2 input clock * 11 */ + #define RCC_CFGR2_PLL2MUL12 ((uint32_t)0x00000A00) /*!< PLL2 input clock * 12 */ + #define RCC_CFGR2_PLL2MUL13 ((uint32_t)0x00000B00) /*!< PLL2 input clock * 13 */ + #define RCC_CFGR2_PLL2MUL14 ((uint32_t)0x00000C00) /*!< PLL2 input clock * 14 */ + #define RCC_CFGR2_PLL2MUL16 ((uint32_t)0x00000E00) /*!< PLL2 input clock * 16 */ + #define RCC_CFGR2_PLL2MUL20 ((uint32_t)0x00000F00) /*!< PLL2 input clock * 20 */ + +/*!< PLL3MUL configuration */ + #define RCC_CFGR2_PLL3MUL ((uint32_t)0x0000F000) /*!< PLL3MUL[3:0] bits */ + #define RCC_CFGR2_PLL3MUL_0 ((uint32_t)0x00001000) /*!< Bit 0 */ + #define RCC_CFGR2_PLL3MUL_1 ((uint32_t)0x00002000) /*!< Bit 1 */ + #define RCC_CFGR2_PLL3MUL_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + #define RCC_CFGR2_PLL3MUL_3 ((uint32_t)0x00008000) /*!< Bit 3 */ + + #define RCC_CFGR2_PLL3MUL8 ((uint32_t)0x00006000) /*!< PLL3 input clock * 8 */ + #define RCC_CFGR2_PLL3MUL9 ((uint32_t)0x00007000) /*!< PLL3 input clock * 9 */ + #define RCC_CFGR2_PLL3MUL10 ((uint32_t)0x00008000) /*!< PLL3 input clock * 10 */ + #define RCC_CFGR2_PLL3MUL11 ((uint32_t)0x00009000) /*!< PLL3 input clock * 11 */ + #define RCC_CFGR2_PLL3MUL12 ((uint32_t)0x0000A000) /*!< PLL3 input clock * 12 */ + #define RCC_CFGR2_PLL3MUL13 ((uint32_t)0x0000B000) /*!< PLL3 input clock * 13 */ + #define RCC_CFGR2_PLL3MUL14 ((uint32_t)0x0000C000) /*!< PLL3 input clock * 14 */ + #define RCC_CFGR2_PLL3MUL16 ((uint32_t)0x0000E000) /*!< PLL3 input clock * 16 */ + #define RCC_CFGR2_PLL3MUL20 ((uint32_t)0x0000F000) /*!< PLL3 input clock * 20 */ + + #define RCC_CFGR2_PREDIV1SRC ((uint32_t)0x00010000) /*!< PREDIV1 entry clock source */ + #define RCC_CFGR2_PREDIV1SRC_PLL2 ((uint32_t)0x00010000) /*!< PLL2 selected as PREDIV1 entry clock source */ + #define RCC_CFGR2_PREDIV1SRC_HSE ((uint32_t)0x00000000) /*!< HSE selected as PREDIV1 entry clock source */ + #define RCC_CFGR2_I2S2SRC ((uint32_t)0x00020000) /*!< I2S2 entry clock source */ + #define RCC_CFGR2_I2S3SRC ((uint32_t)0x00040000) /*!< I2S3 clock source */ +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/******************* Bit definition for RCC_CFGR2 register ******************/ +/*!< PREDIV1 configuration */ + #define RCC_CFGR2_PREDIV1 ((uint32_t)0x0000000F) /*!< PREDIV1[3:0] bits */ + #define RCC_CFGR2_PREDIV1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ + #define RCC_CFGR2_PREDIV1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + #define RCC_CFGR2_PREDIV1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + #define RCC_CFGR2_PREDIV1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + + #define RCC_CFGR2_PREDIV1_DIV1 ((uint32_t)0x00000000) /*!< PREDIV1 input clock not divided */ + #define RCC_CFGR2_PREDIV1_DIV2 ((uint32_t)0x00000001) /*!< PREDIV1 input clock divided by 2 */ + #define RCC_CFGR2_PREDIV1_DIV3 ((uint32_t)0x00000002) /*!< PREDIV1 input clock divided by 3 */ + #define RCC_CFGR2_PREDIV1_DIV4 ((uint32_t)0x00000003) /*!< PREDIV1 input clock divided by 4 */ + #define RCC_CFGR2_PREDIV1_DIV5 ((uint32_t)0x00000004) /*!< PREDIV1 input clock divided by 5 */ + #define RCC_CFGR2_PREDIV1_DIV6 ((uint32_t)0x00000005) /*!< PREDIV1 input clock divided by 6 */ + #define RCC_CFGR2_PREDIV1_DIV7 ((uint32_t)0x00000006) /*!< PREDIV1 input clock divided by 7 */ + #define RCC_CFGR2_PREDIV1_DIV8 ((uint32_t)0x00000007) /*!< PREDIV1 input clock divided by 8 */ + #define RCC_CFGR2_PREDIV1_DIV9 ((uint32_t)0x00000008) /*!< PREDIV1 input clock divided by 9 */ + #define RCC_CFGR2_PREDIV1_DIV10 ((uint32_t)0x00000009) /*!< PREDIV1 input clock divided by 10 */ + #define RCC_CFGR2_PREDIV1_DIV11 ((uint32_t)0x0000000A) /*!< PREDIV1 input clock divided by 11 */ + #define RCC_CFGR2_PREDIV1_DIV12 ((uint32_t)0x0000000B) /*!< PREDIV1 input clock divided by 12 */ + #define RCC_CFGR2_PREDIV1_DIV13 ((uint32_t)0x0000000C) /*!< PREDIV1 input clock divided by 13 */ + #define RCC_CFGR2_PREDIV1_DIV14 ((uint32_t)0x0000000D) /*!< PREDIV1 input clock divided by 14 */ + #define RCC_CFGR2_PREDIV1_DIV15 ((uint32_t)0x0000000E) /*!< PREDIV1 input clock divided by 15 */ + #define RCC_CFGR2_PREDIV1_DIV16 ((uint32_t)0x0000000F) /*!< PREDIV1 input clock divided by 16 */ +#endif + +/******************************************************************************/ +/* */ +/* General Purpose and Alternate Function I/O */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for GPIO_CRL register *******************/ +#define GPIO_CRL_MODE ((uint32_t)0x33333333) /*!< Port x mode bits */ + +#define GPIO_CRL_MODE0 ((uint32_t)0x00000003) /*!< MODE0[1:0] bits (Port x mode bits, pin 0) */ +#define GPIO_CRL_MODE0_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define GPIO_CRL_MODE0_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + +#define GPIO_CRL_MODE1 ((uint32_t)0x00000030) /*!< MODE1[1:0] bits (Port x mode bits, pin 1) */ +#define GPIO_CRL_MODE1_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define GPIO_CRL_MODE1_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define GPIO_CRL_MODE2 ((uint32_t)0x00000300) /*!< MODE2[1:0] bits (Port x mode bits, pin 2) */ +#define GPIO_CRL_MODE2_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define GPIO_CRL_MODE2_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +#define GPIO_CRL_MODE3 ((uint32_t)0x00003000) /*!< MODE3[1:0] bits (Port x mode bits, pin 3) */ +#define GPIO_CRL_MODE3_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define GPIO_CRL_MODE3_1 ((uint32_t)0x00002000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE4 ((uint32_t)0x00030000) /*!< MODE4[1:0] bits (Port x mode bits, pin 4) */ +#define GPIO_CRL_MODE4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define GPIO_CRL_MODE4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE5 ((uint32_t)0x00300000) /*!< MODE5[1:0] bits (Port x mode bits, pin 5) */ +#define GPIO_CRL_MODE5_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define GPIO_CRL_MODE5_1 ((uint32_t)0x00200000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE6 ((uint32_t)0x03000000) /*!< MODE6[1:0] bits (Port x mode bits, pin 6) */ +#define GPIO_CRL_MODE6_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define GPIO_CRL_MODE6_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE7 ((uint32_t)0x30000000) /*!< MODE7[1:0] bits (Port x mode bits, pin 7) */ +#define GPIO_CRL_MODE7_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define GPIO_CRL_MODE7_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF ((uint32_t)0xCCCCCCCC) /*!< Port x configuration bits */ + +#define GPIO_CRL_CNF0 ((uint32_t)0x0000000C) /*!< CNF0[1:0] bits (Port x configuration bits, pin 0) */ +#define GPIO_CRL_CNF0_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define GPIO_CRL_CNF0_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define GPIO_CRL_CNF1 ((uint32_t)0x000000C0) /*!< CNF1[1:0] bits (Port x configuration bits, pin 1) */ +#define GPIO_CRL_CNF1_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define GPIO_CRL_CNF1_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define GPIO_CRL_CNF2 ((uint32_t)0x00000C00) /*!< CNF2[1:0] bits (Port x configuration bits, pin 2) */ +#define GPIO_CRL_CNF2_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define GPIO_CRL_CNF2_1 ((uint32_t)0x00000800) /*!< Bit 1 */ + +#define GPIO_CRL_CNF3 ((uint32_t)0x0000C000) /*!< CNF3[1:0] bits (Port x configuration bits, pin 3) */ +#define GPIO_CRL_CNF3_0 ((uint32_t)0x00004000) /*!< Bit 0 */ +#define GPIO_CRL_CNF3_1 ((uint32_t)0x00008000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF4 ((uint32_t)0x000C0000) /*!< CNF4[1:0] bits (Port x configuration bits, pin 4) */ +#define GPIO_CRL_CNF4_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define GPIO_CRL_CNF4_1 ((uint32_t)0x00080000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF5 ((uint32_t)0x00C00000) /*!< CNF5[1:0] bits (Port x configuration bits, pin 5) */ +#define GPIO_CRL_CNF5_0 ((uint32_t)0x00400000) /*!< Bit 0 */ +#define GPIO_CRL_CNF5_1 ((uint32_t)0x00800000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF6 ((uint32_t)0x0C000000) /*!< CNF6[1:0] bits (Port x configuration bits, pin 6) */ +#define GPIO_CRL_CNF6_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define GPIO_CRL_CNF6_1 ((uint32_t)0x08000000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF7 ((uint32_t)0xC0000000) /*!< CNF7[1:0] bits (Port x configuration bits, pin 7) */ +#define GPIO_CRL_CNF7_0 ((uint32_t)0x40000000) /*!< Bit 0 */ +#define GPIO_CRL_CNF7_1 ((uint32_t)0x80000000) /*!< Bit 1 */ + +/******************* Bit definition for GPIO_CRH register *******************/ +#define GPIO_CRH_MODE ((uint32_t)0x33333333) /*!< Port x mode bits */ + +#define GPIO_CRH_MODE8 ((uint32_t)0x00000003) /*!< MODE8[1:0] bits (Port x mode bits, pin 8) */ +#define GPIO_CRH_MODE8_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define GPIO_CRH_MODE8_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + +#define GPIO_CRH_MODE9 ((uint32_t)0x00000030) /*!< MODE9[1:0] bits (Port x mode bits, pin 9) */ +#define GPIO_CRH_MODE9_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define GPIO_CRH_MODE9_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define GPIO_CRH_MODE10 ((uint32_t)0x00000300) /*!< MODE10[1:0] bits (Port x mode bits, pin 10) */ +#define GPIO_CRH_MODE10_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define GPIO_CRH_MODE10_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +#define GPIO_CRH_MODE11 ((uint32_t)0x00003000) /*!< MODE11[1:0] bits (Port x mode bits, pin 11) */ +#define GPIO_CRH_MODE11_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define GPIO_CRH_MODE11_1 ((uint32_t)0x00002000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE12 ((uint32_t)0x00030000) /*!< MODE12[1:0] bits (Port x mode bits, pin 12) */ +#define GPIO_CRH_MODE12_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define GPIO_CRH_MODE12_1 ((uint32_t)0x00020000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE13 ((uint32_t)0x00300000) /*!< MODE13[1:0] bits (Port x mode bits, pin 13) */ +#define GPIO_CRH_MODE13_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define GPIO_CRH_MODE13_1 ((uint32_t)0x00200000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE14 ((uint32_t)0x03000000) /*!< MODE14[1:0] bits (Port x mode bits, pin 14) */ +#define GPIO_CRH_MODE14_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define GPIO_CRH_MODE14_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE15 ((uint32_t)0x30000000) /*!< MODE15[1:0] bits (Port x mode bits, pin 15) */ +#define GPIO_CRH_MODE15_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define GPIO_CRH_MODE15_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF ((uint32_t)0xCCCCCCCC) /*!< Port x configuration bits */ + +#define GPIO_CRH_CNF8 ((uint32_t)0x0000000C) /*!< CNF8[1:0] bits (Port x configuration bits, pin 8) */ +#define GPIO_CRH_CNF8_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define GPIO_CRH_CNF8_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define GPIO_CRH_CNF9 ((uint32_t)0x000000C0) /*!< CNF9[1:0] bits (Port x configuration bits, pin 9) */ +#define GPIO_CRH_CNF9_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define GPIO_CRH_CNF9_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define GPIO_CRH_CNF10 ((uint32_t)0x00000C00) /*!< CNF10[1:0] bits (Port x configuration bits, pin 10) */ +#define GPIO_CRH_CNF10_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define GPIO_CRH_CNF10_1 ((uint32_t)0x00000800) /*!< Bit 1 */ + +#define GPIO_CRH_CNF11 ((uint32_t)0x0000C000) /*!< CNF11[1:0] bits (Port x configuration bits, pin 11) */ +#define GPIO_CRH_CNF11_0 ((uint32_t)0x00004000) /*!< Bit 0 */ +#define GPIO_CRH_CNF11_1 ((uint32_t)0x00008000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF12 ((uint32_t)0x000C0000) /*!< CNF12[1:0] bits (Port x configuration bits, pin 12) */ +#define GPIO_CRH_CNF12_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define GPIO_CRH_CNF12_1 ((uint32_t)0x00080000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF13 ((uint32_t)0x00C00000) /*!< CNF13[1:0] bits (Port x configuration bits, pin 13) */ +#define GPIO_CRH_CNF13_0 ((uint32_t)0x00400000) /*!< Bit 0 */ +#define GPIO_CRH_CNF13_1 ((uint32_t)0x00800000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF14 ((uint32_t)0x0C000000) /*!< CNF14[1:0] bits (Port x configuration bits, pin 14) */ +#define GPIO_CRH_CNF14_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define GPIO_CRH_CNF14_1 ((uint32_t)0x08000000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF15 ((uint32_t)0xC0000000) /*!< CNF15[1:0] bits (Port x configuration bits, pin 15) */ +#define GPIO_CRH_CNF15_0 ((uint32_t)0x40000000) /*!< Bit 0 */ +#define GPIO_CRH_CNF15_1 ((uint32_t)0x80000000) /*!< Bit 1 */ + +/*!<****************** Bit definition for GPIO_IDR register *******************/ +#define GPIO_IDR_IDR0 ((uint16_t)0x0001) /*!< Port input data, bit 0 */ +#define GPIO_IDR_IDR1 ((uint16_t)0x0002) /*!< Port input data, bit 1 */ +#define GPIO_IDR_IDR2 ((uint16_t)0x0004) /*!< Port input data, bit 2 */ +#define GPIO_IDR_IDR3 ((uint16_t)0x0008) /*!< Port input data, bit 3 */ +#define GPIO_IDR_IDR4 ((uint16_t)0x0010) /*!< Port input data, bit 4 */ +#define GPIO_IDR_IDR5 ((uint16_t)0x0020) /*!< Port input data, bit 5 */ +#define GPIO_IDR_IDR6 ((uint16_t)0x0040) /*!< Port input data, bit 6 */ +#define GPIO_IDR_IDR7 ((uint16_t)0x0080) /*!< Port input data, bit 7 */ +#define GPIO_IDR_IDR8 ((uint16_t)0x0100) /*!< Port input data, bit 8 */ +#define GPIO_IDR_IDR9 ((uint16_t)0x0200) /*!< Port input data, bit 9 */ +#define GPIO_IDR_IDR10 ((uint16_t)0x0400) /*!< Port input data, bit 10 */ +#define GPIO_IDR_IDR11 ((uint16_t)0x0800) /*!< Port input data, bit 11 */ +#define GPIO_IDR_IDR12 ((uint16_t)0x1000) /*!< Port input data, bit 12 */ +#define GPIO_IDR_IDR13 ((uint16_t)0x2000) /*!< Port input data, bit 13 */ +#define GPIO_IDR_IDR14 ((uint16_t)0x4000) /*!< Port input data, bit 14 */ +#define GPIO_IDR_IDR15 ((uint16_t)0x8000) /*!< Port input data, bit 15 */ + +/******************* Bit definition for GPIO_ODR register *******************/ +#define GPIO_ODR_ODR0 ((uint16_t)0x0001) /*!< Port output data, bit 0 */ +#define GPIO_ODR_ODR1 ((uint16_t)0x0002) /*!< Port output data, bit 1 */ +#define GPIO_ODR_ODR2 ((uint16_t)0x0004) /*!< Port output data, bit 2 */ +#define GPIO_ODR_ODR3 ((uint16_t)0x0008) /*!< Port output data, bit 3 */ +#define GPIO_ODR_ODR4 ((uint16_t)0x0010) /*!< Port output data, bit 4 */ +#define GPIO_ODR_ODR5 ((uint16_t)0x0020) /*!< Port output data, bit 5 */ +#define GPIO_ODR_ODR6 ((uint16_t)0x0040) /*!< Port output data, bit 6 */ +#define GPIO_ODR_ODR7 ((uint16_t)0x0080) /*!< Port output data, bit 7 */ +#define GPIO_ODR_ODR8 ((uint16_t)0x0100) /*!< Port output data, bit 8 */ +#define GPIO_ODR_ODR9 ((uint16_t)0x0200) /*!< Port output data, bit 9 */ +#define GPIO_ODR_ODR10 ((uint16_t)0x0400) /*!< Port output data, bit 10 */ +#define GPIO_ODR_ODR11 ((uint16_t)0x0800) /*!< Port output data, bit 11 */ +#define GPIO_ODR_ODR12 ((uint16_t)0x1000) /*!< Port output data, bit 12 */ +#define GPIO_ODR_ODR13 ((uint16_t)0x2000) /*!< Port output data, bit 13 */ +#define GPIO_ODR_ODR14 ((uint16_t)0x4000) /*!< Port output data, bit 14 */ +#define GPIO_ODR_ODR15 ((uint16_t)0x8000) /*!< Port output data, bit 15 */ + +/****************** Bit definition for GPIO_BSRR register *******************/ +#define GPIO_BSRR_BS0 ((uint32_t)0x00000001) /*!< Port x Set bit 0 */ +#define GPIO_BSRR_BS1 ((uint32_t)0x00000002) /*!< Port x Set bit 1 */ +#define GPIO_BSRR_BS2 ((uint32_t)0x00000004) /*!< Port x Set bit 2 */ +#define GPIO_BSRR_BS3 ((uint32_t)0x00000008) /*!< Port x Set bit 3 */ +#define GPIO_BSRR_BS4 ((uint32_t)0x00000010) /*!< Port x Set bit 4 */ +#define GPIO_BSRR_BS5 ((uint32_t)0x00000020) /*!< Port x Set bit 5 */ +#define GPIO_BSRR_BS6 ((uint32_t)0x00000040) /*!< Port x Set bit 6 */ +#define GPIO_BSRR_BS7 ((uint32_t)0x00000080) /*!< Port x Set bit 7 */ +#define GPIO_BSRR_BS8 ((uint32_t)0x00000100) /*!< Port x Set bit 8 */ +#define GPIO_BSRR_BS9 ((uint32_t)0x00000200) /*!< Port x Set bit 9 */ +#define GPIO_BSRR_BS10 ((uint32_t)0x00000400) /*!< Port x Set bit 10 */ +#define GPIO_BSRR_BS11 ((uint32_t)0x00000800) /*!< Port x Set bit 11 */ +#define GPIO_BSRR_BS12 ((uint32_t)0x00001000) /*!< Port x Set bit 12 */ +#define GPIO_BSRR_BS13 ((uint32_t)0x00002000) /*!< Port x Set bit 13 */ +#define GPIO_BSRR_BS14 ((uint32_t)0x00004000) /*!< Port x Set bit 14 */ +#define GPIO_BSRR_BS15 ((uint32_t)0x00008000) /*!< Port x Set bit 15 */ + +#define GPIO_BSRR_BR0 ((uint32_t)0x00010000) /*!< Port x Reset bit 0 */ +#define GPIO_BSRR_BR1 ((uint32_t)0x00020000) /*!< Port x Reset bit 1 */ +#define GPIO_BSRR_BR2 ((uint32_t)0x00040000) /*!< Port x Reset bit 2 */ +#define GPIO_BSRR_BR3 ((uint32_t)0x00080000) /*!< Port x Reset bit 3 */ +#define GPIO_BSRR_BR4 ((uint32_t)0x00100000) /*!< Port x Reset bit 4 */ +#define GPIO_BSRR_BR5 ((uint32_t)0x00200000) /*!< Port x Reset bit 5 */ +#define GPIO_BSRR_BR6 ((uint32_t)0x00400000) /*!< Port x Reset bit 6 */ +#define GPIO_BSRR_BR7 ((uint32_t)0x00800000) /*!< Port x Reset bit 7 */ +#define GPIO_BSRR_BR8 ((uint32_t)0x01000000) /*!< Port x Reset bit 8 */ +#define GPIO_BSRR_BR9 ((uint32_t)0x02000000) /*!< Port x Reset bit 9 */ +#define GPIO_BSRR_BR10 ((uint32_t)0x04000000) /*!< Port x Reset bit 10 */ +#define GPIO_BSRR_BR11 ((uint32_t)0x08000000) /*!< Port x Reset bit 11 */ +#define GPIO_BSRR_BR12 ((uint32_t)0x10000000) /*!< Port x Reset bit 12 */ +#define GPIO_BSRR_BR13 ((uint32_t)0x20000000) /*!< Port x Reset bit 13 */ +#define GPIO_BSRR_BR14 ((uint32_t)0x40000000) /*!< Port x Reset bit 14 */ +#define GPIO_BSRR_BR15 ((uint32_t)0x80000000) /*!< Port x Reset bit 15 */ + +/******************* Bit definition for GPIO_BRR register *******************/ +#define GPIO_BRR_BR0 ((uint16_t)0x0001) /*!< Port x Reset bit 0 */ +#define GPIO_BRR_BR1 ((uint16_t)0x0002) /*!< Port x Reset bit 1 */ +#define GPIO_BRR_BR2 ((uint16_t)0x0004) /*!< Port x Reset bit 2 */ +#define GPIO_BRR_BR3 ((uint16_t)0x0008) /*!< Port x Reset bit 3 */ +#define GPIO_BRR_BR4 ((uint16_t)0x0010) /*!< Port x Reset bit 4 */ +#define GPIO_BRR_BR5 ((uint16_t)0x0020) /*!< Port x Reset bit 5 */ +#define GPIO_BRR_BR6 ((uint16_t)0x0040) /*!< Port x Reset bit 6 */ +#define GPIO_BRR_BR7 ((uint16_t)0x0080) /*!< Port x Reset bit 7 */ +#define GPIO_BRR_BR8 ((uint16_t)0x0100) /*!< Port x Reset bit 8 */ +#define GPIO_BRR_BR9 ((uint16_t)0x0200) /*!< Port x Reset bit 9 */ +#define GPIO_BRR_BR10 ((uint16_t)0x0400) /*!< Port x Reset bit 10 */ +#define GPIO_BRR_BR11 ((uint16_t)0x0800) /*!< Port x Reset bit 11 */ +#define GPIO_BRR_BR12 ((uint16_t)0x1000) /*!< Port x Reset bit 12 */ +#define GPIO_BRR_BR13 ((uint16_t)0x2000) /*!< Port x Reset bit 13 */ +#define GPIO_BRR_BR14 ((uint16_t)0x4000) /*!< Port x Reset bit 14 */ +#define GPIO_BRR_BR15 ((uint16_t)0x8000) /*!< Port x Reset bit 15 */ + +/****************** Bit definition for GPIO_LCKR register *******************/ +#define GPIO_LCKR_LCK0 ((uint32_t)0x00000001) /*!< Port x Lock bit 0 */ +#define GPIO_LCKR_LCK1 ((uint32_t)0x00000002) /*!< Port x Lock bit 1 */ +#define GPIO_LCKR_LCK2 ((uint32_t)0x00000004) /*!< Port x Lock bit 2 */ +#define GPIO_LCKR_LCK3 ((uint32_t)0x00000008) /*!< Port x Lock bit 3 */ +#define GPIO_LCKR_LCK4 ((uint32_t)0x00000010) /*!< Port x Lock bit 4 */ +#define GPIO_LCKR_LCK5 ((uint32_t)0x00000020) /*!< Port x Lock bit 5 */ +#define GPIO_LCKR_LCK6 ((uint32_t)0x00000040) /*!< Port x Lock bit 6 */ +#define GPIO_LCKR_LCK7 ((uint32_t)0x00000080) /*!< Port x Lock bit 7 */ +#define GPIO_LCKR_LCK8 ((uint32_t)0x00000100) /*!< Port x Lock bit 8 */ +#define GPIO_LCKR_LCK9 ((uint32_t)0x00000200) /*!< Port x Lock bit 9 */ +#define GPIO_LCKR_LCK10 ((uint32_t)0x00000400) /*!< Port x Lock bit 10 */ +#define GPIO_LCKR_LCK11 ((uint32_t)0x00000800) /*!< Port x Lock bit 11 */ +#define GPIO_LCKR_LCK12 ((uint32_t)0x00001000) /*!< Port x Lock bit 12 */ +#define GPIO_LCKR_LCK13 ((uint32_t)0x00002000) /*!< Port x Lock bit 13 */ +#define GPIO_LCKR_LCK14 ((uint32_t)0x00004000) /*!< Port x Lock bit 14 */ +#define GPIO_LCKR_LCK15 ((uint32_t)0x00008000) /*!< Port x Lock bit 15 */ +#define GPIO_LCKR_LCKK ((uint32_t)0x00010000) /*!< Lock key */ + +/*----------------------------------------------------------------------------*/ + +/****************** Bit definition for AFIO_EVCR register *******************/ +#define AFIO_EVCR_PIN ((uint8_t)0x0F) /*!< PIN[3:0] bits (Pin selection) */ +#define AFIO_EVCR_PIN_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define AFIO_EVCR_PIN_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define AFIO_EVCR_PIN_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define AFIO_EVCR_PIN_3 ((uint8_t)0x08) /*!< Bit 3 */ + +/*!< PIN configuration */ +#define AFIO_EVCR_PIN_PX0 ((uint8_t)0x00) /*!< Pin 0 selected */ +#define AFIO_EVCR_PIN_PX1 ((uint8_t)0x01) /*!< Pin 1 selected */ +#define AFIO_EVCR_PIN_PX2 ((uint8_t)0x02) /*!< Pin 2 selected */ +#define AFIO_EVCR_PIN_PX3 ((uint8_t)0x03) /*!< Pin 3 selected */ +#define AFIO_EVCR_PIN_PX4 ((uint8_t)0x04) /*!< Pin 4 selected */ +#define AFIO_EVCR_PIN_PX5 ((uint8_t)0x05) /*!< Pin 5 selected */ +#define AFIO_EVCR_PIN_PX6 ((uint8_t)0x06) /*!< Pin 6 selected */ +#define AFIO_EVCR_PIN_PX7 ((uint8_t)0x07) /*!< Pin 7 selected */ +#define AFIO_EVCR_PIN_PX8 ((uint8_t)0x08) /*!< Pin 8 selected */ +#define AFIO_EVCR_PIN_PX9 ((uint8_t)0x09) /*!< Pin 9 selected */ +#define AFIO_EVCR_PIN_PX10 ((uint8_t)0x0A) /*!< Pin 10 selected */ +#define AFIO_EVCR_PIN_PX11 ((uint8_t)0x0B) /*!< Pin 11 selected */ +#define AFIO_EVCR_PIN_PX12 ((uint8_t)0x0C) /*!< Pin 12 selected */ +#define AFIO_EVCR_PIN_PX13 ((uint8_t)0x0D) /*!< Pin 13 selected */ +#define AFIO_EVCR_PIN_PX14 ((uint8_t)0x0E) /*!< Pin 14 selected */ +#define AFIO_EVCR_PIN_PX15 ((uint8_t)0x0F) /*!< Pin 15 selected */ + +#define AFIO_EVCR_PORT ((uint8_t)0x70) /*!< PORT[2:0] bits (Port selection) */ +#define AFIO_EVCR_PORT_0 ((uint8_t)0x10) /*!< Bit 0 */ +#define AFIO_EVCR_PORT_1 ((uint8_t)0x20) /*!< Bit 1 */ +#define AFIO_EVCR_PORT_2 ((uint8_t)0x40) /*!< Bit 2 */ + +/*!< PORT configuration */ +#define AFIO_EVCR_PORT_PA ((uint8_t)0x00) /*!< Port A selected */ +#define AFIO_EVCR_PORT_PB ((uint8_t)0x10) /*!< Port B selected */ +#define AFIO_EVCR_PORT_PC ((uint8_t)0x20) /*!< Port C selected */ +#define AFIO_EVCR_PORT_PD ((uint8_t)0x30) /*!< Port D selected */ +#define AFIO_EVCR_PORT_PE ((uint8_t)0x40) /*!< Port E selected */ + +#define AFIO_EVCR_EVOE ((uint8_t)0x80) /*!< Event Output Enable */ + +/****************** Bit definition for AFIO_MAPR register *******************/ +#define AFIO_MAPR_SPI1_REMAP ((uint32_t)0x00000001) /*!< SPI1 remapping */ +#define AFIO_MAPR_I2C1_REMAP ((uint32_t)0x00000002) /*!< I2C1 remapping */ +#define AFIO_MAPR_USART1_REMAP ((uint32_t)0x00000004) /*!< USART1 remapping */ +#define AFIO_MAPR_USART2_REMAP ((uint32_t)0x00000008) /*!< USART2 remapping */ + +#define AFIO_MAPR_USART3_REMAP ((uint32_t)0x00000030) /*!< USART3_REMAP[1:0] bits (USART3 remapping) */ +#define AFIO_MAPR_USART3_REMAP_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define AFIO_MAPR_USART3_REMAP_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +/* USART3_REMAP configuration */ +#define AFIO_MAPR_USART3_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (TX/PB10, RX/PB11, CK/PB12, CTS/PB13, RTS/PB14) */ +#define AFIO_MAPR_USART3_REMAP_PARTIALREMAP ((uint32_t)0x00000010) /*!< Partial remap (TX/PC10, RX/PC11, CK/PC12, CTS/PB13, RTS/PB14) */ +#define AFIO_MAPR_USART3_REMAP_FULLREMAP ((uint32_t)0x00000030) /*!< Full remap (TX/PD8, RX/PD9, CK/PD10, CTS/PD11, RTS/PD12) */ + +#define AFIO_MAPR_TIM1_REMAP ((uint32_t)0x000000C0) /*!< TIM1_REMAP[1:0] bits (TIM1 remapping) */ +#define AFIO_MAPR_TIM1_REMAP_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define AFIO_MAPR_TIM1_REMAP_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +/*!< TIM1_REMAP configuration */ +#define AFIO_MAPR_TIM1_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (ETR/PA12, CH1/PA8, CH2/PA9, CH3/PA10, CH4/PA11, BKIN/PB12, CH1N/PB13, CH2N/PB14, CH3N/PB15) */ +#define AFIO_MAPR_TIM1_REMAP_PARTIALREMAP ((uint32_t)0x00000040) /*!< Partial remap (ETR/PA12, CH1/PA8, CH2/PA9, CH3/PA10, CH4/PA11, BKIN/PA6, CH1N/PA7, CH2N/PB0, CH3N/PB1) */ +#define AFIO_MAPR_TIM1_REMAP_FULLREMAP ((uint32_t)0x000000C0) /*!< Full remap (ETR/PE7, CH1/PE9, CH2/PE11, CH3/PE13, CH4/PE14, BKIN/PE15, CH1N/PE8, CH2N/PE10, CH3N/PE12) */ + +#define AFIO_MAPR_TIM2_REMAP ((uint32_t)0x00000300) /*!< TIM2_REMAP[1:0] bits (TIM2 remapping) */ +#define AFIO_MAPR_TIM2_REMAP_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define AFIO_MAPR_TIM2_REMAP_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +/*!< TIM2_REMAP configuration */ +#define AFIO_MAPR_TIM2_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (CH1/ETR/PA0, CH2/PA1, CH3/PA2, CH4/PA3) */ +#define AFIO_MAPR_TIM2_REMAP_PARTIALREMAP1 ((uint32_t)0x00000100) /*!< Partial remap (CH1/ETR/PA15, CH2/PB3, CH3/PA2, CH4/PA3) */ +#define AFIO_MAPR_TIM2_REMAP_PARTIALREMAP2 ((uint32_t)0x00000200) /*!< Partial remap (CH1/ETR/PA0, CH2/PA1, CH3/PB10, CH4/PB11) */ +#define AFIO_MAPR_TIM2_REMAP_FULLREMAP ((uint32_t)0x00000300) /*!< Full remap (CH1/ETR/PA15, CH2/PB3, CH3/PB10, CH4/PB11) */ + +#define AFIO_MAPR_TIM3_REMAP ((uint32_t)0x00000C00) /*!< TIM3_REMAP[1:0] bits (TIM3 remapping) */ +#define AFIO_MAPR_TIM3_REMAP_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define AFIO_MAPR_TIM3_REMAP_1 ((uint32_t)0x00000800) /*!< Bit 1 */ + +/*!< TIM3_REMAP configuration */ +#define AFIO_MAPR_TIM3_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (CH1/PA6, CH2/PA7, CH3/PB0, CH4/PB1) */ +#define AFIO_MAPR_TIM3_REMAP_PARTIALREMAP ((uint32_t)0x00000800) /*!< Partial remap (CH1/PB4, CH2/PB5, CH3/PB0, CH4/PB1) */ +#define AFIO_MAPR_TIM3_REMAP_FULLREMAP ((uint32_t)0x00000C00) /*!< Full remap (CH1/PC6, CH2/PC7, CH3/PC8, CH4/PC9) */ + +#define AFIO_MAPR_TIM4_REMAP ((uint32_t)0x00001000) /*!< TIM4_REMAP bit (TIM4 remapping) */ + +#define AFIO_MAPR_CAN_REMAP ((uint32_t)0x00006000) /*!< CAN_REMAP[1:0] bits (CAN Alternate function remapping) */ +#define AFIO_MAPR_CAN_REMAP_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define AFIO_MAPR_CAN_REMAP_1 ((uint32_t)0x00004000) /*!< Bit 1 */ + +/*!< CAN_REMAP configuration */ +#define AFIO_MAPR_CAN_REMAP_REMAP1 ((uint32_t)0x00000000) /*!< CANRX mapped to PA11, CANTX mapped to PA12 */ +#define AFIO_MAPR_CAN_REMAP_REMAP2 ((uint32_t)0x00004000) /*!< CANRX mapped to PB8, CANTX mapped to PB9 */ +#define AFIO_MAPR_CAN_REMAP_REMAP3 ((uint32_t)0x00006000) /*!< CANRX mapped to PD0, CANTX mapped to PD1 */ + +#define AFIO_MAPR_PD01_REMAP ((uint32_t)0x00008000) /*!< Port D0/Port D1 mapping on OSC_IN/OSC_OUT */ +#define AFIO_MAPR_TIM5CH4_IREMAP ((uint32_t)0x00010000) /*!< TIM5 Channel4 Internal Remap */ +#define AFIO_MAPR_ADC1_ETRGINJ_REMAP ((uint32_t)0x00020000) /*!< ADC 1 External Trigger Injected Conversion remapping */ +#define AFIO_MAPR_ADC1_ETRGREG_REMAP ((uint32_t)0x00040000) /*!< ADC 1 External Trigger Regular Conversion remapping */ +#define AFIO_MAPR_ADC2_ETRGINJ_REMAP ((uint32_t)0x00080000) /*!< ADC 2 External Trigger Injected Conversion remapping */ +#define AFIO_MAPR_ADC2_ETRGREG_REMAP ((uint32_t)0x00100000) /*!< ADC 2 External Trigger Regular Conversion remapping */ + +/*!< SWJ_CFG configuration */ +#define AFIO_MAPR_SWJ_CFG ((uint32_t)0x07000000) /*!< SWJ_CFG[2:0] bits (Serial Wire JTAG configuration) */ +#define AFIO_MAPR_SWJ_CFG_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define AFIO_MAPR_SWJ_CFG_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define AFIO_MAPR_SWJ_CFG_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + +#define AFIO_MAPR_SWJ_CFG_RESET ((uint32_t)0x00000000) /*!< Full SWJ (JTAG-DP + SW-DP) : Reset State */ +#define AFIO_MAPR_SWJ_CFG_NOJNTRST ((uint32_t)0x01000000) /*!< Full SWJ (JTAG-DP + SW-DP) but without JNTRST */ +#define AFIO_MAPR_SWJ_CFG_JTAGDISABLE ((uint32_t)0x02000000) /*!< JTAG-DP Disabled and SW-DP Enabled */ +#define AFIO_MAPR_SWJ_CFG_DISABLE ((uint32_t)0x04000000) /*!< JTAG-DP Disabled and SW-DP Disabled */ + +#ifdef STM32F10X_CL +/*!< ETH_REMAP configuration */ + #define AFIO_MAPR_ETH_REMAP ((uint32_t)0x00200000) /*!< SPI3_REMAP bit (Ethernet MAC I/O remapping) */ + +/*!< CAN2_REMAP configuration */ + #define AFIO_MAPR_CAN2_REMAP ((uint32_t)0x00400000) /*!< CAN2_REMAP bit (CAN2 I/O remapping) */ + +/*!< MII_RMII_SEL configuration */ + #define AFIO_MAPR_MII_RMII_SEL ((uint32_t)0x00800000) /*!< MII_RMII_SEL bit (Ethernet MII or RMII selection) */ + +/*!< SPI3_REMAP configuration */ + #define AFIO_MAPR_SPI3_REMAP ((uint32_t)0x10000000) /*!< SPI3_REMAP bit (SPI3 remapping) */ + +/*!< TIM2ITR1_IREMAP configuration */ + #define AFIO_MAPR_TIM2ITR1_IREMAP ((uint32_t)0x20000000) /*!< TIM2ITR1_IREMAP bit (TIM2 internal trigger 1 remapping) */ + +/*!< PTP_PPS_REMAP configuration */ + #define AFIO_MAPR_PTP_PPS_REMAP ((uint32_t)0x40000000) /*!< PTP_PPS_REMAP bit (Ethernet PTP PPS remapping) */ +#endif + +/***************** Bit definition for AFIO_EXTICR1 register *****************/ +#define AFIO_EXTICR1_EXTI0 ((uint16_t)0x000F) /*!< EXTI 0 configuration */ +#define AFIO_EXTICR1_EXTI1 ((uint16_t)0x00F0) /*!< EXTI 1 configuration */ +#define AFIO_EXTICR1_EXTI2 ((uint16_t)0x0F00) /*!< EXTI 2 configuration */ +#define AFIO_EXTICR1_EXTI3 ((uint16_t)0xF000) /*!< EXTI 3 configuration */ + +/*!< EXTI0 configuration */ +#define AFIO_EXTICR1_EXTI0_PA ((uint16_t)0x0000) /*!< PA[0] pin */ +#define AFIO_EXTICR1_EXTI0_PB ((uint16_t)0x0001) /*!< PB[0] pin */ +#define AFIO_EXTICR1_EXTI0_PC ((uint16_t)0x0002) /*!< PC[0] pin */ +#define AFIO_EXTICR1_EXTI0_PD ((uint16_t)0x0003) /*!< PD[0] pin */ +#define AFIO_EXTICR1_EXTI0_PE ((uint16_t)0x0004) /*!< PE[0] pin */ +#define AFIO_EXTICR1_EXTI0_PF ((uint16_t)0x0005) /*!< PF[0] pin */ +#define AFIO_EXTICR1_EXTI0_PG ((uint16_t)0x0006) /*!< PG[0] pin */ + +/*!< EXTI1 configuration */ +#define AFIO_EXTICR1_EXTI1_PA ((uint16_t)0x0000) /*!< PA[1] pin */ +#define AFIO_EXTICR1_EXTI1_PB ((uint16_t)0x0010) /*!< PB[1] pin */ +#define AFIO_EXTICR1_EXTI1_PC ((uint16_t)0x0020) /*!< PC[1] pin */ +#define AFIO_EXTICR1_EXTI1_PD ((uint16_t)0x0030) /*!< PD[1] pin */ +#define AFIO_EXTICR1_EXTI1_PE ((uint16_t)0x0040) /*!< PE[1] pin */ +#define AFIO_EXTICR1_EXTI1_PF ((uint16_t)0x0050) /*!< PF[1] pin */ +#define AFIO_EXTICR1_EXTI1_PG ((uint16_t)0x0060) /*!< PG[1] pin */ + +/*!< EXTI2 configuration */ +#define AFIO_EXTICR1_EXTI2_PA ((uint16_t)0x0000) /*!< PA[2] pin */ +#define AFIO_EXTICR1_EXTI2_PB ((uint16_t)0x0100) /*!< PB[2] pin */ +#define AFIO_EXTICR1_EXTI2_PC ((uint16_t)0x0200) /*!< PC[2] pin */ +#define AFIO_EXTICR1_EXTI2_PD ((uint16_t)0x0300) /*!< PD[2] pin */ +#define AFIO_EXTICR1_EXTI2_PE ((uint16_t)0x0400) /*!< PE[2] pin */ +#define AFIO_EXTICR1_EXTI2_PF ((uint16_t)0x0500) /*!< PF[2] pin */ +#define AFIO_EXTICR1_EXTI2_PG ((uint16_t)0x0600) /*!< PG[2] pin */ + +/*!< EXTI3 configuration */ +#define AFIO_EXTICR1_EXTI3_PA ((uint16_t)0x0000) /*!< PA[3] pin */ +#define AFIO_EXTICR1_EXTI3_PB ((uint16_t)0x1000) /*!< PB[3] pin */ +#define AFIO_EXTICR1_EXTI3_PC ((uint16_t)0x2000) /*!< PC[3] pin */ +#define AFIO_EXTICR1_EXTI3_PD ((uint16_t)0x3000) /*!< PD[3] pin */ +#define AFIO_EXTICR1_EXTI3_PE ((uint16_t)0x4000) /*!< PE[3] pin */ +#define AFIO_EXTICR1_EXTI3_PF ((uint16_t)0x5000) /*!< PF[3] pin */ +#define AFIO_EXTICR1_EXTI3_PG ((uint16_t)0x6000) /*!< PG[3] pin */ + +/***************** Bit definition for AFIO_EXTICR2 register *****************/ +#define AFIO_EXTICR2_EXTI4 ((uint16_t)0x000F) /*!< EXTI 4 configuration */ +#define AFIO_EXTICR2_EXTI5 ((uint16_t)0x00F0) /*!< EXTI 5 configuration */ +#define AFIO_EXTICR2_EXTI6 ((uint16_t)0x0F00) /*!< EXTI 6 configuration */ +#define AFIO_EXTICR2_EXTI7 ((uint16_t)0xF000) /*!< EXTI 7 configuration */ + +/*!< EXTI4 configuration */ +#define AFIO_EXTICR2_EXTI4_PA ((uint16_t)0x0000) /*!< PA[4] pin */ +#define AFIO_EXTICR2_EXTI4_PB ((uint16_t)0x0001) /*!< PB[4] pin */ +#define AFIO_EXTICR2_EXTI4_PC ((uint16_t)0x0002) /*!< PC[4] pin */ +#define AFIO_EXTICR2_EXTI4_PD ((uint16_t)0x0003) /*!< PD[4] pin */ +#define AFIO_EXTICR2_EXTI4_PE ((uint16_t)0x0004) /*!< PE[4] pin */ +#define AFIO_EXTICR2_EXTI4_PF ((uint16_t)0x0005) /*!< PF[4] pin */ +#define AFIO_EXTICR2_EXTI4_PG ((uint16_t)0x0006) /*!< PG[4] pin */ + +/* EXTI5 configuration */ +#define AFIO_EXTICR2_EXTI5_PA ((uint16_t)0x0000) /*!< PA[5] pin */ +#define AFIO_EXTICR2_EXTI5_PB ((uint16_t)0x0010) /*!< PB[5] pin */ +#define AFIO_EXTICR2_EXTI5_PC ((uint16_t)0x0020) /*!< PC[5] pin */ +#define AFIO_EXTICR2_EXTI5_PD ((uint16_t)0x0030) /*!< PD[5] pin */ +#define AFIO_EXTICR2_EXTI5_PE ((uint16_t)0x0040) /*!< PE[5] pin */ +#define AFIO_EXTICR2_EXTI5_PF ((uint16_t)0x0050) /*!< PF[5] pin */ +#define AFIO_EXTICR2_EXTI5_PG ((uint16_t)0x0060) /*!< PG[5] pin */ + +/*!< EXTI6 configuration */ +#define AFIO_EXTICR2_EXTI6_PA ((uint16_t)0x0000) /*!< PA[6] pin */ +#define AFIO_EXTICR2_EXTI6_PB ((uint16_t)0x0100) /*!< PB[6] pin */ +#define AFIO_EXTICR2_EXTI6_PC ((uint16_t)0x0200) /*!< PC[6] pin */ +#define AFIO_EXTICR2_EXTI6_PD ((uint16_t)0x0300) /*!< PD[6] pin */ +#define AFIO_EXTICR2_EXTI6_PE ((uint16_t)0x0400) /*!< PE[6] pin */ +#define AFIO_EXTICR2_EXTI6_PF ((uint16_t)0x0500) /*!< PF[6] pin */ +#define AFIO_EXTICR2_EXTI6_PG ((uint16_t)0x0600) /*!< PG[6] pin */ + +/*!< EXTI7 configuration */ +#define AFIO_EXTICR2_EXTI7_PA ((uint16_t)0x0000) /*!< PA[7] pin */ +#define AFIO_EXTICR2_EXTI7_PB ((uint16_t)0x1000) /*!< PB[7] pin */ +#define AFIO_EXTICR2_EXTI7_PC ((uint16_t)0x2000) /*!< PC[7] pin */ +#define AFIO_EXTICR2_EXTI7_PD ((uint16_t)0x3000) /*!< PD[7] pin */ +#define AFIO_EXTICR2_EXTI7_PE ((uint16_t)0x4000) /*!< PE[7] pin */ +#define AFIO_EXTICR2_EXTI7_PF ((uint16_t)0x5000) /*!< PF[7] pin */ +#define AFIO_EXTICR2_EXTI7_PG ((uint16_t)0x6000) /*!< PG[7] pin */ + +/***************** Bit definition for AFIO_EXTICR3 register *****************/ +#define AFIO_EXTICR3_EXTI8 ((uint16_t)0x000F) /*!< EXTI 8 configuration */ +#define AFIO_EXTICR3_EXTI9 ((uint16_t)0x00F0) /*!< EXTI 9 configuration */ +#define AFIO_EXTICR3_EXTI10 ((uint16_t)0x0F00) /*!< EXTI 10 configuration */ +#define AFIO_EXTICR3_EXTI11 ((uint16_t)0xF000) /*!< EXTI 11 configuration */ + +/*!< EXTI8 configuration */ +#define AFIO_EXTICR3_EXTI8_PA ((uint16_t)0x0000) /*!< PA[8] pin */ +#define AFIO_EXTICR3_EXTI8_PB ((uint16_t)0x0001) /*!< PB[8] pin */ +#define AFIO_EXTICR3_EXTI8_PC ((uint16_t)0x0002) /*!< PC[8] pin */ +#define AFIO_EXTICR3_EXTI8_PD ((uint16_t)0x0003) /*!< PD[8] pin */ +#define AFIO_EXTICR3_EXTI8_PE ((uint16_t)0x0004) /*!< PE[8] pin */ +#define AFIO_EXTICR3_EXTI8_PF ((uint16_t)0x0005) /*!< PF[8] pin */ +#define AFIO_EXTICR3_EXTI8_PG ((uint16_t)0x0006) /*!< PG[8] pin */ + +/*!< EXTI9 configuration */ +#define AFIO_EXTICR3_EXTI9_PA ((uint16_t)0x0000) /*!< PA[9] pin */ +#define AFIO_EXTICR3_EXTI9_PB ((uint16_t)0x0010) /*!< PB[9] pin */ +#define AFIO_EXTICR3_EXTI9_PC ((uint16_t)0x0020) /*!< PC[9] pin */ +#define AFIO_EXTICR3_EXTI9_PD ((uint16_t)0x0030) /*!< PD[9] pin */ +#define AFIO_EXTICR3_EXTI9_PE ((uint16_t)0x0040) /*!< PE[9] pin */ +#define AFIO_EXTICR3_EXTI9_PF ((uint16_t)0x0050) /*!< PF[9] pin */ +#define AFIO_EXTICR3_EXTI9_PG ((uint16_t)0x0060) /*!< PG[9] pin */ + +/*!< EXTI10 configuration */ +#define AFIO_EXTICR3_EXTI10_PA ((uint16_t)0x0000) /*!< PA[10] pin */ +#define AFIO_EXTICR3_EXTI10_PB ((uint16_t)0x0100) /*!< PB[10] pin */ +#define AFIO_EXTICR3_EXTI10_PC ((uint16_t)0x0200) /*!< PC[10] pin */ +#define AFIO_EXTICR3_EXTI10_PD ((uint16_t)0x0300) /*!< PD[10] pin */ +#define AFIO_EXTICR3_EXTI10_PE ((uint16_t)0x0400) /*!< PE[10] pin */ +#define AFIO_EXTICR3_EXTI10_PF ((uint16_t)0x0500) /*!< PF[10] pin */ +#define AFIO_EXTICR3_EXTI10_PG ((uint16_t)0x0600) /*!< PG[10] pin */ + +/*!< EXTI11 configuration */ +#define AFIO_EXTICR3_EXTI11_PA ((uint16_t)0x0000) /*!< PA[11] pin */ +#define AFIO_EXTICR3_EXTI11_PB ((uint16_t)0x1000) /*!< PB[11] pin */ +#define AFIO_EXTICR3_EXTI11_PC ((uint16_t)0x2000) /*!< PC[11] pin */ +#define AFIO_EXTICR3_EXTI11_PD ((uint16_t)0x3000) /*!< PD[11] pin */ +#define AFIO_EXTICR3_EXTI11_PE ((uint16_t)0x4000) /*!< PE[11] pin */ +#define AFIO_EXTICR3_EXTI11_PF ((uint16_t)0x5000) /*!< PF[11] pin */ +#define AFIO_EXTICR3_EXTI11_PG ((uint16_t)0x6000) /*!< PG[11] pin */ + +/***************** Bit definition for AFIO_EXTICR4 register *****************/ +#define AFIO_EXTICR4_EXTI12 ((uint16_t)0x000F) /*!< EXTI 12 configuration */ +#define AFIO_EXTICR4_EXTI13 ((uint16_t)0x00F0) /*!< EXTI 13 configuration */ +#define AFIO_EXTICR4_EXTI14 ((uint16_t)0x0F00) /*!< EXTI 14 configuration */ +#define AFIO_EXTICR4_EXTI15 ((uint16_t)0xF000) /*!< EXTI 15 configuration */ + +/* EXTI12 configuration */ +#define AFIO_EXTICR4_EXTI12_PA ((uint16_t)0x0000) /*!< PA[12] pin */ +#define AFIO_EXTICR4_EXTI12_PB ((uint16_t)0x0001) /*!< PB[12] pin */ +#define AFIO_EXTICR4_EXTI12_PC ((uint16_t)0x0002) /*!< PC[12] pin */ +#define AFIO_EXTICR4_EXTI12_PD ((uint16_t)0x0003) /*!< PD[12] pin */ +#define AFIO_EXTICR4_EXTI12_PE ((uint16_t)0x0004) /*!< PE[12] pin */ +#define AFIO_EXTICR4_EXTI12_PF ((uint16_t)0x0005) /*!< PF[12] pin */ +#define AFIO_EXTICR4_EXTI12_PG ((uint16_t)0x0006) /*!< PG[12] pin */ + +/* EXTI13 configuration */ +#define AFIO_EXTICR4_EXTI13_PA ((uint16_t)0x0000) /*!< PA[13] pin */ +#define AFIO_EXTICR4_EXTI13_PB ((uint16_t)0x0010) /*!< PB[13] pin */ +#define AFIO_EXTICR4_EXTI13_PC ((uint16_t)0x0020) /*!< PC[13] pin */ +#define AFIO_EXTICR4_EXTI13_PD ((uint16_t)0x0030) /*!< PD[13] pin */ +#define AFIO_EXTICR4_EXTI13_PE ((uint16_t)0x0040) /*!< PE[13] pin */ +#define AFIO_EXTICR4_EXTI13_PF ((uint16_t)0x0050) /*!< PF[13] pin */ +#define AFIO_EXTICR4_EXTI13_PG ((uint16_t)0x0060) /*!< PG[13] pin */ + +/*!< EXTI14 configuration */ +#define AFIO_EXTICR4_EXTI14_PA ((uint16_t)0x0000) /*!< PA[14] pin */ +#define AFIO_EXTICR4_EXTI14_PB ((uint16_t)0x0100) /*!< PB[14] pin */ +#define AFIO_EXTICR4_EXTI14_PC ((uint16_t)0x0200) /*!< PC[14] pin */ +#define AFIO_EXTICR4_EXTI14_PD ((uint16_t)0x0300) /*!< PD[14] pin */ +#define AFIO_EXTICR4_EXTI14_PE ((uint16_t)0x0400) /*!< PE[14] pin */ +#define AFIO_EXTICR4_EXTI14_PF ((uint16_t)0x0500) /*!< PF[14] pin */ +#define AFIO_EXTICR4_EXTI14_PG ((uint16_t)0x0600) /*!< PG[14] pin */ + +/*!< EXTI15 configuration */ +#define AFIO_EXTICR4_EXTI15_PA ((uint16_t)0x0000) /*!< PA[15] pin */ +#define AFIO_EXTICR4_EXTI15_PB ((uint16_t)0x1000) /*!< PB[15] pin */ +#define AFIO_EXTICR4_EXTI15_PC ((uint16_t)0x2000) /*!< PC[15] pin */ +#define AFIO_EXTICR4_EXTI15_PD ((uint16_t)0x3000) /*!< PD[15] pin */ +#define AFIO_EXTICR4_EXTI15_PE ((uint16_t)0x4000) /*!< PE[15] pin */ +#define AFIO_EXTICR4_EXTI15_PF ((uint16_t)0x5000) /*!< PF[15] pin */ +#define AFIO_EXTICR4_EXTI15_PG ((uint16_t)0x6000) /*!< PG[15] pin */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/****************** Bit definition for AFIO_MAPR2 register ******************/ +#define AFIO_MAPR2_TIM15_REMAP ((uint32_t)0x00000001) /*!< TIM15 remapping */ +#define AFIO_MAPR2_TIM16_REMAP ((uint32_t)0x00000002) /*!< TIM16 remapping */ +#define AFIO_MAPR2_TIM17_REMAP ((uint32_t)0x00000004) /*!< TIM17 remapping */ +#define AFIO_MAPR2_CEC_REMAP ((uint32_t)0x00000008) /*!< CEC remapping */ +#define AFIO_MAPR2_TIM1_DMA_REMAP ((uint32_t)0x00000010) /*!< TIM1_DMA remapping */ +#endif + +#ifdef STM32F10X_HD_VL +#define AFIO_MAPR2_TIM13_REMAP ((uint32_t)0x00000100) /*!< TIM13 remapping */ +#define AFIO_MAPR2_TIM14_REMAP ((uint32_t)0x00000200) /*!< TIM14 remapping */ +#define AFIO_MAPR2_FSMC_NADV_REMAP ((uint32_t)0x00000400) /*!< FSMC NADV remapping */ +#define AFIO_MAPR2_TIM67_DAC_DMA_REMAP ((uint32_t)0x00000800) /*!< TIM6/TIM7 and DAC DMA remapping */ +#define AFIO_MAPR2_TIM12_REMAP ((uint32_t)0x00001000) /*!< TIM12 remapping */ +#define AFIO_MAPR2_MISC_REMAP ((uint32_t)0x00002000) /*!< Miscellaneous remapping */ +#endif + +#ifdef STM32F10X_XL +/****************** Bit definition for AFIO_MAPR2 register ******************/ +#define AFIO_MAPR2_TIM9_REMAP ((uint32_t)0x00000020) /*!< TIM9 remapping */ +#define AFIO_MAPR2_TIM10_REMAP ((uint32_t)0x00000040) /*!< TIM10 remapping */ +#define AFIO_MAPR2_TIM11_REMAP ((uint32_t)0x00000080) /*!< TIM11 remapping */ +#define AFIO_MAPR2_TIM13_REMAP ((uint32_t)0x00000100) /*!< TIM13 remapping */ +#define AFIO_MAPR2_TIM14_REMAP ((uint32_t)0x00000200) /*!< TIM14 remapping */ +#define AFIO_MAPR2_FSMC_NADV_REMAP ((uint32_t)0x00000400) /*!< FSMC NADV remapping */ +#endif + +/******************************************************************************/ +/* */ +/* SystemTick */ +/* */ +/******************************************************************************/ + +/***************** Bit definition for SysTick_CTRL register *****************/ +#define SysTick_CTRL_ENABLE ((uint32_t)0x00000001) /*!< Counter enable */ +#define SysTick_CTRL_TICKINT ((uint32_t)0x00000002) /*!< Counting down to 0 pends the SysTick handler */ +#define SysTick_CTRL_CLKSOURCE ((uint32_t)0x00000004) /*!< Clock source */ +#define SysTick_CTRL_COUNTFLAG ((uint32_t)0x00010000) /*!< Count Flag */ + +/***************** Bit definition for SysTick_LOAD register *****************/ +#define SysTick_LOAD_RELOAD ((uint32_t)0x00FFFFFF) /*!< Value to load into the SysTick Current Value Register when the counter reaches 0 */ + +/***************** Bit definition for SysTick_VAL register ******************/ +#define SysTick_VAL_CURRENT ((uint32_t)0x00FFFFFF) /*!< Current value at the time the register is accessed */ + +/***************** Bit definition for SysTick_CALIB register ****************/ +#define SysTick_CALIB_TENMS ((uint32_t)0x00FFFFFF) /*!< Reload value to use for 10ms timing */ +#define SysTick_CALIB_SKEW ((uint32_t)0x40000000) /*!< Calibration value is not exactly 10 ms */ +#define SysTick_CALIB_NOREF ((uint32_t)0x80000000) /*!< The reference clock is not provided */ + +/******************************************************************************/ +/* */ +/* Nested Vectored Interrupt Controller */ +/* */ +/******************************************************************************/ + +/****************** Bit definition for NVIC_ISER register *******************/ +#define NVIC_ISER_SETENA ((uint32_t)0xFFFFFFFF) /*!< Interrupt set enable bits */ +#define NVIC_ISER_SETENA_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ISER_SETENA_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ISER_SETENA_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ISER_SETENA_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ISER_SETENA_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ISER_SETENA_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ISER_SETENA_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ISER_SETENA_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ISER_SETENA_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ISER_SETENA_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ISER_SETENA_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ISER_SETENA_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ISER_SETENA_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ISER_SETENA_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ISER_SETENA_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ISER_SETENA_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ISER_SETENA_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ISER_SETENA_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ISER_SETENA_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ISER_SETENA_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ISER_SETENA_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ISER_SETENA_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ISER_SETENA_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ISER_SETENA_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ISER_SETENA_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ISER_SETENA_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ISER_SETENA_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ISER_SETENA_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ISER_SETENA_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ISER_SETENA_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ISER_SETENA_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ISER_SETENA_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_ICER register *******************/ +#define NVIC_ICER_CLRENA ((uint32_t)0xFFFFFFFF) /*!< Interrupt clear-enable bits */ +#define NVIC_ICER_CLRENA_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ICER_CLRENA_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ICER_CLRENA_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ICER_CLRENA_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ICER_CLRENA_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ICER_CLRENA_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ICER_CLRENA_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ICER_CLRENA_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ICER_CLRENA_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ICER_CLRENA_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ICER_CLRENA_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ICER_CLRENA_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ICER_CLRENA_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ICER_CLRENA_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ICER_CLRENA_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ICER_CLRENA_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ICER_CLRENA_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ICER_CLRENA_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ICER_CLRENA_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ICER_CLRENA_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ICER_CLRENA_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ICER_CLRENA_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ICER_CLRENA_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ICER_CLRENA_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ICER_CLRENA_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ICER_CLRENA_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ICER_CLRENA_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ICER_CLRENA_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ICER_CLRENA_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ICER_CLRENA_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ICER_CLRENA_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ICER_CLRENA_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_ISPR register *******************/ +#define NVIC_ISPR_SETPEND ((uint32_t)0xFFFFFFFF) /*!< Interrupt set-pending bits */ +#define NVIC_ISPR_SETPEND_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ISPR_SETPEND_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ISPR_SETPEND_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ISPR_SETPEND_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ISPR_SETPEND_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ISPR_SETPEND_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ISPR_SETPEND_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ISPR_SETPEND_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ISPR_SETPEND_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ISPR_SETPEND_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ISPR_SETPEND_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ISPR_SETPEND_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ISPR_SETPEND_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ISPR_SETPEND_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ISPR_SETPEND_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ISPR_SETPEND_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ISPR_SETPEND_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ISPR_SETPEND_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ISPR_SETPEND_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ISPR_SETPEND_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ISPR_SETPEND_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ISPR_SETPEND_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ISPR_SETPEND_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ISPR_SETPEND_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ISPR_SETPEND_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ISPR_SETPEND_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ISPR_SETPEND_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ISPR_SETPEND_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ISPR_SETPEND_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ISPR_SETPEND_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ISPR_SETPEND_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ISPR_SETPEND_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_ICPR register *******************/ +#define NVIC_ICPR_CLRPEND ((uint32_t)0xFFFFFFFF) /*!< Interrupt clear-pending bits */ +#define NVIC_ICPR_CLRPEND_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ICPR_CLRPEND_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ICPR_CLRPEND_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ICPR_CLRPEND_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ICPR_CLRPEND_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ICPR_CLRPEND_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ICPR_CLRPEND_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ICPR_CLRPEND_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ICPR_CLRPEND_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ICPR_CLRPEND_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ICPR_CLRPEND_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ICPR_CLRPEND_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ICPR_CLRPEND_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ICPR_CLRPEND_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ICPR_CLRPEND_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ICPR_CLRPEND_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ICPR_CLRPEND_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ICPR_CLRPEND_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ICPR_CLRPEND_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ICPR_CLRPEND_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ICPR_CLRPEND_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ICPR_CLRPEND_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ICPR_CLRPEND_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ICPR_CLRPEND_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ICPR_CLRPEND_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ICPR_CLRPEND_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ICPR_CLRPEND_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ICPR_CLRPEND_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ICPR_CLRPEND_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ICPR_CLRPEND_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ICPR_CLRPEND_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ICPR_CLRPEND_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_IABR register *******************/ +#define NVIC_IABR_ACTIVE ((uint32_t)0xFFFFFFFF) /*!< Interrupt active flags */ +#define NVIC_IABR_ACTIVE_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_IABR_ACTIVE_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_IABR_ACTIVE_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_IABR_ACTIVE_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_IABR_ACTIVE_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_IABR_ACTIVE_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_IABR_ACTIVE_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_IABR_ACTIVE_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_IABR_ACTIVE_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_IABR_ACTIVE_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_IABR_ACTIVE_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_IABR_ACTIVE_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_IABR_ACTIVE_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_IABR_ACTIVE_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_IABR_ACTIVE_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_IABR_ACTIVE_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_IABR_ACTIVE_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_IABR_ACTIVE_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_IABR_ACTIVE_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_IABR_ACTIVE_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_IABR_ACTIVE_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_IABR_ACTIVE_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_IABR_ACTIVE_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_IABR_ACTIVE_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_IABR_ACTIVE_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_IABR_ACTIVE_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_IABR_ACTIVE_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_IABR_ACTIVE_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_IABR_ACTIVE_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_IABR_ACTIVE_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_IABR_ACTIVE_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_IABR_ACTIVE_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_PRI0 register *******************/ +#define NVIC_IPR0_PRI_0 ((uint32_t)0x000000FF) /*!< Priority of interrupt 0 */ +#define NVIC_IPR0_PRI_1 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 1 */ +#define NVIC_IPR0_PRI_2 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 2 */ +#define NVIC_IPR0_PRI_3 ((uint32_t)0xFF000000) /*!< Priority of interrupt 3 */ + +/****************** Bit definition for NVIC_PRI1 register *******************/ +#define NVIC_IPR1_PRI_4 ((uint32_t)0x000000FF) /*!< Priority of interrupt 4 */ +#define NVIC_IPR1_PRI_5 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 5 */ +#define NVIC_IPR1_PRI_6 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 6 */ +#define NVIC_IPR1_PRI_7 ((uint32_t)0xFF000000) /*!< Priority of interrupt 7 */ + +/****************** Bit definition for NVIC_PRI2 register *******************/ +#define NVIC_IPR2_PRI_8 ((uint32_t)0x000000FF) /*!< Priority of interrupt 8 */ +#define NVIC_IPR2_PRI_9 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 9 */ +#define NVIC_IPR2_PRI_10 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 10 */ +#define NVIC_IPR2_PRI_11 ((uint32_t)0xFF000000) /*!< Priority of interrupt 11 */ + +/****************** Bit definition for NVIC_PRI3 register *******************/ +#define NVIC_IPR3_PRI_12 ((uint32_t)0x000000FF) /*!< Priority of interrupt 12 */ +#define NVIC_IPR3_PRI_13 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 13 */ +#define NVIC_IPR3_PRI_14 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 14 */ +#define NVIC_IPR3_PRI_15 ((uint32_t)0xFF000000) /*!< Priority of interrupt 15 */ + +/****************** Bit definition for NVIC_PRI4 register *******************/ +#define NVIC_IPR4_PRI_16 ((uint32_t)0x000000FF) /*!< Priority of interrupt 16 */ +#define NVIC_IPR4_PRI_17 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 17 */ +#define NVIC_IPR4_PRI_18 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 18 */ +#define NVIC_IPR4_PRI_19 ((uint32_t)0xFF000000) /*!< Priority of interrupt 19 */ + +/****************** Bit definition for NVIC_PRI5 register *******************/ +#define NVIC_IPR5_PRI_20 ((uint32_t)0x000000FF) /*!< Priority of interrupt 20 */ +#define NVIC_IPR5_PRI_21 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 21 */ +#define NVIC_IPR5_PRI_22 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 22 */ +#define NVIC_IPR5_PRI_23 ((uint32_t)0xFF000000) /*!< Priority of interrupt 23 */ + +/****************** Bit definition for NVIC_PRI6 register *******************/ +#define NVIC_IPR6_PRI_24 ((uint32_t)0x000000FF) /*!< Priority of interrupt 24 */ +#define NVIC_IPR6_PRI_25 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 25 */ +#define NVIC_IPR6_PRI_26 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 26 */ +#define NVIC_IPR6_PRI_27 ((uint32_t)0xFF000000) /*!< Priority of interrupt 27 */ + +/****************** Bit definition for NVIC_PRI7 register *******************/ +#define NVIC_IPR7_PRI_28 ((uint32_t)0x000000FF) /*!< Priority of interrupt 28 */ +#define NVIC_IPR7_PRI_29 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 29 */ +#define NVIC_IPR7_PRI_30 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 30 */ +#define NVIC_IPR7_PRI_31 ((uint32_t)0xFF000000) /*!< Priority of interrupt 31 */ + +/****************** Bit definition for SCB_CPUID register *******************/ +#define SCB_CPUID_REVISION ((uint32_t)0x0000000F) /*!< Implementation defined revision number */ +#define SCB_CPUID_PARTNO ((uint32_t)0x0000FFF0) /*!< Number of processor within family */ +#define SCB_CPUID_Constant ((uint32_t)0x000F0000) /*!< Reads as 0x0F */ +#define SCB_CPUID_VARIANT ((uint32_t)0x00F00000) /*!< Implementation defined variant number */ +#define SCB_CPUID_IMPLEMENTER ((uint32_t)0xFF000000) /*!< Implementer code. ARM is 0x41 */ + +/******************* Bit definition for SCB_ICSR register *******************/ +#define SCB_ICSR_VECTACTIVE ((uint32_t)0x000001FF) /*!< Active ISR number field */ +#define SCB_ICSR_RETTOBASE ((uint32_t)0x00000800) /*!< All active exceptions minus the IPSR_current_exception yields the empty set */ +#define SCB_ICSR_VECTPENDING ((uint32_t)0x003FF000) /*!< Pending ISR number field */ +#define SCB_ICSR_ISRPENDING ((uint32_t)0x00400000) /*!< Interrupt pending flag */ +#define SCB_ICSR_ISRPREEMPT ((uint32_t)0x00800000) /*!< It indicates that a pending interrupt becomes active in the next running cycle */ +#define SCB_ICSR_PENDSTCLR ((uint32_t)0x02000000) /*!< Clear pending SysTick bit */ +#define SCB_ICSR_PENDSTSET ((uint32_t)0x04000000) /*!< Set pending SysTick bit */ +#define SCB_ICSR_PENDSVCLR ((uint32_t)0x08000000) /*!< Clear pending pendSV bit */ +#define SCB_ICSR_PENDSVSET ((uint32_t)0x10000000) /*!< Set pending pendSV bit */ +#define SCB_ICSR_NMIPENDSET ((uint32_t)0x80000000) /*!< Set pending NMI bit */ + +/******************* Bit definition for SCB_VTOR register *******************/ +#define SCB_VTOR_TBLOFF ((uint32_t)0x1FFFFF80) /*!< Vector table base offset field */ +#define SCB_VTOR_TBLBASE ((uint32_t)0x20000000) /*!< Table base in code(0) or RAM(1) */ + +/*!<***************** Bit definition for SCB_AIRCR register *******************/ +#define SCB_AIRCR_VECTRESET ((uint32_t)0x00000001) /*!< System Reset bit */ +#define SCB_AIRCR_VECTCLRACTIVE ((uint32_t)0x00000002) /*!< Clear active vector bit */ +#define SCB_AIRCR_SYSRESETREQ ((uint32_t)0x00000004) /*!< Requests chip control logic to generate a reset */ + +#define SCB_AIRCR_PRIGROUP ((uint32_t)0x00000700) /*!< PRIGROUP[2:0] bits (Priority group) */ +#define SCB_AIRCR_PRIGROUP_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define SCB_AIRCR_PRIGROUP_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define SCB_AIRCR_PRIGROUP_2 ((uint32_t)0x00000400) /*!< Bit 2 */ + +/* prority group configuration */ +#define SCB_AIRCR_PRIGROUP0 ((uint32_t)0x00000000) /*!< Priority group=0 (7 bits of pre-emption priority, 1 bit of subpriority) */ +#define SCB_AIRCR_PRIGROUP1 ((uint32_t)0x00000100) /*!< Priority group=1 (6 bits of pre-emption priority, 2 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP2 ((uint32_t)0x00000200) /*!< Priority group=2 (5 bits of pre-emption priority, 3 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP3 ((uint32_t)0x00000300) /*!< Priority group=3 (4 bits of pre-emption priority, 4 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP4 ((uint32_t)0x00000400) /*!< Priority group=4 (3 bits of pre-emption priority, 5 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP5 ((uint32_t)0x00000500) /*!< Priority group=5 (2 bits of pre-emption priority, 6 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP6 ((uint32_t)0x00000600) /*!< Priority group=6 (1 bit of pre-emption priority, 7 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP7 ((uint32_t)0x00000700) /*!< Priority group=7 (no pre-emption priority, 8 bits of subpriority) */ + +#define SCB_AIRCR_ENDIANESS ((uint32_t)0x00008000) /*!< Data endianness bit */ +#define SCB_AIRCR_VECTKEY ((uint32_t)0xFFFF0000) /*!< Register key (VECTKEY) - Reads as 0xFA05 (VECTKEYSTAT) */ + +/******************* Bit definition for SCB_SCR register ********************/ +#define SCB_SCR_SLEEPONEXIT ((uint8_t)0x02) /*!< Sleep on exit bit */ +#define SCB_SCR_SLEEPDEEP ((uint8_t)0x04) /*!< Sleep deep bit */ +#define SCB_SCR_SEVONPEND ((uint8_t)0x10) /*!< Wake up from WFE */ + +/******************** Bit definition for SCB_CCR register *******************/ +#define SCB_CCR_NONBASETHRDENA ((uint16_t)0x0001) /*!< Thread mode can be entered from any level in Handler mode by controlled return value */ +#define SCB_CCR_USERSETMPEND ((uint16_t)0x0002) /*!< Enables user code to write the Software Trigger Interrupt register to trigger (pend) a Main exception */ +#define SCB_CCR_UNALIGN_TRP ((uint16_t)0x0008) /*!< Trap for unaligned access */ +#define SCB_CCR_DIV_0_TRP ((uint16_t)0x0010) /*!< Trap on Divide by 0 */ +#define SCB_CCR_BFHFNMIGN ((uint16_t)0x0100) /*!< Handlers running at priority -1 and -2 */ +#define SCB_CCR_STKALIGN ((uint16_t)0x0200) /*!< On exception entry, the SP used prior to the exception is adjusted to be 8-byte aligned */ + +/******************* Bit definition for SCB_SHPR register ********************/ +#define SCB_SHPR_PRI_N ((uint32_t)0x000000FF) /*!< Priority of system handler 4,8, and 12. Mem Manage, reserved and Debug Monitor */ +#define SCB_SHPR_PRI_N1 ((uint32_t)0x0000FF00) /*!< Priority of system handler 5,9, and 13. Bus Fault, reserved and reserved */ +#define SCB_SHPR_PRI_N2 ((uint32_t)0x00FF0000) /*!< Priority of system handler 6,10, and 14. Usage Fault, reserved and PendSV */ +#define SCB_SHPR_PRI_N3 ((uint32_t)0xFF000000) /*!< Priority of system handler 7,11, and 15. Reserved, SVCall and SysTick */ + +/****************** Bit definition for SCB_SHCSR register *******************/ +#define SCB_SHCSR_MEMFAULTACT ((uint32_t)0x00000001) /*!< MemManage is active */ +#define SCB_SHCSR_BUSFAULTACT ((uint32_t)0x00000002) /*!< BusFault is active */ +#define SCB_SHCSR_USGFAULTACT ((uint32_t)0x00000008) /*!< UsageFault is active */ +#define SCB_SHCSR_SVCALLACT ((uint32_t)0x00000080) /*!< SVCall is active */ +#define SCB_SHCSR_MONITORACT ((uint32_t)0x00000100) /*!< Monitor is active */ +#define SCB_SHCSR_PENDSVACT ((uint32_t)0x00000400) /*!< PendSV is active */ +#define SCB_SHCSR_SYSTICKACT ((uint32_t)0x00000800) /*!< SysTick is active */ +#define SCB_SHCSR_USGFAULTPENDED ((uint32_t)0x00001000) /*!< Usage Fault is pended */ +#define SCB_SHCSR_MEMFAULTPENDED ((uint32_t)0x00002000) /*!< MemManage is pended */ +#define SCB_SHCSR_BUSFAULTPENDED ((uint32_t)0x00004000) /*!< Bus Fault is pended */ +#define SCB_SHCSR_SVCALLPENDED ((uint32_t)0x00008000) /*!< SVCall is pended */ +#define SCB_SHCSR_MEMFAULTENA ((uint32_t)0x00010000) /*!< MemManage enable */ +#define SCB_SHCSR_BUSFAULTENA ((uint32_t)0x00020000) /*!< Bus Fault enable */ +#define SCB_SHCSR_USGFAULTENA ((uint32_t)0x00040000) /*!< UsageFault enable */ + +/******************* Bit definition for SCB_CFSR register *******************/ +/*!< MFSR */ +#define SCB_CFSR_IACCVIOL ((uint32_t)0x00000001) /*!< Instruction access violation */ +#define SCB_CFSR_DACCVIOL ((uint32_t)0x00000002) /*!< Data access violation */ +#define SCB_CFSR_MUNSTKERR ((uint32_t)0x00000008) /*!< Unstacking error */ +#define SCB_CFSR_MSTKERR ((uint32_t)0x00000010) /*!< Stacking error */ +#define SCB_CFSR_MMARVALID ((uint32_t)0x00000080) /*!< Memory Manage Address Register address valid flag */ +/*!< BFSR */ +#define SCB_CFSR_IBUSERR ((uint32_t)0x00000100) /*!< Instruction bus error flag */ +#define SCB_CFSR_PRECISERR ((uint32_t)0x00000200) /*!< Precise data bus error */ +#define SCB_CFSR_IMPRECISERR ((uint32_t)0x00000400) /*!< Imprecise data bus error */ +#define SCB_CFSR_UNSTKERR ((uint32_t)0x00000800) /*!< Unstacking error */ +#define SCB_CFSR_STKERR ((uint32_t)0x00001000) /*!< Stacking error */ +#define SCB_CFSR_BFARVALID ((uint32_t)0x00008000) /*!< Bus Fault Address Register address valid flag */ +/*!< UFSR */ +#define SCB_CFSR_UNDEFINSTR ((uint32_t)0x00010000) /*!< The processor attempt to execute an undefined instruction */ +#define SCB_CFSR_INVSTATE ((uint32_t)0x00020000) /*!< Invalid combination of EPSR and instruction */ +#define SCB_CFSR_INVPC ((uint32_t)0x00040000) /*!< Attempt to load EXC_RETURN into pc illegally */ +#define SCB_CFSR_NOCP ((uint32_t)0x00080000) /*!< Attempt to use a coprocessor instruction */ +#define SCB_CFSR_UNALIGNED ((uint32_t)0x01000000) /*!< Fault occurs when there is an attempt to make an unaligned memory access */ +#define SCB_CFSR_DIVBYZERO ((uint32_t)0x02000000) /*!< Fault occurs when SDIV or DIV instruction is used with a divisor of 0 */ + +/******************* Bit definition for SCB_HFSR register *******************/ +#define SCB_HFSR_VECTTBL ((uint32_t)0x00000002) /*!< Fault occurs because of vector table read on exception processing */ +#define SCB_HFSR_FORCED ((uint32_t)0x40000000) /*!< Hard Fault activated when a configurable Fault was received and cannot activate */ +#define SCB_HFSR_DEBUGEVT ((uint32_t)0x80000000) /*!< Fault related to debug */ + +/******************* Bit definition for SCB_DFSR register *******************/ +#define SCB_DFSR_HALTED ((uint8_t)0x01) /*!< Halt request flag */ +#define SCB_DFSR_BKPT ((uint8_t)0x02) /*!< BKPT flag */ +#define SCB_DFSR_DWTTRAP ((uint8_t)0x04) /*!< Data Watchpoint and Trace (DWT) flag */ +#define SCB_DFSR_VCATCH ((uint8_t)0x08) /*!< Vector catch flag */ +#define SCB_DFSR_EXTERNAL ((uint8_t)0x10) /*!< External debug request flag */ + +/******************* Bit definition for SCB_MMFAR register ******************/ +#define SCB_MMFAR_ADDRESS ((uint32_t)0xFFFFFFFF) /*!< Mem Manage fault address field */ + +/******************* Bit definition for SCB_BFAR register *******************/ +#define SCB_BFAR_ADDRESS ((uint32_t)0xFFFFFFFF) /*!< Bus fault address field */ + +/******************* Bit definition for SCB_afsr register *******************/ +#define SCB_AFSR_IMPDEF ((uint32_t)0xFFFFFFFF) /*!< Implementation defined */ + +/******************************************************************************/ +/* */ +/* External Interrupt/Event Controller */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for EXTI_IMR register *******************/ +#define EXTI_IMR_MR0 ((uint32_t)0x00000001) /*!< Interrupt Mask on line 0 */ +#define EXTI_IMR_MR1 ((uint32_t)0x00000002) /*!< Interrupt Mask on line 1 */ +#define EXTI_IMR_MR2 ((uint32_t)0x00000004) /*!< Interrupt Mask on line 2 */ +#define EXTI_IMR_MR3 ((uint32_t)0x00000008) /*!< Interrupt Mask on line 3 */ +#define EXTI_IMR_MR4 ((uint32_t)0x00000010) /*!< Interrupt Mask on line 4 */ +#define EXTI_IMR_MR5 ((uint32_t)0x00000020) /*!< Interrupt Mask on line 5 */ +#define EXTI_IMR_MR6 ((uint32_t)0x00000040) /*!< Interrupt Mask on line 6 */ +#define EXTI_IMR_MR7 ((uint32_t)0x00000080) /*!< Interrupt Mask on line 7 */ +#define EXTI_IMR_MR8 ((uint32_t)0x00000100) /*!< Interrupt Mask on line 8 */ +#define EXTI_IMR_MR9 ((uint32_t)0x00000200) /*!< Interrupt Mask on line 9 */ +#define EXTI_IMR_MR10 ((uint32_t)0x00000400) /*!< Interrupt Mask on line 10 */ +#define EXTI_IMR_MR11 ((uint32_t)0x00000800) /*!< Interrupt Mask on line 11 */ +#define EXTI_IMR_MR12 ((uint32_t)0x00001000) /*!< Interrupt Mask on line 12 */ +#define EXTI_IMR_MR13 ((uint32_t)0x00002000) /*!< Interrupt Mask on line 13 */ +#define EXTI_IMR_MR14 ((uint32_t)0x00004000) /*!< Interrupt Mask on line 14 */ +#define EXTI_IMR_MR15 ((uint32_t)0x00008000) /*!< Interrupt Mask on line 15 */ +#define EXTI_IMR_MR16 ((uint32_t)0x00010000) /*!< Interrupt Mask on line 16 */ +#define EXTI_IMR_MR17 ((uint32_t)0x00020000) /*!< Interrupt Mask on line 17 */ +#define EXTI_IMR_MR18 ((uint32_t)0x00040000) /*!< Interrupt Mask on line 18 */ +#define EXTI_IMR_MR19 ((uint32_t)0x00080000) /*!< Interrupt Mask on line 19 */ + +/******************* Bit definition for EXTI_EMR register *******************/ +#define EXTI_EMR_MR0 ((uint32_t)0x00000001) /*!< Event Mask on line 0 */ +#define EXTI_EMR_MR1 ((uint32_t)0x00000002) /*!< Event Mask on line 1 */ +#define EXTI_EMR_MR2 ((uint32_t)0x00000004) /*!< Event Mask on line 2 */ +#define EXTI_EMR_MR3 ((uint32_t)0x00000008) /*!< Event Mask on line 3 */ +#define EXTI_EMR_MR4 ((uint32_t)0x00000010) /*!< Event Mask on line 4 */ +#define EXTI_EMR_MR5 ((uint32_t)0x00000020) /*!< Event Mask on line 5 */ +#define EXTI_EMR_MR6 ((uint32_t)0x00000040) /*!< Event Mask on line 6 */ +#define EXTI_EMR_MR7 ((uint32_t)0x00000080) /*!< Event Mask on line 7 */ +#define EXTI_EMR_MR8 ((uint32_t)0x00000100) /*!< Event Mask on line 8 */ +#define EXTI_EMR_MR9 ((uint32_t)0x00000200) /*!< Event Mask on line 9 */ +#define EXTI_EMR_MR10 ((uint32_t)0x00000400) /*!< Event Mask on line 10 */ +#define EXTI_EMR_MR11 ((uint32_t)0x00000800) /*!< Event Mask on line 11 */ +#define EXTI_EMR_MR12 ((uint32_t)0x00001000) /*!< Event Mask on line 12 */ +#define EXTI_EMR_MR13 ((uint32_t)0x00002000) /*!< Event Mask on line 13 */ +#define EXTI_EMR_MR14 ((uint32_t)0x00004000) /*!< Event Mask on line 14 */ +#define EXTI_EMR_MR15 ((uint32_t)0x00008000) /*!< Event Mask on line 15 */ +#define EXTI_EMR_MR16 ((uint32_t)0x00010000) /*!< Event Mask on line 16 */ +#define EXTI_EMR_MR17 ((uint32_t)0x00020000) /*!< Event Mask on line 17 */ +#define EXTI_EMR_MR18 ((uint32_t)0x00040000) /*!< Event Mask on line 18 */ +#define EXTI_EMR_MR19 ((uint32_t)0x00080000) /*!< Event Mask on line 19 */ + +/****************** Bit definition for EXTI_RTSR register *******************/ +#define EXTI_RTSR_TR0 ((uint32_t)0x00000001) /*!< Rising trigger event configuration bit of line 0 */ +#define EXTI_RTSR_TR1 ((uint32_t)0x00000002) /*!< Rising trigger event configuration bit of line 1 */ +#define EXTI_RTSR_TR2 ((uint32_t)0x00000004) /*!< Rising trigger event configuration bit of line 2 */ +#define EXTI_RTSR_TR3 ((uint32_t)0x00000008) /*!< Rising trigger event configuration bit of line 3 */ +#define EXTI_RTSR_TR4 ((uint32_t)0x00000010) /*!< Rising trigger event configuration bit of line 4 */ +#define EXTI_RTSR_TR5 ((uint32_t)0x00000020) /*!< Rising trigger event configuration bit of line 5 */ +#define EXTI_RTSR_TR6 ((uint32_t)0x00000040) /*!< Rising trigger event configuration bit of line 6 */ +#define EXTI_RTSR_TR7 ((uint32_t)0x00000080) /*!< Rising trigger event configuration bit of line 7 */ +#define EXTI_RTSR_TR8 ((uint32_t)0x00000100) /*!< Rising trigger event configuration bit of line 8 */ +#define EXTI_RTSR_TR9 ((uint32_t)0x00000200) /*!< Rising trigger event configuration bit of line 9 */ +#define EXTI_RTSR_TR10 ((uint32_t)0x00000400) /*!< Rising trigger event configuration bit of line 10 */ +#define EXTI_RTSR_TR11 ((uint32_t)0x00000800) /*!< Rising trigger event configuration bit of line 11 */ +#define EXTI_RTSR_TR12 ((uint32_t)0x00001000) /*!< Rising trigger event configuration bit of line 12 */ +#define EXTI_RTSR_TR13 ((uint32_t)0x00002000) /*!< Rising trigger event configuration bit of line 13 */ +#define EXTI_RTSR_TR14 ((uint32_t)0x00004000) /*!< Rising trigger event configuration bit of line 14 */ +#define EXTI_RTSR_TR15 ((uint32_t)0x00008000) /*!< Rising trigger event configuration bit of line 15 */ +#define EXTI_RTSR_TR16 ((uint32_t)0x00010000) /*!< Rising trigger event configuration bit of line 16 */ +#define EXTI_RTSR_TR17 ((uint32_t)0x00020000) /*!< Rising trigger event configuration bit of line 17 */ +#define EXTI_RTSR_TR18 ((uint32_t)0x00040000) /*!< Rising trigger event configuration bit of line 18 */ +#define EXTI_RTSR_TR19 ((uint32_t)0x00080000) /*!< Rising trigger event configuration bit of line 19 */ + +/****************** Bit definition for EXTI_FTSR register *******************/ +#define EXTI_FTSR_TR0 ((uint32_t)0x00000001) /*!< Falling trigger event configuration bit of line 0 */ +#define EXTI_FTSR_TR1 ((uint32_t)0x00000002) /*!< Falling trigger event configuration bit of line 1 */ +#define EXTI_FTSR_TR2 ((uint32_t)0x00000004) /*!< Falling trigger event configuration bit of line 2 */ +#define EXTI_FTSR_TR3 ((uint32_t)0x00000008) /*!< Falling trigger event configuration bit of line 3 */ +#define EXTI_FTSR_TR4 ((uint32_t)0x00000010) /*!< Falling trigger event configuration bit of line 4 */ +#define EXTI_FTSR_TR5 ((uint32_t)0x00000020) /*!< Falling trigger event configuration bit of line 5 */ +#define EXTI_FTSR_TR6 ((uint32_t)0x00000040) /*!< Falling trigger event configuration bit of line 6 */ +#define EXTI_FTSR_TR7 ((uint32_t)0x00000080) /*!< Falling trigger event configuration bit of line 7 */ +#define EXTI_FTSR_TR8 ((uint32_t)0x00000100) /*!< Falling trigger event configuration bit of line 8 */ +#define EXTI_FTSR_TR9 ((uint32_t)0x00000200) /*!< Falling trigger event configuration bit of line 9 */ +#define EXTI_FTSR_TR10 ((uint32_t)0x00000400) /*!< Falling trigger event configuration bit of line 10 */ +#define EXTI_FTSR_TR11 ((uint32_t)0x00000800) /*!< Falling trigger event configuration bit of line 11 */ +#define EXTI_FTSR_TR12 ((uint32_t)0x00001000) /*!< Falling trigger event configuration bit of line 12 */ +#define EXTI_FTSR_TR13 ((uint32_t)0x00002000) /*!< Falling trigger event configuration bit of line 13 */ +#define EXTI_FTSR_TR14 ((uint32_t)0x00004000) /*!< Falling trigger event configuration bit of line 14 */ +#define EXTI_FTSR_TR15 ((uint32_t)0x00008000) /*!< Falling trigger event configuration bit of line 15 */ +#define EXTI_FTSR_TR16 ((uint32_t)0x00010000) /*!< Falling trigger event configuration bit of line 16 */ +#define EXTI_FTSR_TR17 ((uint32_t)0x00020000) /*!< Falling trigger event configuration bit of line 17 */ +#define EXTI_FTSR_TR18 ((uint32_t)0x00040000) /*!< Falling trigger event configuration bit of line 18 */ +#define EXTI_FTSR_TR19 ((uint32_t)0x00080000) /*!< Falling trigger event configuration bit of line 19 */ + +/****************** Bit definition for EXTI_SWIER register ******************/ +#define EXTI_SWIER_SWIER0 ((uint32_t)0x00000001) /*!< Software Interrupt on line 0 */ +#define EXTI_SWIER_SWIER1 ((uint32_t)0x00000002) /*!< Software Interrupt on line 1 */ +#define EXTI_SWIER_SWIER2 ((uint32_t)0x00000004) /*!< Software Interrupt on line 2 */ +#define EXTI_SWIER_SWIER3 ((uint32_t)0x00000008) /*!< Software Interrupt on line 3 */ +#define EXTI_SWIER_SWIER4 ((uint32_t)0x00000010) /*!< Software Interrupt on line 4 */ +#define EXTI_SWIER_SWIER5 ((uint32_t)0x00000020) /*!< Software Interrupt on line 5 */ +#define EXTI_SWIER_SWIER6 ((uint32_t)0x00000040) /*!< Software Interrupt on line 6 */ +#define EXTI_SWIER_SWIER7 ((uint32_t)0x00000080) /*!< Software Interrupt on line 7 */ +#define EXTI_SWIER_SWIER8 ((uint32_t)0x00000100) /*!< Software Interrupt on line 8 */ +#define EXTI_SWIER_SWIER9 ((uint32_t)0x00000200) /*!< Software Interrupt on line 9 */ +#define EXTI_SWIER_SWIER10 ((uint32_t)0x00000400) /*!< Software Interrupt on line 10 */ +#define EXTI_SWIER_SWIER11 ((uint32_t)0x00000800) /*!< Software Interrupt on line 11 */ +#define EXTI_SWIER_SWIER12 ((uint32_t)0x00001000) /*!< Software Interrupt on line 12 */ +#define EXTI_SWIER_SWIER13 ((uint32_t)0x00002000) /*!< Software Interrupt on line 13 */ +#define EXTI_SWIER_SWIER14 ((uint32_t)0x00004000) /*!< Software Interrupt on line 14 */ +#define EXTI_SWIER_SWIER15 ((uint32_t)0x00008000) /*!< Software Interrupt on line 15 */ +#define EXTI_SWIER_SWIER16 ((uint32_t)0x00010000) /*!< Software Interrupt on line 16 */ +#define EXTI_SWIER_SWIER17 ((uint32_t)0x00020000) /*!< Software Interrupt on line 17 */ +#define EXTI_SWIER_SWIER18 ((uint32_t)0x00040000) /*!< Software Interrupt on line 18 */ +#define EXTI_SWIER_SWIER19 ((uint32_t)0x00080000) /*!< Software Interrupt on line 19 */ + +/******************* Bit definition for EXTI_PR register ********************/ +#define EXTI_PR_PR0 ((uint32_t)0x00000001) /*!< Pending bit for line 0 */ +#define EXTI_PR_PR1 ((uint32_t)0x00000002) /*!< Pending bit for line 1 */ +#define EXTI_PR_PR2 ((uint32_t)0x00000004) /*!< Pending bit for line 2 */ +#define EXTI_PR_PR3 ((uint32_t)0x00000008) /*!< Pending bit for line 3 */ +#define EXTI_PR_PR4 ((uint32_t)0x00000010) /*!< Pending bit for line 4 */ +#define EXTI_PR_PR5 ((uint32_t)0x00000020) /*!< Pending bit for line 5 */ +#define EXTI_PR_PR6 ((uint32_t)0x00000040) /*!< Pending bit for line 6 */ +#define EXTI_PR_PR7 ((uint32_t)0x00000080) /*!< Pending bit for line 7 */ +#define EXTI_PR_PR8 ((uint32_t)0x00000100) /*!< Pending bit for line 8 */ +#define EXTI_PR_PR9 ((uint32_t)0x00000200) /*!< Pending bit for line 9 */ +#define EXTI_PR_PR10 ((uint32_t)0x00000400) /*!< Pending bit for line 10 */ +#define EXTI_PR_PR11 ((uint32_t)0x00000800) /*!< Pending bit for line 11 */ +#define EXTI_PR_PR12 ((uint32_t)0x00001000) /*!< Pending bit for line 12 */ +#define EXTI_PR_PR13 ((uint32_t)0x00002000) /*!< Pending bit for line 13 */ +#define EXTI_PR_PR14 ((uint32_t)0x00004000) /*!< Pending bit for line 14 */ +#define EXTI_PR_PR15 ((uint32_t)0x00008000) /*!< Pending bit for line 15 */ +#define EXTI_PR_PR16 ((uint32_t)0x00010000) /*!< Pending bit for line 16 */ +#define EXTI_PR_PR17 ((uint32_t)0x00020000) /*!< Pending bit for line 17 */ +#define EXTI_PR_PR18 ((uint32_t)0x00040000) /*!< Pending bit for line 18 */ +#define EXTI_PR_PR19 ((uint32_t)0x00080000) /*!< Pending bit for line 19 */ + +/******************************************************************************/ +/* */ +/* DMA Controller */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for DMA_ISR register ********************/ +#define DMA_ISR_GIF1 ((uint32_t)0x00000001) /*!< Channel 1 Global interrupt flag */ +#define DMA_ISR_TCIF1 ((uint32_t)0x00000002) /*!< Channel 1 Transfer Complete flag */ +#define DMA_ISR_HTIF1 ((uint32_t)0x00000004) /*!< Channel 1 Half Transfer flag */ +#define DMA_ISR_TEIF1 ((uint32_t)0x00000008) /*!< Channel 1 Transfer Error flag */ +#define DMA_ISR_GIF2 ((uint32_t)0x00000010) /*!< Channel 2 Global interrupt flag */ +#define DMA_ISR_TCIF2 ((uint32_t)0x00000020) /*!< Channel 2 Transfer Complete flag */ +#define DMA_ISR_HTIF2 ((uint32_t)0x00000040) /*!< Channel 2 Half Transfer flag */ +#define DMA_ISR_TEIF2 ((uint32_t)0x00000080) /*!< Channel 2 Transfer Error flag */ +#define DMA_ISR_GIF3 ((uint32_t)0x00000100) /*!< Channel 3 Global interrupt flag */ +#define DMA_ISR_TCIF3 ((uint32_t)0x00000200) /*!< Channel 3 Transfer Complete flag */ +#define DMA_ISR_HTIF3 ((uint32_t)0x00000400) /*!< Channel 3 Half Transfer flag */ +#define DMA_ISR_TEIF3 ((uint32_t)0x00000800) /*!< Channel 3 Transfer Error flag */ +#define DMA_ISR_GIF4 ((uint32_t)0x00001000) /*!< Channel 4 Global interrupt flag */ +#define DMA_ISR_TCIF4 ((uint32_t)0x00002000) /*!< Channel 4 Transfer Complete flag */ +#define DMA_ISR_HTIF4 ((uint32_t)0x00004000) /*!< Channel 4 Half Transfer flag */ +#define DMA_ISR_TEIF4 ((uint32_t)0x00008000) /*!< Channel 4 Transfer Error flag */ +#define DMA_ISR_GIF5 ((uint32_t)0x00010000) /*!< Channel 5 Global interrupt flag */ +#define DMA_ISR_TCIF5 ((uint32_t)0x00020000) /*!< Channel 5 Transfer Complete flag */ +#define DMA_ISR_HTIF5 ((uint32_t)0x00040000) /*!< Channel 5 Half Transfer flag */ +#define DMA_ISR_TEIF5 ((uint32_t)0x00080000) /*!< Channel 5 Transfer Error flag */ +#define DMA_ISR_GIF6 ((uint32_t)0x00100000) /*!< Channel 6 Global interrupt flag */ +#define DMA_ISR_TCIF6 ((uint32_t)0x00200000) /*!< Channel 6 Transfer Complete flag */ +#define DMA_ISR_HTIF6 ((uint32_t)0x00400000) /*!< Channel 6 Half Transfer flag */ +#define DMA_ISR_TEIF6 ((uint32_t)0x00800000) /*!< Channel 6 Transfer Error flag */ +#define DMA_ISR_GIF7 ((uint32_t)0x01000000) /*!< Channel 7 Global interrupt flag */ +#define DMA_ISR_TCIF7 ((uint32_t)0x02000000) /*!< Channel 7 Transfer Complete flag */ +#define DMA_ISR_HTIF7 ((uint32_t)0x04000000) /*!< Channel 7 Half Transfer flag */ +#define DMA_ISR_TEIF7 ((uint32_t)0x08000000) /*!< Channel 7 Transfer Error flag */ + +/******************* Bit definition for DMA_IFCR register *******************/ +#define DMA_IFCR_CGIF1 ((uint32_t)0x00000001) /*!< Channel 1 Global interrupt clear */ +#define DMA_IFCR_CTCIF1 ((uint32_t)0x00000002) /*!< Channel 1 Transfer Complete clear */ +#define DMA_IFCR_CHTIF1 ((uint32_t)0x00000004) /*!< Channel 1 Half Transfer clear */ +#define DMA_IFCR_CTEIF1 ((uint32_t)0x00000008) /*!< Channel 1 Transfer Error clear */ +#define DMA_IFCR_CGIF2 ((uint32_t)0x00000010) /*!< Channel 2 Global interrupt clear */ +#define DMA_IFCR_CTCIF2 ((uint32_t)0x00000020) /*!< Channel 2 Transfer Complete clear */ +#define DMA_IFCR_CHTIF2 ((uint32_t)0x00000040) /*!< Channel 2 Half Transfer clear */ +#define DMA_IFCR_CTEIF2 ((uint32_t)0x00000080) /*!< Channel 2 Transfer Error clear */ +#define DMA_IFCR_CGIF3 ((uint32_t)0x00000100) /*!< Channel 3 Global interrupt clear */ +#define DMA_IFCR_CTCIF3 ((uint32_t)0x00000200) /*!< Channel 3 Transfer Complete clear */ +#define DMA_IFCR_CHTIF3 ((uint32_t)0x00000400) /*!< Channel 3 Half Transfer clear */ +#define DMA_IFCR_CTEIF3 ((uint32_t)0x00000800) /*!< Channel 3 Transfer Error clear */ +#define DMA_IFCR_CGIF4 ((uint32_t)0x00001000) /*!< Channel 4 Global interrupt clear */ +#define DMA_IFCR_CTCIF4 ((uint32_t)0x00002000) /*!< Channel 4 Transfer Complete clear */ +#define DMA_IFCR_CHTIF4 ((uint32_t)0x00004000) /*!< Channel 4 Half Transfer clear */ +#define DMA_IFCR_CTEIF4 ((uint32_t)0x00008000) /*!< Channel 4 Transfer Error clear */ +#define DMA_IFCR_CGIF5 ((uint32_t)0x00010000) /*!< Channel 5 Global interrupt clear */ +#define DMA_IFCR_CTCIF5 ((uint32_t)0x00020000) /*!< Channel 5 Transfer Complete clear */ +#define DMA_IFCR_CHTIF5 ((uint32_t)0x00040000) /*!< Channel 5 Half Transfer clear */ +#define DMA_IFCR_CTEIF5 ((uint32_t)0x00080000) /*!< Channel 5 Transfer Error clear */ +#define DMA_IFCR_CGIF6 ((uint32_t)0x00100000) /*!< Channel 6 Global interrupt clear */ +#define DMA_IFCR_CTCIF6 ((uint32_t)0x00200000) /*!< Channel 6 Transfer Complete clear */ +#define DMA_IFCR_CHTIF6 ((uint32_t)0x00400000) /*!< Channel 6 Half Transfer clear */ +#define DMA_IFCR_CTEIF6 ((uint32_t)0x00800000) /*!< Channel 6 Transfer Error clear */ +#define DMA_IFCR_CGIF7 ((uint32_t)0x01000000) /*!< Channel 7 Global interrupt clear */ +#define DMA_IFCR_CTCIF7 ((uint32_t)0x02000000) /*!< Channel 7 Transfer Complete clear */ +#define DMA_IFCR_CHTIF7 ((uint32_t)0x04000000) /*!< Channel 7 Half Transfer clear */ +#define DMA_IFCR_CTEIF7 ((uint32_t)0x08000000) /*!< Channel 7 Transfer Error clear */ + +/******************* Bit definition for DMA_CCR1 register *******************/ +#define DMA_CCR1_EN ((uint16_t)0x0001) /*!< Channel enable*/ +#define DMA_CCR1_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR1_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR1_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR1_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR1_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR1_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR1_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR1_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR1_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR1_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR1_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR1_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR1_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR1_PL ((uint16_t)0x3000) /*!< PL[1:0] bits(Channel Priority level) */ +#define DMA_CCR1_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR1_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR1_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/******************* Bit definition for DMA_CCR2 register *******************/ +#define DMA_CCR2_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR2_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR2_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR2_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR2_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR2_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR2_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR2_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR2_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR2_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR2_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR2_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR2_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR2_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR2_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR2_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR2_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR2_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/******************* Bit definition for DMA_CCR3 register *******************/ +#define DMA_CCR3_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR3_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR3_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR3_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR3_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR3_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR3_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR3_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR3_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR3_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR3_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR3_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR3_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR3_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR3_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR3_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR3_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR3_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/*!<****************** Bit definition for DMA_CCR4 register *******************/ +#define DMA_CCR4_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR4_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR4_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR4_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR4_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR4_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR4_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR4_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR4_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR4_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR4_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR4_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR4_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR4_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR4_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR4_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR4_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR4_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/****************** Bit definition for DMA_CCR5 register *******************/ +#define DMA_CCR5_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR5_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR5_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR5_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR5_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR5_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR5_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR5_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR5_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR5_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR5_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR5_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR5_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR5_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR5_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR5_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR5_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR5_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode enable */ + +/******************* Bit definition for DMA_CCR6 register *******************/ +#define DMA_CCR6_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR6_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR6_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR6_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR6_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR6_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR6_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR6_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR6_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR6_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR6_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR6_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR6_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR6_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR6_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR6_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR6_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR6_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/******************* Bit definition for DMA_CCR7 register *******************/ +#define DMA_CCR7_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR7_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR7_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR7_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR7_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR7_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR7_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR7_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR7_PSIZE , ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR7_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR7_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR7_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR7_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR7_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR7_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR7_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR7_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR7_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode enable */ + +/****************** Bit definition for DMA_CNDTR1 register ******************/ +#define DMA_CNDTR1_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR2 register ******************/ +#define DMA_CNDTR2_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR3 register ******************/ +#define DMA_CNDTR3_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR4 register ******************/ +#define DMA_CNDTR4_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR5 register ******************/ +#define DMA_CNDTR5_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR6 register ******************/ +#define DMA_CNDTR6_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR7 register ******************/ +#define DMA_CNDTR7_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CPAR1 register *******************/ +#define DMA_CPAR1_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR2 register *******************/ +#define DMA_CPAR2_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR3 register *******************/ +#define DMA_CPAR3_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + + +/****************** Bit definition for DMA_CPAR4 register *******************/ +#define DMA_CPAR4_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR5 register *******************/ +#define DMA_CPAR5_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR6 register *******************/ +#define DMA_CPAR6_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + + +/****************** Bit definition for DMA_CPAR7 register *******************/ +#define DMA_CPAR7_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CMAR1 register *******************/ +#define DMA_CMAR1_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR2 register *******************/ +#define DMA_CMAR2_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR3 register *******************/ +#define DMA_CMAR3_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + + +/****************** Bit definition for DMA_CMAR4 register *******************/ +#define DMA_CMAR4_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR5 register *******************/ +#define DMA_CMAR5_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR6 register *******************/ +#define DMA_CMAR6_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR7 register *******************/ +#define DMA_CMAR7_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/******************************************************************************/ +/* */ +/* Analog to Digital Converter */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for ADC_SR register ********************/ +#define ADC_SR_AWD ((uint8_t)0x01) /*!< Analog watchdog flag */ +#define ADC_SR_EOC ((uint8_t)0x02) /*!< End of conversion */ +#define ADC_SR_JEOC ((uint8_t)0x04) /*!< Injected channel end of conversion */ +#define ADC_SR_JSTRT ((uint8_t)0x08) /*!< Injected channel Start flag */ +#define ADC_SR_STRT ((uint8_t)0x10) /*!< Regular channel Start flag */ + +/******************* Bit definition for ADC_CR1 register ********************/ +#define ADC_CR1_AWDCH ((uint32_t)0x0000001F) /*!< AWDCH[4:0] bits (Analog watchdog channel select bits) */ +#define ADC_CR1_AWDCH_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_CR1_AWDCH_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_CR1_AWDCH_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_CR1_AWDCH_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_CR1_AWDCH_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_CR1_EOCIE ((uint32_t)0x00000020) /*!< Interrupt enable for EOC */ +#define ADC_CR1_AWDIE ((uint32_t)0x00000040) /*!< Analog Watchdog interrupt enable */ +#define ADC_CR1_JEOCIE ((uint32_t)0x00000080) /*!< Interrupt enable for injected channels */ +#define ADC_CR1_SCAN ((uint32_t)0x00000100) /*!< Scan mode */ +#define ADC_CR1_AWDSGL ((uint32_t)0x00000200) /*!< Enable the watchdog on a single channel in scan mode */ +#define ADC_CR1_JAUTO ((uint32_t)0x00000400) /*!< Automatic injected group conversion */ +#define ADC_CR1_DISCEN ((uint32_t)0x00000800) /*!< Discontinuous mode on regular channels */ +#define ADC_CR1_JDISCEN ((uint32_t)0x00001000) /*!< Discontinuous mode on injected channels */ + +#define ADC_CR1_DISCNUM ((uint32_t)0x0000E000) /*!< DISCNUM[2:0] bits (Discontinuous mode channel count) */ +#define ADC_CR1_DISCNUM_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define ADC_CR1_DISCNUM_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define ADC_CR1_DISCNUM_2 ((uint32_t)0x00008000) /*!< Bit 2 */ + +#define ADC_CR1_DUALMOD ((uint32_t)0x000F0000) /*!< DUALMOD[3:0] bits (Dual mode selection) */ +#define ADC_CR1_DUALMOD_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define ADC_CR1_DUALMOD_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define ADC_CR1_DUALMOD_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define ADC_CR1_DUALMOD_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define ADC_CR1_JAWDEN ((uint32_t)0x00400000) /*!< Analog watchdog enable on injected channels */ +#define ADC_CR1_AWDEN ((uint32_t)0x00800000) /*!< Analog watchdog enable on regular channels */ + + +/******************* Bit definition for ADC_CR2 register ********************/ +#define ADC_CR2_ADON ((uint32_t)0x00000001) /*!< A/D Converter ON / OFF */ +#define ADC_CR2_CONT ((uint32_t)0x00000002) /*!< Continuous Conversion */ +#define ADC_CR2_CAL ((uint32_t)0x00000004) /*!< A/D Calibration */ +#define ADC_CR2_RSTCAL ((uint32_t)0x00000008) /*!< Reset Calibration */ +#define ADC_CR2_DMA ((uint32_t)0x00000100) /*!< Direct Memory access mode */ +#define ADC_CR2_ALIGN ((uint32_t)0x00000800) /*!< Data Alignment */ + +#define ADC_CR2_JEXTSEL ((uint32_t)0x00007000) /*!< JEXTSEL[2:0] bits (External event select for injected group) */ +#define ADC_CR2_JEXTSEL_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define ADC_CR2_JEXTSEL_1 ((uint32_t)0x00002000) /*!< Bit 1 */ +#define ADC_CR2_JEXTSEL_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + +#define ADC_CR2_JEXTTRIG ((uint32_t)0x00008000) /*!< External Trigger Conversion mode for injected channels */ + +#define ADC_CR2_EXTSEL ((uint32_t)0x000E0000) /*!< EXTSEL[2:0] bits (External Event Select for regular group) */ +#define ADC_CR2_EXTSEL_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define ADC_CR2_EXTSEL_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define ADC_CR2_EXTSEL_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +#define ADC_CR2_EXTTRIG ((uint32_t)0x00100000) /*!< External Trigger Conversion mode for regular channels */ +#define ADC_CR2_JSWSTART ((uint32_t)0x00200000) /*!< Start Conversion of injected channels */ +#define ADC_CR2_SWSTART ((uint32_t)0x00400000) /*!< Start Conversion of regular channels */ +#define ADC_CR2_TSVREFE ((uint32_t)0x00800000) /*!< Temperature Sensor and VREFINT Enable */ + +/****************** Bit definition for ADC_SMPR1 register *******************/ +#define ADC_SMPR1_SMP10 ((uint32_t)0x00000007) /*!< SMP10[2:0] bits (Channel 10 Sample time selection) */ +#define ADC_SMPR1_SMP10_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SMPR1_SMP10_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SMPR1_SMP10_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP11 ((uint32_t)0x00000038) /*!< SMP11[2:0] bits (Channel 11 Sample time selection) */ +#define ADC_SMPR1_SMP11_0 ((uint32_t)0x00000008) /*!< Bit 0 */ +#define ADC_SMPR1_SMP11_1 ((uint32_t)0x00000010) /*!< Bit 1 */ +#define ADC_SMPR1_SMP11_2 ((uint32_t)0x00000020) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP12 ((uint32_t)0x000001C0) /*!< SMP12[2:0] bits (Channel 12 Sample time selection) */ +#define ADC_SMPR1_SMP12_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define ADC_SMPR1_SMP12_1 ((uint32_t)0x00000080) /*!< Bit 1 */ +#define ADC_SMPR1_SMP12_2 ((uint32_t)0x00000100) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP13 ((uint32_t)0x00000E00) /*!< SMP13[2:0] bits (Channel 13 Sample time selection) */ +#define ADC_SMPR1_SMP13_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define ADC_SMPR1_SMP13_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define ADC_SMPR1_SMP13_2 ((uint32_t)0x00000800) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP14 ((uint32_t)0x00007000) /*!< SMP14[2:0] bits (Channel 14 Sample time selection) */ +#define ADC_SMPR1_SMP14_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP14_1 ((uint32_t)0x00002000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP14_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP15 ((uint32_t)0x00038000) /*!< SMP15[2:0] bits (Channel 15 Sample time selection) */ +#define ADC_SMPR1_SMP15_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP15_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP15_2 ((uint32_t)0x00020000) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP16 ((uint32_t)0x001C0000) /*!< SMP16[2:0] bits (Channel 16 Sample time selection) */ +#define ADC_SMPR1_SMP16_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP16_1 ((uint32_t)0x00080000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP16_2 ((uint32_t)0x00100000) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP17 ((uint32_t)0x00E00000) /*!< SMP17[2:0] bits (Channel 17 Sample time selection) */ +#define ADC_SMPR1_SMP17_0 ((uint32_t)0x00200000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP17_1 ((uint32_t)0x00400000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP17_2 ((uint32_t)0x00800000) /*!< Bit 2 */ + +/****************** Bit definition for ADC_SMPR2 register *******************/ +#define ADC_SMPR2_SMP0 ((uint32_t)0x00000007) /*!< SMP0[2:0] bits (Channel 0 Sample time selection) */ +#define ADC_SMPR2_SMP0_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SMPR2_SMP0_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SMPR2_SMP0_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP1 ((uint32_t)0x00000038) /*!< SMP1[2:0] bits (Channel 1 Sample time selection) */ +#define ADC_SMPR2_SMP1_0 ((uint32_t)0x00000008) /*!< Bit 0 */ +#define ADC_SMPR2_SMP1_1 ((uint32_t)0x00000010) /*!< Bit 1 */ +#define ADC_SMPR2_SMP1_2 ((uint32_t)0x00000020) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP2 ((uint32_t)0x000001C0) /*!< SMP2[2:0] bits (Channel 2 Sample time selection) */ +#define ADC_SMPR2_SMP2_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define ADC_SMPR2_SMP2_1 ((uint32_t)0x00000080) /*!< Bit 1 */ +#define ADC_SMPR2_SMP2_2 ((uint32_t)0x00000100) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP3 ((uint32_t)0x00000E00) /*!< SMP3[2:0] bits (Channel 3 Sample time selection) */ +#define ADC_SMPR2_SMP3_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define ADC_SMPR2_SMP3_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define ADC_SMPR2_SMP3_2 ((uint32_t)0x00000800) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP4 ((uint32_t)0x00007000) /*!< SMP4[2:0] bits (Channel 4 Sample time selection) */ +#define ADC_SMPR2_SMP4_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP4_1 ((uint32_t)0x00002000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP4_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP5 ((uint32_t)0x00038000) /*!< SMP5[2:0] bits (Channel 5 Sample time selection) */ +#define ADC_SMPR2_SMP5_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP5_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP5_2 ((uint32_t)0x00020000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP6 ((uint32_t)0x001C0000) /*!< SMP6[2:0] bits (Channel 6 Sample time selection) */ +#define ADC_SMPR2_SMP6_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP6_1 ((uint32_t)0x00080000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP6_2 ((uint32_t)0x00100000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP7 ((uint32_t)0x00E00000) /*!< SMP7[2:0] bits (Channel 7 Sample time selection) */ +#define ADC_SMPR2_SMP7_0 ((uint32_t)0x00200000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP7_1 ((uint32_t)0x00400000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP7_2 ((uint32_t)0x00800000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP8 ((uint32_t)0x07000000) /*!< SMP8[2:0] bits (Channel 8 Sample time selection) */ +#define ADC_SMPR2_SMP8_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP8_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP8_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP9 ((uint32_t)0x38000000) /*!< SMP9[2:0] bits (Channel 9 Sample time selection) */ +#define ADC_SMPR2_SMP9_0 ((uint32_t)0x08000000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP9_1 ((uint32_t)0x10000000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP9_2 ((uint32_t)0x20000000) /*!< Bit 2 */ + +/****************** Bit definition for ADC_JOFR1 register *******************/ +#define ADC_JOFR1_JOFFSET1 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 1 */ + +/****************** Bit definition for ADC_JOFR2 register *******************/ +#define ADC_JOFR2_JOFFSET2 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 2 */ + +/****************** Bit definition for ADC_JOFR3 register *******************/ +#define ADC_JOFR3_JOFFSET3 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 3 */ + +/****************** Bit definition for ADC_JOFR4 register *******************/ +#define ADC_JOFR4_JOFFSET4 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 4 */ + +/******************* Bit definition for ADC_HTR register ********************/ +#define ADC_HTR_HT ((uint16_t)0x0FFF) /*!< Analog watchdog high threshold */ + +/******************* Bit definition for ADC_LTR register ********************/ +#define ADC_LTR_LT ((uint16_t)0x0FFF) /*!< Analog watchdog low threshold */ + +/******************* Bit definition for ADC_SQR1 register *******************/ +#define ADC_SQR1_SQ13 ((uint32_t)0x0000001F) /*!< SQ13[4:0] bits (13th conversion in regular sequence) */ +#define ADC_SQR1_SQ13_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SQR1_SQ13_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SQR1_SQ13_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_SQR1_SQ13_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_SQR1_SQ13_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_SQR1_SQ14 ((uint32_t)0x000003E0) /*!< SQ14[4:0] bits (14th conversion in regular sequence) */ +#define ADC_SQR1_SQ14_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_SQR1_SQ14_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_SQR1_SQ14_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_SQR1_SQ14_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_SQR1_SQ14_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_SQR1_SQ15 ((uint32_t)0x00007C00) /*!< SQ15[4:0] bits (15th conversion in regular sequence) */ +#define ADC_SQR1_SQ15_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_SQR1_SQ15_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_SQR1_SQ15_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_SQR1_SQ15_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_SQR1_SQ15_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_SQR1_SQ16 ((uint32_t)0x000F8000) /*!< SQ16[4:0] bits (16th conversion in regular sequence) */ +#define ADC_SQR1_SQ16_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SQR1_SQ16_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SQR1_SQ16_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_SQR1_SQ16_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_SQR1_SQ16_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_SQR1_L ((uint32_t)0x00F00000) /*!< L[3:0] bits (Regular channel sequence length) */ +#define ADC_SQR1_L_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_SQR1_L_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define ADC_SQR1_L_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define ADC_SQR1_L_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +/******************* Bit definition for ADC_SQR2 register *******************/ +#define ADC_SQR2_SQ7 ((uint32_t)0x0000001F) /*!< SQ7[4:0] bits (7th conversion in regular sequence) */ +#define ADC_SQR2_SQ7_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SQR2_SQ7_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SQR2_SQ7_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_SQR2_SQ7_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_SQR2_SQ7_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_SQR2_SQ8 ((uint32_t)0x000003E0) /*!< SQ8[4:0] bits (8th conversion in regular sequence) */ +#define ADC_SQR2_SQ8_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_SQR2_SQ8_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_SQR2_SQ8_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_SQR2_SQ8_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_SQR2_SQ8_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_SQR2_SQ9 ((uint32_t)0x00007C00) /*!< SQ9[4:0] bits (9th conversion in regular sequence) */ +#define ADC_SQR2_SQ9_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_SQR2_SQ9_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_SQR2_SQ9_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_SQR2_SQ9_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_SQR2_SQ9_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_SQR2_SQ10 ((uint32_t)0x000F8000) /*!< SQ10[4:0] bits (10th conversion in regular sequence) */ +#define ADC_SQR2_SQ10_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SQR2_SQ10_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SQR2_SQ10_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_SQR2_SQ10_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_SQR2_SQ10_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_SQR2_SQ11 ((uint32_t)0x01F00000) /*!< SQ11[4:0] bits (11th conversion in regular sequence) */ +#define ADC_SQR2_SQ11_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_SQR2_SQ11_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define ADC_SQR2_SQ11_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define ADC_SQR2_SQ11_3 ((uint32_t)0x00800000) /*!< Bit 3 */ +#define ADC_SQR2_SQ11_4 ((uint32_t)0x01000000) /*!< Bit 4 */ + +#define ADC_SQR2_SQ12 ((uint32_t)0x3E000000) /*!< SQ12[4:0] bits (12th conversion in regular sequence) */ +#define ADC_SQR2_SQ12_0 ((uint32_t)0x02000000) /*!< Bit 0 */ +#define ADC_SQR2_SQ12_1 ((uint32_t)0x04000000) /*!< Bit 1 */ +#define ADC_SQR2_SQ12_2 ((uint32_t)0x08000000) /*!< Bit 2 */ +#define ADC_SQR2_SQ12_3 ((uint32_t)0x10000000) /*!< Bit 3 */ +#define ADC_SQR2_SQ12_4 ((uint32_t)0x20000000) /*!< Bit 4 */ + +/******************* Bit definition for ADC_SQR3 register *******************/ +#define ADC_SQR3_SQ1 ((uint32_t)0x0000001F) /*!< SQ1[4:0] bits (1st conversion in regular sequence) */ +#define ADC_SQR3_SQ1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SQR3_SQ1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SQR3_SQ1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_SQR3_SQ1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_SQR3_SQ1_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_SQR3_SQ2 ((uint32_t)0x000003E0) /*!< SQ2[4:0] bits (2nd conversion in regular sequence) */ +#define ADC_SQR3_SQ2_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_SQR3_SQ2_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_SQR3_SQ2_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_SQR3_SQ2_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_SQR3_SQ2_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_SQR3_SQ3 ((uint32_t)0x00007C00) /*!< SQ3[4:0] bits (3rd conversion in regular sequence) */ +#define ADC_SQR3_SQ3_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_SQR3_SQ3_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_SQR3_SQ3_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_SQR3_SQ3_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_SQR3_SQ3_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_SQR3_SQ4 ((uint32_t)0x000F8000) /*!< SQ4[4:0] bits (4th conversion in regular sequence) */ +#define ADC_SQR3_SQ4_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SQR3_SQ4_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SQR3_SQ4_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_SQR3_SQ4_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_SQR3_SQ4_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_SQR3_SQ5 ((uint32_t)0x01F00000) /*!< SQ5[4:0] bits (5th conversion in regular sequence) */ +#define ADC_SQR3_SQ5_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_SQR3_SQ5_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define ADC_SQR3_SQ5_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define ADC_SQR3_SQ5_3 ((uint32_t)0x00800000) /*!< Bit 3 */ +#define ADC_SQR3_SQ5_4 ((uint32_t)0x01000000) /*!< Bit 4 */ + +#define ADC_SQR3_SQ6 ((uint32_t)0x3E000000) /*!< SQ6[4:0] bits (6th conversion in regular sequence) */ +#define ADC_SQR3_SQ6_0 ((uint32_t)0x02000000) /*!< Bit 0 */ +#define ADC_SQR3_SQ6_1 ((uint32_t)0x04000000) /*!< Bit 1 */ +#define ADC_SQR3_SQ6_2 ((uint32_t)0x08000000) /*!< Bit 2 */ +#define ADC_SQR3_SQ6_3 ((uint32_t)0x10000000) /*!< Bit 3 */ +#define ADC_SQR3_SQ6_4 ((uint32_t)0x20000000) /*!< Bit 4 */ + +/******************* Bit definition for ADC_JSQR register *******************/ +#define ADC_JSQR_JSQ1 ((uint32_t)0x0000001F) /*!< JSQ1[4:0] bits (1st conversion in injected sequence) */ +#define ADC_JSQR_JSQ1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_JSQR_JSQ1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_JSQR_JSQ1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_JSQR_JSQ1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_JSQR_JSQ1_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_JSQR_JSQ2 ((uint32_t)0x000003E0) /*!< JSQ2[4:0] bits (2nd conversion in injected sequence) */ +#define ADC_JSQR_JSQ2_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_JSQR_JSQ2_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_JSQR_JSQ2_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_JSQR_JSQ2_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_JSQR_JSQ2_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_JSQR_JSQ3 ((uint32_t)0x00007C00) /*!< JSQ3[4:0] bits (3rd conversion in injected sequence) */ +#define ADC_JSQR_JSQ3_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_JSQR_JSQ3_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_JSQR_JSQ3_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_JSQR_JSQ3_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_JSQR_JSQ3_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_JSQR_JSQ4 ((uint32_t)0x000F8000) /*!< JSQ4[4:0] bits (4th conversion in injected sequence) */ +#define ADC_JSQR_JSQ4_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_JSQR_JSQ4_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_JSQR_JSQ4_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_JSQR_JSQ4_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_JSQR_JSQ4_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_JSQR_JL ((uint32_t)0x00300000) /*!< JL[1:0] bits (Injected Sequence length) */ +#define ADC_JSQR_JL_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_JSQR_JL_1 ((uint32_t)0x00200000) /*!< Bit 1 */ + +/******************* Bit definition for ADC_JDR1 register *******************/ +#define ADC_JDR1_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************* Bit definition for ADC_JDR2 register *******************/ +#define ADC_JDR2_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************* Bit definition for ADC_JDR3 register *******************/ +#define ADC_JDR3_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************* Bit definition for ADC_JDR4 register *******************/ +#define ADC_JDR4_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************** Bit definition for ADC_DR register ********************/ +#define ADC_DR_DATA ((uint32_t)0x0000FFFF) /*!< Regular data */ +#define ADC_DR_ADC2DATA ((uint32_t)0xFFFF0000) /*!< ADC2 data */ + +/******************************************************************************/ +/* */ +/* Digital to Analog Converter */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for DAC_CR register ********************/ +#define DAC_CR_EN1 ((uint32_t)0x00000001) /*!< DAC channel1 enable */ +#define DAC_CR_BOFF1 ((uint32_t)0x00000002) /*!< DAC channel1 output buffer disable */ +#define DAC_CR_TEN1 ((uint32_t)0x00000004) /*!< DAC channel1 Trigger enable */ + +#define DAC_CR_TSEL1 ((uint32_t)0x00000038) /*!< TSEL1[2:0] (DAC channel1 Trigger selection) */ +#define DAC_CR_TSEL1_0 ((uint32_t)0x00000008) /*!< Bit 0 */ +#define DAC_CR_TSEL1_1 ((uint32_t)0x00000010) /*!< Bit 1 */ +#define DAC_CR_TSEL1_2 ((uint32_t)0x00000020) /*!< Bit 2 */ + +#define DAC_CR_WAVE1 ((uint32_t)0x000000C0) /*!< WAVE1[1:0] (DAC channel1 noise/triangle wave generation enable) */ +#define DAC_CR_WAVE1_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define DAC_CR_WAVE1_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define DAC_CR_MAMP1 ((uint32_t)0x00000F00) /*!< MAMP1[3:0] (DAC channel1 Mask/Amplitude selector) */ +#define DAC_CR_MAMP1_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define DAC_CR_MAMP1_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define DAC_CR_MAMP1_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define DAC_CR_MAMP1_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define DAC_CR_DMAEN1 ((uint32_t)0x00001000) /*!< DAC channel1 DMA enable */ +#define DAC_CR_EN2 ((uint32_t)0x00010000) /*!< DAC channel2 enable */ +#define DAC_CR_BOFF2 ((uint32_t)0x00020000) /*!< DAC channel2 output buffer disable */ +#define DAC_CR_TEN2 ((uint32_t)0x00040000) /*!< DAC channel2 Trigger enable */ + +#define DAC_CR_TSEL2 ((uint32_t)0x00380000) /*!< TSEL2[2:0] (DAC channel2 Trigger selection) */ +#define DAC_CR_TSEL2_0 ((uint32_t)0x00080000) /*!< Bit 0 */ +#define DAC_CR_TSEL2_1 ((uint32_t)0x00100000) /*!< Bit 1 */ +#define DAC_CR_TSEL2_2 ((uint32_t)0x00200000) /*!< Bit 2 */ + +#define DAC_CR_WAVE2 ((uint32_t)0x00C00000) /*!< WAVE2[1:0] (DAC channel2 noise/triangle wave generation enable) */ +#define DAC_CR_WAVE2_0 ((uint32_t)0x00400000) /*!< Bit 0 */ +#define DAC_CR_WAVE2_1 ((uint32_t)0x00800000) /*!< Bit 1 */ + +#define DAC_CR_MAMP2 ((uint32_t)0x0F000000) /*!< MAMP2[3:0] (DAC channel2 Mask/Amplitude selector) */ +#define DAC_CR_MAMP2_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define DAC_CR_MAMP2_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define DAC_CR_MAMP2_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define DAC_CR_MAMP2_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define DAC_CR_DMAEN2 ((uint32_t)0x10000000) /*!< DAC channel2 DMA enabled */ + +/***************** Bit definition for DAC_SWTRIGR register ******************/ +#define DAC_SWTRIGR_SWTRIG1 ((uint8_t)0x01) /*!< DAC channel1 software trigger */ +#define DAC_SWTRIGR_SWTRIG2 ((uint8_t)0x02) /*!< DAC channel2 software trigger */ + +/***************** Bit definition for DAC_DHR12R1 register ******************/ +#define DAC_DHR12R1_DACC1DHR ((uint16_t)0x0FFF) /*!< DAC channel1 12-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12L1 register ******************/ +#define DAC_DHR12L1_DACC1DHR ((uint16_t)0xFFF0) /*!< DAC channel1 12-bit Left aligned data */ + +/****************** Bit definition for DAC_DHR8R1 register ******************/ +#define DAC_DHR8R1_DACC1DHR ((uint8_t)0xFF) /*!< DAC channel1 8-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12R2 register ******************/ +#define DAC_DHR12R2_DACC2DHR ((uint16_t)0x0FFF) /*!< DAC channel2 12-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12L2 register ******************/ +#define DAC_DHR12L2_DACC2DHR ((uint16_t)0xFFF0) /*!< DAC channel2 12-bit Left aligned data */ + +/****************** Bit definition for DAC_DHR8R2 register ******************/ +#define DAC_DHR8R2_DACC2DHR ((uint8_t)0xFF) /*!< DAC channel2 8-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12RD register ******************/ +#define DAC_DHR12RD_DACC1DHR ((uint32_t)0x00000FFF) /*!< DAC channel1 12-bit Right aligned data */ +#define DAC_DHR12RD_DACC2DHR ((uint32_t)0x0FFF0000) /*!< DAC channel2 12-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12LD register ******************/ +#define DAC_DHR12LD_DACC1DHR ((uint32_t)0x0000FFF0) /*!< DAC channel1 12-bit Left aligned data */ +#define DAC_DHR12LD_DACC2DHR ((uint32_t)0xFFF00000) /*!< DAC channel2 12-bit Left aligned data */ + +/****************** Bit definition for DAC_DHR8RD register ******************/ +#define DAC_DHR8RD_DACC1DHR ((uint16_t)0x00FF) /*!< DAC channel1 8-bit Right aligned data */ +#define DAC_DHR8RD_DACC2DHR ((uint16_t)0xFF00) /*!< DAC channel2 8-bit Right aligned data */ + +/******************* Bit definition for DAC_DOR1 register *******************/ +#define DAC_DOR1_DACC1DOR ((uint16_t)0x0FFF) /*!< DAC channel1 data output */ + +/******************* Bit definition for DAC_DOR2 register *******************/ +#define DAC_DOR2_DACC2DOR ((uint16_t)0x0FFF) /*!< DAC channel2 data output */ + +/******************** Bit definition for DAC_SR register ********************/ +#define DAC_SR_DMAUDR1 ((uint32_t)0x00002000) /*!< DAC channel1 DMA underrun flag */ +#define DAC_SR_DMAUDR2 ((uint32_t)0x20000000) /*!< DAC channel2 DMA underrun flag */ + +/******************************************************************************/ +/* */ +/* CEC */ +/* */ +/******************************************************************************/ +/******************** Bit definition for CEC_CFGR register ******************/ +#define CEC_CFGR_PE ((uint16_t)0x0001) /*!< Peripheral Enable */ +#define CEC_CFGR_IE ((uint16_t)0x0002) /*!< Interrupt Enable */ +#define CEC_CFGR_BTEM ((uint16_t)0x0004) /*!< Bit Timing Error Mode */ +#define CEC_CFGR_BPEM ((uint16_t)0x0008) /*!< Bit Period Error Mode */ + +/******************** Bit definition for CEC_OAR register ******************/ +#define CEC_OAR_OA ((uint16_t)0x000F) /*!< OA[3:0]: Own Address */ +#define CEC_OAR_OA_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define CEC_OAR_OA_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define CEC_OAR_OA_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define CEC_OAR_OA_3 ((uint16_t)0x0008) /*!< Bit 3 */ + +/******************** Bit definition for CEC_PRES register ******************/ +#define CEC_PRES_PRES ((uint16_t)0x3FFF) /*!< Prescaler Counter Value */ + +/******************** Bit definition for CEC_ESR register ******************/ +#define CEC_ESR_BTE ((uint16_t)0x0001) /*!< Bit Timing Error */ +#define CEC_ESR_BPE ((uint16_t)0x0002) /*!< Bit Period Error */ +#define CEC_ESR_RBTFE ((uint16_t)0x0004) /*!< Rx Block Transfer Finished Error */ +#define CEC_ESR_SBE ((uint16_t)0x0008) /*!< Start Bit Error */ +#define CEC_ESR_ACKE ((uint16_t)0x0010) /*!< Block Acknowledge Error */ +#define CEC_ESR_LINE ((uint16_t)0x0020) /*!< Line Error */ +#define CEC_ESR_TBTFE ((uint16_t)0x0040) /*!< Tx Block Transfer Finished Error */ + +/******************** Bit definition for CEC_CSR register ******************/ +#define CEC_CSR_TSOM ((uint16_t)0x0001) /*!< Tx Start Of Message */ +#define CEC_CSR_TEOM ((uint16_t)0x0002) /*!< Tx End Of Message */ +#define CEC_CSR_TERR ((uint16_t)0x0004) /*!< Tx Error */ +#define CEC_CSR_TBTRF ((uint16_t)0x0008) /*!< Tx Byte Transfer Request or Block Transfer Finished */ +#define CEC_CSR_RSOM ((uint16_t)0x0010) /*!< Rx Start Of Message */ +#define CEC_CSR_REOM ((uint16_t)0x0020) /*!< Rx End Of Message */ +#define CEC_CSR_RERR ((uint16_t)0x0040) /*!< Rx Error */ +#define CEC_CSR_RBTF ((uint16_t)0x0080) /*!< Rx Block Transfer Finished */ + +/******************** Bit definition for CEC_TXD register ******************/ +#define CEC_TXD_TXD ((uint16_t)0x00FF) /*!< Tx Data register */ + +/******************** Bit definition for CEC_RXD register ******************/ +#define CEC_RXD_RXD ((uint16_t)0x00FF) /*!< Rx Data register */ + +/******************************************************************************/ +/* */ +/* TIM */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for TIM_CR1 register ********************/ +#define TIM_CR1_CEN ((uint16_t)0x0001) /*!< Counter enable */ +#define TIM_CR1_UDIS ((uint16_t)0x0002) /*!< Update disable */ +#define TIM_CR1_URS ((uint16_t)0x0004) /*!< Update request source */ +#define TIM_CR1_OPM ((uint16_t)0x0008) /*!< One pulse mode */ +#define TIM_CR1_DIR ((uint16_t)0x0010) /*!< Direction */ + +#define TIM_CR1_CMS ((uint16_t)0x0060) /*!< CMS[1:0] bits (Center-aligned mode selection) */ +#define TIM_CR1_CMS_0 ((uint16_t)0x0020) /*!< Bit 0 */ +#define TIM_CR1_CMS_1 ((uint16_t)0x0040) /*!< Bit 1 */ + +#define TIM_CR1_ARPE ((uint16_t)0x0080) /*!< Auto-reload preload enable */ + +#define TIM_CR1_CKD ((uint16_t)0x0300) /*!< CKD[1:0] bits (clock division) */ +#define TIM_CR1_CKD_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_CR1_CKD_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +/******************* Bit definition for TIM_CR2 register ********************/ +#define TIM_CR2_CCPC ((uint16_t)0x0001) /*!< Capture/Compare Preloaded Control */ +#define TIM_CR2_CCUS ((uint16_t)0x0004) /*!< Capture/Compare Control Update Selection */ +#define TIM_CR2_CCDS ((uint16_t)0x0008) /*!< Capture/Compare DMA Selection */ + +#define TIM_CR2_MMS ((uint16_t)0x0070) /*!< MMS[2:0] bits (Master Mode Selection) */ +#define TIM_CR2_MMS_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CR2_MMS_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CR2_MMS_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_CR2_TI1S ((uint16_t)0x0080) /*!< TI1 Selection */ +#define TIM_CR2_OIS1 ((uint16_t)0x0100) /*!< Output Idle state 1 (OC1 output) */ +#define TIM_CR2_OIS1N ((uint16_t)0x0200) /*!< Output Idle state 1 (OC1N output) */ +#define TIM_CR2_OIS2 ((uint16_t)0x0400) /*!< Output Idle state 2 (OC2 output) */ +#define TIM_CR2_OIS2N ((uint16_t)0x0800) /*!< Output Idle state 2 (OC2N output) */ +#define TIM_CR2_OIS3 ((uint16_t)0x1000) /*!< Output Idle state 3 (OC3 output) */ +#define TIM_CR2_OIS3N ((uint16_t)0x2000) /*!< Output Idle state 3 (OC3N output) */ +#define TIM_CR2_OIS4 ((uint16_t)0x4000) /*!< Output Idle state 4 (OC4 output) */ + +/******************* Bit definition for TIM_SMCR register *******************/ +#define TIM_SMCR_SMS ((uint16_t)0x0007) /*!< SMS[2:0] bits (Slave mode selection) */ +#define TIM_SMCR_SMS_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_SMCR_SMS_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define TIM_SMCR_SMS_2 ((uint16_t)0x0004) /*!< Bit 2 */ + +#define TIM_SMCR_TS ((uint16_t)0x0070) /*!< TS[2:0] bits (Trigger selection) */ +#define TIM_SMCR_TS_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_SMCR_TS_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_SMCR_TS_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_SMCR_MSM ((uint16_t)0x0080) /*!< Master/slave mode */ + +#define TIM_SMCR_ETF ((uint16_t)0x0F00) /*!< ETF[3:0] bits (External trigger filter) */ +#define TIM_SMCR_ETF_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_SMCR_ETF_1 ((uint16_t)0x0200) /*!< Bit 1 */ +#define TIM_SMCR_ETF_2 ((uint16_t)0x0400) /*!< Bit 2 */ +#define TIM_SMCR_ETF_3 ((uint16_t)0x0800) /*!< Bit 3 */ + +#define TIM_SMCR_ETPS ((uint16_t)0x3000) /*!< ETPS[1:0] bits (External trigger prescaler) */ +#define TIM_SMCR_ETPS_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_SMCR_ETPS_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define TIM_SMCR_ECE ((uint16_t)0x4000) /*!< External clock enable */ +#define TIM_SMCR_ETP ((uint16_t)0x8000) /*!< External trigger polarity */ + +/******************* Bit definition for TIM_DIER register *******************/ +#define TIM_DIER_UIE ((uint16_t)0x0001) /*!< Update interrupt enable */ +#define TIM_DIER_CC1IE ((uint16_t)0x0002) /*!< Capture/Compare 1 interrupt enable */ +#define TIM_DIER_CC2IE ((uint16_t)0x0004) /*!< Capture/Compare 2 interrupt enable */ +#define TIM_DIER_CC3IE ((uint16_t)0x0008) /*!< Capture/Compare 3 interrupt enable */ +#define TIM_DIER_CC4IE ((uint16_t)0x0010) /*!< Capture/Compare 4 interrupt enable */ +#define TIM_DIER_COMIE ((uint16_t)0x0020) /*!< COM interrupt enable */ +#define TIM_DIER_TIE ((uint16_t)0x0040) /*!< Trigger interrupt enable */ +#define TIM_DIER_BIE ((uint16_t)0x0080) /*!< Break interrupt enable */ +#define TIM_DIER_UDE ((uint16_t)0x0100) /*!< Update DMA request enable */ +#define TIM_DIER_CC1DE ((uint16_t)0x0200) /*!< Capture/Compare 1 DMA request enable */ +#define TIM_DIER_CC2DE ((uint16_t)0x0400) /*!< Capture/Compare 2 DMA request enable */ +#define TIM_DIER_CC3DE ((uint16_t)0x0800) /*!< Capture/Compare 3 DMA request enable */ +#define TIM_DIER_CC4DE ((uint16_t)0x1000) /*!< Capture/Compare 4 DMA request enable */ +#define TIM_DIER_COMDE ((uint16_t)0x2000) /*!< COM DMA request enable */ +#define TIM_DIER_TDE ((uint16_t)0x4000) /*!< Trigger DMA request enable */ + +/******************** Bit definition for TIM_SR register ********************/ +#define TIM_SR_UIF ((uint16_t)0x0001) /*!< Update interrupt Flag */ +#define TIM_SR_CC1IF ((uint16_t)0x0002) /*!< Capture/Compare 1 interrupt Flag */ +#define TIM_SR_CC2IF ((uint16_t)0x0004) /*!< Capture/Compare 2 interrupt Flag */ +#define TIM_SR_CC3IF ((uint16_t)0x0008) /*!< Capture/Compare 3 interrupt Flag */ +#define TIM_SR_CC4IF ((uint16_t)0x0010) /*!< Capture/Compare 4 interrupt Flag */ +#define TIM_SR_COMIF ((uint16_t)0x0020) /*!< COM interrupt Flag */ +#define TIM_SR_TIF ((uint16_t)0x0040) /*!< Trigger interrupt Flag */ +#define TIM_SR_BIF ((uint16_t)0x0080) /*!< Break interrupt Flag */ +#define TIM_SR_CC1OF ((uint16_t)0x0200) /*!< Capture/Compare 1 Overcapture Flag */ +#define TIM_SR_CC2OF ((uint16_t)0x0400) /*!< Capture/Compare 2 Overcapture Flag */ +#define TIM_SR_CC3OF ((uint16_t)0x0800) /*!< Capture/Compare 3 Overcapture Flag */ +#define TIM_SR_CC4OF ((uint16_t)0x1000) /*!< Capture/Compare 4 Overcapture Flag */ + +/******************* Bit definition for TIM_EGR register ********************/ +#define TIM_EGR_UG ((uint8_t)0x01) /*!< Update Generation */ +#define TIM_EGR_CC1G ((uint8_t)0x02) /*!< Capture/Compare 1 Generation */ +#define TIM_EGR_CC2G ((uint8_t)0x04) /*!< Capture/Compare 2 Generation */ +#define TIM_EGR_CC3G ((uint8_t)0x08) /*!< Capture/Compare 3 Generation */ +#define TIM_EGR_CC4G ((uint8_t)0x10) /*!< Capture/Compare 4 Generation */ +#define TIM_EGR_COMG ((uint8_t)0x20) /*!< Capture/Compare Control Update Generation */ +#define TIM_EGR_TG ((uint8_t)0x40) /*!< Trigger Generation */ +#define TIM_EGR_BG ((uint8_t)0x80) /*!< Break Generation */ + +/****************** Bit definition for TIM_CCMR1 register *******************/ +#define TIM_CCMR1_CC1S ((uint16_t)0x0003) /*!< CC1S[1:0] bits (Capture/Compare 1 Selection) */ +#define TIM_CCMR1_CC1S_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_CCMR1_CC1S_1 ((uint16_t)0x0002) /*!< Bit 1 */ + +#define TIM_CCMR1_OC1FE ((uint16_t)0x0004) /*!< Output Compare 1 Fast enable */ +#define TIM_CCMR1_OC1PE ((uint16_t)0x0008) /*!< Output Compare 1 Preload enable */ + +#define TIM_CCMR1_OC1M ((uint16_t)0x0070) /*!< OC1M[2:0] bits (Output Compare 1 Mode) */ +#define TIM_CCMR1_OC1M_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR1_OC1M_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR1_OC1M_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_CCMR1_OC1CE ((uint16_t)0x0080) /*!< Output Compare 1Clear Enable */ + +#define TIM_CCMR1_CC2S ((uint16_t)0x0300) /*!< CC2S[1:0] bits (Capture/Compare 2 Selection) */ +#define TIM_CCMR1_CC2S_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_CCMR1_CC2S_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define TIM_CCMR1_OC2FE ((uint16_t)0x0400) /*!< Output Compare 2 Fast enable */ +#define TIM_CCMR1_OC2PE ((uint16_t)0x0800) /*!< Output Compare 2 Preload enable */ + +#define TIM_CCMR1_OC2M ((uint16_t)0x7000) /*!< OC2M[2:0] bits (Output Compare 2 Mode) */ +#define TIM_CCMR1_OC2M_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR1_OC2M_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR1_OC2M_2 ((uint16_t)0x4000) /*!< Bit 2 */ + +#define TIM_CCMR1_OC2CE ((uint16_t)0x8000) /*!< Output Compare 2 Clear Enable */ + +/*----------------------------------------------------------------------------*/ + +#define TIM_CCMR1_IC1PSC ((uint16_t)0x000C) /*!< IC1PSC[1:0] bits (Input Capture 1 Prescaler) */ +#define TIM_CCMR1_IC1PSC_0 ((uint16_t)0x0004) /*!< Bit 0 */ +#define TIM_CCMR1_IC1PSC_1 ((uint16_t)0x0008) /*!< Bit 1 */ + +#define TIM_CCMR1_IC1F ((uint16_t)0x00F0) /*!< IC1F[3:0] bits (Input Capture 1 Filter) */ +#define TIM_CCMR1_IC1F_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR1_IC1F_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR1_IC1F_2 ((uint16_t)0x0040) /*!< Bit 2 */ +#define TIM_CCMR1_IC1F_3 ((uint16_t)0x0080) /*!< Bit 3 */ + +#define TIM_CCMR1_IC2PSC ((uint16_t)0x0C00) /*!< IC2PSC[1:0] bits (Input Capture 2 Prescaler) */ +#define TIM_CCMR1_IC2PSC_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define TIM_CCMR1_IC2PSC_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define TIM_CCMR1_IC2F ((uint16_t)0xF000) /*!< IC2F[3:0] bits (Input Capture 2 Filter) */ +#define TIM_CCMR1_IC2F_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR1_IC2F_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR1_IC2F_2 ((uint16_t)0x4000) /*!< Bit 2 */ +#define TIM_CCMR1_IC2F_3 ((uint16_t)0x8000) /*!< Bit 3 */ + +/****************** Bit definition for TIM_CCMR2 register *******************/ +#define TIM_CCMR2_CC3S ((uint16_t)0x0003) /*!< CC3S[1:0] bits (Capture/Compare 3 Selection) */ +#define TIM_CCMR2_CC3S_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_CCMR2_CC3S_1 ((uint16_t)0x0002) /*!< Bit 1 */ + +#define TIM_CCMR2_OC3FE ((uint16_t)0x0004) /*!< Output Compare 3 Fast enable */ +#define TIM_CCMR2_OC3PE ((uint16_t)0x0008) /*!< Output Compare 3 Preload enable */ + +#define TIM_CCMR2_OC3M ((uint16_t)0x0070) /*!< OC3M[2:0] bits (Output Compare 3 Mode) */ +#define TIM_CCMR2_OC3M_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR2_OC3M_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR2_OC3M_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_CCMR2_OC3CE ((uint16_t)0x0080) /*!< Output Compare 3 Clear Enable */ + +#define TIM_CCMR2_CC4S ((uint16_t)0x0300) /*!< CC4S[1:0] bits (Capture/Compare 4 Selection) */ +#define TIM_CCMR2_CC4S_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_CCMR2_CC4S_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define TIM_CCMR2_OC4FE ((uint16_t)0x0400) /*!< Output Compare 4 Fast enable */ +#define TIM_CCMR2_OC4PE ((uint16_t)0x0800) /*!< Output Compare 4 Preload enable */ + +#define TIM_CCMR2_OC4M ((uint16_t)0x7000) /*!< OC4M[2:0] bits (Output Compare 4 Mode) */ +#define TIM_CCMR2_OC4M_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR2_OC4M_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR2_OC4M_2 ((uint16_t)0x4000) /*!< Bit 2 */ + +#define TIM_CCMR2_OC4CE ((uint16_t)0x8000) /*!< Output Compare 4 Clear Enable */ + +/*----------------------------------------------------------------------------*/ + +#define TIM_CCMR2_IC3PSC ((uint16_t)0x000C) /*!< IC3PSC[1:0] bits (Input Capture 3 Prescaler) */ +#define TIM_CCMR2_IC3PSC_0 ((uint16_t)0x0004) /*!< Bit 0 */ +#define TIM_CCMR2_IC3PSC_1 ((uint16_t)0x0008) /*!< Bit 1 */ + +#define TIM_CCMR2_IC3F ((uint16_t)0x00F0) /*!< IC3F[3:0] bits (Input Capture 3 Filter) */ +#define TIM_CCMR2_IC3F_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR2_IC3F_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR2_IC3F_2 ((uint16_t)0x0040) /*!< Bit 2 */ +#define TIM_CCMR2_IC3F_3 ((uint16_t)0x0080) /*!< Bit 3 */ + +#define TIM_CCMR2_IC4PSC ((uint16_t)0x0C00) /*!< IC4PSC[1:0] bits (Input Capture 4 Prescaler) */ +#define TIM_CCMR2_IC4PSC_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define TIM_CCMR2_IC4PSC_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define TIM_CCMR2_IC4F ((uint16_t)0xF000) /*!< IC4F[3:0] bits (Input Capture 4 Filter) */ +#define TIM_CCMR2_IC4F_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR2_IC4F_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR2_IC4F_2 ((uint16_t)0x4000) /*!< Bit 2 */ +#define TIM_CCMR2_IC4F_3 ((uint16_t)0x8000) /*!< Bit 3 */ + +/******************* Bit definition for TIM_CCER register *******************/ +#define TIM_CCER_CC1E ((uint16_t)0x0001) /*!< Capture/Compare 1 output enable */ +#define TIM_CCER_CC1P ((uint16_t)0x0002) /*!< Capture/Compare 1 output Polarity */ +#define TIM_CCER_CC1NE ((uint16_t)0x0004) /*!< Capture/Compare 1 Complementary output enable */ +#define TIM_CCER_CC1NP ((uint16_t)0x0008) /*!< Capture/Compare 1 Complementary output Polarity */ +#define TIM_CCER_CC2E ((uint16_t)0x0010) /*!< Capture/Compare 2 output enable */ +#define TIM_CCER_CC2P ((uint16_t)0x0020) /*!< Capture/Compare 2 output Polarity */ +#define TIM_CCER_CC2NE ((uint16_t)0x0040) /*!< Capture/Compare 2 Complementary output enable */ +#define TIM_CCER_CC2NP ((uint16_t)0x0080) /*!< Capture/Compare 2 Complementary output Polarity */ +#define TIM_CCER_CC3E ((uint16_t)0x0100) /*!< Capture/Compare 3 output enable */ +#define TIM_CCER_CC3P ((uint16_t)0x0200) /*!< Capture/Compare 3 output Polarity */ +#define TIM_CCER_CC3NE ((uint16_t)0x0400) /*!< Capture/Compare 3 Complementary output enable */ +#define TIM_CCER_CC3NP ((uint16_t)0x0800) /*!< Capture/Compare 3 Complementary output Polarity */ +#define TIM_CCER_CC4E ((uint16_t)0x1000) /*!< Capture/Compare 4 output enable */ +#define TIM_CCER_CC4P ((uint16_t)0x2000) /*!< Capture/Compare 4 output Polarity */ +#define TIM_CCER_CC4NP ((uint16_t)0x8000) /*!< Capture/Compare 4 Complementary output Polarity */ + +/******************* Bit definition for TIM_CNT register ********************/ +#define TIM_CNT_CNT ((uint16_t)0xFFFF) /*!< Counter Value */ + +/******************* Bit definition for TIM_PSC register ********************/ +#define TIM_PSC_PSC ((uint16_t)0xFFFF) /*!< Prescaler Value */ + +/******************* Bit definition for TIM_ARR register ********************/ +#define TIM_ARR_ARR ((uint16_t)0xFFFF) /*!< actual auto-reload Value */ + +/******************* Bit definition for TIM_RCR register ********************/ +#define TIM_RCR_REP ((uint8_t)0xFF) /*!< Repetition Counter Value */ + +/******************* Bit definition for TIM_CCR1 register *******************/ +#define TIM_CCR1_CCR1 ((uint16_t)0xFFFF) /*!< Capture/Compare 1 Value */ + +/******************* Bit definition for TIM_CCR2 register *******************/ +#define TIM_CCR2_CCR2 ((uint16_t)0xFFFF) /*!< Capture/Compare 2 Value */ + +/******************* Bit definition for TIM_CCR3 register *******************/ +#define TIM_CCR3_CCR3 ((uint16_t)0xFFFF) /*!< Capture/Compare 3 Value */ + +/******************* Bit definition for TIM_CCR4 register *******************/ +#define TIM_CCR4_CCR4 ((uint16_t)0xFFFF) /*!< Capture/Compare 4 Value */ + +/******************* Bit definition for TIM_BDTR register *******************/ +#define TIM_BDTR_DTG ((uint16_t)0x00FF) /*!< DTG[0:7] bits (Dead-Time Generator set-up) */ +#define TIM_BDTR_DTG_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_BDTR_DTG_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define TIM_BDTR_DTG_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define TIM_BDTR_DTG_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define TIM_BDTR_DTG_4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define TIM_BDTR_DTG_5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define TIM_BDTR_DTG_6 ((uint16_t)0x0040) /*!< Bit 6 */ +#define TIM_BDTR_DTG_7 ((uint16_t)0x0080) /*!< Bit 7 */ + +#define TIM_BDTR_LOCK ((uint16_t)0x0300) /*!< LOCK[1:0] bits (Lock Configuration) */ +#define TIM_BDTR_LOCK_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_BDTR_LOCK_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define TIM_BDTR_OSSI ((uint16_t)0x0400) /*!< Off-State Selection for Idle mode */ +#define TIM_BDTR_OSSR ((uint16_t)0x0800) /*!< Off-State Selection for Run mode */ +#define TIM_BDTR_BKE ((uint16_t)0x1000) /*!< Break enable */ +#define TIM_BDTR_BKP ((uint16_t)0x2000) /*!< Break Polarity */ +#define TIM_BDTR_AOE ((uint16_t)0x4000) /*!< Automatic Output enable */ +#define TIM_BDTR_MOE ((uint16_t)0x8000) /*!< Main Output enable */ + +/******************* Bit definition for TIM_DCR register ********************/ +#define TIM_DCR_DBA ((uint16_t)0x001F) /*!< DBA[4:0] bits (DMA Base Address) */ +#define TIM_DCR_DBA_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_DCR_DBA_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define TIM_DCR_DBA_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define TIM_DCR_DBA_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define TIM_DCR_DBA_4 ((uint16_t)0x0010) /*!< Bit 4 */ + +#define TIM_DCR_DBL ((uint16_t)0x1F00) /*!< DBL[4:0] bits (DMA Burst Length) */ +#define TIM_DCR_DBL_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_DCR_DBL_1 ((uint16_t)0x0200) /*!< Bit 1 */ +#define TIM_DCR_DBL_2 ((uint16_t)0x0400) /*!< Bit 2 */ +#define TIM_DCR_DBL_3 ((uint16_t)0x0800) /*!< Bit 3 */ +#define TIM_DCR_DBL_4 ((uint16_t)0x1000) /*!< Bit 4 */ + +/******************* Bit definition for TIM_DMAR register *******************/ +#define TIM_DMAR_DMAB ((uint16_t)0xFFFF) /*!< DMA register for burst accesses */ + +/******************************************************************************/ +/* */ +/* Real-Time Clock */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for RTC_CRH register ********************/ +#define RTC_CRH_SECIE ((uint8_t)0x01) /*!< Second Interrupt Enable */ +#define RTC_CRH_ALRIE ((uint8_t)0x02) /*!< Alarm Interrupt Enable */ +#define RTC_CRH_OWIE ((uint8_t)0x04) /*!< OverfloW Interrupt Enable */ + +/******************* Bit definition for RTC_CRL register ********************/ +#define RTC_CRL_SECF ((uint8_t)0x01) /*!< Second Flag */ +#define RTC_CRL_ALRF ((uint8_t)0x02) /*!< Alarm Flag */ +#define RTC_CRL_OWF ((uint8_t)0x04) /*!< OverfloW Flag */ +#define RTC_CRL_RSF ((uint8_t)0x08) /*!< Registers Synchronized Flag */ +#define RTC_CRL_CNF ((uint8_t)0x10) /*!< Configuration Flag */ +#define RTC_CRL_RTOFF ((uint8_t)0x20) /*!< RTC operation OFF */ + +/******************* Bit definition for RTC_PRLH register *******************/ +#define RTC_PRLH_PRL ((uint16_t)0x000F) /*!< RTC Prescaler Reload Value High */ + +/******************* Bit definition for RTC_PRLL register *******************/ +#define RTC_PRLL_PRL ((uint16_t)0xFFFF) /*!< RTC Prescaler Reload Value Low */ + +/******************* Bit definition for RTC_DIVH register *******************/ +#define RTC_DIVH_RTC_DIV ((uint16_t)0x000F) /*!< RTC Clock Divider High */ + +/******************* Bit definition for RTC_DIVL register *******************/ +#define RTC_DIVL_RTC_DIV ((uint16_t)0xFFFF) /*!< RTC Clock Divider Low */ + +/******************* Bit definition for RTC_CNTH register *******************/ +#define RTC_CNTH_RTC_CNT ((uint16_t)0xFFFF) /*!< RTC Counter High */ + +/******************* Bit definition for RTC_CNTL register *******************/ +#define RTC_CNTL_RTC_CNT ((uint16_t)0xFFFF) /*!< RTC Counter Low */ + +/******************* Bit definition for RTC_ALRH register *******************/ +#define RTC_ALRH_RTC_ALR ((uint16_t)0xFFFF) /*!< RTC Alarm High */ + +/******************* Bit definition for RTC_ALRL register *******************/ +#define RTC_ALRL_RTC_ALR ((uint16_t)0xFFFF) /*!< RTC Alarm Low */ + +/******************************************************************************/ +/* */ +/* Independent WATCHDOG */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for IWDG_KR register ********************/ +#define IWDG_KR_KEY ((uint16_t)0xFFFF) /*!< Key value (write only, read 0000h) */ + +/******************* Bit definition for IWDG_PR register ********************/ +#define IWDG_PR_PR ((uint8_t)0x07) /*!< PR[2:0] (Prescaler divider) */ +#define IWDG_PR_PR_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define IWDG_PR_PR_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define IWDG_PR_PR_2 ((uint8_t)0x04) /*!< Bit 2 */ + +/******************* Bit definition for IWDG_RLR register *******************/ +#define IWDG_RLR_RL ((uint16_t)0x0FFF) /*!< Watchdog counter reload value */ + +/******************* Bit definition for IWDG_SR register ********************/ +#define IWDG_SR_PVU ((uint8_t)0x01) /*!< Watchdog prescaler value update */ +#define IWDG_SR_RVU ((uint8_t)0x02) /*!< Watchdog counter reload value update */ + +/******************************************************************************/ +/* */ +/* Window WATCHDOG */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for WWDG_CR register ********************/ +#define WWDG_CR_T ((uint8_t)0x7F) /*!< T[6:0] bits (7-Bit counter (MSB to LSB)) */ +#define WWDG_CR_T0 ((uint8_t)0x01) /*!< Bit 0 */ +#define WWDG_CR_T1 ((uint8_t)0x02) /*!< Bit 1 */ +#define WWDG_CR_T2 ((uint8_t)0x04) /*!< Bit 2 */ +#define WWDG_CR_T3 ((uint8_t)0x08) /*!< Bit 3 */ +#define WWDG_CR_T4 ((uint8_t)0x10) /*!< Bit 4 */ +#define WWDG_CR_T5 ((uint8_t)0x20) /*!< Bit 5 */ +#define WWDG_CR_T6 ((uint8_t)0x40) /*!< Bit 6 */ + +#define WWDG_CR_WDGA ((uint8_t)0x80) /*!< Activation bit */ + +/******************* Bit definition for WWDG_CFR register *******************/ +#define WWDG_CFR_W ((uint16_t)0x007F) /*!< W[6:0] bits (7-bit window value) */ +#define WWDG_CFR_W0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define WWDG_CFR_W1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define WWDG_CFR_W2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define WWDG_CFR_W3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define WWDG_CFR_W4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define WWDG_CFR_W5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define WWDG_CFR_W6 ((uint16_t)0x0040) /*!< Bit 6 */ + +#define WWDG_CFR_WDGTB ((uint16_t)0x0180) /*!< WDGTB[1:0] bits (Timer Base) */ +#define WWDG_CFR_WDGTB0 ((uint16_t)0x0080) /*!< Bit 0 */ +#define WWDG_CFR_WDGTB1 ((uint16_t)0x0100) /*!< Bit 1 */ + +#define WWDG_CFR_EWI ((uint16_t)0x0200) /*!< Early Wakeup Interrupt */ + +/******************* Bit definition for WWDG_SR register ********************/ +#define WWDG_SR_EWIF ((uint8_t)0x01) /*!< Early Wakeup Interrupt Flag */ + +/******************************************************************************/ +/* */ +/* Flexible Static Memory Controller */ +/* */ +/******************************************************************************/ + +/****************** Bit definition for FSMC_BCR1 register *******************/ +#define FSMC_BCR1_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR1_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR1_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR1_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR1_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR1_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR1_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR1_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR1_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR1_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR1_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit */ +#define FSMC_BCR1_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR1_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR1_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR1_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR1_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR1_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR1_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BCR2 register *******************/ +#define FSMC_BCR2_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR2_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR2_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR2_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR2_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR2_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR2_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR2_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR2_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR2_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR2_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit */ +#define FSMC_BCR2_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR2_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR2_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR2_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR2_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR2_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR2_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BCR3 register *******************/ +#define FSMC_BCR3_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR3_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR3_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR3_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR3_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR3_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR3_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR3_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR3_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR3_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR3_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit. */ +#define FSMC_BCR3_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR3_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR3_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR3_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR3_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR3_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR3_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BCR4 register *******************/ +#define FSMC_BCR4_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR4_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR4_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR4_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR4_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR4_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR4_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR4_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR4_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR4_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR4_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit */ +#define FSMC_BCR4_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR4_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR4_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR4_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR4_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR4_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR4_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BTR1 register ******************/ +#define FSMC_BTR1_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR1_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR1_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR1_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR1_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR1_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR1_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR1_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR1_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR1_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR1_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR1_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR1_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR1_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR1_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR1_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR1_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR1_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR1_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR1_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR1_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR1_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR1_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR1_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR1_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR1_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR1_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR1_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR1_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR1_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR1_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR1_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR1_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BTR2 register *******************/ +#define FSMC_BTR2_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR2_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR2_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR2_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR2_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR2_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR2_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR2_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR2_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR2_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR2_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR2_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR2_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR2_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR2_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR2_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR2_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR2_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR2_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR2_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR2_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR2_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR2_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR2_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR2_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR2_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR2_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR2_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR2_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR2_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR2_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR2_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR2_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/******************* Bit definition for FSMC_BTR3 register *******************/ +#define FSMC_BTR3_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR3_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR3_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR3_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR3_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR3_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR3_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR3_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR3_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR3_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR3_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR3_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR3_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR3_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR3_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR3_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR3_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR3_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR3_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR3_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR3_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR3_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR3_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR3_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR3_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR3_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR3_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR3_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR3_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR3_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR3_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR3_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR3_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BTR4 register *******************/ +#define FSMC_BTR4_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR4_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR4_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR4_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR4_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR4_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR4_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR4_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR4_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR4_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR4_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR4_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR4_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR4_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR4_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR4_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR4_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR4_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR4_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR4_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR4_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR4_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR4_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR4_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR4_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR4_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR4_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR4_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR4_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR4_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR4_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR4_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR4_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR1 register ******************/ +#define FSMC_BWTR1_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR1_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR1_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR1_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR1_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR1_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR1_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR1_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR1_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR1_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR1_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR1_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR1_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR1_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR1_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR1_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR1_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR1_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BWTR1_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR1_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR1_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR1_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR1_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR1_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR1_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR1_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR1_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR1_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR2 register ******************/ +#define FSMC_BWTR2_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR2_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR2_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR2_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR2_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR2_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR2_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR2_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR2_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR2_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR2_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR2_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR2_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR2_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR2_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR2_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR2_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR2_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1*/ +#define FSMC_BWTR2_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR2_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR2_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR2_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR2_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR2_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR2_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR2_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR2_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR2_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR3 register ******************/ +#define FSMC_BWTR3_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR3_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR3_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR3_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR3_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR3_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR3_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR3_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR3_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR3_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR3_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR3_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR3_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR3_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR3_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR3_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR3_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR3_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BWTR3_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR3_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR3_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR3_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR3_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR3_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR3_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR3_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR3_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR3_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR4 register ******************/ +#define FSMC_BWTR4_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR4_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR4_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR4_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR4_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR4_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR4_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR4_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR4_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR4_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR4_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR4_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR4_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR4_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR4_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR4_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR4_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR4_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BWTR4_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR4_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR4_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR4_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR4_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR4_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR4_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR4_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR4_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR4_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_PCR2 register *******************/ +#define FSMC_PCR2_PWAITEN ((uint32_t)0x00000002) /*!< Wait feature enable bit */ +#define FSMC_PCR2_PBKEN ((uint32_t)0x00000004) /*!< PC Card/NAND Flash memory bank enable bit */ +#define FSMC_PCR2_PTYP ((uint32_t)0x00000008) /*!< Memory type */ + +#define FSMC_PCR2_PWID ((uint32_t)0x00000030) /*!< PWID[1:0] bits (NAND Flash databus width) */ +#define FSMC_PCR2_PWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_PCR2_PWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_PCR2_ECCEN ((uint32_t)0x00000040) /*!< ECC computation logic enable bit */ + +#define FSMC_PCR2_TCLR ((uint32_t)0x00001E00) /*!< TCLR[3:0] bits (CLE to RE delay) */ +#define FSMC_PCR2_TCLR_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define FSMC_PCR2_TCLR_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define FSMC_PCR2_TCLR_2 ((uint32_t)0x00000800) /*!< Bit 2 */ +#define FSMC_PCR2_TCLR_3 ((uint32_t)0x00001000) /*!< Bit 3 */ + +#define FSMC_PCR2_TAR ((uint32_t)0x0001E000) /*!< TAR[3:0] bits (ALE to RE delay) */ +#define FSMC_PCR2_TAR_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define FSMC_PCR2_TAR_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define FSMC_PCR2_TAR_2 ((uint32_t)0x00008000) /*!< Bit 2 */ +#define FSMC_PCR2_TAR_3 ((uint32_t)0x00010000) /*!< Bit 3 */ + +#define FSMC_PCR2_ECCPS ((uint32_t)0x000E0000) /*!< ECCPS[1:0] bits (ECC page size) */ +#define FSMC_PCR2_ECCPS_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define FSMC_PCR2_ECCPS_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define FSMC_PCR2_ECCPS_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +/****************** Bit definition for FSMC_PCR3 register *******************/ +#define FSMC_PCR3_PWAITEN ((uint32_t)0x00000002) /*!< Wait feature enable bit */ +#define FSMC_PCR3_PBKEN ((uint32_t)0x00000004) /*!< PC Card/NAND Flash memory bank enable bit */ +#define FSMC_PCR3_PTYP ((uint32_t)0x00000008) /*!< Memory type */ + +#define FSMC_PCR3_PWID ((uint32_t)0x00000030) /*!< PWID[1:0] bits (NAND Flash databus width) */ +#define FSMC_PCR3_PWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_PCR3_PWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_PCR3_ECCEN ((uint32_t)0x00000040) /*!< ECC computation logic enable bit */ + +#define FSMC_PCR3_TCLR ((uint32_t)0x00001E00) /*!< TCLR[3:0] bits (CLE to RE delay) */ +#define FSMC_PCR3_TCLR_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define FSMC_PCR3_TCLR_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define FSMC_PCR3_TCLR_2 ((uint32_t)0x00000800) /*!< Bit 2 */ +#define FSMC_PCR3_TCLR_3 ((uint32_t)0x00001000) /*!< Bit 3 */ + +#define FSMC_PCR3_TAR ((uint32_t)0x0001E000) /*!< TAR[3:0] bits (ALE to RE delay) */ +#define FSMC_PCR3_TAR_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define FSMC_PCR3_TAR_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define FSMC_PCR3_TAR_2 ((uint32_t)0x00008000) /*!< Bit 2 */ +#define FSMC_PCR3_TAR_3 ((uint32_t)0x00010000) /*!< Bit 3 */ + +#define FSMC_PCR3_ECCPS ((uint32_t)0x000E0000) /*!< ECCPS[2:0] bits (ECC page size) */ +#define FSMC_PCR3_ECCPS_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define FSMC_PCR3_ECCPS_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define FSMC_PCR3_ECCPS_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +/****************** Bit definition for FSMC_PCR4 register *******************/ +#define FSMC_PCR4_PWAITEN ((uint32_t)0x00000002) /*!< Wait feature enable bit */ +#define FSMC_PCR4_PBKEN ((uint32_t)0x00000004) /*!< PC Card/NAND Flash memory bank enable bit */ +#define FSMC_PCR4_PTYP ((uint32_t)0x00000008) /*!< Memory type */ + +#define FSMC_PCR4_PWID ((uint32_t)0x00000030) /*!< PWID[1:0] bits (NAND Flash databus width) */ +#define FSMC_PCR4_PWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_PCR4_PWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_PCR4_ECCEN ((uint32_t)0x00000040) /*!< ECC computation logic enable bit */ + +#define FSMC_PCR4_TCLR ((uint32_t)0x00001E00) /*!< TCLR[3:0] bits (CLE to RE delay) */ +#define FSMC_PCR4_TCLR_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define FSMC_PCR4_TCLR_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define FSMC_PCR4_TCLR_2 ((uint32_t)0x00000800) /*!< Bit 2 */ +#define FSMC_PCR4_TCLR_3 ((uint32_t)0x00001000) /*!< Bit 3 */ + +#define FSMC_PCR4_TAR ((uint32_t)0x0001E000) /*!< TAR[3:0] bits (ALE to RE delay) */ +#define FSMC_PCR4_TAR_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define FSMC_PCR4_TAR_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define FSMC_PCR4_TAR_2 ((uint32_t)0x00008000) /*!< Bit 2 */ +#define FSMC_PCR4_TAR_3 ((uint32_t)0x00010000) /*!< Bit 3 */ + +#define FSMC_PCR4_ECCPS ((uint32_t)0x000E0000) /*!< ECCPS[2:0] bits (ECC page size) */ +#define FSMC_PCR4_ECCPS_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define FSMC_PCR4_ECCPS_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define FSMC_PCR4_ECCPS_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +/******************* Bit definition for FSMC_SR2 register *******************/ +#define FSMC_SR2_IRS ((uint8_t)0x01) /*!< Interrupt Rising Edge status */ +#define FSMC_SR2_ILS ((uint8_t)0x02) /*!< Interrupt Level status */ +#define FSMC_SR2_IFS ((uint8_t)0x04) /*!< Interrupt Falling Edge status */ +#define FSMC_SR2_IREN ((uint8_t)0x08) /*!< Interrupt Rising Edge detection Enable bit */ +#define FSMC_SR2_ILEN ((uint8_t)0x10) /*!< Interrupt Level detection Enable bit */ +#define FSMC_SR2_IFEN ((uint8_t)0x20) /*!< Interrupt Falling Edge detection Enable bit */ +#define FSMC_SR2_FEMPT ((uint8_t)0x40) /*!< FIFO empty */ + +/******************* Bit definition for FSMC_SR3 register *******************/ +#define FSMC_SR3_IRS ((uint8_t)0x01) /*!< Interrupt Rising Edge status */ +#define FSMC_SR3_ILS ((uint8_t)0x02) /*!< Interrupt Level status */ +#define FSMC_SR3_IFS ((uint8_t)0x04) /*!< Interrupt Falling Edge status */ +#define FSMC_SR3_IREN ((uint8_t)0x08) /*!< Interrupt Rising Edge detection Enable bit */ +#define FSMC_SR3_ILEN ((uint8_t)0x10) /*!< Interrupt Level detection Enable bit */ +#define FSMC_SR3_IFEN ((uint8_t)0x20) /*!< Interrupt Falling Edge detection Enable bit */ +#define FSMC_SR3_FEMPT ((uint8_t)0x40) /*!< FIFO empty */ + +/******************* Bit definition for FSMC_SR4 register *******************/ +#define FSMC_SR4_IRS ((uint8_t)0x01) /*!< Interrupt Rising Edge status */ +#define FSMC_SR4_ILS ((uint8_t)0x02) /*!< Interrupt Level status */ +#define FSMC_SR4_IFS ((uint8_t)0x04) /*!< Interrupt Falling Edge status */ +#define FSMC_SR4_IREN ((uint8_t)0x08) /*!< Interrupt Rising Edge detection Enable bit */ +#define FSMC_SR4_ILEN ((uint8_t)0x10) /*!< Interrupt Level detection Enable bit */ +#define FSMC_SR4_IFEN ((uint8_t)0x20) /*!< Interrupt Falling Edge detection Enable bit */ +#define FSMC_SR4_FEMPT ((uint8_t)0x40) /*!< FIFO empty */ + +/****************** Bit definition for FSMC_PMEM2 register ******************/ +#define FSMC_PMEM2_MEMSET2 ((uint32_t)0x000000FF) /*!< MEMSET2[7:0] bits (Common memory 2 setup time) */ +#define FSMC_PMEM2_MEMSET2_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMSET2_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMSET2_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMSET2_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMSET2_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMSET2_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMSET2_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMSET2_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PMEM2_MEMWAIT2 ((uint32_t)0x0000FF00) /*!< MEMWAIT2[7:0] bits (Common memory 2 wait time) */ +#define FSMC_PMEM2_MEMWAIT2_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMWAIT2_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMWAIT2_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMWAIT2_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMWAIT2_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMWAIT2_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMWAIT2_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMWAIT2_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PMEM2_MEMHOLD2 ((uint32_t)0x00FF0000) /*!< MEMHOLD2[7:0] bits (Common memory 2 hold time) */ +#define FSMC_PMEM2_MEMHOLD2_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMHOLD2_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMHOLD2_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMHOLD2_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMHOLD2_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMHOLD2_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMHOLD2_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMHOLD2_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PMEM2_MEMHIZ2 ((uint32_t)0xFF000000) /*!< MEMHIZ2[7:0] bits (Common memory 2 databus HiZ time) */ +#define FSMC_PMEM2_MEMHIZ2_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMHIZ2_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMHIZ2_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMHIZ2_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMHIZ2_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMHIZ2_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMHIZ2_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMHIZ2_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PMEM3 register ******************/ +#define FSMC_PMEM3_MEMSET3 ((uint32_t)0x000000FF) /*!< MEMSET3[7:0] bits (Common memory 3 setup time) */ +#define FSMC_PMEM3_MEMSET3_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMSET3_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMSET3_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMSET3_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMSET3_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMSET3_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMSET3_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMSET3_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PMEM3_MEMWAIT3 ((uint32_t)0x0000FF00) /*!< MEMWAIT3[7:0] bits (Common memory 3 wait time) */ +#define FSMC_PMEM3_MEMWAIT3_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMWAIT3_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMWAIT3_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMWAIT3_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMWAIT3_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMWAIT3_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMWAIT3_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMWAIT3_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PMEM3_MEMHOLD3 ((uint32_t)0x00FF0000) /*!< MEMHOLD3[7:0] bits (Common memory 3 hold time) */ +#define FSMC_PMEM3_MEMHOLD3_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMHOLD3_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMHOLD3_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMHOLD3_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMHOLD3_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMHOLD3_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMHOLD3_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMHOLD3_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PMEM3_MEMHIZ3 ((uint32_t)0xFF000000) /*!< MEMHIZ3[7:0] bits (Common memory 3 databus HiZ time) */ +#define FSMC_PMEM3_MEMHIZ3_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMHIZ3_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMHIZ3_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMHIZ3_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMHIZ3_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMHIZ3_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMHIZ3_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMHIZ3_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PMEM4 register ******************/ +#define FSMC_PMEM4_MEMSET4 ((uint32_t)0x000000FF) /*!< MEMSET4[7:0] bits (Common memory 4 setup time) */ +#define FSMC_PMEM4_MEMSET4_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMSET4_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMSET4_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMSET4_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMSET4_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMSET4_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMSET4_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMSET4_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PMEM4_MEMWAIT4 ((uint32_t)0x0000FF00) /*!< MEMWAIT4[7:0] bits (Common memory 4 wait time) */ +#define FSMC_PMEM4_MEMWAIT4_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMWAIT4_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMWAIT4_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMWAIT4_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMWAIT4_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMWAIT4_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMWAIT4_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMWAIT4_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PMEM4_MEMHOLD4 ((uint32_t)0x00FF0000) /*!< MEMHOLD4[7:0] bits (Common memory 4 hold time) */ +#define FSMC_PMEM4_MEMHOLD4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMHOLD4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMHOLD4_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMHOLD4_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMHOLD4_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMHOLD4_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMHOLD4_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMHOLD4_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PMEM4_MEMHIZ4 ((uint32_t)0xFF000000) /*!< MEMHIZ4[7:0] bits (Common memory 4 databus HiZ time) */ +#define FSMC_PMEM4_MEMHIZ4_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMHIZ4_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMHIZ4_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMHIZ4_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMHIZ4_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMHIZ4_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMHIZ4_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMHIZ4_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PATT2 register ******************/ +#define FSMC_PATT2_ATTSET2 ((uint32_t)0x000000FF) /*!< ATTSET2[7:0] bits (Attribute memory 2 setup time) */ +#define FSMC_PATT2_ATTSET2_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PATT2_ATTSET2_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PATT2_ATTSET2_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PATT2_ATTSET2_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PATT2_ATTSET2_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PATT2_ATTSET2_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PATT2_ATTSET2_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PATT2_ATTSET2_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PATT2_ATTWAIT2 ((uint32_t)0x0000FF00) /*!< ATTWAIT2[7:0] bits (Attribute memory 2 wait time) */ +#define FSMC_PATT2_ATTWAIT2_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PATT2_ATTWAIT2_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PATT2_ATTWAIT2_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PATT2_ATTWAIT2_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PATT2_ATTWAIT2_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PATT2_ATTWAIT2_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PATT2_ATTWAIT2_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PATT2_ATTWAIT2_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PATT2_ATTHOLD2 ((uint32_t)0x00FF0000) /*!< ATTHOLD2[7:0] bits (Attribute memory 2 hold time) */ +#define FSMC_PATT2_ATTHOLD2_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PATT2_ATTHOLD2_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PATT2_ATTHOLD2_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PATT2_ATTHOLD2_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PATT2_ATTHOLD2_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PATT2_ATTHOLD2_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PATT2_ATTHOLD2_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PATT2_ATTHOLD2_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PATT2_ATTHIZ2 ((uint32_t)0xFF000000) /*!< ATTHIZ2[7:0] bits (Attribute memory 2 databus HiZ time) */ +#define FSMC_PATT2_ATTHIZ2_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PATT2_ATTHIZ2_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PATT2_ATTHIZ2_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PATT2_ATTHIZ2_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PATT2_ATTHIZ2_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PATT2_ATTHIZ2_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PATT2_ATTHIZ2_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PATT2_ATTHIZ2_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PATT3 register ******************/ +#define FSMC_PATT3_ATTSET3 ((uint32_t)0x000000FF) /*!< ATTSET3[7:0] bits (Attribute memory 3 setup time) */ +#define FSMC_PATT3_ATTSET3_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PATT3_ATTSET3_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PATT3_ATTSET3_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PATT3_ATTSET3_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PATT3_ATTSET3_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PATT3_ATTSET3_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PATT3_ATTSET3_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PATT3_ATTSET3_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PATT3_ATTWAIT3 ((uint32_t)0x0000FF00) /*!< ATTWAIT3[7:0] bits (Attribute memory 3 wait time) */ +#define FSMC_PATT3_ATTWAIT3_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PATT3_ATTWAIT3_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PATT3_ATTWAIT3_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PATT3_ATTWAIT3_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PATT3_ATTWAIT3_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PATT3_ATTWAIT3_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PATT3_ATTWAIT3_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PATT3_ATTWAIT3_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PATT3_ATTHOLD3 ((uint32_t)0x00FF0000) /*!< ATTHOLD3[7:0] bits (Attribute memory 3 hold time) */ +#define FSMC_PATT3_ATTHOLD3_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PATT3_ATTHOLD3_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PATT3_ATTHOLD3_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PATT3_ATTHOLD3_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PATT3_ATTHOLD3_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PATT3_ATTHOLD3_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PATT3_ATTHOLD3_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PATT3_ATTHOLD3_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PATT3_ATTHIZ3 ((uint32_t)0xFF000000) /*!< ATTHIZ3[7:0] bits (Attribute memory 3 databus HiZ time) */ +#define FSMC_PATT3_ATTHIZ3_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PATT3_ATTHIZ3_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PATT3_ATTHIZ3_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PATT3_ATTHIZ3_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PATT3_ATTHIZ3_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PATT3_ATTHIZ3_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PATT3_ATTHIZ3_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PATT3_ATTHIZ3_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PATT4 register ******************/ +#define FSMC_PATT4_ATTSET4 ((uint32_t)0x000000FF) /*!< ATTSET4[7:0] bits (Attribute memory 4 setup time) */ +#define FSMC_PATT4_ATTSET4_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PATT4_ATTSET4_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PATT4_ATTSET4_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PATT4_ATTSET4_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PATT4_ATTSET4_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PATT4_ATTSET4_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PATT4_ATTSET4_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PATT4_ATTSET4_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PATT4_ATTWAIT4 ((uint32_t)0x0000FF00) /*!< ATTWAIT4[7:0] bits (Attribute memory 4 wait time) */ +#define FSMC_PATT4_ATTWAIT4_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PATT4_ATTWAIT4_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PATT4_ATTWAIT4_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PATT4_ATTWAIT4_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PATT4_ATTWAIT4_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PATT4_ATTWAIT4_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PATT4_ATTWAIT4_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PATT4_ATTWAIT4_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PATT4_ATTHOLD4 ((uint32_t)0x00FF0000) /*!< ATTHOLD4[7:0] bits (Attribute memory 4 hold time) */ +#define FSMC_PATT4_ATTHOLD4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PATT4_ATTHOLD4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PATT4_ATTHOLD4_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PATT4_ATTHOLD4_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PATT4_ATTHOLD4_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PATT4_ATTHOLD4_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PATT4_ATTHOLD4_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PATT4_ATTHOLD4_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PATT4_ATTHIZ4 ((uint32_t)0xFF000000) /*!< ATTHIZ4[7:0] bits (Attribute memory 4 databus HiZ time) */ +#define FSMC_PATT4_ATTHIZ4_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PATT4_ATTHIZ4_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PATT4_ATTHIZ4_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PATT4_ATTHIZ4_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PATT4_ATTHIZ4_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PATT4_ATTHIZ4_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PATT4_ATTHIZ4_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PATT4_ATTHIZ4_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PIO4 register *******************/ +#define FSMC_PIO4_IOSET4 ((uint32_t)0x000000FF) /*!< IOSET4[7:0] bits (I/O 4 setup time) */ +#define FSMC_PIO4_IOSET4_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PIO4_IOSET4_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PIO4_IOSET4_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PIO4_IOSET4_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PIO4_IOSET4_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PIO4_IOSET4_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PIO4_IOSET4_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PIO4_IOSET4_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PIO4_IOWAIT4 ((uint32_t)0x0000FF00) /*!< IOWAIT4[7:0] bits (I/O 4 wait time) */ +#define FSMC_PIO4_IOWAIT4_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PIO4_IOWAIT4_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PIO4_IOWAIT4_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PIO4_IOWAIT4_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PIO4_IOWAIT4_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PIO4_IOWAIT4_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PIO4_IOWAIT4_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PIO4_IOWAIT4_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PIO4_IOHOLD4 ((uint32_t)0x00FF0000) /*!< IOHOLD4[7:0] bits (I/O 4 hold time) */ +#define FSMC_PIO4_IOHOLD4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PIO4_IOHOLD4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PIO4_IOHOLD4_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PIO4_IOHOLD4_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PIO4_IOHOLD4_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PIO4_IOHOLD4_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PIO4_IOHOLD4_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PIO4_IOHOLD4_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PIO4_IOHIZ4 ((uint32_t)0xFF000000) /*!< IOHIZ4[7:0] bits (I/O 4 databus HiZ time) */ +#define FSMC_PIO4_IOHIZ4_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PIO4_IOHIZ4_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PIO4_IOHIZ4_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PIO4_IOHIZ4_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PIO4_IOHIZ4_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PIO4_IOHIZ4_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PIO4_IOHIZ4_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PIO4_IOHIZ4_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_ECCR2 register ******************/ +#define FSMC_ECCR2_ECC2 ((uint32_t)0xFFFFFFFF) /*!< ECC result */ + +/****************** Bit definition for FSMC_ECCR3 register ******************/ +#define FSMC_ECCR3_ECC3 ((uint32_t)0xFFFFFFFF) /*!< ECC result */ + +/******************************************************************************/ +/* */ +/* SD host Interface */ +/* */ +/******************************************************************************/ + +/****************** Bit definition for SDIO_POWER register ******************/ +#define SDIO_POWER_PWRCTRL ((uint8_t)0x03) /*!< PWRCTRL[1:0] bits (Power supply control bits) */ +#define SDIO_POWER_PWRCTRL_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define SDIO_POWER_PWRCTRL_1 ((uint8_t)0x02) /*!< Bit 1 */ + +/****************** Bit definition for SDIO_CLKCR register ******************/ +#define SDIO_CLKCR_CLKDIV ((uint16_t)0x00FF) /*!< Clock divide factor */ +#define SDIO_CLKCR_CLKEN ((uint16_t)0x0100) /*!< Clock enable bit */ +#define SDIO_CLKCR_PWRSAV ((uint16_t)0x0200) /*!< Power saving configuration bit */ +#define SDIO_CLKCR_BYPASS ((uint16_t)0x0400) /*!< Clock divider bypass enable bit */ + +#define SDIO_CLKCR_WIDBUS ((uint16_t)0x1800) /*!< WIDBUS[1:0] bits (Wide bus mode enable bit) */ +#define SDIO_CLKCR_WIDBUS_0 ((uint16_t)0x0800) /*!< Bit 0 */ +#define SDIO_CLKCR_WIDBUS_1 ((uint16_t)0x1000) /*!< Bit 1 */ + +#define SDIO_CLKCR_NEGEDGE ((uint16_t)0x2000) /*!< SDIO_CK dephasing selection bit */ +#define SDIO_CLKCR_HWFC_EN ((uint16_t)0x4000) /*!< HW Flow Control enable */ + +/******************* Bit definition for SDIO_ARG register *******************/ +#define SDIO_ARG_CMDARG ((uint32_t)0xFFFFFFFF) /*!< Command argument */ + +/******************* Bit definition for SDIO_CMD register *******************/ +#define SDIO_CMD_CMDINDEX ((uint16_t)0x003F) /*!< Command Index */ + +#define SDIO_CMD_WAITRESP ((uint16_t)0x00C0) /*!< WAITRESP[1:0] bits (Wait for response bits) */ +#define SDIO_CMD_WAITRESP_0 ((uint16_t)0x0040) /*!< Bit 0 */ +#define SDIO_CMD_WAITRESP_1 ((uint16_t)0x0080) /*!< Bit 1 */ + +#define SDIO_CMD_WAITINT ((uint16_t)0x0100) /*!< CPSM Waits for Interrupt Request */ +#define SDIO_CMD_WAITPEND ((uint16_t)0x0200) /*!< CPSM Waits for ends of data transfer (CmdPend internal signal) */ +#define SDIO_CMD_CPSMEN ((uint16_t)0x0400) /*!< Command path state machine (CPSM) Enable bit */ +#define SDIO_CMD_SDIOSUSPEND ((uint16_t)0x0800) /*!< SD I/O suspend command */ +#define SDIO_CMD_ENCMDCOMPL ((uint16_t)0x1000) /*!< Enable CMD completion */ +#define SDIO_CMD_NIEN ((uint16_t)0x2000) /*!< Not Interrupt Enable */ +#define SDIO_CMD_CEATACMD ((uint16_t)0x4000) /*!< CE-ATA command */ + +/***************** Bit definition for SDIO_RESPCMD register *****************/ +#define SDIO_RESPCMD_RESPCMD ((uint8_t)0x3F) /*!< Response command index */ + +/****************** Bit definition for SDIO_RESP0 register ******************/ +#define SDIO_RESP0_CARDSTATUS0 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP1 register ******************/ +#define SDIO_RESP1_CARDSTATUS1 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP2 register ******************/ +#define SDIO_RESP2_CARDSTATUS2 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP3 register ******************/ +#define SDIO_RESP3_CARDSTATUS3 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP4 register ******************/ +#define SDIO_RESP4_CARDSTATUS4 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_DTIMER register *****************/ +#define SDIO_DTIMER_DATATIME ((uint32_t)0xFFFFFFFF) /*!< Data timeout period. */ + +/****************** Bit definition for SDIO_DLEN register *******************/ +#define SDIO_DLEN_DATALENGTH ((uint32_t)0x01FFFFFF) /*!< Data length value */ + +/****************** Bit definition for SDIO_DCTRL register ******************/ +#define SDIO_DCTRL_DTEN ((uint16_t)0x0001) /*!< Data transfer enabled bit */ +#define SDIO_DCTRL_DTDIR ((uint16_t)0x0002) /*!< Data transfer direction selection */ +#define SDIO_DCTRL_DTMODE ((uint16_t)0x0004) /*!< Data transfer mode selection */ +#define SDIO_DCTRL_DMAEN ((uint16_t)0x0008) /*!< DMA enabled bit */ + +#define SDIO_DCTRL_DBLOCKSIZE ((uint16_t)0x00F0) /*!< DBLOCKSIZE[3:0] bits (Data block size) */ +#define SDIO_DCTRL_DBLOCKSIZE_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define SDIO_DCTRL_DBLOCKSIZE_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define SDIO_DCTRL_DBLOCKSIZE_2 ((uint16_t)0x0040) /*!< Bit 2 */ +#define SDIO_DCTRL_DBLOCKSIZE_3 ((uint16_t)0x0080) /*!< Bit 3 */ + +#define SDIO_DCTRL_RWSTART ((uint16_t)0x0100) /*!< Read wait start */ +#define SDIO_DCTRL_RWSTOP ((uint16_t)0x0200) /*!< Read wait stop */ +#define SDIO_DCTRL_RWMOD ((uint16_t)0x0400) /*!< Read wait mode */ +#define SDIO_DCTRL_SDIOEN ((uint16_t)0x0800) /*!< SD I/O enable functions */ + +/****************** Bit definition for SDIO_DCOUNT register *****************/ +#define SDIO_DCOUNT_DATACOUNT ((uint32_t)0x01FFFFFF) /*!< Data count value */ + +/****************** Bit definition for SDIO_STA register ********************/ +#define SDIO_STA_CCRCFAIL ((uint32_t)0x00000001) /*!< Command response received (CRC check failed) */ +#define SDIO_STA_DCRCFAIL ((uint32_t)0x00000002) /*!< Data block sent/received (CRC check failed) */ +#define SDIO_STA_CTIMEOUT ((uint32_t)0x00000004) /*!< Command response timeout */ +#define SDIO_STA_DTIMEOUT ((uint32_t)0x00000008) /*!< Data timeout */ +#define SDIO_STA_TXUNDERR ((uint32_t)0x00000010) /*!< Transmit FIFO underrun error */ +#define SDIO_STA_RXOVERR ((uint32_t)0x00000020) /*!< Received FIFO overrun error */ +#define SDIO_STA_CMDREND ((uint32_t)0x00000040) /*!< Command response received (CRC check passed) */ +#define SDIO_STA_CMDSENT ((uint32_t)0x00000080) /*!< Command sent (no response required) */ +#define SDIO_STA_DATAEND ((uint32_t)0x00000100) /*!< Data end (data counter, SDIDCOUNT, is zero) */ +#define SDIO_STA_STBITERR ((uint32_t)0x00000200) /*!< Start bit not detected on all data signals in wide bus mode */ +#define SDIO_STA_DBCKEND ((uint32_t)0x00000400) /*!< Data block sent/received (CRC check passed) */ +#define SDIO_STA_CMDACT ((uint32_t)0x00000800) /*!< Command transfer in progress */ +#define SDIO_STA_TXACT ((uint32_t)0x00001000) /*!< Data transmit in progress */ +#define SDIO_STA_RXACT ((uint32_t)0x00002000) /*!< Data receive in progress */ +#define SDIO_STA_TXFIFOHE ((uint32_t)0x00004000) /*!< Transmit FIFO Half Empty: at least 8 words can be written into the FIFO */ +#define SDIO_STA_RXFIFOHF ((uint32_t)0x00008000) /*!< Receive FIFO Half Full: there are at least 8 words in the FIFO */ +#define SDIO_STA_TXFIFOF ((uint32_t)0x00010000) /*!< Transmit FIFO full */ +#define SDIO_STA_RXFIFOF ((uint32_t)0x00020000) /*!< Receive FIFO full */ +#define SDIO_STA_TXFIFOE ((uint32_t)0x00040000) /*!< Transmit FIFO empty */ +#define SDIO_STA_RXFIFOE ((uint32_t)0x00080000) /*!< Receive FIFO empty */ +#define SDIO_STA_TXDAVL ((uint32_t)0x00100000) /*!< Data available in transmit FIFO */ +#define SDIO_STA_RXDAVL ((uint32_t)0x00200000) /*!< Data available in receive FIFO */ +#define SDIO_STA_SDIOIT ((uint32_t)0x00400000) /*!< SDIO interrupt received */ +#define SDIO_STA_CEATAEND ((uint32_t)0x00800000) /*!< CE-ATA command completion signal received for CMD61 */ + +/******************* Bit definition for SDIO_ICR register *******************/ +#define SDIO_ICR_CCRCFAILC ((uint32_t)0x00000001) /*!< CCRCFAIL flag clear bit */ +#define SDIO_ICR_DCRCFAILC ((uint32_t)0x00000002) /*!< DCRCFAIL flag clear bit */ +#define SDIO_ICR_CTIMEOUTC ((uint32_t)0x00000004) /*!< CTIMEOUT flag clear bit */ +#define SDIO_ICR_DTIMEOUTC ((uint32_t)0x00000008) /*!< DTIMEOUT flag clear bit */ +#define SDIO_ICR_TXUNDERRC ((uint32_t)0x00000010) /*!< TXUNDERR flag clear bit */ +#define SDIO_ICR_RXOVERRC ((uint32_t)0x00000020) /*!< RXOVERR flag clear bit */ +#define SDIO_ICR_CMDRENDC ((uint32_t)0x00000040) /*!< CMDREND flag clear bit */ +#define SDIO_ICR_CMDSENTC ((uint32_t)0x00000080) /*!< CMDSENT flag clear bit */ +#define SDIO_ICR_DATAENDC ((uint32_t)0x00000100) /*!< DATAEND flag clear bit */ +#define SDIO_ICR_STBITERRC ((uint32_t)0x00000200) /*!< STBITERR flag clear bit */ +#define SDIO_ICR_DBCKENDC ((uint32_t)0x00000400) /*!< DBCKEND flag clear bit */ +#define SDIO_ICR_SDIOITC ((uint32_t)0x00400000) /*!< SDIOIT flag clear bit */ +#define SDIO_ICR_CEATAENDC ((uint32_t)0x00800000) /*!< CEATAEND flag clear bit */ + +/****************** Bit definition for SDIO_MASK register *******************/ +#define SDIO_MASK_CCRCFAILIE ((uint32_t)0x00000001) /*!< Command CRC Fail Interrupt Enable */ +#define SDIO_MASK_DCRCFAILIE ((uint32_t)0x00000002) /*!< Data CRC Fail Interrupt Enable */ +#define SDIO_MASK_CTIMEOUTIE ((uint32_t)0x00000004) /*!< Command TimeOut Interrupt Enable */ +#define SDIO_MASK_DTIMEOUTIE ((uint32_t)0x00000008) /*!< Data TimeOut Interrupt Enable */ +#define SDIO_MASK_TXUNDERRIE ((uint32_t)0x00000010) /*!< Tx FIFO UnderRun Error Interrupt Enable */ +#define SDIO_MASK_RXOVERRIE ((uint32_t)0x00000020) /*!< Rx FIFO OverRun Error Interrupt Enable */ +#define SDIO_MASK_CMDRENDIE ((uint32_t)0x00000040) /*!< Command Response Received Interrupt Enable */ +#define SDIO_MASK_CMDSENTIE ((uint32_t)0x00000080) /*!< Command Sent Interrupt Enable */ +#define SDIO_MASK_DATAENDIE ((uint32_t)0x00000100) /*!< Data End Interrupt Enable */ +#define SDIO_MASK_STBITERRIE ((uint32_t)0x00000200) /*!< Start Bit Error Interrupt Enable */ +#define SDIO_MASK_DBCKENDIE ((uint32_t)0x00000400) /*!< Data Block End Interrupt Enable */ +#define SDIO_MASK_CMDACTIE ((uint32_t)0x00000800) /*!< Command Acting Interrupt Enable */ +#define SDIO_MASK_TXACTIE ((uint32_t)0x00001000) /*!< Data Transmit Acting Interrupt Enable */ +#define SDIO_MASK_RXACTIE ((uint32_t)0x00002000) /*!< Data receive acting interrupt enabled */ +#define SDIO_MASK_TXFIFOHEIE ((uint32_t)0x00004000) /*!< Tx FIFO Half Empty interrupt Enable */ +#define SDIO_MASK_RXFIFOHFIE ((uint32_t)0x00008000) /*!< Rx FIFO Half Full interrupt Enable */ +#define SDIO_MASK_TXFIFOFIE ((uint32_t)0x00010000) /*!< Tx FIFO Full interrupt Enable */ +#define SDIO_MASK_RXFIFOFIE ((uint32_t)0x00020000) /*!< Rx FIFO Full interrupt Enable */ +#define SDIO_MASK_TXFIFOEIE ((uint32_t)0x00040000) /*!< Tx FIFO Empty interrupt Enable */ +#define SDIO_MASK_RXFIFOEIE ((uint32_t)0x00080000) /*!< Rx FIFO Empty interrupt Enable */ +#define SDIO_MASK_TXDAVLIE ((uint32_t)0x00100000) /*!< Data available in Tx FIFO interrupt Enable */ +#define SDIO_MASK_RXDAVLIE ((uint32_t)0x00200000) /*!< Data available in Rx FIFO interrupt Enable */ +#define SDIO_MASK_SDIOITIE ((uint32_t)0x00400000) /*!< SDIO Mode Interrupt Received interrupt Enable */ +#define SDIO_MASK_CEATAENDIE ((uint32_t)0x00800000) /*!< CE-ATA command completion signal received Interrupt Enable */ + +/***************** Bit definition for SDIO_FIFOCNT register *****************/ +#define SDIO_FIFOCNT_FIFOCOUNT ((uint32_t)0x00FFFFFF) /*!< Remaining number of words to be written to or read from the FIFO */ + +/****************** Bit definition for SDIO_FIFO register *******************/ +#define SDIO_FIFO_FIFODATA ((uint32_t)0xFFFFFFFF) /*!< Receive and transmit FIFO data */ + +/******************************************************************************/ +/* */ +/* USB Device FS */ +/* */ +/******************************************************************************/ + +/*!< Endpoint-specific registers */ +/******************* Bit definition for USB_EP0R register *******************/ +#define USB_EP0R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP0R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP0R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP0R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP0R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP0R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP0R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP0R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP0R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP0R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP0R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP0R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP0R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP0R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP0R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP0R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP1R register *******************/ +#define USB_EP1R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP1R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP1R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP1R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP1R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP1R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP1R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP1R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP1R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP1R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP1R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP1R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP1R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP1R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP1R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP1R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP2R register *******************/ +#define USB_EP2R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP2R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP2R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP2R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP2R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP2R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP2R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP2R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP2R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP2R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP2R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP2R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP2R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP2R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP2R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP2R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP3R register *******************/ +#define USB_EP3R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP3R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP3R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP3R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP3R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP3R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP3R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP3R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP3R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP3R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP3R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP3R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP3R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP3R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP3R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP3R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP4R register *******************/ +#define USB_EP4R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP4R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP4R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP4R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP4R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP4R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP4R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP4R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP4R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP4R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP4R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP4R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP4R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP4R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP4R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP4R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP5R register *******************/ +#define USB_EP5R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP5R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP5R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP5R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP5R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP5R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP5R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP5R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP5R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP5R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP5R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP5R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP5R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP5R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP5R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP5R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP6R register *******************/ +#define USB_EP6R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP6R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP6R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP6R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP6R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP6R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP6R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP6R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP6R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP6R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP6R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP6R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP6R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP6R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP6R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP6R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP7R register *******************/ +#define USB_EP7R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP7R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP7R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP7R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP7R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP7R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP7R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP7R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP7R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP7R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP7R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP7R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP7R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP7R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP7R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP7R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/*!< Common registers */ +/******************* Bit definition for USB_CNTR register *******************/ +#define USB_CNTR_FRES ((uint16_t)0x0001) /*!< Force USB Reset */ +#define USB_CNTR_PDWN ((uint16_t)0x0002) /*!< Power down */ +#define USB_CNTR_LP_MODE ((uint16_t)0x0004) /*!< Low-power mode */ +#define USB_CNTR_FSUSP ((uint16_t)0x0008) /*!< Force suspend */ +#define USB_CNTR_RESUME ((uint16_t)0x0010) /*!< Resume request */ +#define USB_CNTR_ESOFM ((uint16_t)0x0100) /*!< Expected Start Of Frame Interrupt Mask */ +#define USB_CNTR_SOFM ((uint16_t)0x0200) /*!< Start Of Frame Interrupt Mask */ +#define USB_CNTR_RESETM ((uint16_t)0x0400) /*!< RESET Interrupt Mask */ +#define USB_CNTR_SUSPM ((uint16_t)0x0800) /*!< Suspend mode Interrupt Mask */ +#define USB_CNTR_WKUPM ((uint16_t)0x1000) /*!< Wakeup Interrupt Mask */ +#define USB_CNTR_ERRM ((uint16_t)0x2000) /*!< Error Interrupt Mask */ +#define USB_CNTR_PMAOVRM ((uint16_t)0x4000) /*!< Packet Memory Area Over / Underrun Interrupt Mask */ +#define USB_CNTR_CTRM ((uint16_t)0x8000) /*!< Correct Transfer Interrupt Mask */ + +/******************* Bit definition for USB_ISTR register *******************/ +#define USB_ISTR_EP_ID ((uint16_t)0x000F) /*!< Endpoint Identifier */ +#define USB_ISTR_DIR ((uint16_t)0x0010) /*!< Direction of transaction */ +#define USB_ISTR_ESOF ((uint16_t)0x0100) /*!< Expected Start Of Frame */ +#define USB_ISTR_SOF ((uint16_t)0x0200) /*!< Start Of Frame */ +#define USB_ISTR_RESET ((uint16_t)0x0400) /*!< USB RESET request */ +#define USB_ISTR_SUSP ((uint16_t)0x0800) /*!< Suspend mode request */ +#define USB_ISTR_WKUP ((uint16_t)0x1000) /*!< Wake up */ +#define USB_ISTR_ERR ((uint16_t)0x2000) /*!< Error */ +#define USB_ISTR_PMAOVR ((uint16_t)0x4000) /*!< Packet Memory Area Over / Underrun */ +#define USB_ISTR_CTR ((uint16_t)0x8000) /*!< Correct Transfer */ + +/******************* Bit definition for USB_FNR register ********************/ +#define USB_FNR_FN ((uint16_t)0x07FF) /*!< Frame Number */ +#define USB_FNR_LSOF ((uint16_t)0x1800) /*!< Lost SOF */ +#define USB_FNR_LCK ((uint16_t)0x2000) /*!< Locked */ +#define USB_FNR_RXDM ((uint16_t)0x4000) /*!< Receive Data - Line Status */ +#define USB_FNR_RXDP ((uint16_t)0x8000) /*!< Receive Data + Line Status */ + +/****************** Bit definition for USB_DADDR register *******************/ +#define USB_DADDR_ADD ((uint8_t)0x7F) /*!< ADD[6:0] bits (Device Address) */ +#define USB_DADDR_ADD0 ((uint8_t)0x01) /*!< Bit 0 */ +#define USB_DADDR_ADD1 ((uint8_t)0x02) /*!< Bit 1 */ +#define USB_DADDR_ADD2 ((uint8_t)0x04) /*!< Bit 2 */ +#define USB_DADDR_ADD3 ((uint8_t)0x08) /*!< Bit 3 */ +#define USB_DADDR_ADD4 ((uint8_t)0x10) /*!< Bit 4 */ +#define USB_DADDR_ADD5 ((uint8_t)0x20) /*!< Bit 5 */ +#define USB_DADDR_ADD6 ((uint8_t)0x40) /*!< Bit 6 */ + +#define USB_DADDR_EF ((uint8_t)0x80) /*!< Enable Function */ + +/****************** Bit definition for USB_BTABLE register ******************/ +#define USB_BTABLE_BTABLE ((uint16_t)0xFFF8) /*!< Buffer Table */ + +/*!< Buffer descriptor table */ +/***************** Bit definition for USB_ADDR0_TX register *****************/ +#define USB_ADDR0_TX_ADDR0_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 0 */ + +/***************** Bit definition for USB_ADDR1_TX register *****************/ +#define USB_ADDR1_TX_ADDR1_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 1 */ + +/***************** Bit definition for USB_ADDR2_TX register *****************/ +#define USB_ADDR2_TX_ADDR2_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 2 */ + +/***************** Bit definition for USB_ADDR3_TX register *****************/ +#define USB_ADDR3_TX_ADDR3_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 3 */ + +/***************** Bit definition for USB_ADDR4_TX register *****************/ +#define USB_ADDR4_TX_ADDR4_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 4 */ + +/***************** Bit definition for USB_ADDR5_TX register *****************/ +#define USB_ADDR5_TX_ADDR5_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 5 */ + +/***************** Bit definition for USB_ADDR6_TX register *****************/ +#define USB_ADDR6_TX_ADDR6_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 6 */ + +/***************** Bit definition for USB_ADDR7_TX register *****************/ +#define USB_ADDR7_TX_ADDR7_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 7 */ + +/*----------------------------------------------------------------------------*/ + +/***************** Bit definition for USB_COUNT0_TX register ****************/ +#define USB_COUNT0_TX_COUNT0_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 0 */ + +/***************** Bit definition for USB_COUNT1_TX register ****************/ +#define USB_COUNT1_TX_COUNT1_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 1 */ + +/***************** Bit definition for USB_COUNT2_TX register ****************/ +#define USB_COUNT2_TX_COUNT2_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 2 */ + +/***************** Bit definition for USB_COUNT3_TX register ****************/ +#define USB_COUNT3_TX_COUNT3_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 3 */ + +/***************** Bit definition for USB_COUNT4_TX register ****************/ +#define USB_COUNT4_TX_COUNT4_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 4 */ + +/***************** Bit definition for USB_COUNT5_TX register ****************/ +#define USB_COUNT5_TX_COUNT5_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 5 */ + +/***************** Bit definition for USB_COUNT6_TX register ****************/ +#define USB_COUNT6_TX_COUNT6_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 6 */ + +/***************** Bit definition for USB_COUNT7_TX register ****************/ +#define USB_COUNT7_TX_COUNT7_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 7 */ + +/*----------------------------------------------------------------------------*/ + +/**************** Bit definition for USB_COUNT0_TX_0 register ***************/ +#define USB_COUNT0_TX_0_COUNT0_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 0 (low) */ + +/**************** Bit definition for USB_COUNT0_TX_1 register ***************/ +#define USB_COUNT0_TX_1_COUNT0_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 0 (high) */ + +/**************** Bit definition for USB_COUNT1_TX_0 register ***************/ +#define USB_COUNT1_TX_0_COUNT1_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 1 (low) */ + +/**************** Bit definition for USB_COUNT1_TX_1 register ***************/ +#define USB_COUNT1_TX_1_COUNT1_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 1 (high) */ + +/**************** Bit definition for USB_COUNT2_TX_0 register ***************/ +#define USB_COUNT2_TX_0_COUNT2_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 2 (low) */ + +/**************** Bit definition for USB_COUNT2_TX_1 register ***************/ +#define USB_COUNT2_TX_1_COUNT2_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 2 (high) */ + +/**************** Bit definition for USB_COUNT3_TX_0 register ***************/ +#define USB_COUNT3_TX_0_COUNT3_TX_0 ((uint16_t)0x000003FF) /*!< Transmission Byte Count 3 (low) */ + +/**************** Bit definition for USB_COUNT3_TX_1 register ***************/ +#define USB_COUNT3_TX_1_COUNT3_TX_1 ((uint16_t)0x03FF0000) /*!< Transmission Byte Count 3 (high) */ + +/**************** Bit definition for USB_COUNT4_TX_0 register ***************/ +#define USB_COUNT4_TX_0_COUNT4_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 4 (low) */ + +/**************** Bit definition for USB_COUNT4_TX_1 register ***************/ +#define USB_COUNT4_TX_1_COUNT4_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 4 (high) */ + +/**************** Bit definition for USB_COUNT5_TX_0 register ***************/ +#define USB_COUNT5_TX_0_COUNT5_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 5 (low) */ + +/**************** Bit definition for USB_COUNT5_TX_1 register ***************/ +#define USB_COUNT5_TX_1_COUNT5_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 5 (high) */ + +/**************** Bit definition for USB_COUNT6_TX_0 register ***************/ +#define USB_COUNT6_TX_0_COUNT6_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 6 (low) */ + +/**************** Bit definition for USB_COUNT6_TX_1 register ***************/ +#define USB_COUNT6_TX_1_COUNT6_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 6 (high) */ + +/**************** Bit definition for USB_COUNT7_TX_0 register ***************/ +#define USB_COUNT7_TX_0_COUNT7_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 7 (low) */ + +/**************** Bit definition for USB_COUNT7_TX_1 register ***************/ +#define USB_COUNT7_TX_1_COUNT7_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 7 (high) */ + +/*----------------------------------------------------------------------------*/ + +/***************** Bit definition for USB_ADDR0_RX register *****************/ +#define USB_ADDR0_RX_ADDR0_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 0 */ + +/***************** Bit definition for USB_ADDR1_RX register *****************/ +#define USB_ADDR1_RX_ADDR1_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 1 */ + +/***************** Bit definition for USB_ADDR2_RX register *****************/ +#define USB_ADDR2_RX_ADDR2_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 2 */ + +/***************** Bit definition for USB_ADDR3_RX register *****************/ +#define USB_ADDR3_RX_ADDR3_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 3 */ + +/***************** Bit definition for USB_ADDR4_RX register *****************/ +#define USB_ADDR4_RX_ADDR4_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 4 */ + +/***************** Bit definition for USB_ADDR5_RX register *****************/ +#define USB_ADDR5_RX_ADDR5_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 5 */ + +/***************** Bit definition for USB_ADDR6_RX register *****************/ +#define USB_ADDR6_RX_ADDR6_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 6 */ + +/***************** Bit definition for USB_ADDR7_RX register *****************/ +#define USB_ADDR7_RX_ADDR7_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 7 */ + +/*----------------------------------------------------------------------------*/ + +/***************** Bit definition for USB_COUNT0_RX register ****************/ +#define USB_COUNT0_RX_COUNT0_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT0_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT0_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT0_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT0_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT0_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT0_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT0_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT1_RX register ****************/ +#define USB_COUNT1_RX_COUNT1_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT1_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT1_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT1_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT1_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT1_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT1_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT1_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT2_RX register ****************/ +#define USB_COUNT2_RX_COUNT2_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT2_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT2_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT2_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT2_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT2_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT2_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT2_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT3_RX register ****************/ +#define USB_COUNT3_RX_COUNT3_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT3_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT3_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT3_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT3_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT3_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT3_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT3_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT4_RX register ****************/ +#define USB_COUNT4_RX_COUNT4_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT4_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT4_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT4_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT4_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT4_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT4_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT4_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT5_RX register ****************/ +#define USB_COUNT5_RX_COUNT5_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT5_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT5_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT5_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT5_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT5_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT5_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT5_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT6_RX register ****************/ +#define USB_COUNT6_RX_COUNT6_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT6_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT6_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT6_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT6_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT6_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT6_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT6_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT7_RX register ****************/ +#define USB_COUNT7_RX_COUNT7_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT7_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT7_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT7_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT7_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT7_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT7_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT7_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/*----------------------------------------------------------------------------*/ + +/**************** Bit definition for USB_COUNT0_RX_0 register ***************/ +#define USB_COUNT0_RX_0_COUNT0_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT0_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT0_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT0_RX_1 register ***************/ +#define USB_COUNT0_RX_1_COUNT0_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT0_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 1 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT0_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT1_RX_0 register ***************/ +#define USB_COUNT1_RX_0_COUNT1_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT1_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT1_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT1_RX_1 register ***************/ +#define USB_COUNT1_RX_1_COUNT1_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT1_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT1_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT2_RX_0 register ***************/ +#define USB_COUNT2_RX_0_COUNT2_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT2_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT2_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT2_RX_1 register ***************/ +#define USB_COUNT2_RX_1_COUNT2_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT2_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT2_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT3_RX_0 register ***************/ +#define USB_COUNT3_RX_0_COUNT3_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT3_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT3_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT3_RX_1 register ***************/ +#define USB_COUNT3_RX_1_COUNT3_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT3_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT3_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT4_RX_0 register ***************/ +#define USB_COUNT4_RX_0_COUNT4_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT4_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT4_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT4_RX_1 register ***************/ +#define USB_COUNT4_RX_1_COUNT4_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT4_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT4_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT5_RX_0 register ***************/ +#define USB_COUNT5_RX_0_COUNT5_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT5_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT5_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT5_RX_1 register ***************/ +#define USB_COUNT5_RX_1_COUNT5_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT5_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT5_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/*************** Bit definition for USB_COUNT6_RX_0 register ***************/ +#define USB_COUNT6_RX_0_COUNT6_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT6_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT6_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT6_RX_1 register ***************/ +#define USB_COUNT6_RX_1_COUNT6_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT6_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT6_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/*************** Bit definition for USB_COUNT7_RX_0 register ****************/ +#define USB_COUNT7_RX_0_COUNT7_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT7_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT7_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/*************** Bit definition for USB_COUNT7_RX_1 register ****************/ +#define USB_COUNT7_RX_1_COUNT7_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT7_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT7_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/******************************************************************************/ +/* */ +/* Controller Area Network */ +/* */ +/******************************************************************************/ + +/*!< CAN control and status registers */ +/******************* Bit definition for CAN_MCR register ********************/ +#define CAN_MCR_INRQ ((uint16_t)0x0001) /*!< Initialization Request */ +#define CAN_MCR_SLEEP ((uint16_t)0x0002) /*!< Sleep Mode Request */ +#define CAN_MCR_TXFP ((uint16_t)0x0004) /*!< Transmit FIFO Priority */ +#define CAN_MCR_RFLM ((uint16_t)0x0008) /*!< Receive FIFO Locked Mode */ +#define CAN_MCR_NART ((uint16_t)0x0010) /*!< No Automatic Retransmission */ +#define CAN_MCR_AWUM ((uint16_t)0x0020) /*!< Automatic Wakeup Mode */ +#define CAN_MCR_ABOM ((uint16_t)0x0040) /*!< Automatic Bus-Off Management */ +#define CAN_MCR_TTCM ((uint16_t)0x0080) /*!< Time Triggered Communication Mode */ +#define CAN_MCR_RESET ((uint16_t)0x8000) /*!< CAN software master reset */ + +/******************* Bit definition for CAN_MSR register ********************/ +#define CAN_MSR_INAK ((uint16_t)0x0001) /*!< Initialization Acknowledge */ +#define CAN_MSR_SLAK ((uint16_t)0x0002) /*!< Sleep Acknowledge */ +#define CAN_MSR_ERRI ((uint16_t)0x0004) /*!< Error Interrupt */ +#define CAN_MSR_WKUI ((uint16_t)0x0008) /*!< Wakeup Interrupt */ +#define CAN_MSR_SLAKI ((uint16_t)0x0010) /*!< Sleep Acknowledge Interrupt */ +#define CAN_MSR_TXM ((uint16_t)0x0100) /*!< Transmit Mode */ +#define CAN_MSR_RXM ((uint16_t)0x0200) /*!< Receive Mode */ +#define CAN_MSR_SAMP ((uint16_t)0x0400) /*!< Last Sample Point */ +#define CAN_MSR_RX ((uint16_t)0x0800) /*!< CAN Rx Signal */ + +/******************* Bit definition for CAN_TSR register ********************/ +#define CAN_TSR_RQCP0 ((uint32_t)0x00000001) /*!< Request Completed Mailbox0 */ +#define CAN_TSR_TXOK0 ((uint32_t)0x00000002) /*!< Transmission OK of Mailbox0 */ +#define CAN_TSR_ALST0 ((uint32_t)0x00000004) /*!< Arbitration Lost for Mailbox0 */ +#define CAN_TSR_TERR0 ((uint32_t)0x00000008) /*!< Transmission Error of Mailbox0 */ +#define CAN_TSR_ABRQ0 ((uint32_t)0x00000080) /*!< Abort Request for Mailbox0 */ +#define CAN_TSR_RQCP1 ((uint32_t)0x00000100) /*!< Request Completed Mailbox1 */ +#define CAN_TSR_TXOK1 ((uint32_t)0x00000200) /*!< Transmission OK of Mailbox1 */ +#define CAN_TSR_ALST1 ((uint32_t)0x00000400) /*!< Arbitration Lost for Mailbox1 */ +#define CAN_TSR_TERR1 ((uint32_t)0x00000800) /*!< Transmission Error of Mailbox1 */ +#define CAN_TSR_ABRQ1 ((uint32_t)0x00008000) /*!< Abort Request for Mailbox 1 */ +#define CAN_TSR_RQCP2 ((uint32_t)0x00010000) /*!< Request Completed Mailbox2 */ +#define CAN_TSR_TXOK2 ((uint32_t)0x00020000) /*!< Transmission OK of Mailbox 2 */ +#define CAN_TSR_ALST2 ((uint32_t)0x00040000) /*!< Arbitration Lost for mailbox 2 */ +#define CAN_TSR_TERR2 ((uint32_t)0x00080000) /*!< Transmission Error of Mailbox 2 */ +#define CAN_TSR_ABRQ2 ((uint32_t)0x00800000) /*!< Abort Request for Mailbox 2 */ +#define CAN_TSR_CODE ((uint32_t)0x03000000) /*!< Mailbox Code */ + +#define CAN_TSR_TME ((uint32_t)0x1C000000) /*!< TME[2:0] bits */ +#define CAN_TSR_TME0 ((uint32_t)0x04000000) /*!< Transmit Mailbox 0 Empty */ +#define CAN_TSR_TME1 ((uint32_t)0x08000000) /*!< Transmit Mailbox 1 Empty */ +#define CAN_TSR_TME2 ((uint32_t)0x10000000) /*!< Transmit Mailbox 2 Empty */ + +#define CAN_TSR_LOW ((uint32_t)0xE0000000) /*!< LOW[2:0] bits */ +#define CAN_TSR_LOW0 ((uint32_t)0x20000000) /*!< Lowest Priority Flag for Mailbox 0 */ +#define CAN_TSR_LOW1 ((uint32_t)0x40000000) /*!< Lowest Priority Flag for Mailbox 1 */ +#define CAN_TSR_LOW2 ((uint32_t)0x80000000) /*!< Lowest Priority Flag for Mailbox 2 */ + +/******************* Bit definition for CAN_RF0R register *******************/ +#define CAN_RF0R_FMP0 ((uint8_t)0x03) /*!< FIFO 0 Message Pending */ +#define CAN_RF0R_FULL0 ((uint8_t)0x08) /*!< FIFO 0 Full */ +#define CAN_RF0R_FOVR0 ((uint8_t)0x10) /*!< FIFO 0 Overrun */ +#define CAN_RF0R_RFOM0 ((uint8_t)0x20) /*!< Release FIFO 0 Output Mailbox */ + +/******************* Bit definition for CAN_RF1R register *******************/ +#define CAN_RF1R_FMP1 ((uint8_t)0x03) /*!< FIFO 1 Message Pending */ +#define CAN_RF1R_FULL1 ((uint8_t)0x08) /*!< FIFO 1 Full */ +#define CAN_RF1R_FOVR1 ((uint8_t)0x10) /*!< FIFO 1 Overrun */ +#define CAN_RF1R_RFOM1 ((uint8_t)0x20) /*!< Release FIFO 1 Output Mailbox */ + +/******************** Bit definition for CAN_IER register *******************/ +#define CAN_IER_TMEIE ((uint32_t)0x00000001) /*!< Transmit Mailbox Empty Interrupt Enable */ +#define CAN_IER_FMPIE0 ((uint32_t)0x00000002) /*!< FIFO Message Pending Interrupt Enable */ +#define CAN_IER_FFIE0 ((uint32_t)0x00000004) /*!< FIFO Full Interrupt Enable */ +#define CAN_IER_FOVIE0 ((uint32_t)0x00000008) /*!< FIFO Overrun Interrupt Enable */ +#define CAN_IER_FMPIE1 ((uint32_t)0x00000010) /*!< FIFO Message Pending Interrupt Enable */ +#define CAN_IER_FFIE1 ((uint32_t)0x00000020) /*!< FIFO Full Interrupt Enable */ +#define CAN_IER_FOVIE1 ((uint32_t)0x00000040) /*!< FIFO Overrun Interrupt Enable */ +#define CAN_IER_EWGIE ((uint32_t)0x00000100) /*!< Error Warning Interrupt Enable */ +#define CAN_IER_EPVIE ((uint32_t)0x00000200) /*!< Error Passive Interrupt Enable */ +#define CAN_IER_BOFIE ((uint32_t)0x00000400) /*!< Bus-Off Interrupt Enable */ +#define CAN_IER_LECIE ((uint32_t)0x00000800) /*!< Last Error Code Interrupt Enable */ +#define CAN_IER_ERRIE ((uint32_t)0x00008000) /*!< Error Interrupt Enable */ +#define CAN_IER_WKUIE ((uint32_t)0x00010000) /*!< Wakeup Interrupt Enable */ +#define CAN_IER_SLKIE ((uint32_t)0x00020000) /*!< Sleep Interrupt Enable */ + +/******************** Bit definition for CAN_ESR register *******************/ +#define CAN_ESR_EWGF ((uint32_t)0x00000001) /*!< Error Warning Flag */ +#define CAN_ESR_EPVF ((uint32_t)0x00000002) /*!< Error Passive Flag */ +#define CAN_ESR_BOFF ((uint32_t)0x00000004) /*!< Bus-Off Flag */ + +#define CAN_ESR_LEC ((uint32_t)0x00000070) /*!< LEC[2:0] bits (Last Error Code) */ +#define CAN_ESR_LEC_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define CAN_ESR_LEC_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define CAN_ESR_LEC_2 ((uint32_t)0x00000040) /*!< Bit 2 */ + +#define CAN_ESR_TEC ((uint32_t)0x00FF0000) /*!< Least significant byte of the 9-bit Transmit Error Counter */ +#define CAN_ESR_REC ((uint32_t)0xFF000000) /*!< Receive Error Counter */ + +/******************* Bit definition for CAN_BTR register ********************/ +#define CAN_BTR_BRP ((uint32_t)0x000003FF) /*!< Baud Rate Prescaler */ +#define CAN_BTR_TS1 ((uint32_t)0x000F0000) /*!< Time Segment 1 */ +#define CAN_BTR_TS2 ((uint32_t)0x00700000) /*!< Time Segment 2 */ +#define CAN_BTR_SJW ((uint32_t)0x03000000) /*!< Resynchronization Jump Width */ +#define CAN_BTR_LBKM ((uint32_t)0x40000000) /*!< Loop Back Mode (Debug) */ +#define CAN_BTR_SILM ((uint32_t)0x80000000) /*!< Silent Mode */ + +/*!< Mailbox registers */ +/****************** Bit definition for CAN_TI0R register ********************/ +#define CAN_TI0R_TXRQ ((uint32_t)0x00000001) /*!< Transmit Mailbox Request */ +#define CAN_TI0R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_TI0R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_TI0R_EXID ((uint32_t)0x001FFFF8) /*!< Extended Identifier */ +#define CAN_TI0R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/****************** Bit definition for CAN_TDT0R register *******************/ +#define CAN_TDT0R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_TDT0R_TGT ((uint32_t)0x00000100) /*!< Transmit Global Time */ +#define CAN_TDT0R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/****************** Bit definition for CAN_TDL0R register *******************/ +#define CAN_TDL0R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_TDL0R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_TDL0R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_TDL0R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/****************** Bit definition for CAN_TDH0R register *******************/ +#define CAN_TDH0R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_TDH0R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_TDH0R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_TDH0R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_TI1R register *******************/ +#define CAN_TI1R_TXRQ ((uint32_t)0x00000001) /*!< Transmit Mailbox Request */ +#define CAN_TI1R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_TI1R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_TI1R_EXID ((uint32_t)0x001FFFF8) /*!< Extended Identifier */ +#define CAN_TI1R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_TDT1R register ******************/ +#define CAN_TDT1R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_TDT1R_TGT ((uint32_t)0x00000100) /*!< Transmit Global Time */ +#define CAN_TDT1R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_TDL1R register ******************/ +#define CAN_TDL1R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_TDL1R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_TDL1R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_TDL1R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_TDH1R register ******************/ +#define CAN_TDH1R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_TDH1R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_TDH1R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_TDH1R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_TI2R register *******************/ +#define CAN_TI2R_TXRQ ((uint32_t)0x00000001) /*!< Transmit Mailbox Request */ +#define CAN_TI2R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_TI2R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_TI2R_EXID ((uint32_t)0x001FFFF8) /*!< Extended identifier */ +#define CAN_TI2R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_TDT2R register ******************/ +#define CAN_TDT2R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_TDT2R_TGT ((uint32_t)0x00000100) /*!< Transmit Global Time */ +#define CAN_TDT2R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_TDL2R register ******************/ +#define CAN_TDL2R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_TDL2R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_TDL2R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_TDL2R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_TDH2R register ******************/ +#define CAN_TDH2R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_TDH2R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_TDH2R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_TDH2R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_RI0R register *******************/ +#define CAN_RI0R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_RI0R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_RI0R_EXID ((uint32_t)0x001FFFF8) /*!< Extended Identifier */ +#define CAN_RI0R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_RDT0R register ******************/ +#define CAN_RDT0R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_RDT0R_FMI ((uint32_t)0x0000FF00) /*!< Filter Match Index */ +#define CAN_RDT0R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_RDL0R register ******************/ +#define CAN_RDL0R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_RDL0R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_RDL0R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_RDL0R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_RDH0R register ******************/ +#define CAN_RDH0R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_RDH0R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_RDH0R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_RDH0R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_RI1R register *******************/ +#define CAN_RI1R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_RI1R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_RI1R_EXID ((uint32_t)0x001FFFF8) /*!< Extended identifier */ +#define CAN_RI1R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_RDT1R register ******************/ +#define CAN_RDT1R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_RDT1R_FMI ((uint32_t)0x0000FF00) /*!< Filter Match Index */ +#define CAN_RDT1R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_RDL1R register ******************/ +#define CAN_RDL1R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_RDL1R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_RDL1R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_RDL1R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_RDH1R register ******************/ +#define CAN_RDH1R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_RDH1R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_RDH1R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_RDH1R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/*!< CAN filter registers */ +/******************* Bit definition for CAN_FMR register ********************/ +#define CAN_FMR_FINIT ((uint8_t)0x01) /*!< Filter Init Mode */ + +/******************* Bit definition for CAN_FM1R register *******************/ +#define CAN_FM1R_FBM ((uint16_t)0x3FFF) /*!< Filter Mode */ +#define CAN_FM1R_FBM0 ((uint16_t)0x0001) /*!< Filter Init Mode bit 0 */ +#define CAN_FM1R_FBM1 ((uint16_t)0x0002) /*!< Filter Init Mode bit 1 */ +#define CAN_FM1R_FBM2 ((uint16_t)0x0004) /*!< Filter Init Mode bit 2 */ +#define CAN_FM1R_FBM3 ((uint16_t)0x0008) /*!< Filter Init Mode bit 3 */ +#define CAN_FM1R_FBM4 ((uint16_t)0x0010) /*!< Filter Init Mode bit 4 */ +#define CAN_FM1R_FBM5 ((uint16_t)0x0020) /*!< Filter Init Mode bit 5 */ +#define CAN_FM1R_FBM6 ((uint16_t)0x0040) /*!< Filter Init Mode bit 6 */ +#define CAN_FM1R_FBM7 ((uint16_t)0x0080) /*!< Filter Init Mode bit 7 */ +#define CAN_FM1R_FBM8 ((uint16_t)0x0100) /*!< Filter Init Mode bit 8 */ +#define CAN_FM1R_FBM9 ((uint16_t)0x0200) /*!< Filter Init Mode bit 9 */ +#define CAN_FM1R_FBM10 ((uint16_t)0x0400) /*!< Filter Init Mode bit 10 */ +#define CAN_FM1R_FBM11 ((uint16_t)0x0800) /*!< Filter Init Mode bit 11 */ +#define CAN_FM1R_FBM12 ((uint16_t)0x1000) /*!< Filter Init Mode bit 12 */ +#define CAN_FM1R_FBM13 ((uint16_t)0x2000) /*!< Filter Init Mode bit 13 */ + +/******************* Bit definition for CAN_FS1R register *******************/ +#define CAN_FS1R_FSC ((uint16_t)0x3FFF) /*!< Filter Scale Configuration */ +#define CAN_FS1R_FSC0 ((uint16_t)0x0001) /*!< Filter Scale Configuration bit 0 */ +#define CAN_FS1R_FSC1 ((uint16_t)0x0002) /*!< Filter Scale Configuration bit 1 */ +#define CAN_FS1R_FSC2 ((uint16_t)0x0004) /*!< Filter Scale Configuration bit 2 */ +#define CAN_FS1R_FSC3 ((uint16_t)0x0008) /*!< Filter Scale Configuration bit 3 */ +#define CAN_FS1R_FSC4 ((uint16_t)0x0010) /*!< Filter Scale Configuration bit 4 */ +#define CAN_FS1R_FSC5 ((uint16_t)0x0020) /*!< Filter Scale Configuration bit 5 */ +#define CAN_FS1R_FSC6 ((uint16_t)0x0040) /*!< Filter Scale Configuration bit 6 */ +#define CAN_FS1R_FSC7 ((uint16_t)0x0080) /*!< Filter Scale Configuration bit 7 */ +#define CAN_FS1R_FSC8 ((uint16_t)0x0100) /*!< Filter Scale Configuration bit 8 */ +#define CAN_FS1R_FSC9 ((uint16_t)0x0200) /*!< Filter Scale Configuration bit 9 */ +#define CAN_FS1R_FSC10 ((uint16_t)0x0400) /*!< Filter Scale Configuration bit 10 */ +#define CAN_FS1R_FSC11 ((uint16_t)0x0800) /*!< Filter Scale Configuration bit 11 */ +#define CAN_FS1R_FSC12 ((uint16_t)0x1000) /*!< Filter Scale Configuration bit 12 */ +#define CAN_FS1R_FSC13 ((uint16_t)0x2000) /*!< Filter Scale Configuration bit 13 */ + +/****************** Bit definition for CAN_FFA1R register *******************/ +#define CAN_FFA1R_FFA ((uint16_t)0x3FFF) /*!< Filter FIFO Assignment */ +#define CAN_FFA1R_FFA0 ((uint16_t)0x0001) /*!< Filter FIFO Assignment for Filter 0 */ +#define CAN_FFA1R_FFA1 ((uint16_t)0x0002) /*!< Filter FIFO Assignment for Filter 1 */ +#define CAN_FFA1R_FFA2 ((uint16_t)0x0004) /*!< Filter FIFO Assignment for Filter 2 */ +#define CAN_FFA1R_FFA3 ((uint16_t)0x0008) /*!< Filter FIFO Assignment for Filter 3 */ +#define CAN_FFA1R_FFA4 ((uint16_t)0x0010) /*!< Filter FIFO Assignment for Filter 4 */ +#define CAN_FFA1R_FFA5 ((uint16_t)0x0020) /*!< Filter FIFO Assignment for Filter 5 */ +#define CAN_FFA1R_FFA6 ((uint16_t)0x0040) /*!< Filter FIFO Assignment for Filter 6 */ +#define CAN_FFA1R_FFA7 ((uint16_t)0x0080) /*!< Filter FIFO Assignment for Filter 7 */ +#define CAN_FFA1R_FFA8 ((uint16_t)0x0100) /*!< Filter FIFO Assignment for Filter 8 */ +#define CAN_FFA1R_FFA9 ((uint16_t)0x0200) /*!< Filter FIFO Assignment for Filter 9 */ +#define CAN_FFA1R_FFA10 ((uint16_t)0x0400) /*!< Filter FIFO Assignment for Filter 10 */ +#define CAN_FFA1R_FFA11 ((uint16_t)0x0800) /*!< Filter FIFO Assignment for Filter 11 */ +#define CAN_FFA1R_FFA12 ((uint16_t)0x1000) /*!< Filter FIFO Assignment for Filter 12 */ +#define CAN_FFA1R_FFA13 ((uint16_t)0x2000) /*!< Filter FIFO Assignment for Filter 13 */ + +/******************* Bit definition for CAN_FA1R register *******************/ +#define CAN_FA1R_FACT ((uint16_t)0x3FFF) /*!< Filter Active */ +#define CAN_FA1R_FACT0 ((uint16_t)0x0001) /*!< Filter 0 Active */ +#define CAN_FA1R_FACT1 ((uint16_t)0x0002) /*!< Filter 1 Active */ +#define CAN_FA1R_FACT2 ((uint16_t)0x0004) /*!< Filter 2 Active */ +#define CAN_FA1R_FACT3 ((uint16_t)0x0008) /*!< Filter 3 Active */ +#define CAN_FA1R_FACT4 ((uint16_t)0x0010) /*!< Filter 4 Active */ +#define CAN_FA1R_FACT5 ((uint16_t)0x0020) /*!< Filter 5 Active */ +#define CAN_FA1R_FACT6 ((uint16_t)0x0040) /*!< Filter 6 Active */ +#define CAN_FA1R_FACT7 ((uint16_t)0x0080) /*!< Filter 7 Active */ +#define CAN_FA1R_FACT8 ((uint16_t)0x0100) /*!< Filter 8 Active */ +#define CAN_FA1R_FACT9 ((uint16_t)0x0200) /*!< Filter 9 Active */ +#define CAN_FA1R_FACT10 ((uint16_t)0x0400) /*!< Filter 10 Active */ +#define CAN_FA1R_FACT11 ((uint16_t)0x0800) /*!< Filter 11 Active */ +#define CAN_FA1R_FACT12 ((uint16_t)0x1000) /*!< Filter 12 Active */ +#define CAN_FA1R_FACT13 ((uint16_t)0x2000) /*!< Filter 13 Active */ + +/******************* Bit definition for CAN_F0R1 register *******************/ +#define CAN_F0R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F0R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F0R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F0R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F0R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F0R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F0R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F0R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F0R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F0R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F0R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F0R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F0R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F0R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F0R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F0R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F0R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F0R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F0R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F0R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F0R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F0R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F0R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F0R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F0R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F0R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F0R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F0R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F0R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F0R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F0R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F0R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F1R1 register *******************/ +#define CAN_F1R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F1R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F1R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F1R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F1R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F1R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F1R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F1R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F1R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F1R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F1R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F1R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F1R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F1R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F1R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F1R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F1R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F1R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F1R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F1R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F1R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F1R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F1R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F1R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F1R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F1R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F1R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F1R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F1R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F1R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F1R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F1R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F2R1 register *******************/ +#define CAN_F2R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F2R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F2R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F2R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F2R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F2R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F2R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F2R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F2R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F2R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F2R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F2R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F2R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F2R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F2R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F2R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F2R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F2R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F2R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F2R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F2R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F2R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F2R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F2R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F2R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F2R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F2R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F2R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F2R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F2R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F2R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F2R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F3R1 register *******************/ +#define CAN_F3R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F3R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F3R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F3R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F3R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F3R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F3R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F3R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F3R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F3R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F3R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F3R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F3R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F3R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F3R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F3R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F3R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F3R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F3R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F3R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F3R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F3R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F3R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F3R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F3R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F3R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F3R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F3R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F3R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F3R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F3R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F3R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F4R1 register *******************/ +#define CAN_F4R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F4R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F4R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F4R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F4R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F4R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F4R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F4R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F4R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F4R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F4R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F4R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F4R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F4R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F4R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F4R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F4R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F4R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F4R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F4R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F4R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F4R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F4R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F4R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F4R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F4R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F4R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F4R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F4R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F4R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F4R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F4R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F5R1 register *******************/ +#define CAN_F5R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F5R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F5R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F5R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F5R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F5R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F5R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F5R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F5R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F5R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F5R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F5R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F5R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F5R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F5R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F5R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F5R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F5R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F5R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F5R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F5R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F5R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F5R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F5R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F5R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F5R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F5R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F5R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F5R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F5R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F5R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F5R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F6R1 register *******************/ +#define CAN_F6R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F6R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F6R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F6R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F6R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F6R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F6R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F6R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F6R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F6R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F6R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F6R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F6R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F6R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F6R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F6R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F6R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F6R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F6R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F6R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F6R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F6R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F6R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F6R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F6R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F6R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F6R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F6R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F6R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F6R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F6R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F6R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F7R1 register *******************/ +#define CAN_F7R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F7R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F7R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F7R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F7R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F7R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F7R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F7R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F7R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F7R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F7R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F7R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F7R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F7R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F7R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F7R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F7R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F7R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F7R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F7R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F7R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F7R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F7R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F7R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F7R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F7R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F7R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F7R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F7R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F7R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F7R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F7R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F8R1 register *******************/ +#define CAN_F8R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F8R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F8R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F8R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F8R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F8R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F8R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F8R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F8R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F8R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F8R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F8R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F8R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F8R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F8R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F8R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F8R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F8R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F8R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F8R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F8R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F8R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F8R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F8R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F8R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F8R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F8R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F8R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F8R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F8R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F8R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F8R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F9R1 register *******************/ +#define CAN_F9R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F9R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F9R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F9R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F9R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F9R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F9R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F9R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F9R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F9R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F9R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F9R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F9R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F9R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F9R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F9R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F9R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F9R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F9R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F9R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F9R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F9R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F9R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F9R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F9R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F9R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F9R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F9R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F9R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F9R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F9R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F9R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F10R1 register ******************/ +#define CAN_F10R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F10R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F10R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F10R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F10R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F10R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F10R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F10R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F10R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F10R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F10R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F10R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F10R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F10R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F10R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F10R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F10R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F10R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F10R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F10R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F10R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F10R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F10R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F10R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F10R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F10R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F10R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F10R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F10R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F10R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F10R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F10R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F11R1 register ******************/ +#define CAN_F11R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F11R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F11R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F11R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F11R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F11R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F11R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F11R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F11R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F11R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F11R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F11R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F11R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F11R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F11R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F11R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F11R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F11R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F11R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F11R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F11R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F11R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F11R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F11R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F11R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F11R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F11R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F11R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F11R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F11R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F11R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F11R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F12R1 register ******************/ +#define CAN_F12R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F12R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F12R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F12R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F12R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F12R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F12R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F12R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F12R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F12R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F12R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F12R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F12R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F12R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F12R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F12R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F12R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F12R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F12R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F12R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F12R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F12R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F12R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F12R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F12R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F12R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F12R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F12R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F12R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F12R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F12R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F12R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F13R1 register ******************/ +#define CAN_F13R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F13R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F13R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F13R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F13R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F13R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F13R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F13R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F13R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F13R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F13R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F13R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F13R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F13R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F13R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F13R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F13R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F13R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F13R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F13R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F13R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F13R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F13R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F13R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F13R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F13R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F13R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F13R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F13R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F13R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F13R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F13R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F0R2 register *******************/ +#define CAN_F0R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F0R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F0R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F0R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F0R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F0R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F0R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F0R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F0R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F0R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F0R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F0R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F0R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F0R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F0R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F0R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F0R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F0R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F0R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F0R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F0R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F0R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F0R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F0R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F0R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F0R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F0R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F0R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F0R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F0R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F0R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F0R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F1R2 register *******************/ +#define CAN_F1R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F1R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F1R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F1R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F1R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F1R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F1R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F1R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F1R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F1R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F1R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F1R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F1R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F1R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F1R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F1R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F1R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F1R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F1R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F1R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F1R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F1R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F1R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F1R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F1R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F1R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F1R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F1R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F1R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F1R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F1R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F1R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F2R2 register *******************/ +#define CAN_F2R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F2R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F2R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F2R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F2R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F2R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F2R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F2R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F2R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F2R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F2R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F2R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F2R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F2R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F2R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F2R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F2R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F2R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F2R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F2R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F2R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F2R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F2R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F2R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F2R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F2R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F2R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F2R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F2R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F2R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F2R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F2R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F3R2 register *******************/ +#define CAN_F3R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F3R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F3R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F3R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F3R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F3R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F3R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F3R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F3R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F3R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F3R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F3R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F3R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F3R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F3R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F3R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F3R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F3R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F3R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F3R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F3R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F3R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F3R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F3R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F3R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F3R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F3R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F3R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F3R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F3R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F3R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F3R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F4R2 register *******************/ +#define CAN_F4R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F4R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F4R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F4R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F4R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F4R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F4R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F4R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F4R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F4R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F4R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F4R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F4R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F4R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F4R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F4R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F4R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F4R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F4R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F4R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F4R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F4R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F4R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F4R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F4R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F4R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F4R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F4R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F4R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F4R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F4R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F4R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F5R2 register *******************/ +#define CAN_F5R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F5R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F5R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F5R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F5R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F5R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F5R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F5R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F5R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F5R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F5R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F5R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F5R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F5R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F5R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F5R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F5R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F5R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F5R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F5R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F5R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F5R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F5R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F5R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F5R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F5R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F5R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F5R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F5R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F5R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F5R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F5R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F6R2 register *******************/ +#define CAN_F6R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F6R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F6R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F6R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F6R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F6R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F6R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F6R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F6R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F6R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F6R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F6R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F6R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F6R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F6R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F6R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F6R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F6R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F6R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F6R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F6R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F6R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F6R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F6R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F6R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F6R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F6R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F6R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F6R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F6R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F6R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F6R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F7R2 register *******************/ +#define CAN_F7R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F7R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F7R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F7R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F7R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F7R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F7R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F7R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F7R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F7R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F7R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F7R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F7R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F7R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F7R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F7R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F7R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F7R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F7R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F7R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F7R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F7R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F7R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F7R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F7R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F7R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F7R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F7R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F7R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F7R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F7R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F7R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F8R2 register *******************/ +#define CAN_F8R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F8R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F8R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F8R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F8R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F8R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F8R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F8R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F8R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F8R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F8R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F8R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F8R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F8R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F8R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F8R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F8R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F8R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F8R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F8R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F8R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F8R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F8R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F8R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F8R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F8R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F8R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F8R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F8R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F8R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F8R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F8R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F9R2 register *******************/ +#define CAN_F9R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F9R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F9R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F9R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F9R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F9R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F9R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F9R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F9R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F9R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F9R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F9R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F9R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F9R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F9R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F9R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F9R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F9R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F9R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F9R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F9R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F9R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F9R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F9R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F9R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F9R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F9R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F9R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F9R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F9R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F9R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F9R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F10R2 register ******************/ +#define CAN_F10R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F10R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F10R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F10R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F10R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F10R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F10R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F10R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F10R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F10R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F10R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F10R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F10R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F10R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F10R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F10R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F10R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F10R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F10R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F10R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F10R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F10R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F10R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F10R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F10R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F10R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F10R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F10R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F10R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F10R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F10R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F10R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F11R2 register ******************/ +#define CAN_F11R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F11R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F11R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F11R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F11R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F11R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F11R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F11R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F11R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F11R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F11R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F11R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F11R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F11R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F11R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F11R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F11R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F11R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F11R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F11R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F11R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F11R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F11R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F11R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F11R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F11R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F11R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F11R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F11R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F11R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F11R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F11R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F12R2 register ******************/ +#define CAN_F12R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F12R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F12R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F12R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F12R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F12R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F12R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F12R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F12R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F12R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F12R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F12R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F12R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F12R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F12R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F12R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F12R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F12R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F12R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F12R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F12R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F12R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F12R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F12R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F12R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F12R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F12R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F12R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F12R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F12R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F12R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F12R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F13R2 register ******************/ +#define CAN_F13R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F13R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F13R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F13R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F13R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F13R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F13R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F13R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F13R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F13R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F13R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F13R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F13R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F13R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F13R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F13R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F13R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F13R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F13R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F13R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F13R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F13R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F13R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F13R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F13R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F13R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F13R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F13R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F13R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F13R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F13R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F13R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************************************************************************/ +/* */ +/* Serial Peripheral Interface */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for SPI_CR1 register ********************/ +#define SPI_CR1_CPHA ((uint16_t)0x0001) /*!< Clock Phase */ +#define SPI_CR1_CPOL ((uint16_t)0x0002) /*!< Clock Polarity */ +#define SPI_CR1_MSTR ((uint16_t)0x0004) /*!< Master Selection */ + +#define SPI_CR1_BR ((uint16_t)0x0038) /*!< BR[2:0] bits (Baud Rate Control) */ +#define SPI_CR1_BR_0 ((uint16_t)0x0008) /*!< Bit 0 */ +#define SPI_CR1_BR_1 ((uint16_t)0x0010) /*!< Bit 1 */ +#define SPI_CR1_BR_2 ((uint16_t)0x0020) /*!< Bit 2 */ + +#define SPI_CR1_SPE ((uint16_t)0x0040) /*!< SPI Enable */ +#define SPI_CR1_LSBFIRST ((uint16_t)0x0080) /*!< Frame Format */ +#define SPI_CR1_SSI ((uint16_t)0x0100) /*!< Internal slave select */ +#define SPI_CR1_SSM ((uint16_t)0x0200) /*!< Software slave management */ +#define SPI_CR1_RXONLY ((uint16_t)0x0400) /*!< Receive only */ +#define SPI_CR1_DFF ((uint16_t)0x0800) /*!< Data Frame Format */ +#define SPI_CR1_CRCNEXT ((uint16_t)0x1000) /*!< Transmit CRC next */ +#define SPI_CR1_CRCEN ((uint16_t)0x2000) /*!< Hardware CRC calculation enable */ +#define SPI_CR1_BIDIOE ((uint16_t)0x4000) /*!< Output enable in bidirectional mode */ +#define SPI_CR1_BIDIMODE ((uint16_t)0x8000) /*!< Bidirectional data mode enable */ + +/******************* Bit definition for SPI_CR2 register ********************/ +#define SPI_CR2_RXDMAEN ((uint8_t)0x01) /*!< Rx Buffer DMA Enable */ +#define SPI_CR2_TXDMAEN ((uint8_t)0x02) /*!< Tx Buffer DMA Enable */ +#define SPI_CR2_SSOE ((uint8_t)0x04) /*!< SS Output Enable */ +#define SPI_CR2_ERRIE ((uint8_t)0x20) /*!< Error Interrupt Enable */ +#define SPI_CR2_RXNEIE ((uint8_t)0x40) /*!< RX buffer Not Empty Interrupt Enable */ +#define SPI_CR2_TXEIE ((uint8_t)0x80) /*!< Tx buffer Empty Interrupt Enable */ + +/******************** Bit definition for SPI_SR register ********************/ +#define SPI_SR_RXNE ((uint8_t)0x01) /*!< Receive buffer Not Empty */ +#define SPI_SR_TXE ((uint8_t)0x02) /*!< Transmit buffer Empty */ +#define SPI_SR_CHSIDE ((uint8_t)0x04) /*!< Channel side */ +#define SPI_SR_UDR ((uint8_t)0x08) /*!< Underrun flag */ +#define SPI_SR_CRCERR ((uint8_t)0x10) /*!< CRC Error flag */ +#define SPI_SR_MODF ((uint8_t)0x20) /*!< Mode fault */ +#define SPI_SR_OVR ((uint8_t)0x40) /*!< Overrun flag */ +#define SPI_SR_BSY ((uint8_t)0x80) /*!< Busy flag */ + +/******************** Bit definition for SPI_DR register ********************/ +#define SPI_DR_DR ((uint16_t)0xFFFF) /*!< Data Register */ + +/******************* Bit definition for SPI_CRCPR register ******************/ +#define SPI_CRCPR_CRCPOLY ((uint16_t)0xFFFF) /*!< CRC polynomial register */ + +/****************** Bit definition for SPI_RXCRCR register ******************/ +#define SPI_RXCRCR_RXCRC ((uint16_t)0xFFFF) /*!< Rx CRC Register */ + +/****************** Bit definition for SPI_TXCRCR register ******************/ +#define SPI_TXCRCR_TXCRC ((uint16_t)0xFFFF) /*!< Tx CRC Register */ + +/****************** Bit definition for SPI_I2SCFGR register *****************/ +#define SPI_I2SCFGR_CHLEN ((uint16_t)0x0001) /*!< Channel length (number of bits per audio channel) */ + +#define SPI_I2SCFGR_DATLEN ((uint16_t)0x0006) /*!< DATLEN[1:0] bits (Data length to be transferred) */ +#define SPI_I2SCFGR_DATLEN_0 ((uint16_t)0x0002) /*!< Bit 0 */ +#define SPI_I2SCFGR_DATLEN_1 ((uint16_t)0x0004) /*!< Bit 1 */ + +#define SPI_I2SCFGR_CKPOL ((uint16_t)0x0008) /*!< steady state clock polarity */ + +#define SPI_I2SCFGR_I2SSTD ((uint16_t)0x0030) /*!< I2SSTD[1:0] bits (I2S standard selection) */ +#define SPI_I2SCFGR_I2SSTD_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define SPI_I2SCFGR_I2SSTD_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define SPI_I2SCFGR_PCMSYNC ((uint16_t)0x0080) /*!< PCM frame synchronization */ + +#define SPI_I2SCFGR_I2SCFG ((uint16_t)0x0300) /*!< I2SCFG[1:0] bits (I2S configuration mode) */ +#define SPI_I2SCFGR_I2SCFG_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define SPI_I2SCFGR_I2SCFG_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define SPI_I2SCFGR_I2SE ((uint16_t)0x0400) /*!< I2S Enable */ +#define SPI_I2SCFGR_I2SMOD ((uint16_t)0x0800) /*!< I2S mode selection */ + +/****************** Bit definition for SPI_I2SPR register *******************/ +#define SPI_I2SPR_I2SDIV ((uint16_t)0x00FF) /*!< I2S Linear prescaler */ +#define SPI_I2SPR_ODD ((uint16_t)0x0100) /*!< Odd factor for the prescaler */ +#define SPI_I2SPR_MCKOE ((uint16_t)0x0200) /*!< Master Clock Output Enable */ + +/******************************************************************************/ +/* */ +/* Inter-integrated Circuit Interface */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for I2C_CR1 register ********************/ +#define I2C_CR1_PE ((uint16_t)0x0001) /*!< Peripheral Enable */ +#define I2C_CR1_SMBUS ((uint16_t)0x0002) /*!< SMBus Mode */ +#define I2C_CR1_SMBTYPE ((uint16_t)0x0008) /*!< SMBus Type */ +#define I2C_CR1_ENARP ((uint16_t)0x0010) /*!< ARP Enable */ +#define I2C_CR1_ENPEC ((uint16_t)0x0020) /*!< PEC Enable */ +#define I2C_CR1_ENGC ((uint16_t)0x0040) /*!< General Call Enable */ +#define I2C_CR1_NOSTRETCH ((uint16_t)0x0080) /*!< Clock Stretching Disable (Slave mode) */ +#define I2C_CR1_START ((uint16_t)0x0100) /*!< Start Generation */ +#define I2C_CR1_STOP ((uint16_t)0x0200) /*!< Stop Generation */ +#define I2C_CR1_ACK ((uint16_t)0x0400) /*!< Acknowledge Enable */ +#define I2C_CR1_POS ((uint16_t)0x0800) /*!< Acknowledge/PEC Position (for data reception) */ +#define I2C_CR1_PEC ((uint16_t)0x1000) /*!< Packet Error Checking */ +#define I2C_CR1_ALERT ((uint16_t)0x2000) /*!< SMBus Alert */ +#define I2C_CR1_SWRST ((uint16_t)0x8000) /*!< Software Reset */ + +/******************* Bit definition for I2C_CR2 register ********************/ +#define I2C_CR2_FREQ ((uint16_t)0x003F) /*!< FREQ[5:0] bits (Peripheral Clock Frequency) */ +#define I2C_CR2_FREQ_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define I2C_CR2_FREQ_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define I2C_CR2_FREQ_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define I2C_CR2_FREQ_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define I2C_CR2_FREQ_4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define I2C_CR2_FREQ_5 ((uint16_t)0x0020) /*!< Bit 5 */ + +#define I2C_CR2_ITERREN ((uint16_t)0x0100) /*!< Error Interrupt Enable */ +#define I2C_CR2_ITEVTEN ((uint16_t)0x0200) /*!< Event Interrupt Enable */ +#define I2C_CR2_ITBUFEN ((uint16_t)0x0400) /*!< Buffer Interrupt Enable */ +#define I2C_CR2_DMAEN ((uint16_t)0x0800) /*!< DMA Requests Enable */ +#define I2C_CR2_LAST ((uint16_t)0x1000) /*!< DMA Last Transfer */ + +/******************* Bit definition for I2C_OAR1 register *******************/ +#define I2C_OAR1_ADD1_7 ((uint16_t)0x00FE) /*!< Interface Address */ +#define I2C_OAR1_ADD8_9 ((uint16_t)0x0300) /*!< Interface Address */ + +#define I2C_OAR1_ADD0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define I2C_OAR1_ADD1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define I2C_OAR1_ADD2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define I2C_OAR1_ADD3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define I2C_OAR1_ADD4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define I2C_OAR1_ADD5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define I2C_OAR1_ADD6 ((uint16_t)0x0040) /*!< Bit 6 */ +#define I2C_OAR1_ADD7 ((uint16_t)0x0080) /*!< Bit 7 */ +#define I2C_OAR1_ADD8 ((uint16_t)0x0100) /*!< Bit 8 */ +#define I2C_OAR1_ADD9 ((uint16_t)0x0200) /*!< Bit 9 */ + +#define I2C_OAR1_ADDMODE ((uint16_t)0x8000) /*!< Addressing Mode (Slave mode) */ + +/******************* Bit definition for I2C_OAR2 register *******************/ +#define I2C_OAR2_ENDUAL ((uint8_t)0x01) /*!< Dual addressing mode enable */ +#define I2C_OAR2_ADD2 ((uint8_t)0xFE) /*!< Interface address */ + +/******************** Bit definition for I2C_DR register ********************/ +#define I2C_DR_DR ((uint8_t)0xFF) /*!< 8-bit Data Register */ + +/******************* Bit definition for I2C_SR1 register ********************/ +#define I2C_SR1_SB ((uint16_t)0x0001) /*!< Start Bit (Master mode) */ +#define I2C_SR1_ADDR ((uint16_t)0x0002) /*!< Address sent (master mode)/matched (slave mode) */ +#define I2C_SR1_BTF ((uint16_t)0x0004) /*!< Byte Transfer Finished */ +#define I2C_SR1_ADD10 ((uint16_t)0x0008) /*!< 10-bit header sent (Master mode) */ +#define I2C_SR1_STOPF ((uint16_t)0x0010) /*!< Stop detection (Slave mode) */ +#define I2C_SR1_RXNE ((uint16_t)0x0040) /*!< Data Register not Empty (receivers) */ +#define I2C_SR1_TXE ((uint16_t)0x0080) /*!< Data Register Empty (transmitters) */ +#define I2C_SR1_BERR ((uint16_t)0x0100) /*!< Bus Error */ +#define I2C_SR1_ARLO ((uint16_t)0x0200) /*!< Arbitration Lost (master mode) */ +#define I2C_SR1_AF ((uint16_t)0x0400) /*!< Acknowledge Failure */ +#define I2C_SR1_OVR ((uint16_t)0x0800) /*!< Overrun/Underrun */ +#define I2C_SR1_PECERR ((uint16_t)0x1000) /*!< PEC Error in reception */ +#define I2C_SR1_TIMEOUT ((uint16_t)0x4000) /*!< Timeout or Tlow Error */ +#define I2C_SR1_SMBALERT ((uint16_t)0x8000) /*!< SMBus Alert */ + +/******************* Bit definition for I2C_SR2 register ********************/ +#define I2C_SR2_MSL ((uint16_t)0x0001) /*!< Master/Slave */ +#define I2C_SR2_BUSY ((uint16_t)0x0002) /*!< Bus Busy */ +#define I2C_SR2_TRA ((uint16_t)0x0004) /*!< Transmitter/Receiver */ +#define I2C_SR2_GENCALL ((uint16_t)0x0010) /*!< General Call Address (Slave mode) */ +#define I2C_SR2_SMBDEFAULT ((uint16_t)0x0020) /*!< SMBus Device Default Address (Slave mode) */ +#define I2C_SR2_SMBHOST ((uint16_t)0x0040) /*!< SMBus Host Header (Slave mode) */ +#define I2C_SR2_DUALF ((uint16_t)0x0080) /*!< Dual Flag (Slave mode) */ +#define I2C_SR2_PEC ((uint16_t)0xFF00) /*!< Packet Error Checking Register */ + +/******************* Bit definition for I2C_CCR register ********************/ +#define I2C_CCR_CCR ((uint16_t)0x0FFF) /*!< Clock Control Register in Fast/Standard mode (Master mode) */ +#define I2C_CCR_DUTY ((uint16_t)0x4000) /*!< Fast Mode Duty Cycle */ +#define I2C_CCR_FS ((uint16_t)0x8000) /*!< I2C Master Mode Selection */ + +/****************** Bit definition for I2C_TRISE register *******************/ +#define I2C_TRISE_TRISE ((uint8_t)0x3F) /*!< Maximum Rise Time in Fast/Standard mode (Master mode) */ + +/******************************************************************************/ +/* */ +/* Universal Synchronous Asynchronous Receiver Transmitter */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for USART_SR register *******************/ +#define USART_SR_PE ((uint16_t)0x0001) /*!< Parity Error */ +#define USART_SR_FE ((uint16_t)0x0002) /*!< Framing Error */ +#define USART_SR_NE ((uint16_t)0x0004) /*!< Noise Error Flag */ +#define USART_SR_ORE ((uint16_t)0x0008) /*!< OverRun Error */ +#define USART_SR_IDLE ((uint16_t)0x0010) /*!< IDLE line detected */ +#define USART_SR_RXNE ((uint16_t)0x0020) /*!< Read Data Register Not Empty */ +#define USART_SR_TC ((uint16_t)0x0040) /*!< Transmission Complete */ +#define USART_SR_TXE ((uint16_t)0x0080) /*!< Transmit Data Register Empty */ +#define USART_SR_LBD ((uint16_t)0x0100) /*!< LIN Break Detection Flag */ +#define USART_SR_CTS ((uint16_t)0x0200) /*!< CTS Flag */ + +/******************* Bit definition for USART_DR register *******************/ +#define USART_DR_DR ((uint16_t)0x01FF) /*!< Data value */ + +/****************** Bit definition for USART_BRR register *******************/ +#define USART_BRR_DIV_Fraction ((uint16_t)0x000F) /*!< Fraction of USARTDIV */ +#define USART_BRR_DIV_Mantissa ((uint16_t)0xFFF0) /*!< Mantissa of USARTDIV */ + +/****************** Bit definition for USART_CR1 register *******************/ +#define USART_CR1_SBK ((uint16_t)0x0001) /*!< Send Break */ +#define USART_CR1_RWU ((uint16_t)0x0002) /*!< Receiver wakeup */ +#define USART_CR1_RE ((uint16_t)0x0004) /*!< Receiver Enable */ +#define USART_CR1_TE ((uint16_t)0x0008) /*!< Transmitter Enable */ +#define USART_CR1_IDLEIE ((uint16_t)0x0010) /*!< IDLE Interrupt Enable */ +#define USART_CR1_RXNEIE ((uint16_t)0x0020) /*!< RXNE Interrupt Enable */ +#define USART_CR1_TCIE ((uint16_t)0x0040) /*!< Transmission Complete Interrupt Enable */ +#define USART_CR1_TXEIE ((uint16_t)0x0080) /*!< PE Interrupt Enable */ +#define USART_CR1_PEIE ((uint16_t)0x0100) /*!< PE Interrupt Enable */ +#define USART_CR1_PS ((uint16_t)0x0200) /*!< Parity Selection */ +#define USART_CR1_PCE ((uint16_t)0x0400) /*!< Parity Control Enable */ +#define USART_CR1_WAKE ((uint16_t)0x0800) /*!< Wakeup method */ +#define USART_CR1_M ((uint16_t)0x1000) /*!< Word length */ +#define USART_CR1_UE ((uint16_t)0x2000) /*!< USART Enable */ +#define USART_CR1_OVER8 ((uint16_t)0x8000) /*!< USART Oversmapling 8-bits */ + +/****************** Bit definition for USART_CR2 register *******************/ +#define USART_CR2_ADD ((uint16_t)0x000F) /*!< Address of the USART node */ +#define USART_CR2_LBDL ((uint16_t)0x0020) /*!< LIN Break Detection Length */ +#define USART_CR2_LBDIE ((uint16_t)0x0040) /*!< LIN Break Detection Interrupt Enable */ +#define USART_CR2_LBCL ((uint16_t)0x0100) /*!< Last Bit Clock pulse */ +#define USART_CR2_CPHA ((uint16_t)0x0200) /*!< Clock Phase */ +#define USART_CR2_CPOL ((uint16_t)0x0400) /*!< Clock Polarity */ +#define USART_CR2_CLKEN ((uint16_t)0x0800) /*!< Clock Enable */ + +#define USART_CR2_STOP ((uint16_t)0x3000) /*!< STOP[1:0] bits (STOP bits) */ +#define USART_CR2_STOP_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USART_CR2_STOP_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USART_CR2_LINEN ((uint16_t)0x4000) /*!< LIN mode enable */ + +/****************** Bit definition for USART_CR3 register *******************/ +#define USART_CR3_EIE ((uint16_t)0x0001) /*!< Error Interrupt Enable */ +#define USART_CR3_IREN ((uint16_t)0x0002) /*!< IrDA mode Enable */ +#define USART_CR3_IRLP ((uint16_t)0x0004) /*!< IrDA Low-Power */ +#define USART_CR3_HDSEL ((uint16_t)0x0008) /*!< Half-Duplex Selection */ +#define USART_CR3_NACK ((uint16_t)0x0010) /*!< Smartcard NACK enable */ +#define USART_CR3_SCEN ((uint16_t)0x0020) /*!< Smartcard mode enable */ +#define USART_CR3_DMAR ((uint16_t)0x0040) /*!< DMA Enable Receiver */ +#define USART_CR3_DMAT ((uint16_t)0x0080) /*!< DMA Enable Transmitter */ +#define USART_CR3_RTSE ((uint16_t)0x0100) /*!< RTS Enable */ +#define USART_CR3_CTSE ((uint16_t)0x0200) /*!< CTS Enable */ +#define USART_CR3_CTSIE ((uint16_t)0x0400) /*!< CTS Interrupt Enable */ +#define USART_CR3_ONEBIT ((uint16_t)0x0800) /*!< One Bit method */ + +/****************** Bit definition for USART_GTPR register ******************/ +#define USART_GTPR_PSC ((uint16_t)0x00FF) /*!< PSC[7:0] bits (Prescaler value) */ +#define USART_GTPR_PSC_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define USART_GTPR_PSC_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define USART_GTPR_PSC_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define USART_GTPR_PSC_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define USART_GTPR_PSC_4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define USART_GTPR_PSC_5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define USART_GTPR_PSC_6 ((uint16_t)0x0040) /*!< Bit 6 */ +#define USART_GTPR_PSC_7 ((uint16_t)0x0080) /*!< Bit 7 */ + +#define USART_GTPR_GT ((uint16_t)0xFF00) /*!< Guard time value */ + +/******************************************************************************/ +/* */ +/* Debug MCU */ +/* */ +/******************************************************************************/ + +/**************** Bit definition for DBGMCU_IDCODE register *****************/ +#define DBGMCU_IDCODE_DEV_ID ((uint32_t)0x00000FFF) /*!< Device Identifier */ + +#define DBGMCU_IDCODE_REV_ID ((uint32_t)0xFFFF0000) /*!< REV_ID[15:0] bits (Revision Identifier) */ +#define DBGMCU_IDCODE_REV_ID_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define DBGMCU_IDCODE_REV_ID_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define DBGMCU_IDCODE_REV_ID_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define DBGMCU_IDCODE_REV_ID_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define DBGMCU_IDCODE_REV_ID_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define DBGMCU_IDCODE_REV_ID_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define DBGMCU_IDCODE_REV_ID_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define DBGMCU_IDCODE_REV_ID_7 ((uint32_t)0x00800000) /*!< Bit 7 */ +#define DBGMCU_IDCODE_REV_ID_8 ((uint32_t)0x01000000) /*!< Bit 8 */ +#define DBGMCU_IDCODE_REV_ID_9 ((uint32_t)0x02000000) /*!< Bit 9 */ +#define DBGMCU_IDCODE_REV_ID_10 ((uint32_t)0x04000000) /*!< Bit 10 */ +#define DBGMCU_IDCODE_REV_ID_11 ((uint32_t)0x08000000) /*!< Bit 11 */ +#define DBGMCU_IDCODE_REV_ID_12 ((uint32_t)0x10000000) /*!< Bit 12 */ +#define DBGMCU_IDCODE_REV_ID_13 ((uint32_t)0x20000000) /*!< Bit 13 */ +#define DBGMCU_IDCODE_REV_ID_14 ((uint32_t)0x40000000) /*!< Bit 14 */ +#define DBGMCU_IDCODE_REV_ID_15 ((uint32_t)0x80000000) /*!< Bit 15 */ + +/****************** Bit definition for DBGMCU_CR register *******************/ +#define DBGMCU_CR_DBG_SLEEP ((uint32_t)0x00000001) /*!< Debug Sleep Mode */ +#define DBGMCU_CR_DBG_STOP ((uint32_t)0x00000002) /*!< Debug Stop Mode */ +#define DBGMCU_CR_DBG_STANDBY ((uint32_t)0x00000004) /*!< Debug Standby mode */ +#define DBGMCU_CR_TRACE_IOEN ((uint32_t)0x00000020) /*!< Trace Pin Assignment Control */ + +#define DBGMCU_CR_TRACE_MODE ((uint32_t)0x000000C0) /*!< TRACE_MODE[1:0] bits (Trace Pin Assignment Control) */ +#define DBGMCU_CR_TRACE_MODE_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define DBGMCU_CR_TRACE_MODE_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define DBGMCU_CR_DBG_IWDG_STOP ((uint32_t)0x00000100) /*!< Debug Independent Watchdog stopped when Core is halted */ +#define DBGMCU_CR_DBG_WWDG_STOP ((uint32_t)0x00000200) /*!< Debug Window Watchdog stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM1_STOP ((uint32_t)0x00000400) /*!< TIM1 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM2_STOP ((uint32_t)0x00000800) /*!< TIM2 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM3_STOP ((uint32_t)0x00001000) /*!< TIM3 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM4_STOP ((uint32_t)0x00002000) /*!< TIM4 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_CAN1_STOP ((uint32_t)0x00004000) /*!< Debug CAN1 stopped when Core is halted */ +#define DBGMCU_CR_DBG_I2C1_SMBUS_TIMEOUT ((uint32_t)0x00008000) /*!< SMBUS timeout mode stopped when Core is halted */ +#define DBGMCU_CR_DBG_I2C2_SMBUS_TIMEOUT ((uint32_t)0x00010000) /*!< SMBUS timeout mode stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM8_STOP ((uint32_t)0x00020000) /*!< TIM8 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM5_STOP ((uint32_t)0x00040000) /*!< TIM5 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM6_STOP ((uint32_t)0x00080000) /*!< TIM6 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM7_STOP ((uint32_t)0x00100000) /*!< TIM7 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_CAN2_STOP ((uint32_t)0x00200000) /*!< Debug CAN2 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM15_STOP ((uint32_t)0x00400000) /*!< Debug TIM15 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM16_STOP ((uint32_t)0x00800000) /*!< Debug TIM16 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM17_STOP ((uint32_t)0x01000000) /*!< Debug TIM17 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM12_STOP ((uint32_t)0x02000000) /*!< Debug TIM12 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM13_STOP ((uint32_t)0x04000000) /*!< Debug TIM13 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM14_STOP ((uint32_t)0x08000000) /*!< Debug TIM14 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM9_STOP ((uint32_t)0x10000000) /*!< Debug TIM9 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM10_STOP ((uint32_t)0x20000000) /*!< Debug TIM10 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM11_STOP ((uint32_t)0x40000000) /*!< Debug TIM11 stopped when Core is halted */ + +/******************************************************************************/ +/* */ +/* FLASH and Option Bytes Registers */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for FLASH_ACR register ******************/ +#define FLASH_ACR_LATENCY ((uint8_t)0x03) /*!< LATENCY[2:0] bits (Latency) */ +#define FLASH_ACR_LATENCY_0 ((uint8_t)0x00) /*!< Bit 0 */ +#define FLASH_ACR_LATENCY_1 ((uint8_t)0x01) /*!< Bit 0 */ +#define FLASH_ACR_LATENCY_2 ((uint8_t)0x02) /*!< Bit 1 */ + +#define FLASH_ACR_HLFCYA ((uint8_t)0x08) /*!< Flash Half Cycle Access Enable */ +#define FLASH_ACR_PRFTBE ((uint8_t)0x10) /*!< Prefetch Buffer Enable */ +#define FLASH_ACR_PRFTBS ((uint8_t)0x20) /*!< Prefetch Buffer Status */ + +/****************** Bit definition for FLASH_KEYR register ******************/ +#define FLASH_KEYR_FKEYR ((uint32_t)0xFFFFFFFF) /*!< FPEC Key */ + +/***************** Bit definition for FLASH_OPTKEYR register ****************/ +#define FLASH_OPTKEYR_OPTKEYR ((uint32_t)0xFFFFFFFF) /*!< Option Byte Key */ + +/****************** Bit definition for FLASH_SR register *******************/ +#define FLASH_SR_BSY ((uint8_t)0x01) /*!< Busy */ +#define FLASH_SR_PGERR ((uint8_t)0x04) /*!< Programming Error */ +#define FLASH_SR_WRPRTERR ((uint8_t)0x10) /*!< Write Protection Error */ +#define FLASH_SR_EOP ((uint8_t)0x20) /*!< End of operation */ + +/******************* Bit definition for FLASH_CR register *******************/ +#define FLASH_CR_PG ((uint16_t)0x0001) /*!< Programming */ +#define FLASH_CR_PER ((uint16_t)0x0002) /*!< Page Erase */ +#define FLASH_CR_MER ((uint16_t)0x0004) /*!< Mass Erase */ +#define FLASH_CR_OPTPG ((uint16_t)0x0010) /*!< Option Byte Programming */ +#define FLASH_CR_OPTER ((uint16_t)0x0020) /*!< Option Byte Erase */ +#define FLASH_CR_STRT ((uint16_t)0x0040) /*!< Start */ +#define FLASH_CR_LOCK ((uint16_t)0x0080) /*!< Lock */ +#define FLASH_CR_OPTWRE ((uint16_t)0x0200) /*!< Option Bytes Write Enable */ +#define FLASH_CR_ERRIE ((uint16_t)0x0400) /*!< Error Interrupt Enable */ +#define FLASH_CR_EOPIE ((uint16_t)0x1000) /*!< End of operation interrupt enable */ + +/******************* Bit definition for FLASH_AR register *******************/ +#define FLASH_AR_FAR ((uint32_t)0xFFFFFFFF) /*!< Flash Address */ + +/****************** Bit definition for FLASH_OBR register *******************/ +#define FLASH_OBR_OPTERR ((uint16_t)0x0001) /*!< Option Byte Error */ +#define FLASH_OBR_RDPRT ((uint16_t)0x0002) /*!< Read protection */ + +#define FLASH_OBR_USER ((uint16_t)0x03FC) /*!< User Option Bytes */ +#define FLASH_OBR_WDG_SW ((uint16_t)0x0004) /*!< WDG_SW */ +#define FLASH_OBR_nRST_STOP ((uint16_t)0x0008) /*!< nRST_STOP */ +#define FLASH_OBR_nRST_STDBY ((uint16_t)0x0010) /*!< nRST_STDBY */ +#define FLASH_OBR_BFB2 ((uint16_t)0x0020) /*!< BFB2 */ + +/****************** Bit definition for FLASH_WRPR register ******************/ +#define FLASH_WRPR_WRP ((uint32_t)0xFFFFFFFF) /*!< Write Protect */ + +/*----------------------------------------------------------------------------*/ + +/****************** Bit definition for FLASH_RDP register *******************/ +#define FLASH_RDP_RDP ((uint32_t)0x000000FF) /*!< Read protection option byte */ +#define FLASH_RDP_nRDP ((uint32_t)0x0000FF00) /*!< Read protection complemented option byte */ + +/****************** Bit definition for FLASH_USER register ******************/ +#define FLASH_USER_USER ((uint32_t)0x00FF0000) /*!< User option byte */ +#define FLASH_USER_nUSER ((uint32_t)0xFF000000) /*!< User complemented option byte */ + +/****************** Bit definition for FLASH_Data0 register *****************/ +#define FLASH_Data0_Data0 ((uint32_t)0x000000FF) /*!< User data storage option byte */ +#define FLASH_Data0_nData0 ((uint32_t)0x0000FF00) /*!< User data storage complemented option byte */ + +/****************** Bit definition for FLASH_Data1 register *****************/ +#define FLASH_Data1_Data1 ((uint32_t)0x00FF0000) /*!< User data storage option byte */ +#define FLASH_Data1_nData1 ((uint32_t)0xFF000000) /*!< User data storage complemented option byte */ + +/****************** Bit definition for FLASH_WRP0 register ******************/ +#define FLASH_WRP0_WRP0 ((uint32_t)0x000000FF) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP0_nWRP0 ((uint32_t)0x0000FF00) /*!< Flash memory write protection complemented option bytes */ + +/****************** Bit definition for FLASH_WRP1 register ******************/ +#define FLASH_WRP1_WRP1 ((uint32_t)0x00FF0000) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP1_nWRP1 ((uint32_t)0xFF000000) /*!< Flash memory write protection complemented option bytes */ + +/****************** Bit definition for FLASH_WRP2 register ******************/ +#define FLASH_WRP2_WRP2 ((uint32_t)0x000000FF) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP2_nWRP2 ((uint32_t)0x0000FF00) /*!< Flash memory write protection complemented option bytes */ + +/****************** Bit definition for FLASH_WRP3 register ******************/ +#define FLASH_WRP3_WRP3 ((uint32_t)0x00FF0000) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP3_nWRP3 ((uint32_t)0xFF000000) /*!< Flash memory write protection complemented option bytes */ + +#ifdef STM32F10X_CL +/******************************************************************************/ +/* Ethernet MAC Registers bits definitions */ +/******************************************************************************/ +/* Bit definition for Ethernet MAC Control Register register */ +#define ETH_MACCR_WD ((uint32_t)0x00800000) /* Watchdog disable */ +#define ETH_MACCR_JD ((uint32_t)0x00400000) /* Jabber disable */ +#define ETH_MACCR_IFG ((uint32_t)0x000E0000) /* Inter-frame gap */ + #define ETH_MACCR_IFG_96Bit ((uint32_t)0x00000000) /* Minimum IFG between frames during transmission is 96Bit */ + #define ETH_MACCR_IFG_88Bit ((uint32_t)0x00020000) /* Minimum IFG between frames during transmission is 88Bit */ + #define ETH_MACCR_IFG_80Bit ((uint32_t)0x00040000) /* Minimum IFG between frames during transmission is 80Bit */ + #define ETH_MACCR_IFG_72Bit ((uint32_t)0x00060000) /* Minimum IFG between frames during transmission is 72Bit */ + #define ETH_MACCR_IFG_64Bit ((uint32_t)0x00080000) /* Minimum IFG between frames during transmission is 64Bit */ + #define ETH_MACCR_IFG_56Bit ((uint32_t)0x000A0000) /* Minimum IFG between frames during transmission is 56Bit */ + #define ETH_MACCR_IFG_48Bit ((uint32_t)0x000C0000) /* Minimum IFG between frames during transmission is 48Bit */ + #define ETH_MACCR_IFG_40Bit ((uint32_t)0x000E0000) /* Minimum IFG between frames during transmission is 40Bit */ +#define ETH_MACCR_CSD ((uint32_t)0x00010000) /* Carrier sense disable (during transmission) */ +#define ETH_MACCR_FES ((uint32_t)0x00004000) /* Fast ethernet speed */ +#define ETH_MACCR_ROD ((uint32_t)0x00002000) /* Receive own disable */ +#define ETH_MACCR_LM ((uint32_t)0x00001000) /* loopback mode */ +#define ETH_MACCR_DM ((uint32_t)0x00000800) /* Duplex mode */ +#define ETH_MACCR_IPCO ((uint32_t)0x00000400) /* IP Checksum offload */ +#define ETH_MACCR_RD ((uint32_t)0x00000200) /* Retry disable */ +#define ETH_MACCR_APCS ((uint32_t)0x00000080) /* Automatic Pad/CRC stripping */ +#define ETH_MACCR_BL ((uint32_t)0x00000060) /* Back-off limit: random integer number (r) of slot time delays before rescheduling + a transmission attempt during retries after a collision: 0 =< r <2^k */ + #define ETH_MACCR_BL_10 ((uint32_t)0x00000000) /* k = min (n, 10) */ + #define ETH_MACCR_BL_8 ((uint32_t)0x00000020) /* k = min (n, 8) */ + #define ETH_MACCR_BL_4 ((uint32_t)0x00000040) /* k = min (n, 4) */ + #define ETH_MACCR_BL_1 ((uint32_t)0x00000060) /* k = min (n, 1) */ +#define ETH_MACCR_DC ((uint32_t)0x00000010) /* Defferal check */ +#define ETH_MACCR_TE ((uint32_t)0x00000008) /* Transmitter enable */ +#define ETH_MACCR_RE ((uint32_t)0x00000004) /* Receiver enable */ + +/* Bit definition for Ethernet MAC Frame Filter Register */ +#define ETH_MACFFR_RA ((uint32_t)0x80000000) /* Receive all */ +#define ETH_MACFFR_HPF ((uint32_t)0x00000400) /* Hash or perfect filter */ +#define ETH_MACFFR_SAF ((uint32_t)0x00000200) /* Source address filter enable */ +#define ETH_MACFFR_SAIF ((uint32_t)0x00000100) /* SA inverse filtering */ +#define ETH_MACFFR_PCF ((uint32_t)0x000000C0) /* Pass control frames: 3 cases */ + #define ETH_MACFFR_PCF_BlockAll ((uint32_t)0x00000040) /* MAC filters all control frames from reaching the application */ + #define ETH_MACFFR_PCF_ForwardAll ((uint32_t)0x00000080) /* MAC forwards all control frames to application even if they fail the Address Filter */ + #define ETH_MACFFR_PCF_ForwardPassedAddrFilter ((uint32_t)0x000000C0) /* MAC forwards control frames that pass the Address Filter. */ +#define ETH_MACFFR_BFD ((uint32_t)0x00000020) /* Broadcast frame disable */ +#define ETH_MACFFR_PAM ((uint32_t)0x00000010) /* Pass all mutlicast */ +#define ETH_MACFFR_DAIF ((uint32_t)0x00000008) /* DA Inverse filtering */ +#define ETH_MACFFR_HM ((uint32_t)0x00000004) /* Hash multicast */ +#define ETH_MACFFR_HU ((uint32_t)0x00000002) /* Hash unicast */ +#define ETH_MACFFR_PM ((uint32_t)0x00000001) /* Promiscuous mode */ + +/* Bit definition for Ethernet MAC Hash Table High Register */ +#define ETH_MACHTHR_HTH ((uint32_t)0xFFFFFFFF) /* Hash table high */ + +/* Bit definition for Ethernet MAC Hash Table Low Register */ +#define ETH_MACHTLR_HTL ((uint32_t)0xFFFFFFFF) /* Hash table low */ + +/* Bit definition for Ethernet MAC MII Address Register */ +#define ETH_MACMIIAR_PA ((uint32_t)0x0000F800) /* Physical layer address */ +#define ETH_MACMIIAR_MR ((uint32_t)0x000007C0) /* MII register in the selected PHY */ +#define ETH_MACMIIAR_CR ((uint32_t)0x0000001C) /* CR clock range: 6 cases */ + #define ETH_MACMIIAR_CR_Div42 ((uint32_t)0x00000000) /* HCLK:60-72 MHz; MDC clock= HCLK/42 */ + #define ETH_MACMIIAR_CR_Div16 ((uint32_t)0x00000008) /* HCLK:20-35 MHz; MDC clock= HCLK/16 */ + #define ETH_MACMIIAR_CR_Div26 ((uint32_t)0x0000000C) /* HCLK:35-60 MHz; MDC clock= HCLK/26 */ +#define ETH_MACMIIAR_MW ((uint32_t)0x00000002) /* MII write */ +#define ETH_MACMIIAR_MB ((uint32_t)0x00000001) /* MII busy */ + +/* Bit definition for Ethernet MAC MII Data Register */ +#define ETH_MACMIIDR_MD ((uint32_t)0x0000FFFF) /* MII data: read/write data from/to PHY */ + +/* Bit definition for Ethernet MAC Flow Control Register */ +#define ETH_MACFCR_PT ((uint32_t)0xFFFF0000) /* Pause time */ +#define ETH_MACFCR_ZQPD ((uint32_t)0x00000080) /* Zero-quanta pause disable */ +#define ETH_MACFCR_PLT ((uint32_t)0x00000030) /* Pause low threshold: 4 cases */ + #define ETH_MACFCR_PLT_Minus4 ((uint32_t)0x00000000) /* Pause time minus 4 slot times */ + #define ETH_MACFCR_PLT_Minus28 ((uint32_t)0x00000010) /* Pause time minus 28 slot times */ + #define ETH_MACFCR_PLT_Minus144 ((uint32_t)0x00000020) /* Pause time minus 144 slot times */ + #define ETH_MACFCR_PLT_Minus256 ((uint32_t)0x00000030) /* Pause time minus 256 slot times */ +#define ETH_MACFCR_UPFD ((uint32_t)0x00000008) /* Unicast pause frame detect */ +#define ETH_MACFCR_RFCE ((uint32_t)0x00000004) /* Receive flow control enable */ +#define ETH_MACFCR_TFCE ((uint32_t)0x00000002) /* Transmit flow control enable */ +#define ETH_MACFCR_FCBBPA ((uint32_t)0x00000001) /* Flow control busy/backpressure activate */ + +/* Bit definition for Ethernet MAC VLAN Tag Register */ +#define ETH_MACVLANTR_VLANTC ((uint32_t)0x00010000) /* 12-bit VLAN tag comparison */ +#define ETH_MACVLANTR_VLANTI ((uint32_t)0x0000FFFF) /* VLAN tag identifier (for receive frames) */ + +/* Bit definition for Ethernet MAC Remote Wake-UpFrame Filter Register */ +#define ETH_MACRWUFFR_D ((uint32_t)0xFFFFFFFF) /* Wake-up frame filter register data */ +/* Eight sequential Writes to this address (offset 0x28) will write all Wake-UpFrame Filter Registers. + Eight sequential Reads from this address (offset 0x28) will read all Wake-UpFrame Filter Registers. */ +/* Wake-UpFrame Filter Reg0 : Filter 0 Byte Mask + Wake-UpFrame Filter Reg1 : Filter 1 Byte Mask + Wake-UpFrame Filter Reg2 : Filter 2 Byte Mask + Wake-UpFrame Filter Reg3 : Filter 3 Byte Mask + Wake-UpFrame Filter Reg4 : RSVD - Filter3 Command - RSVD - Filter2 Command - + RSVD - Filter1 Command - RSVD - Filter0 Command + Wake-UpFrame Filter Re5 : Filter3 Offset - Filter2 Offset - Filter1 Offset - Filter0 Offset + Wake-UpFrame Filter Re6 : Filter1 CRC16 - Filter0 CRC16 + Wake-UpFrame Filter Re7 : Filter3 CRC16 - Filter2 CRC16 */ + +/* Bit definition for Ethernet MAC PMT Control and Status Register */ +#define ETH_MACPMTCSR_WFFRPR ((uint32_t)0x80000000) /* Wake-Up Frame Filter Register Pointer Reset */ +#define ETH_MACPMTCSR_GU ((uint32_t)0x00000200) /* Global Unicast */ +#define ETH_MACPMTCSR_WFR ((uint32_t)0x00000040) /* Wake-Up Frame Received */ +#define ETH_MACPMTCSR_MPR ((uint32_t)0x00000020) /* Magic Packet Received */ +#define ETH_MACPMTCSR_WFE ((uint32_t)0x00000004) /* Wake-Up Frame Enable */ +#define ETH_MACPMTCSR_MPE ((uint32_t)0x00000002) /* Magic Packet Enable */ +#define ETH_MACPMTCSR_PD ((uint32_t)0x00000001) /* Power Down */ + +/* Bit definition for Ethernet MAC Status Register */ +#define ETH_MACSR_TSTS ((uint32_t)0x00000200) /* Time stamp trigger status */ +#define ETH_MACSR_MMCTS ((uint32_t)0x00000040) /* MMC transmit status */ +#define ETH_MACSR_MMMCRS ((uint32_t)0x00000020) /* MMC receive status */ +#define ETH_MACSR_MMCS ((uint32_t)0x00000010) /* MMC status */ +#define ETH_MACSR_PMTS ((uint32_t)0x00000008) /* PMT status */ + +/* Bit definition for Ethernet MAC Interrupt Mask Register */ +#define ETH_MACIMR_TSTIM ((uint32_t)0x00000200) /* Time stamp trigger interrupt mask */ +#define ETH_MACIMR_PMTIM ((uint32_t)0x00000008) /* PMT interrupt mask */ + +/* Bit definition for Ethernet MAC Address0 High Register */ +#define ETH_MACA0HR_MACA0H ((uint32_t)0x0000FFFF) /* MAC address0 high */ + +/* Bit definition for Ethernet MAC Address0 Low Register */ +#define ETH_MACA0LR_MACA0L ((uint32_t)0xFFFFFFFF) /* MAC address0 low */ + +/* Bit definition for Ethernet MAC Address1 High Register */ +#define ETH_MACA1HR_AE ((uint32_t)0x80000000) /* Address enable */ +#define ETH_MACA1HR_SA ((uint32_t)0x40000000) /* Source address */ +#define ETH_MACA1HR_MBC ((uint32_t)0x3F000000) /* Mask byte control: bits to mask for comparison of the MAC Address bytes */ + #define ETH_MACA1HR_MBC_HBits15_8 ((uint32_t)0x20000000) /* Mask MAC Address high reg bits [15:8] */ + #define ETH_MACA1HR_MBC_HBits7_0 ((uint32_t)0x10000000) /* Mask MAC Address high reg bits [7:0] */ + #define ETH_MACA1HR_MBC_LBits31_24 ((uint32_t)0x08000000) /* Mask MAC Address low reg bits [31:24] */ + #define ETH_MACA1HR_MBC_LBits23_16 ((uint32_t)0x04000000) /* Mask MAC Address low reg bits [23:16] */ + #define ETH_MACA1HR_MBC_LBits15_8 ((uint32_t)0x02000000) /* Mask MAC Address low reg bits [15:8] */ + #define ETH_MACA1HR_MBC_LBits7_0 ((uint32_t)0x01000000) /* Mask MAC Address low reg bits [7:0] */ +#define ETH_MACA1HR_MACA1H ((uint32_t)0x0000FFFF) /* MAC address1 high */ + +/* Bit definition for Ethernet MAC Address1 Low Register */ +#define ETH_MACA1LR_MACA1L ((uint32_t)0xFFFFFFFF) /* MAC address1 low */ + +/* Bit definition for Ethernet MAC Address2 High Register */ +#define ETH_MACA2HR_AE ((uint32_t)0x80000000) /* Address enable */ +#define ETH_MACA2HR_SA ((uint32_t)0x40000000) /* Source address */ +#define ETH_MACA2HR_MBC ((uint32_t)0x3F000000) /* Mask byte control */ + #define ETH_MACA2HR_MBC_HBits15_8 ((uint32_t)0x20000000) /* Mask MAC Address high reg bits [15:8] */ + #define ETH_MACA2HR_MBC_HBits7_0 ((uint32_t)0x10000000) /* Mask MAC Address high reg bits [7:0] */ + #define ETH_MACA2HR_MBC_LBits31_24 ((uint32_t)0x08000000) /* Mask MAC Address low reg bits [31:24] */ + #define ETH_MACA2HR_MBC_LBits23_16 ((uint32_t)0x04000000) /* Mask MAC Address low reg bits [23:16] */ + #define ETH_MACA2HR_MBC_LBits15_8 ((uint32_t)0x02000000) /* Mask MAC Address low reg bits [15:8] */ + #define ETH_MACA2HR_MBC_LBits7_0 ((uint32_t)0x01000000) /* Mask MAC Address low reg bits [70] */ +#define ETH_MACA2HR_MACA2H ((uint32_t)0x0000FFFF) /* MAC address1 high */ + +/* Bit definition for Ethernet MAC Address2 Low Register */ +#define ETH_MACA2LR_MACA2L ((uint32_t)0xFFFFFFFF) /* MAC address2 low */ + +/* Bit definition for Ethernet MAC Address3 High Register */ +#define ETH_MACA3HR_AE ((uint32_t)0x80000000) /* Address enable */ +#define ETH_MACA3HR_SA ((uint32_t)0x40000000) /* Source address */ +#define ETH_MACA3HR_MBC ((uint32_t)0x3F000000) /* Mask byte control */ + #define ETH_MACA3HR_MBC_HBits15_8 ((uint32_t)0x20000000) /* Mask MAC Address high reg bits [15:8] */ + #define ETH_MACA3HR_MBC_HBits7_0 ((uint32_t)0x10000000) /* Mask MAC Address high reg bits [7:0] */ + #define ETH_MACA3HR_MBC_LBits31_24 ((uint32_t)0x08000000) /* Mask MAC Address low reg bits [31:24] */ + #define ETH_MACA3HR_MBC_LBits23_16 ((uint32_t)0x04000000) /* Mask MAC Address low reg bits [23:16] */ + #define ETH_MACA3HR_MBC_LBits15_8 ((uint32_t)0x02000000) /* Mask MAC Address low reg bits [15:8] */ + #define ETH_MACA3HR_MBC_LBits7_0 ((uint32_t)0x01000000) /* Mask MAC Address low reg bits [70] */ +#define ETH_MACA3HR_MACA3H ((uint32_t)0x0000FFFF) /* MAC address3 high */ + +/* Bit definition for Ethernet MAC Address3 Low Register */ +#define ETH_MACA3LR_MACA3L ((uint32_t)0xFFFFFFFF) /* MAC address3 low */ + +/******************************************************************************/ +/* Ethernet MMC Registers bits definition */ +/******************************************************************************/ + +/* Bit definition for Ethernet MMC Contol Register */ +#define ETH_MMCCR_MCF ((uint32_t)0x00000008) /* MMC Counter Freeze */ +#define ETH_MMCCR_ROR ((uint32_t)0x00000004) /* Reset on Read */ +#define ETH_MMCCR_CSR ((uint32_t)0x00000002) /* Counter Stop Rollover */ +#define ETH_MMCCR_CR ((uint32_t)0x00000001) /* Counters Reset */ + +/* Bit definition for Ethernet MMC Receive Interrupt Register */ +#define ETH_MMCRIR_RGUFS ((uint32_t)0x00020000) /* Set when Rx good unicast frames counter reaches half the maximum value */ +#define ETH_MMCRIR_RFAES ((uint32_t)0x00000040) /* Set when Rx alignment error counter reaches half the maximum value */ +#define ETH_MMCRIR_RFCES ((uint32_t)0x00000020) /* Set when Rx crc error counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Transmit Interrupt Register */ +#define ETH_MMCTIR_TGFS ((uint32_t)0x00200000) /* Set when Tx good frame count counter reaches half the maximum value */ +#define ETH_MMCTIR_TGFMSCS ((uint32_t)0x00008000) /* Set when Tx good multi col counter reaches half the maximum value */ +#define ETH_MMCTIR_TGFSCS ((uint32_t)0x00004000) /* Set when Tx good single col counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Receive Interrupt Mask Register */ +#define ETH_MMCRIMR_RGUFM ((uint32_t)0x00020000) /* Mask the interrupt when Rx good unicast frames counter reaches half the maximum value */ +#define ETH_MMCRIMR_RFAEM ((uint32_t)0x00000040) /* Mask the interrupt when when Rx alignment error counter reaches half the maximum value */ +#define ETH_MMCRIMR_RFCEM ((uint32_t)0x00000020) /* Mask the interrupt when Rx crc error counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Transmit Interrupt Mask Register */ +#define ETH_MMCTIMR_TGFM ((uint32_t)0x00200000) /* Mask the interrupt when Tx good frame count counter reaches half the maximum value */ +#define ETH_MMCTIMR_TGFMSCM ((uint32_t)0x00008000) /* Mask the interrupt when Tx good multi col counter reaches half the maximum value */ +#define ETH_MMCTIMR_TGFSCM ((uint32_t)0x00004000) /* Mask the interrupt when Tx good single col counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Transmitted Good Frames after Single Collision Counter Register */ +#define ETH_MMCTGFSCCR_TGFSCC ((uint32_t)0xFFFFFFFF) /* Number of successfully transmitted frames after a single collision in Half-duplex mode. */ + +/* Bit definition for Ethernet MMC Transmitted Good Frames after More than a Single Collision Counter Register */ +#define ETH_MMCTGFMSCCR_TGFMSCC ((uint32_t)0xFFFFFFFF) /* Number of successfully transmitted frames after more than a single collision in Half-duplex mode. */ + +/* Bit definition for Ethernet MMC Transmitted Good Frames Counter Register */ +#define ETH_MMCTGFCR_TGFC ((uint32_t)0xFFFFFFFF) /* Number of good frames transmitted. */ + +/* Bit definition for Ethernet MMC Received Frames with CRC Error Counter Register */ +#define ETH_MMCRFCECR_RFCEC ((uint32_t)0xFFFFFFFF) /* Number of frames received with CRC error. */ + +/* Bit definition for Ethernet MMC Received Frames with Alignement Error Counter Register */ +#define ETH_MMCRFAECR_RFAEC ((uint32_t)0xFFFFFFFF) /* Number of frames received with alignment (dribble) error */ + +/* Bit definition for Ethernet MMC Received Good Unicast Frames Counter Register */ +#define ETH_MMCRGUFCR_RGUFC ((uint32_t)0xFFFFFFFF) /* Number of good unicast frames received. */ + +/******************************************************************************/ +/* Ethernet PTP Registers bits definition */ +/******************************************************************************/ + +/* Bit definition for Ethernet PTP Time Stamp Contol Register */ +#define ETH_PTPTSCR_TSARU ((uint32_t)0x00000020) /* Addend register update */ +#define ETH_PTPTSCR_TSITE ((uint32_t)0x00000010) /* Time stamp interrupt trigger enable */ +#define ETH_PTPTSCR_TSSTU ((uint32_t)0x00000008) /* Time stamp update */ +#define ETH_PTPTSCR_TSSTI ((uint32_t)0x00000004) /* Time stamp initialize */ +#define ETH_PTPTSCR_TSFCU ((uint32_t)0x00000002) /* Time stamp fine or coarse update */ +#define ETH_PTPTSCR_TSE ((uint32_t)0x00000001) /* Time stamp enable */ + +/* Bit definition for Ethernet PTP Sub-Second Increment Register */ +#define ETH_PTPSSIR_STSSI ((uint32_t)0x000000FF) /* System time Sub-second increment value */ + +/* Bit definition for Ethernet PTP Time Stamp High Register */ +#define ETH_PTPTSHR_STS ((uint32_t)0xFFFFFFFF) /* System Time second */ + +/* Bit definition for Ethernet PTP Time Stamp Low Register */ +#define ETH_PTPTSLR_STPNS ((uint32_t)0x80000000) /* System Time Positive or negative time */ +#define ETH_PTPTSLR_STSS ((uint32_t)0x7FFFFFFF) /* System Time sub-seconds */ + +/* Bit definition for Ethernet PTP Time Stamp High Update Register */ +#define ETH_PTPTSHUR_TSUS ((uint32_t)0xFFFFFFFF) /* Time stamp update seconds */ + +/* Bit definition for Ethernet PTP Time Stamp Low Update Register */ +#define ETH_PTPTSLUR_TSUPNS ((uint32_t)0x80000000) /* Time stamp update Positive or negative time */ +#define ETH_PTPTSLUR_TSUSS ((uint32_t)0x7FFFFFFF) /* Time stamp update sub-seconds */ + +/* Bit definition for Ethernet PTP Time Stamp Addend Register */ +#define ETH_PTPTSAR_TSA ((uint32_t)0xFFFFFFFF) /* Time stamp addend */ + +/* Bit definition for Ethernet PTP Target Time High Register */ +#define ETH_PTPTTHR_TTSH ((uint32_t)0xFFFFFFFF) /* Target time stamp high */ + +/* Bit definition for Ethernet PTP Target Time Low Register */ +#define ETH_PTPTTLR_TTSL ((uint32_t)0xFFFFFFFF) /* Target time stamp low */ + +/******************************************************************************/ +/* Ethernet DMA Registers bits definition */ +/******************************************************************************/ + +/* Bit definition for Ethernet DMA Bus Mode Register */ +#define ETH_DMABMR_AAB ((uint32_t)0x02000000) /* Address-Aligned beats */ +#define ETH_DMABMR_FPM ((uint32_t)0x01000000) /* 4xPBL mode */ +#define ETH_DMABMR_USP ((uint32_t)0x00800000) /* Use separate PBL */ +#define ETH_DMABMR_RDP ((uint32_t)0x007E0000) /* RxDMA PBL */ + #define ETH_DMABMR_RDP_1Beat ((uint32_t)0x00020000) /* maximum number of beats to be transferred in one RxDMA transaction is 1 */ + #define ETH_DMABMR_RDP_2Beat ((uint32_t)0x00040000) /* maximum number of beats to be transferred in one RxDMA transaction is 2 */ + #define ETH_DMABMR_RDP_4Beat ((uint32_t)0x00080000) /* maximum number of beats to be transferred in one RxDMA transaction is 4 */ + #define ETH_DMABMR_RDP_8Beat ((uint32_t)0x00100000) /* maximum number of beats to be transferred in one RxDMA transaction is 8 */ + #define ETH_DMABMR_RDP_16Beat ((uint32_t)0x00200000) /* maximum number of beats to be transferred in one RxDMA transaction is 16 */ + #define ETH_DMABMR_RDP_32Beat ((uint32_t)0x00400000) /* maximum number of beats to be transferred in one RxDMA transaction is 32 */ + #define ETH_DMABMR_RDP_4xPBL_4Beat ((uint32_t)0x01020000) /* maximum number of beats to be transferred in one RxDMA transaction is 4 */ + #define ETH_DMABMR_RDP_4xPBL_8Beat ((uint32_t)0x01040000) /* maximum number of beats to be transferred in one RxDMA transaction is 8 */ + #define ETH_DMABMR_RDP_4xPBL_16Beat ((uint32_t)0x01080000) /* maximum number of beats to be transferred in one RxDMA transaction is 16 */ + #define ETH_DMABMR_RDP_4xPBL_32Beat ((uint32_t)0x01100000) /* maximum number of beats to be transferred in one RxDMA transaction is 32 */ + #define ETH_DMABMR_RDP_4xPBL_64Beat ((uint32_t)0x01200000) /* maximum number of beats to be transferred in one RxDMA transaction is 64 */ + #define ETH_DMABMR_RDP_4xPBL_128Beat ((uint32_t)0x01400000) /* maximum number of beats to be transferred in one RxDMA transaction is 128 */ +#define ETH_DMABMR_FB ((uint32_t)0x00010000) /* Fixed Burst */ +#define ETH_DMABMR_RTPR ((uint32_t)0x0000C000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_1_1 ((uint32_t)0x00000000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_2_1 ((uint32_t)0x00004000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_3_1 ((uint32_t)0x00008000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_4_1 ((uint32_t)0x0000C000) /* Rx Tx priority ratio */ +#define ETH_DMABMR_PBL ((uint32_t)0x00003F00) /* Programmable burst length */ + #define ETH_DMABMR_PBL_1Beat ((uint32_t)0x00000100) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 1 */ + #define ETH_DMABMR_PBL_2Beat ((uint32_t)0x00000200) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 2 */ + #define ETH_DMABMR_PBL_4Beat ((uint32_t)0x00000400) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 4 */ + #define ETH_DMABMR_PBL_8Beat ((uint32_t)0x00000800) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 8 */ + #define ETH_DMABMR_PBL_16Beat ((uint32_t)0x00001000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 16 */ + #define ETH_DMABMR_PBL_32Beat ((uint32_t)0x00002000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 32 */ + #define ETH_DMABMR_PBL_4xPBL_4Beat ((uint32_t)0x01000100) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 4 */ + #define ETH_DMABMR_PBL_4xPBL_8Beat ((uint32_t)0x01000200) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 8 */ + #define ETH_DMABMR_PBL_4xPBL_16Beat ((uint32_t)0x01000400) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 16 */ + #define ETH_DMABMR_PBL_4xPBL_32Beat ((uint32_t)0x01000800) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 32 */ + #define ETH_DMABMR_PBL_4xPBL_64Beat ((uint32_t)0x01001000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 64 */ + #define ETH_DMABMR_PBL_4xPBL_128Beat ((uint32_t)0x01002000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 128 */ +#define ETH_DMABMR_DSL ((uint32_t)0x0000007C) /* Descriptor Skip Length */ +#define ETH_DMABMR_DA ((uint32_t)0x00000002) /* DMA arbitration scheme */ +#define ETH_DMABMR_SR ((uint32_t)0x00000001) /* Software reset */ + +/* Bit definition for Ethernet DMA Transmit Poll Demand Register */ +#define ETH_DMATPDR_TPD ((uint32_t)0xFFFFFFFF) /* Transmit poll demand */ + +/* Bit definition for Ethernet DMA Receive Poll Demand Register */ +#define ETH_DMARPDR_RPD ((uint32_t)0xFFFFFFFF) /* Receive poll demand */ + +/* Bit definition for Ethernet DMA Receive Descriptor List Address Register */ +#define ETH_DMARDLAR_SRL ((uint32_t)0xFFFFFFFF) /* Start of receive list */ + +/* Bit definition for Ethernet DMA Transmit Descriptor List Address Register */ +#define ETH_DMATDLAR_STL ((uint32_t)0xFFFFFFFF) /* Start of transmit list */ + +/* Bit definition for Ethernet DMA Status Register */ +#define ETH_DMASR_TSTS ((uint32_t)0x20000000) /* Time-stamp trigger status */ +#define ETH_DMASR_PMTS ((uint32_t)0x10000000) /* PMT status */ +#define ETH_DMASR_MMCS ((uint32_t)0x08000000) /* MMC status */ +#define ETH_DMASR_EBS ((uint32_t)0x03800000) /* Error bits status */ + /* combination with EBS[2:0] for GetFlagStatus function */ + #define ETH_DMASR_EBS_DescAccess ((uint32_t)0x02000000) /* Error bits 0-data buffer, 1-desc. access */ + #define ETH_DMASR_EBS_ReadTransf ((uint32_t)0x01000000) /* Error bits 0-write trnsf, 1-read transfr */ + #define ETH_DMASR_EBS_DataTransfTx ((uint32_t)0x00800000) /* Error bits 0-Rx DMA, 1-Tx DMA */ +#define ETH_DMASR_TPS ((uint32_t)0x00700000) /* Transmit process state */ + #define ETH_DMASR_TPS_Stopped ((uint32_t)0x00000000) /* Stopped - Reset or Stop Tx Command issued */ + #define ETH_DMASR_TPS_Fetching ((uint32_t)0x00100000) /* Running - fetching the Tx descriptor */ + #define ETH_DMASR_TPS_Waiting ((uint32_t)0x00200000) /* Running - waiting for status */ + #define ETH_DMASR_TPS_Reading ((uint32_t)0x00300000) /* Running - reading the data from host memory */ + #define ETH_DMASR_TPS_Suspended ((uint32_t)0x00600000) /* Suspended - Tx Descriptor unavailabe */ + #define ETH_DMASR_TPS_Closing ((uint32_t)0x00700000) /* Running - closing Rx descriptor */ +#define ETH_DMASR_RPS ((uint32_t)0x000E0000) /* Receive process state */ + #define ETH_DMASR_RPS_Stopped ((uint32_t)0x00000000) /* Stopped - Reset or Stop Rx Command issued */ + #define ETH_DMASR_RPS_Fetching ((uint32_t)0x00020000) /* Running - fetching the Rx descriptor */ + #define ETH_DMASR_RPS_Waiting ((uint32_t)0x00060000) /* Running - waiting for packet */ + #define ETH_DMASR_RPS_Suspended ((uint32_t)0x00080000) /* Suspended - Rx Descriptor unavailable */ + #define ETH_DMASR_RPS_Closing ((uint32_t)0x000A0000) /* Running - closing descriptor */ + #define ETH_DMASR_RPS_Queuing ((uint32_t)0x000E0000) /* Running - queuing the recieve frame into host memory */ +#define ETH_DMASR_NIS ((uint32_t)0x00010000) /* Normal interrupt summary */ +#define ETH_DMASR_AIS ((uint32_t)0x00008000) /* Abnormal interrupt summary */ +#define ETH_DMASR_ERS ((uint32_t)0x00004000) /* Early receive status */ +#define ETH_DMASR_FBES ((uint32_t)0x00002000) /* Fatal bus error status */ +#define ETH_DMASR_ETS ((uint32_t)0x00000400) /* Early transmit status */ +#define ETH_DMASR_RWTS ((uint32_t)0x00000200) /* Receive watchdog timeout status */ +#define ETH_DMASR_RPSS ((uint32_t)0x00000100) /* Receive process stopped status */ +#define ETH_DMASR_RBUS ((uint32_t)0x00000080) /* Receive buffer unavailable status */ +#define ETH_DMASR_RS ((uint32_t)0x00000040) /* Receive status */ +#define ETH_DMASR_TUS ((uint32_t)0x00000020) /* Transmit underflow status */ +#define ETH_DMASR_ROS ((uint32_t)0x00000010) /* Receive overflow status */ +#define ETH_DMASR_TJTS ((uint32_t)0x00000008) /* Transmit jabber timeout status */ +#define ETH_DMASR_TBUS ((uint32_t)0x00000004) /* Transmit buffer unavailable status */ +#define ETH_DMASR_TPSS ((uint32_t)0x00000002) /* Transmit process stopped status */ +#define ETH_DMASR_TS ((uint32_t)0x00000001) /* Transmit status */ + +/* Bit definition for Ethernet DMA Operation Mode Register */ +#define ETH_DMAOMR_DTCEFD ((uint32_t)0x04000000) /* Disable Dropping of TCP/IP checksum error frames */ +#define ETH_DMAOMR_RSF ((uint32_t)0x02000000) /* Receive store and forward */ +#define ETH_DMAOMR_DFRF ((uint32_t)0x01000000) /* Disable flushing of received frames */ +#define ETH_DMAOMR_TSF ((uint32_t)0x00200000) /* Transmit store and forward */ +#define ETH_DMAOMR_FTF ((uint32_t)0x00100000) /* Flush transmit FIFO */ +#define ETH_DMAOMR_TTC ((uint32_t)0x0001C000) /* Transmit threshold control */ + #define ETH_DMAOMR_TTC_64Bytes ((uint32_t)0x00000000) /* threshold level of the MTL Transmit FIFO is 64 Bytes */ + #define ETH_DMAOMR_TTC_128Bytes ((uint32_t)0x00004000) /* threshold level of the MTL Transmit FIFO is 128 Bytes */ + #define ETH_DMAOMR_TTC_192Bytes ((uint32_t)0x00008000) /* threshold level of the MTL Transmit FIFO is 192 Bytes */ + #define ETH_DMAOMR_TTC_256Bytes ((uint32_t)0x0000C000) /* threshold level of the MTL Transmit FIFO is 256 Bytes */ + #define ETH_DMAOMR_TTC_40Bytes ((uint32_t)0x00010000) /* threshold level of the MTL Transmit FIFO is 40 Bytes */ + #define ETH_DMAOMR_TTC_32Bytes ((uint32_t)0x00014000) /* threshold level of the MTL Transmit FIFO is 32 Bytes */ + #define ETH_DMAOMR_TTC_24Bytes ((uint32_t)0x00018000) /* threshold level of the MTL Transmit FIFO is 24 Bytes */ + #define ETH_DMAOMR_TTC_16Bytes ((uint32_t)0x0001C000) /* threshold level of the MTL Transmit FIFO is 16 Bytes */ +#define ETH_DMAOMR_ST ((uint32_t)0x00002000) /* Start/stop transmission command */ +#define ETH_DMAOMR_FEF ((uint32_t)0x00000080) /* Forward error frames */ +#define ETH_DMAOMR_FUGF ((uint32_t)0x00000040) /* Forward undersized good frames */ +#define ETH_DMAOMR_RTC ((uint32_t)0x00000018) /* receive threshold control */ + #define ETH_DMAOMR_RTC_64Bytes ((uint32_t)0x00000000) /* threshold level of the MTL Receive FIFO is 64 Bytes */ + #define ETH_DMAOMR_RTC_32Bytes ((uint32_t)0x00000008) /* threshold level of the MTL Receive FIFO is 32 Bytes */ + #define ETH_DMAOMR_RTC_96Bytes ((uint32_t)0x00000010) /* threshold level of the MTL Receive FIFO is 96 Bytes */ + #define ETH_DMAOMR_RTC_128Bytes ((uint32_t)0x00000018) /* threshold level of the MTL Receive FIFO is 128 Bytes */ +#define ETH_DMAOMR_OSF ((uint32_t)0x00000004) /* operate on second frame */ +#define ETH_DMAOMR_SR ((uint32_t)0x00000002) /* Start/stop receive */ + +/* Bit definition for Ethernet DMA Interrupt Enable Register */ +#define ETH_DMAIER_NISE ((uint32_t)0x00010000) /* Normal interrupt summary enable */ +#define ETH_DMAIER_AISE ((uint32_t)0x00008000) /* Abnormal interrupt summary enable */ +#define ETH_DMAIER_ERIE ((uint32_t)0x00004000) /* Early receive interrupt enable */ +#define ETH_DMAIER_FBEIE ((uint32_t)0x00002000) /* Fatal bus error interrupt enable */ +#define ETH_DMAIER_ETIE ((uint32_t)0x00000400) /* Early transmit interrupt enable */ +#define ETH_DMAIER_RWTIE ((uint32_t)0x00000200) /* Receive watchdog timeout interrupt enable */ +#define ETH_DMAIER_RPSIE ((uint32_t)0x00000100) /* Receive process stopped interrupt enable */ +#define ETH_DMAIER_RBUIE ((uint32_t)0x00000080) /* Receive buffer unavailable interrupt enable */ +#define ETH_DMAIER_RIE ((uint32_t)0x00000040) /* Receive interrupt enable */ +#define ETH_DMAIER_TUIE ((uint32_t)0x00000020) /* Transmit Underflow interrupt enable */ +#define ETH_DMAIER_ROIE ((uint32_t)0x00000010) /* Receive Overflow interrupt enable */ +#define ETH_DMAIER_TJTIE ((uint32_t)0x00000008) /* Transmit jabber timeout interrupt enable */ +#define ETH_DMAIER_TBUIE ((uint32_t)0x00000004) /* Transmit buffer unavailable interrupt enable */ +#define ETH_DMAIER_TPSIE ((uint32_t)0x00000002) /* Transmit process stopped interrupt enable */ +#define ETH_DMAIER_TIE ((uint32_t)0x00000001) /* Transmit interrupt enable */ + +/* Bit definition for Ethernet DMA Missed Frame and Buffer Overflow Counter Register */ +#define ETH_DMAMFBOCR_OFOC ((uint32_t)0x10000000) /* Overflow bit for FIFO overflow counter */ +#define ETH_DMAMFBOCR_MFA ((uint32_t)0x0FFE0000) /* Number of frames missed by the application */ +#define ETH_DMAMFBOCR_OMFC ((uint32_t)0x00010000) /* Overflow bit for missed frame counter */ +#define ETH_DMAMFBOCR_MFC ((uint32_t)0x0000FFFF) /* Number of frames missed by the controller */ + +/* Bit definition for Ethernet DMA Current Host Transmit Descriptor Register */ +#define ETH_DMACHTDR_HTDAP ((uint32_t)0xFFFFFFFF) /* Host transmit descriptor address pointer */ + +/* Bit definition for Ethernet DMA Current Host Receive Descriptor Register */ +#define ETH_DMACHRDR_HRDAP ((uint32_t)0xFFFFFFFF) /* Host receive descriptor address pointer */ + +/* Bit definition for Ethernet DMA Current Host Transmit Buffer Address Register */ +#define ETH_DMACHTBAR_HTBAP ((uint32_t)0xFFFFFFFF) /* Host transmit buffer address pointer */ + +/* Bit definition for Ethernet DMA Current Host Receive Buffer Address Register */ +#define ETH_DMACHRBAR_HRBAP ((uint32_t)0xFFFFFFFF) /* Host receive buffer address pointer */ +#endif /* STM32F10X_CL */ + +/** + * @} + */ + + /** + * @} + */ + +#ifdef USE_STDPERIPH_DRIVER + #include "stm32f10x_conf.h" +#endif + +/** @addtogroup Exported_macro + * @{ + */ + +#define SET_BIT(REG, BIT) ((REG) |= (BIT)) + +#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT)) + +#define READ_BIT(REG, BIT) ((REG) & (BIT)) + +#define CLEAR_REG(REG) ((REG) = (0x0)) + +#define WRITE_REG(REG, VAL) ((REG) = (VAL)) + +#define READ_REG(REG) ((REG)) + +#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK))) + +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_H */ + +/** + * @} + */ + + /** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_conf.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_conf.h new file mode 100644 index 0000000..cbb8819 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_conf.h @@ -0,0 +1,77 @@ +/** + ****************************************************************************** + * @file Project/STM32F10x_StdPeriph_Template/stm32f10x_conf.h + * @author MCD Application Team + * @version V3.5.0 + * @date 08-April-2011 + * @brief Library configuration file. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_CONF_H +#define __STM32F10x_CONF_H + +/* Includes ------------------------------------------------------------------*/ +/* Uncomment/Comment the line below to enable/disable peripheral header file inclusion */ +#include "stm32f10x_adc.h" +#include "stm32f10x_bkp.h" +#include "stm32f10x_can.h" +#include "stm32f10x_cec.h" +#include "stm32f10x_crc.h" +#include "stm32f10x_dac.h" +#include "stm32f10x_dbgmcu.h" +#include "stm32f10x_dma.h" +#include "stm32f10x_exti.h" +#include "stm32f10x_flash.h" +#include "stm32f10x_fsmc.h" +#include "stm32f10x_gpio.h" +#include "stm32f10x_i2c.h" +#include "stm32f10x_iwdg.h" +#include "stm32f10x_pwr.h" +#include "stm32f10x_rcc.h" +#include "stm32f10x_rtc.h" +#include "stm32f10x_sdio.h" +#include "stm32f10x_spi.h" +#include "stm32f10x_tim.h" +#include "stm32f10x_usart.h" +#include "stm32f10x_wwdg.h" +#include "misc.h" /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */ + +/* Exported types ------------------------------------------------------------*/ +/* Exported constants --------------------------------------------------------*/ +/* Uncomment the line below to expanse the "assert_param" macro in the + Standard Peripheral Library drivers code */ +/* #define USE_FULL_ASSERT 1 */ + +/* Exported macro ------------------------------------------------------------*/ +#ifdef USE_FULL_ASSERT + +/** + * @brief The assert_param macro is used for function's parameters check. + * @param expr: If expr is false, it calls assert_failed function which reports + * the name of the source file and the source line number of the call + * that failed. If expr is true, it returns no value. + * @retval None + */ + #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__)) +/* Exported functions ------------------------------------------------------- */ + void assert_failed(uint8_t* file, uint32_t line); +#else + #define assert_param(expr) ((void)0) +#endif /* USE_FULL_ASSERT */ + +#endif /* __STM32F10x_CONF_H */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_it.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_it.c new file mode 100644 index 0000000..18acee1 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_it.c @@ -0,0 +1,160 @@ +/** + ****************************************************************************** + * @file Project/STM32F10x_StdPeriph_Template/stm32f10x_it.c + * @author MCD Application Team + * @version V3.5.0 + * @date 08-April-2011 + * @brief Main Interrupt Service Routines. + * This file provides template for all exceptions handler and + * peripherals interrupt service routine. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_it.h" + +/** @addtogroup STM32F10x_StdPeriph_Template + * @{ + */ + +/* Private typedef -----------------------------------------------------------*/ +/* Private define ------------------------------------------------------------*/ +/* Private macro -------------------------------------------------------------*/ +/* Private variables ---------------------------------------------------------*/ +/* Private function prototypes -----------------------------------------------*/ +/* Private functions ---------------------------------------------------------*/ + +/******************************************************************************/ +/* Cortex-M3 Processor Exceptions Handlers */ +/******************************************************************************/ + +/** + * @brief This function handles NMI exception. + * @param None + * @retval None + */ +void NMI_Handler(void) +{ +} + +/** + * @brief This function handles Hard Fault exception. + * @param None + * @retval None + */ +void HardFault_Handler(void) +{ + /* Go to infinite loop when Hard Fault exception occurs */ + while (1) + { + } +} + +/** + * @brief This function handles Memory Manage exception. + * @param None + * @retval None + */ +void MemManage_Handler(void) +{ + /* Go to infinite loop when Memory Manage exception occurs */ + while (1) + { + } +} + +/** + * @brief This function handles Bus Fault exception. + * @param None + * @retval None + */ +void BusFault_Handler(void) +{ + /* Go to infinite loop when Bus Fault exception occurs */ + while (1) + { + } +} + +/** + * @brief This function handles Usage Fault exception. + * @param None + * @retval None + */ +void UsageFault_Handler(void) +{ + /* Go to infinite loop when Usage Fault exception occurs */ + while (1) + { + } +} + +/** + * @brief This function handles SVCall exception. + * @param None + * @retval None + */ +void SVC_Handler(void) +{ +} + +/** + * @brief This function handles Debug Monitor exception. + * @param None + * @retval None + */ +void DebugMon_Handler(void) +{ +} + +/** + * @brief This function handles PendSVC exception. + * @param None + * @retval None + */ +void PendSV_Handler(void) +{ +} + +/** + * @brief This function handles SysTick Handler. + * @param None + * @retval None + */ +void SysTick_Handler(void) +{ +} + +/******************************************************************************/ +/* STM32F10x Peripherals Interrupt Handlers */ +/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */ +/* available peripheral interrupt handler's name please refer to the startup */ +/* file (startup_stm32f10x_xx.s). */ +/******************************************************************************/ + +/** + * @brief This function handles PPP interrupt request. + * @param None + * @retval None + */ +/*void PPP_IRQHandler(void) +{ +}*/ + +/** + * @} + */ + + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_it.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_it.h new file mode 100644 index 0000000..8890262 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/stm32f10x_it.h @@ -0,0 +1,54 @@ +/** + ****************************************************************************** + * @file Project/STM32F10x_StdPeriph_Template/stm32f10x_it.h + * @author MCD Application Team + * @version V3.5.0 + * @date 08-April-2011 + * @brief This file contains the headers of the interrupt handlers. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_IT_H +#define __STM32F10x_IT_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/* Exported types ------------------------------------------------------------*/ +/* Exported constants --------------------------------------------------------*/ +/* Exported macro ------------------------------------------------------------*/ +/* Exported functions ------------------------------------------------------- */ + +void NMI_Handler(void); +void HardFault_Handler(void); +void MemManage_Handler(void); +void BusFault_Handler(void); +void UsageFault_Handler(void); +void SVC_Handler(void); +void DebugMon_Handler(void); +void PendSV_Handler(void); +void SysTick_Handler(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_IT_H */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/system_stm32f10x.c b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/system_stm32f10x.c new file mode 100644 index 0000000..71efc85 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/system_stm32f10x.c @@ -0,0 +1,1094 @@ +/** + ****************************************************************************** + * @file system_stm32f10x.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Source File. + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * factors, AHB/APBx prescalers and Flash settings). + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f10x_xx.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (8 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f10x_xx.s" file, to + * configure the system clock before to branch to main program. + * + * 3. If the system clock source selected by user fails to startup, the SystemInit() + * function will do nothing and HSI still used as system clock source. User can + * add some code to deal with this issue inside the SetSysClock() function. + * + * 4. The default value of HSE crystal is set to 8 MHz (or 25 MHz, depedning on + * the product used), refer to "HSE_VALUE" define in "stm32f10x.h" file. + * When HSE is used as system clock source, directly or through PLL, and you + * are using different crystal you have to adapt the HSE value to your own + * configuration. + * + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f10x_system + * @{ + */ + +/** @addtogroup STM32F10x_System_Private_Includes + * @{ + */ + +#include "stm32f10x.h" + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Defines + * @{ + */ + +/*!< Uncomment the line corresponding to the desired System clock (SYSCLK) + frequency (after reset the HSI is used as SYSCLK source) + + IMPORTANT NOTE: + ============== + 1. After each device reset the HSI is used as System clock source. + + 2. Please make sure that the selected System clock doesn't exceed your device's + maximum frequency. + + 3. If none of the define below is enabled, the HSI is used as System clock + source. + + 4. The System clock configuration functions provided within this file assume that: + - For Low, Medium and High density Value line devices an external 8MHz + crystal is used to drive the System clock. + - For Low, Medium and High density devices an external 8MHz crystal is + used to drive the System clock. + - For Connectivity line devices an external 25MHz crystal is used to drive + the System clock. + If you are using different crystal you have to adapt those functions accordingly. + */ + +#if defined (STM32F10X_LD_VL) || (defined STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) +/* #define SYSCLK_FREQ_HSE HSE_VALUE */ + #define SYSCLK_FREQ_24MHz 24000000 +#else +/* #define SYSCLK_FREQ_HSE HSE_VALUE */ +/* #define SYSCLK_FREQ_24MHz 24000000 */ +/* #define SYSCLK_FREQ_36MHz 36000000 */ +/* #define SYSCLK_FREQ_48MHz 48000000 */ +/* #define SYSCLK_FREQ_56MHz 56000000 */ +#define SYSCLK_FREQ_72MHz 72000000 +#endif + +/*!< Uncomment the following line if you need to use external SRAM mounted + on STM3210E-EVAL board (STM32 High density and XL-density devices) or on + STM32100E-EVAL board (STM32 High-density value line devices) as data memory */ +#if defined (STM32F10X_HD) || (defined STM32F10X_XL) || (defined STM32F10X_HD_VL) +/* #define DATA_IN_ExtSRAM */ +#endif + +/*!< Uncomment the following line if you need to relocate your vector Table in + Internal SRAM. */ +/* #define VECT_TAB_SRAM */ +#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ + + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Variables + * @{ + */ + +/******************************************************************************* +* Clock Definitions +*******************************************************************************/ +#ifdef SYSCLK_FREQ_HSE + uint32_t SystemCoreClock = SYSCLK_FREQ_HSE; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_24MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_24MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_36MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_36MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_48MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_48MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_56MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_56MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_72MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_72MHz; /*!< System Clock Frequency (Core Clock) */ +#else /*!< HSI Selected as System Clock source */ + uint32_t SystemCoreClock = HSI_VALUE; /*!< System Clock Frequency (Core Clock) */ +#endif + +__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_FunctionPrototypes + * @{ + */ + +static void SetSysClock(void); + +#ifdef SYSCLK_FREQ_HSE + static void SetSysClockToHSE(void); +#elif defined SYSCLK_FREQ_24MHz + static void SetSysClockTo24(void); +#elif defined SYSCLK_FREQ_36MHz + static void SetSysClockTo36(void); +#elif defined SYSCLK_FREQ_48MHz + static void SetSysClockTo48(void); +#elif defined SYSCLK_FREQ_56MHz + static void SetSysClockTo56(void); +#elif defined SYSCLK_FREQ_72MHz + static void SetSysClockTo72(void); +#endif + +#ifdef DATA_IN_ExtSRAM + static void SystemInit_ExtMemCtl(void); +#endif /* DATA_IN_ExtSRAM */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemCoreClock variable. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +void SystemInit (void) +{ + /* Reset the RCC clock configuration to the default reset state(for debug purpose) */ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */ +#ifndef STM32F10X_CL + RCC->CFGR &= (uint32_t)0xF8FF0000; +#else + RCC->CFGR &= (uint32_t)0xF0FF0000; +#endif /* STM32F10X_CL */ + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */ + RCC->CFGR &= (uint32_t)0xFF80FFFF; + +#ifdef STM32F10X_CL + /* Reset PLL2ON and PLL3ON bits */ + RCC->CR &= (uint32_t)0xEBFFFFFF; + + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x00FF0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#else + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_HD) || (defined STM32F10X_XL) || (defined STM32F10X_HD_VL) + #ifdef DATA_IN_ExtSRAM + SystemInit_ExtMemCtl(); + #endif /* DATA_IN_ExtSRAM */ +#endif + + /* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */ + /* Configure the Flash Latency cycles and enable prefetch buffer */ + SetSysClock(); + +#ifdef VECT_TAB_SRAM + SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */ +#else + SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */ +#endif +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f1xx.h file (default value + * 8 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f1xx.h file (default value + * 8 MHz or 25 MHz, depedning on the product used), user has to ensure + * that HSE_VALUE is same as the real frequency of the crystal used. + * Otherwise, this function may have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * @param None + * @retval None + */ +void SystemCoreClockUpdate (void) +{ + uint32_t tmp = 0, pllmull = 0, pllsource = 0; + +#ifdef STM32F10X_CL + uint32_t prediv1source = 0, prediv1factor = 0, prediv2factor = 0, pll2mull = 0; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) + uint32_t prediv1factor = 0; +#endif /* STM32F10X_LD_VL or STM32F10X_MD_VL or STM32F10X_HD_VL */ + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock */ + + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & RCC_CFGR_PLLMULL; + pllsource = RCC->CFGR & RCC_CFGR_PLLSRC; + +#ifndef STM32F10X_CL + pllmull = ( pllmull >> 18) + 2; + + if (pllsource == 0x00) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1) * pllmull; + } + else + { + #if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + #else + /* HSE selected as PLL clock entry */ + if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET) + {/* HSE oscillator clock divided by 2 */ + SystemCoreClock = (HSE_VALUE >> 1) * pllmull; + } + else + { + SystemCoreClock = HSE_VALUE * pllmull; + } + #endif + } +#else + pllmull = pllmull >> 18; + + if (pllmull != 0x0D) + { + pllmull += 2; + } + else + { /* PLL multiplication factor = PLL input clock * 6.5 */ + pllmull = 13 / 2; + } + + if (pllsource == 0x00) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1) * pllmull; + } + else + {/* PREDIV1 selected as PLL clock entry */ + + /* Get PREDIV1 clock source and division factor */ + prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC; + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1; + + if (prediv1source == 0) + { + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + } + else + {/* PLL2 clock selected as PREDIV1 clock entry */ + + /* Get PREDIV2 division factor and PLL2 multiplication factor */ + prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4) + 1; + pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8 ) + 2; + SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull; + } + } +#endif /* STM32F10X_CL */ + break; + + default: + SystemCoreClock = HSI_VALUE; + break; + } + + /* Compute HCLK clock frequency ----------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK clock frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @brief Configures the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers. + * @param None + * @retval None + */ +static void SetSysClock(void) +{ +#ifdef SYSCLK_FREQ_HSE + SetSysClockToHSE(); +#elif defined SYSCLK_FREQ_24MHz + SetSysClockTo24(); +#elif defined SYSCLK_FREQ_36MHz + SetSysClockTo36(); +#elif defined SYSCLK_FREQ_48MHz + SetSysClockTo48(); +#elif defined SYSCLK_FREQ_56MHz + SetSysClockTo56(); +#elif defined SYSCLK_FREQ_72MHz + SetSysClockTo72(); +#endif + + /* If none of the define above is enabled, the HSI is used as System clock + source (default after reset) */ +} + +/** + * @brief Setup the external memory controller. Called in startup_stm32f10x.s + * before jump to __main + * @param None + * @retval None + */ +#ifdef DATA_IN_ExtSRAM +/** + * @brief Setup the external memory controller. + * Called in startup_stm32f10x_xx.s/.c before jump to main. + * This function configures the external SRAM mounted on STM3210E-EVAL + * board (STM32 High density devices). This SRAM will be used as program + * data memory (including heap and stack). + * @param None + * @retval None + */ +void SystemInit_ExtMemCtl(void) +{ +/*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is + required, then adjust the Register Addresses */ + + /* Enable FSMC clock */ + RCC->AHBENR = 0x00000114; + + /* Enable GPIOD, GPIOE, GPIOF and GPIOG clocks */ + RCC->APB2ENR = 0x000001E0; + +/* --------------- SRAM Data lines, NOE and NWE configuration ---------------*/ +/*---------------- SRAM Address lines configuration -------------------------*/ +/*---------------- NOE and NWE configuration --------------------------------*/ +/*---------------- NE3 configuration ----------------------------------------*/ +/*---------------- NBL0, NBL1 configuration ---------------------------------*/ + + GPIOD->CRL = 0x44BB44BB; + GPIOD->CRH = 0xBBBBBBBB; + + GPIOE->CRL = 0xB44444BB; + GPIOE->CRH = 0xBBBBBBBB; + + GPIOF->CRL = 0x44BBBBBB; + GPIOF->CRH = 0xBBBB4444; + + GPIOG->CRL = 0x44BBBBBB; + GPIOG->CRH = 0x44444B44; + +/*---------------- FSMC Configuration ---------------------------------------*/ +/*---------------- Enable FSMC Bank1_SRAM Bank ------------------------------*/ + + FSMC_Bank1->BTCR[4] = 0x00001011; + FSMC_Bank1->BTCR[5] = 0x00000200; +} +#endif /* DATA_IN_ExtSRAM */ + +#ifdef SYSCLK_FREQ_HSE +/** + * @brief Selects HSE as System clock source and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockToHSE(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + +#if !defined STM32F10X_LD_VL && !defined STM32F10X_MD_VL && !defined STM32F10X_HD_VL + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 0 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + +#ifndef STM32F10X_CL + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_0; +#else + if (HSE_VALUE <= 24000000) + { + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_0; + } + else + { + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_1; + } +#endif /* STM32F10X_CL */ +#endif + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV1; + + /* Select HSE as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_HSE; + + /* Wait till HSE is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x04) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#elif defined SYSCLK_FREQ_24MHz +/** + * @brief Sets System clock frequency to 24MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo24(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { +#if !defined STM32F10X_LD_VL && !defined STM32F10X_MD_VL && !defined STM32F10X_HD_VL + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 0 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_0; +#endif + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV1; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL configuration: PLLCLK = PREDIV1 * 6 = 24 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL6); + + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 10 = 4 MHz */ + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV10); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + /* PLL configuration: = (HSE / 2) * 6 = 24 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1_Div2 | RCC_CFGR_PLLMULL6); +#else + /* PLL configuration: = (HSE / 2) * 6 = 24 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLXTPRE_HSE_Div2 | RCC_CFGR_PLLMULL6); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#elif defined SYSCLK_FREQ_36MHz +/** + * @brief Sets System clock frequency to 36MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo36(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 1 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_1; + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV1; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + + /* PLL configuration: PLLCLK = PREDIV1 * 9 = 36 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL9); + + /*!< PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 10 = 4 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV10); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + +#else + /* PLL configuration: PLLCLK = (HSE / 2) * 9 = 36 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLXTPRE_HSE_Div2 | RCC_CFGR_PLLMULL9); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#elif defined SYSCLK_FREQ_48MHz +/** + * @brief Sets System clock frequency to 48MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo48(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 1 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_1; + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 5 = 8 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV5); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + + + /* PLL configuration: PLLCLK = PREDIV1 * 6 = 48 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL6); +#else + /* PLL configuration: PLLCLK = HSE * 6 = 48 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLMULL6); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} + +#elif defined SYSCLK_FREQ_56MHz +/** + * @brief Sets System clock frequency to 56MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo56(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 2 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_2; + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 5 = 8 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV5); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + + + /* PLL configuration: PLLCLK = PREDIV1 * 7 = 56 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL7); +#else + /* PLL configuration: PLLCLK = HSE * 7 = 56 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLMULL7); + +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} + +#elif defined SYSCLK_FREQ_72MHz +/** + * @brief Sets System clock frequency to 72MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo72(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 2 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_2; + + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 5 = 8 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV5); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + + + /* PLL configuration: PLLCLK = PREDIV1 * 9 = 72 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL9); +#else + /* PLL configuration: PLLCLK = HSE * 9 = 72 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | + RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLMULL9); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#endif + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/system_stm32f10x.h b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/system_stm32f10x.h new file mode 100644 index 0000000..54bc1ab --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/USER/system_stm32f10x.h @@ -0,0 +1,98 @@ +/** + ****************************************************************************** + * @file system_stm32f10x.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Header File. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f10x_system + * @{ + */ + +/** + * @brief Define to prevent recursive inclusion + */ +#ifndef __SYSTEM_STM32F10X_H +#define __SYSTEM_STM32F10X_H + +#ifdef __cplusplus + extern "C" { +#endif + +/** @addtogroup STM32F10x_System_Includes + * @{ + */ + +/** + * @} + */ + + +/** @addtogroup STM32F10x_System_Exported_types + * @{ + */ + +extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Exported_Constants + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Exported_Functions + * @{ + */ + +extern void SystemInit(void); +extern void SystemCoreClockUpdate(void); +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif /*__SYSTEM_STM32F10X_H */ + +/** + * @} + */ + +/** + * @} + */ +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/WHEELTEC B570 平衡小车资源分配说明 - 精简版.pdf b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/WHEELTEC B570 平衡小车资源分配说明 - 精简版.pdf new file mode 100644 index 0000000000000000000000000000000000000000..4a0bf95f887d4c7319d0f7fcc251aa815f0a00f8 GIT binary patch literal 111339 zcma&MXH-*L*EX!8VgnRZM7oNID4}FEG*eQfCo=DYJ)UR+dMOjKGzR7^%pR7_l0R8CM#RPaxLKX!kD9UdLiKlc2X z-Z8#+_V$YO6-_YA2jXG#cW5n$&HrDd=N=FnFKh7MdFesCJgmWVF9%x(u+9ILfS#9? zBiP#WucTi(cskRwrQiIehozev-4UQ_=?n$`TLszws)D*6pY5MjKENX_K7cmF!^P5> z{y-1;#OVHi74eC$r<$JUp9%o1E&0U$4I}+;7!`=C=U)|+`MdmDU>gU^M-X2=V^R8q ztfZKTtQ4P=oRo;TlqnL4-o#%@=r$pAW7B1*^^#cfT}b7X&!^EAvW}9dIom2 z^R(xqw^oksbPnoC@1+aVIp0*YiSY+(nG1n{Mdeg%2$Fn*bV8Fq`PtQTaC?OT-sck` zA@|qzG7!yWX{lrKwW*K$dlM{gOYm^xtyW|2DUiyBg1?p!hR>^VF)6 zS7iuhl&CxY^=rEMkqPb4^&sWWF*UB=_U>ms9tQ86p}F6BC!%xQ;T&Vo(}!q zJoC?wsN@(VWv&%sd2pcPH&eIMAWee#4Xx}jDjkj1qXD=4$nskeosV-WIj>x}j<<`- 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zQHqa?d-GVqy!Ry=f9jiRvkgc!&ie{s@CS|MPs9PWr(phQ(;!D^OQ1{a9$KzK_84@u zNC@5)(3=3A9Vh-3`J5Gp049+aBX@&($>H^sYw>H-3tDMFn55|GmgKIXHkEWdEZ4zs34t z_Fs$4;s0W+tN>1K*8h!tkXZr1|BZd{aRL8RmW%V_GXGQG$C>?~d>>TWXf9hlBWMltN zjDv^!pZYj?*#61)aX-NSugf2dQ22-dG8P#J3rDgK zcmLN}oJ^M=$ZBlH&S7lMWzJ*HZenI`!UbUCX6NGMVl`zovtVZxxy@KjfW{m= x?CfUj+-xS?#-=7_Kpu8BHe+s};J>29)y>$&?Z4vUUysMlfkH(kp(Kg&e*pFFc60y$ literal 0 HcmV?d00001 diff --git a/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/keilkill.bat b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/keilkill.bat new file mode 100644 index 0000000..accc110 --- /dev/null +++ b/4.WHEELTEC B570 平衡小车源码（库函数精简入门版）/keilkill.bat @@ -0,0 +1,27 @@ +del *.bak /s +del *.ddk /s +del *.edk /s +del *.lst /s +del *.lnp /s +del *.mpf /s +del *.mpj /s +del *.obj /s +del *.omf /s +::del *.opt /s ::ɾJLINK +del *.plg /s +del *.rpt /s +del *.tmp /s +del *.__i /s +del *.crf /s +del *.o /s +del *.d /s +del *.axf /s +del *.tra /s +del *.dep /s +del JLinkLog.txt /s + +del *.iex /s +del *.htm /s +del *.sct /s +del *.map /s +exit diff --git a/GeBalanceBot_Firmware v1.0/.vscode/settings.json b/GeBalanceBot_Firmware v1.0/.vscode/settings.json new file mode 100644 index 0000000..389df49 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/.vscode/settings.json @@ -0,0 +1,6 @@ +{ + "files.associations": { + "show.h": "c", + "ioi2c.h": "c" + } +} \ No newline at end of file diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_GPIO.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_GPIO.c new file mode 100644 index 0000000..d56e1c9 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_GPIO.c @@ -0,0 +1,42 @@ +/* +******************************************************************************************************** +ļbsp_GPIO.c + ܣҪͨIO + עðеIOã + https://shop60670850.taobao.com + ߣlilianhe + : 2017-2-6 +********************************************************************************************************* +*/ +#include "bsp_GPIO.h" + +/* +******************************************************************************************************** +ƣvoid LED_GPIO_Config(void) +ܣʼLED1GPIO +ӲӣLED1----PC13 + ע + : 2017-2-6 +********************************************************************************************************* +*/ +void LED_GPIO_Config(void) +{ + /*һGPIO_InitTypeDef͵Ľṹ*/ + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB2PeriphClockCmd( LED1_CLK, ENABLE); /*GPIOʱ*/ + GPIO_InitStructure.GPIO_Pin = LED1_Pin; /*ѡҪƵGPIO*/ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; /*ģʽΪͨ*/ + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; /*Ϊ50MHz */ + GPIO_Init(LED1_PORT, &GPIO_InitStructure);/*ÿ⺯ʼGPIOC13*/ +} + +//LED˸ +void LED_Flash(int time) +{ + static int temp; + if(++temp==time) + { + GPIO_WriteBit(GPIOC, GPIO_Pin_13, (BitAction) (1 - GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_13)));//LED ɫɫ״̬ת + temp=0; + } +} diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_GPIO.h b/GeBalanceBot_Firmware v1.0/DRV/bsp_GPIO.h new file mode 100644 index 0000000..60278ec --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_GPIO.h @@ -0,0 +1,49 @@ +#ifndef __BSP_GPIO_H +#define __BSP_GPIO_H + +#include "stm32f10x.h" + +/** the macro definition to trigger the led on or off + * 1 - off + *0 - on + */ +#define ON 0 +#define OFF 1 +//LED1 +#define LED1_CLK RCC_APB2Periph_GPIOC +#define LED1_PORT GPIOC +#define LED1_Pin GPIO_Pin_13 + + +/* κ꣬һʹ */ +#define LED1(a) if (a) \ + GPIO_SetBits(LED1_PORT,LED1_Pin);\ + else \ + GPIO_ResetBits(LED1_PORT,LED1_Pin) + + + + +///* ֱӲĴķIO */ +//#define digitalHi(p,i) {p->BSRR=i;} //Ϊߵƽ +//#define digitalLo(p,i) {p->BRR=i;} //͵ƽ +//#define digitalToggle(p,i) {p->ODR ^=i;} //ת״̬ +// +// +///* IOĺ */ +//#define LED1_TOGGLE digitalToggle(GPIOB,GPIO_Pin_0) +//#define LED1_OFF digitalHi(GPIOB,GPIO_Pin_0) +//#define LED1_ON digitalLo(GPIOB,GPIO_Pin_0) +// +//#define LED2_TOGGLE digitalToggle(GPIOF,GPIO_Pin_7) +//#define LED2_OFF digitalHi(GPIOF,GPIO_Pin_7) +//#define LED2_ON digitalLo(GPIOF,GPIO_Pin_7) +// +//#define LED3_TOGGLE digitalToggle(GPIOF,GPIO_Pin_8) +//#define LED3_OFF digitalHi(GPIOF,GPIO_Pin_8) +//#define LED3_ON digitalLo(GPIOF,GPIO_Pin_8) + +void LED_GPIO_Config(void); +void LED_Flash(int timer); + +#endif /* __LED_H */ diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_NVIC.C b/GeBalanceBot_Firmware v1.0/DRV/bsp_NVIC.C new file mode 100644 index 0000000..0facf9a --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_NVIC.C @@ -0,0 +1,14 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : bsp_NVIC.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.13 zhanli: Create +* Comments : ж +********************************************************************************/ +#include "bsp_nvic.h" + + +void NVIC_Config(void) +{ +} + diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_NVIC.h b/GeBalanceBot_Firmware v1.0/DRV/bsp_NVIC.h new file mode 100644 index 0000000..e6bf9be --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_NVIC.h @@ -0,0 +1,11 @@ +#ifndef BSP_NVIC_H +#define BSP_NVIC_H + +#include "stm32f10x.h" +void NVIC_Config(void); +void NVIC_uart1_Config(void); +void NVIC_TIM1_Config(void); + + + +#endif diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.c new file mode 100644 index 0000000..5c27701 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.c @@ -0,0 +1,247 @@ +#include "bsp_iic.h" + +/* +********************************************************************************************************* +* : i2c_Delay +* ˵: I2Cλӳ٣400KHz +* Σ +* ֵ: +********************************************************************************************************* +*/ +void i2c_Delay(void) +{ + uint8_t i; + + /* + ʱͨAX-Pro߼DzԵõġ + CPUƵ72MHzʱڲFlash, MDK̲Ż + ѭΪ10ʱSCLƵ = 205KHz + ѭΪ7ʱSCLƵ = 347KHz SCLߵƽʱ1.5usSCL͵ƽʱ2.87us + ѭΪ5ʱSCLƵ = 421KHz SCLߵƽʱ1.25usSCL͵ƽʱ2.375us + + IAṞЧʸߣΪ7 + */ + for (i = 0; i < 10; i++); +} + +/* +********************************************************************************************************* +* : i2c_Start +* ˵: CPUI2Cź +* Σ +* ֵ: +********************************************************************************************************* +*/ +void IIC_Start(void) +{ + /* SCLߵƽʱSDAһرʾI2Cź */ + I2C_SDA_1(); + I2C_SCL_1(); + i2c_Delay(); + I2C_SDA_0(); + i2c_Delay(); + I2C_SCL_0(); + i2c_Delay(); +} + +/* +********************************************************************************************************* +* : i2c_Start +* ˵: CPUI2Cֹͣź +* Σ +* ֵ: +********************************************************************************************************* +*/ +void IIC_Stop(void) +{ + /* SCLߵƽʱSDAһرʾI2Cֹͣź */ + I2C_SDA_0(); + I2C_SCL_1(); + i2c_Delay(); + I2C_SDA_1(); +} + +/* +********************************************************************************************************* +* : i2c_SendByte +* ˵: CPUI2C豸8bit +* Σ_ucByte ȴ͵ֽ +* ֵ: +********************************************************************************************************* +*/ +void IIC_Send_Byte(uint8_t _ucByte) +{ + uint8_t i; + + /* ȷֽڵĸλbit7 */ + for (i = 0; i < 8; i++) + { + if (_ucByte & 0x80) + { + I2C_SDA_1(); + } + else + { + I2C_SDA_0(); + } + i2c_Delay(); + I2C_SCL_1(); + i2c_Delay(); + I2C_SCL_0(); + if (i == 7) + { + I2C_SDA_1(); // ͷ + } + _ucByte <<= 1; /* һbit */ + i2c_Delay(); + } +} + +/* +********************************************************************************************************* +* : i2c_ReadByte +* ˵: CPUI2C豸ȡ8bit +* Σ +* ֵ: +********************************************************************************************************* +*/ +uint8_t IIC_Read_Byte(u8 ack) +{ + uint8_t i; + uint8_t value; + + /* 1bitΪݵbit7 */ + value = 0; + for (i = 0; i < 8; i++) + { + value <<= 1; + I2C_SCL_1(); + i2c_Delay(); + if (I2C_SDA_READ()) + { + value++; + } + I2C_SCL_0(); + i2c_Delay(); + } + if (!ack) + IIC_NAck();//??nACK + else + IIC_Ack(); //??ACK + return value; +} + +/* +********************************************************************************************************* +* : i2c_WaitAck +* ˵: CPUһʱӣȡACKӦź +* Σ +* ֵ: 0ʾȷӦ1ʾӦ +********************************************************************************************************* +*/ +uint8_t IIC_Wait_Ack(void) +{ + uint8_t re; + + I2C_SDA_1(); /* CPUͷSDA */ + i2c_Delay(); + I2C_SCL_1(); /* CPUSCL = 1, ʱ᷵ACKӦ */ + i2c_Delay(); + if (I2C_SDA_READ()) /* CPUȡSDA״̬ */ + { + re = 1; + } + else + { + re = 0; + } + I2C_SCL_0(); + i2c_Delay(); + return re; +} + +/* +********************************************************************************************************* +* : i2c_Ack +* ˵: CPUһACKź +* Σ +* ֵ: +********************************************************************************************************* +*/ +void IIC_Ack(void) +{ + I2C_SDA_0(); /* CPUSDA = 0 */ + i2c_Delay(); + I2C_SCL_1(); /* CPU1ʱ */ + i2c_Delay(); + I2C_SCL_0(); + i2c_Delay(); + I2C_SDA_1(); /* CPUͷSDA */ +} + +/* +********************************************************************************************************* +* : i2c_NAck +* ˵: CPU1NACKź +* Σ +* ֵ: +********************************************************************************************************* +*/ +void IIC_NAck(void) +{ + I2C_SDA_1(); /* CPUSDA = 1 */ + i2c_Delay(); + I2C_SCL_1(); /* CPU1ʱ */ + i2c_Delay(); + I2C_SCL_0(); + i2c_Delay(); +} + +/* +********************************************************************************************************* +* : i2c_CfgGpio +* ˵: I2CߵGPIOģIOķʽʵ +* Σ +* ֵ: +********************************************************************************************************* +*/ +void IIC_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + + RCC_APB2PeriphClockCmd(RCC_I2C_PORT, ENABLE); /* GPIOʱ */ + + GPIO_InitStructure.GPIO_Pin = I2C_SCL_PIN | I2C_SDA_PIN; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; /* © */ + GPIO_Init(GPIO_PORT_I2C, &GPIO_InitStructure); + + /* һֹͣź, λI2Cϵ豸ģʽ */ + IIC_Stop(); +} + +/* +********************************************************************************************************* +* : i2c_CheckDevice +* ˵: I2C豸CPU豸ַȻȡ豸Ӧжϸ豸Ƿ +* Σ_Address豸I2Cߵַ +* ֵ: ֵ 0 ʾȷ 1ʾδ̽⵽ +********************************************************************************************************* +*/ +uint8_t i2c_CheckDevice(uint8_t _Address) +{ + uint8_t ucAck; + + IIC_Init(); /* GPIO */ + + + IIC_Start(); /* ź */ + + /* 豸ַ+дbit0 = w 1 = r) bit7 ȴ */ + IIC_Send_Byte(_Address | I2C_WR); + ucAck = IIC_Wait_Ack(); /* 豸ACKӦ */ + + IIC_Stop(); /* ֹͣź */ + + return ucAck; +} diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.h b/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.h new file mode 100644 index 0000000..2212be2 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_iic.h @@ -0,0 +1,62 @@ +#ifndef __BSP_IIC_H +#define __BSP_IIC_H +#include "stm32f10x.h" + +/* I2CӵGPIO˿, ûֻҪ޸4д뼴ıSCLSDA */ +#define GPIO_PORT_I2C GPIOB /* GPIO˿ */ +#define RCC_I2C_PORT RCC_APB2Periph_GPIOB /* GPIO˿ʱ */ +#define I2C_SCL_PIN GPIO_Pin_10 /* ӵSCLʱߵGPIO */ +#define I2C_SDA_PIN GPIO_Pin_11 /* ӵSDAߵGPIO */ + +/* дSCLSDAĺ꣬ӴĿֲԺͿĶ */ +#if 1 /* 룺 1 ѡGPIOĿ⺯ʵIOд */ + #define I2C_SCL_1() GPIO_SetBits(GPIO_PORT_I2C, I2C_SCL_PIN) /* SCL = 1 */ + #define I2C_SCL_0() GPIO_ResetBits(GPIO_PORT_I2C, I2C_SCL_PIN) /* SCL = 0 */ + + #define I2C_SDA_1() GPIO_SetBits(GPIO_PORT_I2C, I2C_SDA_PIN) /* SDA = 1 */ + #define I2C_SDA_0() GPIO_ResetBits(GPIO_PORT_I2C, I2C_SDA_PIN) /* SDA = 0 */ + + #define I2C_SDA_READ() GPIO_ReadInputDataBit(GPIO_PORT_I2C, I2C_SDA_PIN) /* SDA״̬ */ +#else /* ֧ѡֱӼĴʵIOд */ + /*ע⣺дIAR߼ŻʱᱻŻ */ + #define I2C_SCL_1() GPIO_PORT_I2C->BSRR = I2C_SCL_PIN /* SCL = 1 */ + #define I2C_SCL_0() GPIO_PORT_I2C->BRR = I2C_SCL_PIN /* SCL = 0 */ + + #define I2C_SDA_1() GPIO_PORT_I2C->BSRR = I2C_SDA_PIN /* SDA = 1 */ + #define I2C_SDA_0() GPIO_PORT_I2C->BRR = I2C_SDA_PIN /* SDA = 0 */ + + #define I2C_SDA_READ() ((GPIO_PORT_I2C->IDR & I2C_SDA_PIN) != 0) /* SDA״̬ */ +#endif + + +#include + +#define I2C_WR 0 /* дbit */ +#define I2C_RD 1 /* bit */ + +void i2c_Delay(void); +void IIC_Init(void); +void IIC_Start(void); +void IIC_Stop(void); +void IIC_Send_Byte(uint8_t _ucByte); +uint8_t IIC_Read_Byte(u8 ack); +uint8_t IIC_Wait_Ack(void); +void IIC_Ack(void); +void IIC_NAck(void); +uint8_t i2c_CheckDevice(uint8_t _Address); + + +#endif + + + + + + + + + + + + + diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.c new file mode 100644 index 0000000..59aa29e --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.c @@ -0,0 +1,53 @@ +/******************** (C) COPYRIGHT 2023 GeekRebot ***************************** +* File Name : bsp_sys.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2023.04.06 zhanli: Create +* Comments : ��ʼ���������� +********************************************************************************/ +#include "bsp_sys.h" + +/**---------------------------------------------------------------------- +* Function : System_Init +* Description : GeekRebot +* Author : zhanli&719901725@qq.com +* Date : 2023/04/22 zhanli +*---------------------------------------------------------------------**/ +void System_Init(void) +{ + Delay_Init(72); + NVIC_Config(); + LED_GPIO_Config(); + USART1_Init(115200); + IIC_Init(); + Motor_Init(); + MOTO_PWM_Init(3599,0); + + OLED_Init(); + OLED_Clear(); + OLED_ShowCHinese(0,0,2); + OLED_ShowCHinese(16,0,3); + OLED_ShowString(88,0,(u8*)"m/min",16); + OLED_ShowString(0, 2,(u8*)"Left : RPM",12); + OLED_ShowString(0, 3,(u8*)"Right: RPM",12); + OLED_ShowString(0, 4,(u8*)"P: I: D: ",16); + OLED_ShowString(0, 6,(u8*)"Set_C: RPM",12); + OLED_ShowString(0, 7,(u8*)"Set_P: m/min",12); + + Encoder_Init_TIM2(); + TIM2 -> CNT=30000; + Encoder_Init_TIM4(); + TIM4 -> CNT=30000; + + Motor_PWMOut(100, 100); + + Timer6_Init(); + Delay_ms(100); + + int Moto_Left=500; + int Moto_Right=500; + TIM3->CCR3 = Moto_Left; + TIM3->CCR4 = Moto_Right; +} + + diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.h b/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.h new file mode 100644 index 0000000..9198658 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_sys.h @@ -0,0 +1,29 @@ +#ifndef _BSP_SYS_H +#define _BSP_SYS_H + +// ̼STM32F103RCT6 64Pin STM32, ûSTM32F10X_HDܻ +// ľ +#ifndef STM32F10X_HD + #define STM32F10X_HD +#endif + +//DRVͷļ +#include "stm32f10x.h" +#include "delay.h" +#include "bsp_GPIO.h" +#include "bsp_nvic.h" +#include "bsp_usart.h" +#include "bsp_timer.h" +#include "bsp_iic.h" + +//HARDWAREͷļ +#include "oled.h" +#include "motor.h" +#include "pid.h" + + +void System_Init(void); + +#endif + + diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c new file mode 100644 index 0000000..aa0f005 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.c @@ -0,0 +1,236 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : bsp_timer.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.09 +* Comments : oled的iic方式驱动 + SCL -> PA10，SDA -> PA11 + timer3 电机控制pwm,用到了timer3的ch3和ch4，即 PB0-PB1连接电机驱动 + 的使能端PWMA（左电机）和 PWMB（右电机） + timer1 用于系统100ms定时功能 + timer2 用于左电机编码器计数 + timer4 用于右电机编码器计数 +********************************************************************************/ +#include "bsp_timer.h" + +//***************************定时器3初始化 给电机提供PWM***************************// +// TIM_Period / Auto Reload Register(ARR) = 1000 TIM_Prescaler--71 +//arr：自动重装寄存器，psc分频系数 +//PWM的频率 = 72MHz/ARR/PCS 例如 20K = 72M/3600/1 = 20K + + +//=====初始化PWM 20KHZ 高频可以防止电机低频时的尖叫声 +// ARR= 3599 时频率为20Khz +//PB0控制PWMA--right moto，PB1控制PWMB--left moto。STBY直接拉高 +//arr：自动重装寄存器，psc分频系数 +//PWM的频率 = 72MHz/ARR/PCS 例如 20K = 72M/3600/1 = 20K + +void MOTO_PWM_Init(u32 arr, int psc) +{ + TIM_OCInitTypeDef TIM_OCInitSructure; + GPIO_InitTypeDef GPIO_InitStructure; + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); + TIM_TimeBaseStructure.TIM_Period = arr-1; //自动重新装载寄存器周期的值澹ㄥ计数值澹) + TIM_TimeBaseStructure.TIM_Prescaler = psc; //时钟分频系数 + TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //对外部时钟进行采样的时钟分频 + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //向上计数 + TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure); //参数初始化 + + TIM_ClearFlag(TIM3, TIM_FLAG_Update); + TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE); + //配置pwm输出端口 + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0| GPIO_Pin_1; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; // 复用推挽输出 + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOB, &GPIO_InitStructure); + + //设置通道3 pwm参数 + TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1; + TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable; + TIM_OCInitSructure.TIM_Pulse = 0;//占空比= 50/100 + TIM_OCInitSructure.TIM_OCPolarity = TIM_OCPolarity_High;//当定时器计数值小于CCR1_Val时为高电平 + TIM_OC3Init(TIM3, &TIM_OCInitSructure);//参数初始化 + TIM_OC3PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm + + //设置通道4 pwm参数 + TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1; + TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable; + TIM_OCInitSructure.TIM_Pulse = 0;//占空比= 50/100 + TIM_OCInitSructure.TIM_OCPolarity = TIM_OCPolarity_High;//当定时器计数值小于CCR1_Val时为高电平 + TIM_OC4Init(TIM3, &TIM_OCInitSructure);//参数初始化 + TIM_OC4PolarityConfig(TIM3, TIM_OCPreload_Enable);//开始输出pwm + + TIM_ARRPreloadConfig(TIM3, ENABLE);//启动自动重装 + TIM_Cmd(TIM3, ENABLE);//启动定时 +} + + +//占空比 = TIMx_CCRx / TIMx_ARR +//moto_r：右轮电机，moto_l：左轮电机. 数值 0-100 +void Motor_PWMOut(u16 moto_l, u16 moto_r) +{ + TIM_OCInitTypeDef TIM_OCInitSructure; + + TIM_OCInitSructure.TIM_OCMode = TIM_OCMode_PWM1; + TIM_OCInitSructure.TIM_OutputState= TIM_OutputState_Enable; + //CH3 右电机 + TIM_OCInitSructure.TIM_Pulse = moto_l; // 占空比= ccr/100 + TIM_OC3Init(TIM3, &TIM_OCInitSructure); // 参数初始化 + TIM_OC3PolarityConfig(TIM3, TIM_OCPreload_Enable); // 开始输出pwm + + //CH4 左电机 + TIM_OCInitSructure.TIM_Pulse = moto_r; // 占空比= ccr /100 + TIM_OC4Init(TIM3, &TIM_OCInitSructure); // 参数初始化 + TIM_OC4PolarityConfig(TIM3, TIM_OCPreload_Enable); // 开始输出pwm + + TIM_ARRPreloadConfig(TIM3, ENABLE); // 启动自动重装 +} + +//***************************定时器1初始化 系统每10ms处理一次中断，更新数据，更新pwm等***************************// +void Timer6_Init(void) +{ + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + + NVIC_InitTypeDef NVIC_InitStructure; + + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); + TIM_TimeBaseStructure.TIM_Period = 9999;//自动重新装载寄存器周期的值澹ㄥ计数值澹) + TIM_TimeBaseStructure.TIM_Prescaler = 719;//时钟分频系数 + TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//对外部时钟进行采样的时钟分频 + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;//向上计数 + TIM_TimeBaseStructure.TIM_RepetitionCounter=0; //高级定时器1是用定时器功能配置这个才可以是正常的计数频率一开始的72mhz 值得注意的地方 + TIM_TimeBaseInit(TIM6,&TIM_TimeBaseStructure);//参数初始化 + + TIM_ClearFlag(TIM6, TIM_FLAG_Update); + TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE); + + NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); + NVIC_InitStructure.NVIC_IRQChannel=TIM6_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=5; + NVIC_InitStructure.NVIC_IRQChannelSubPriority=0; + NVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE; + NVIC_Init(&NVIC_InitStructure); + + TIM_Cmd(TIM6, ENABLE);//启动定时器 +} + +//***************************定时器2初始化 ，使用编码器功能***************************// +//左电机编码器计数 +//PA0----接 编码器A相 或者电机驱动的B2B标识 +//PA1----接 编码器B相 或者电机驱动的B2A标识 +void Encoder_Init_TIM2(void) +{ + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + TIM_ICInitTypeDef TIM_ICInitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);//使能定时器4的时钟 + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);//使能PB端口时钟 + + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //端口配置 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 + GPIO_Init(GPIOA, &GPIO_InitStructure); //根据设定参数初始化GPIOB + + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 + TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 + TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频 + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数 + TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); + TIM_EncoderInterfaceConfig(TIM2, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3 + TIM_ICStructInit(&TIM_ICInitStructure); + TIM_ICInitStructure.TIM_ICFilter = 10; + TIM_ICInit(TIM2, &TIM_ICInitStructure); + TIM_ClearFlag(TIM2, TIM_FLAG_Update);//清除TIM的更新标志位 + TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE); + //Reset counter + TIM_SetCounter(TIM2,0); + TIM_Cmd(TIM2, ENABLE); +} + +//***************************定时器4初始化 ，使用编码器功能***************************// +//右电机编码器计数 +//PB6----接 编码器B相 或者电机驱动的B1A标识 +//PB7----接 编码器A相 或者电机驱动的B1B标识 +void Encoder_Init_TIM4(void) +{ + TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; + TIM_ICInitTypeDef TIM_ICInitStructure; + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);//使能定时器4的时钟 + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);//使能PB端口时钟 + + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7; //端口配置 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; //浮空输入 + GPIO_Init(GPIOB, &GPIO_InitStructure); //根据设定参数初始化GPIOB + + TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); + TIM_TimeBaseStructure.TIM_Prescaler = 0x0; // 预分频器 + TIM_TimeBaseStructure.TIM_Period = ENCODER_TIM_PERIOD; //设定计数器自动重装值 + TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;//选择时钟分频：不分频 + TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;////TIM向上计数 + TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure); + TIM_EncoderInterfaceConfig(TIM4, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);//使用编码器模式3 + TIM_ICStructInit(&TIM_ICInitStructure); + TIM_ICInitStructure.TIM_ICFilter = 10; + TIM_ICInit(TIM4, &TIM_ICInitStructure); + TIM_ClearFlag(TIM4, TIM_FLAG_Update);//清除TIM的更新标志位 + TIM_ITConfig(TIM4, TIM_IT_Update, ENABLE); + //Reset counter + TIM_SetCounter(TIM4,0); + TIM_Cmd(TIM4, ENABLE); +} + +/************************************************************************** +函数功能：单位时间读取编码器计数 +入口参数：定时器 +返回 值：速度值 +**************************************************************************/ +int Read_Encoder(u8 TIMX) +{ + int Encoder_TIM; + switch(TIMX) + { + case 2: + Encoder_TIM = (short)TIM2 -> CNT; + TIM2 -> CNT = 30000; + break; + case 3: + Encoder_TIM = (short)TIM3 -> CNT; + TIM3 -> CNT = 30000;break; + case 4: + Encoder_TIM = (short)TIM4 -> CNT; + TIM4 -> CNT = 30000; + break; + default: + Encoder_TIM = 0; + } + return Encoder_TIM; +} + +/************************************************************************** +函数功能：TIM4中断服务函数 +入口参数：无 +返回 值：无 +**************************************************************************/ +void TIM4_IRQHandler(void) +{ + if(TIM4->SR&0X0001)//溢出中断 + { + } + TIM4->SR&=~(1<<0);//清除中断标志位 +} +/************************************************************************** +函数功能：TIM2中断服务函数 +入口参数：无 +返回 值：无 +**************************************************************************/ +void TIM2_IRQHandler(void) +{ + if(TIM2->SR&0X0001)//溢出中断 + { + } + TIM2->SR&=~(1<<0);//清除中断标志位 +} diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.h b/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.h new file mode 100644 index 0000000..280493d --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_timer.h @@ -0,0 +1,19 @@ +#ifndef __BSP_TIMER3_H +#define __BSP_TIMER3_H + + +#include "stm32f10x.h" + + +#define ENCODER_TIM_PERIOD (u16)(60000) // number of pulses per revolution +void Timer3_Init(u32 arr,int psc); +void MOTO_PWM_Init(u32 arr, int psc); +void Motor_PWMOut(u16 moto_r, u16 moto_l); +void Timer6_Init(void); +void Encoder_Init_TIM2(void); +void Encoder_Init_TIM4(void); +int Read_Encoder(u8 TIMX); + + +#endif + diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.c b/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.c new file mode 100644 index 0000000..f208932 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.c @@ -0,0 +1,173 @@ +/* +******************************************************************************************************** +ļbsp_usart.c + ܣں + ע + https://shop60670850.taobao.com + ߣlilianhe + : 2017-2-8 +********************************************************************************************************* +*/ + +/* +******************************************************************************************************** +־ +1.2017-2-8дuart1 + +********************************************************************************************************* +*/ +#include "bsp_usart.h" +#include + +volatile unsigned char *rx_address; +volatile unsigned int rx_count; +volatile unsigned int rx_length; + +/* +******************************************************************************************************** +ƣvoid USART1_Init(u32 bound) +ܣ1ʼ +ӲӣPA9----TXDPA10----RXD + עboundΪò + : 2017-2-8 +********************************************************************************************************* +*/ +void USART1_Init(u32 bound) +{ + GPIO_InitTypeDef GPIO_InitStructure; + USART_InitTypeDef USART_InitStructure; + + /* config USART1 clock */ + RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE); + + /* USART1 GPIO config */ + /* Configure USART1 Tx (PA.09) as alternate function push-pull */ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &GPIO_InitStructure); + /* Configure USART1 Rx (PA.10) as input floating */ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + /* USART1 mode config */ + USART_InitStructure.USART_BaudRate = bound; + USART_InitStructure.USART_WordLength = USART_WordLength_8b; + USART_InitStructure.USART_StopBits = USART_StopBits_1; + USART_InitStructure.USART_Parity = USART_Parity_No; + USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; + USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; + USART_Init(USART1, &USART_InitStructure); + + /* ʹܴ1ж */ + USART_ITConfig(USART1, USART_IT_RXNE, ENABLE); + + USART_Cmd(USART1, ENABLE); +} + +#pragma import(__use_no_semihosting) +//׼Ҫֺ֧ +struct __FILE +{ + int handle; +}; + +FILE __stdout; +//_sys_exit()Աʹðģʽ +void _sys_exit(int x) +{ + x = x; +} + + +/// ضc⺯printfUSART1 +int fputc(int ch, FILE *f) +{ + /* һֽݵUSART1 */ + USART_SendData(USART1, (uint8_t)ch); + /* ȴ */ + while(USART_GetFlagStatus(USART1, USART_FLAG_TXE) == RESET); + return (ch); +} + +/// ضc⺯scanfUSART1 +int fgetc(FILE *f) +{ + /* ȴ1 */ + while(USART_GetFlagStatus(USART1, USART_FLAG_RXNE) == RESET); + return (int)USART_ReceiveData(USART1); + +// while((USART1->SR&0X40)==0);// ʹô1 +// USART1->DR = (u8) ch; +// return ch; +} + + +/* +******************************************************************************************************** +ƣvoid USART1_Send(unsigned char *tx_buf, int len) +ܣ1ͺ +ӲӣPA9----TXDPA10----RXD + ע + : 2017-2-8 +********************************************************************************************************* +*/ +void USART1_Send(unsigned char *tx_buf, int len) +{ + USART_ClearFlag(USART1, USART_FLAG_TC); + USART_ClearITPendingBit(USART1, USART_FLAG_TXE); + while (len--) + { + USART_SendData(USART1, *tx_buf); + while (USART_GetFlagStatus(USART1, USART_FLAG_TC) != 1) + ; + USART_ClearFlag(USART1, USART_FLAG_TC); + USART_ClearITPendingBit(USART1, USART_FLAG_TXE); + tx_buf++; + } +} + +/* +******************************************************************************************************** +ƣvoid USART1_Receive(unsigned char *rx_buf, int len) +ܣ1պ +ӲӣPA9----TXDPA10----RXD + ע + : 2017-2-8 +********************************************************************************************************* +*/ +void USART1_Receive(unsigned char *rx_buf, int len) +{ + rx_count = 0; + rx_length = len; + rx_address = rx_buf; +} +/* +******************************************************************************************************** +ƣvoid USART1_IRQHandler(void) +ܣ1жϷ +ӲӣPA9----TXDPA10----RXD + ע + : 2017-2-8 +********************************************************************************************************* +*/ +void USART1_IRQHandler(void) +{ + unsigned char Res; + // u8 Res; + if (USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) // ж(յݱ0x0d 0x0aβ) + { + + Res = USART_ReceiveData(USART1); + // printf("[USART1_IRQHandler],Rec_data = %x\r\n", Res); + + if (rx_length > rx_count) + { + *rx_address = Res; + rx_address++; + rx_count++; + } + USART_ClearITPendingBit(USART1, USART_IT_RXNE); + } +} diff --git a/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.h b/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.h new file mode 100644 index 0000000..4b589ab --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/bsp_usart.h @@ -0,0 +1,14 @@ +#ifndef __USART_H +#define __USART_H + +#include "stm32f10x.h" +#include + +void USART1_Init(u32 bound); +void NVIC_Configuration(void); +int fputc(int ch, FILE *f); +int fgetc(FILE *f); +void USART1_Send(unsigned char *tx_buf, int len); +void USART1_Receive(unsigned char *rx_buf, int len); + +#endif /* __USART1_H */ diff --git a/GeBalanceBot_Firmware v1.0/DRV/delay.c b/GeBalanceBot_Firmware v1.0/DRV/delay.c new file mode 100644 index 0000000..ad847bb --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/delay.c @@ -0,0 +1,88 @@ +/* +******************************************************************************************************** +文件名：delay.c +功 能：延时函数us ms +备 注： +淘 宝：https://shop60670850.taobao.com +作 者：lilianhe +日 期: 2017-2-6 +********************************************************************************************************* +*/ + +#include "delay.h" + +static u8 fac_us = 0; // us延时倍乘数 +static u16 fac_ms = 0; // ms延时倍乘数 + +/* +******************************************************************************************************** +函数名称：Delay_Init(u8 SYSCLK) +函数功能：初始化延迟函数 +硬件连接：SYSTICK的时钟固定为HCLK时钟的1/8，SYSCLK:系统时钟 +备 注： +日 期: 2017-2-6 +********************************************************************************************************* +*/ +void Delay_Init(u8 SYSCLK) +{ +// SysTick->CTRL&=0xfffffffb;//bit2清空,选择外部时钟 HCLK/8 + SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8); //选择外部时钟 HCLK/8 + fac_us=SYSCLK/8; + fac_ms=(u16)fac_us*1000; +} + +/* +******************************************************************************************************** +函数名称：Delay_ms(u16 nms) +函数功能：延时nms +硬件连接：//SysTick->LOAD为24位寄存器,所以,最大延时为: + //nms<=0xffffff*8*1000/SYSCLK + //SYSCLK单位为Hz,nms单位为ms + //对72M条件下,nms<=1864 +备 注： +日 期: 2017-2-6 +********************************************************************************************************* +*/ +void Delay_ms(u16 nms) +{ + u32 temp; + SysTick->LOAD=(u32)nms*fac_ms;//时间加载(SysTick->LOAD为24bit) + SysTick->VAL =0x00; //清空计数器 + SysTick->CTRL=0x01 ; //开始倒数 + do + { + temp=SysTick->CTRL; + } + while(temp&0x01&&!(temp&(1<<16)));//等待时间到达 + SysTick->CTRL=0x00; //关闭计数器 + SysTick->VAL =0X00; //清空计数器 +} + +/* +******************************************************************************************************** +函数名称：void Delay_us(u32 nus) +函数功能：延时nus +硬件连接： +备 注: +日 期: 2017-2-6 +********************************************************************************************************* +*/ +void Delay_us(u32 nus) +{ + u32 temp; + SysTick->LOAD=nus*fac_us; //时间加载 + SysTick->VAL=0x00; //清空计数器 + SysTick->CTRL=0x01 ; //开始倒数 + do + { + temp=SysTick->CTRL; + } + while(temp&0x01&&!(temp&(1<<16)));//等待时间到达 + SysTick->CTRL=0x00; //关闭计数器 + SysTick->VAL =0X00; //清空计数器 +} +//------------------End of File---------------------------- + + + + diff --git a/GeBalanceBot_Firmware v1.0/DRV/delay.h b/GeBalanceBot_Firmware v1.0/DRV/delay.h new file mode 100644 index 0000000..d7a960a --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/DRV/delay.h @@ -0,0 +1,38 @@ +#ifndef __DELAY_H +#define __DELAY_H +#include "stm32f10x.h" + +void Delay_Init(u8 SYSCLK); +void Delay_ms(u16 nms); +void Delay_us(u32 nus); + +#endif + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.c b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.c new file mode 100644 index 0000000..1baef14 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.c @@ -0,0 +1,444 @@ +/*********************************************** +公司：轮趣科技（东莞）有限公司 +品牌：WHEELTEC +官网：wheeltec.net +淘宝店铺：shop114407458.taobao.com +速卖通: https://minibalance.aliexpress.com/store/4455017 +版本：5.7 +修改时间：2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update：2021-04-29 + +All rights reserved +***********************************************/ +#include "ioi2c.h" +#include "sys.h" +#include "delay.h" + +/************************************************************************** +Function: IIC_MPU6050_Init +Input : none +Output : none +函数功能：IIC引脚初始化 +入口参数：无 +返回 值：无 +**************************************************************************/ +void IIC_MPU6050_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); // 使能PB端口时钟 + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; // 端口配置 + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; // 推挽输出 + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; // 50M + GPIO_Init(GPIOB, &GPIO_InitStructure); // 根据设定参数初始化GPIOB +} + +/************************************************************************** +Function: Simulate IIC start signal +Input : none +Output : 1 +函数功能：模拟IIC起始信号 +入口参数：无 +返回 值：1 +**************************************************************************/ +static int IIC_Start(void) +{ + SDA_OUT(); // sda线输出 + IIC_SDA = 1; + if (!READ_SDA) + return 0; + IIC_SCL = 1; + Delay_us(1); + IIC_SDA = 0; // START:when CLK is high,DATA change form high to low + if (READ_SDA) + return 0; + Delay_us(1); + IIC_SCL = 0; // 钳住I2C总线，准备发送或接收数据 + return 1; +} + +/************************************************************************** +Function: Analog IIC end signal +Input : none +Output : none +函数功能：模拟IIC结束信号 +入口参数：无 +返回 值：无 +**************************************************************************/ +static void IIC_Stop(void) +{ + SDA_OUT(); // sda线输出 + IIC_SCL = 0; + IIC_SDA = 0; // STOP:when CLK is high DATA change form low to high + Delay_us(1); + IIC_SCL = 1; + IIC_SDA = 1; // 发送I2C总线结束信号 + Delay_us(1); +} + +/************************************************************************** +Function: IIC wait the response signal +Input : none +Output : 0：No response received；1：Response received +函数功能：IIC等待应答信号 +入口参数：无 +返回 值：0：没有收到应答；1：收到应答 +**************************************************************************/ +static int IIC_Wait_Ack(void) +{ + u8 ucErrTime = 0; + SDA_IN(); // SDA设置为输入 + IIC_SDA = 1; + Delay_us(1); + IIC_SCL = 1; + Delay_us(1); + while (READ_SDA) + { + ucErrTime++; + if (ucErrTime > 50) + { + IIC_Stop(); + return 0; + } + Delay_us(1); + } + IIC_SCL = 0; // 时钟输出0 + return 1; +} + +/************************************************************************** +Function: IIC response +Input : none +Output : none +函数功能：IIC应答 +入口参数：无 +返回 值：无 +**************************************************************************/ +static void IIC_Ack(void) +{ + IIC_SCL = 0; + SDA_OUT(); + IIC_SDA = 0; + Delay_us(1); + IIC_SCL = 1; + Delay_us(1); + IIC_SCL = 0; +} + +/************************************************************************** +Function: IIC don't reply +Input : none +Output : none +函数功能：IIC不应答 +入口参数：无 +返回 值：无 +**************************************************************************/ +static void IIC_NAck(void) +{ + IIC_SCL = 0; + SDA_OUT(); + IIC_SDA = 1; + Delay_us(1); + IIC_SCL = 1; + Delay_us(1); + IIC_SCL = 0; +} +/************************************************************************** +Function: IIC sends a byte +Input : txd：Byte data sent +Output : none +函数功能：IIC发送一个字节 +入口参数：txd：发送的字节数据 +返回 值：无 +**************************************************************************/ +static void IIC_Send_Byte(u8 txd) +{ + u8 t; + SDA_OUT(); + IIC_SCL = 0; // 拉低时钟开始数据传输 + for (t = 0; t < 8; t++) + { + IIC_SDA = (txd & 0x80) >> 7; + txd <<= 1; + Delay_us(1); + IIC_SCL = 1; + Delay_us(1); + IIC_SCL = 0; + Delay_us(1); + } +} + +/************************************************************************** +Function: IIC write data to register +Input : addr：Device address；reg：Register address；len;Number of bytes；data：Data +Output : 0：Write successfully；1：Failed to write +函数功能：IIC写数据到寄存器 +入口参数：addr：设备地址；reg：寄存器地址；len;字节数；data：数据 +返回 值：0：成功写入；1：没有成功写入 +**************************************************************************/ +int i2cWrite(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *data) +{ + int i; + if (!IIC_Start()) + return 1; + IIC_Send_Byte(addr << 1); + if (!IIC_Wait_Ack()) + { + IIC_Stop(); + return 1; + } + IIC_Send_Byte(reg); + IIC_Wait_Ack(); + for (i = 0; i < len; i++) + { + IIC_Send_Byte(data[i]); + if (!IIC_Wait_Ack()) + { + IIC_Stop(); + return 0; + } + } + IIC_Stop(); + return 0; +} + +/************************************************************************** +Function: IIC reads a byte +Input : ack：Send response signal or not；1：Send；0：Do not send +Output : receive：Data read +函数功能：IIC读取一个位 +入口参数：ack：是否发送应答信号；1：发送；0：不发送 +返回 值：receive：读取的数据 +**************************************************************************/ +static u8 IIC_Read_Byte(unsigned char ack) +{ + unsigned char i, receive = 0; + SDA_IN(); // SDA设置为输入 + for (i = 0; i < 8; i++) + { + IIC_SCL = 0; + Delay_us(2); + IIC_SCL = 1; + receive <<= 1; + if (READ_SDA) + receive++; + Delay_us(2); + } + if (ack) + IIC_Ack(); // 发送ACK + else + IIC_NAck(); // 发送nACK + return receive; +} + + +/************************************************************************** +Function: IIC read register data +Input : addr：Device address；reg：Register address；len;Number of bytes；*buf：Data read out +Output : 0：Read successfully；1：Failed to read +函数功能：IIC读寄存器的数据 +入口参数：addr：设备地址；reg：寄存器地址；len;字节数；*buf：读出数据缓存 +返回 值：0：成功读出；1：没有成功读出 +**************************************************************************/ + +int i2cRead(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf) +{ + if (!IIC_Start()) + return 1; + IIC_Send_Byte(addr << 1); + if (!IIC_Wait_Ack()) + { + IIC_Stop(); + return 1; + } + IIC_Send_Byte(reg); + IIC_Wait_Ack(); + IIC_Start(); + IIC_Send_Byte((addr << 1) + 1); + IIC_Wait_Ack(); + while (len) + { + if (len == 1) + *buf = IIC_Read_Byte(0); + else + *buf = IIC_Read_Byte(1); + buf++; + len--; + } + IIC_Stop(); + return 0; +} + + +/************************************************************************** +Function: IIC reads a byte +Input : I2C_Addr：Device IIC address；addr:Register address +Output : res：Data read +函数功能：读取指定设备指定寄存器的一个值 +入口参数：I2C_Addr：设备IIC地址；addr:寄存器地址 +返回 值：res：读取的数据 +**************************************************************************/ +unsigned char I2C_ReadOneByte(unsigned char I2C_Addr, unsigned char addr) +{ + unsigned char res = 0; + + IIC_Start(); + IIC_Send_Byte(I2C_Addr); // 发送写命令 + res++; + IIC_Wait_Ack(); + IIC_Send_Byte(addr); + res++; // 发送地址 + IIC_Wait_Ack(); + // IIC_Stop();//产生一个停止条件 + IIC_Start(); + IIC_Send_Byte(I2C_Addr + 1); + res++; // 进入接收模式 + IIC_Wait_Ack(); + res = IIC_Read_Byte(0); + IIC_Stop(); // 产生一个停止条件 + + return res; +} + +/************************************************************************** +Function: IIC continuous reading data +Input : dev：Target device IIC address；reg:Register address； + length：Number of bytes；*data:The pointer where the read data will be stored +Output : count：Number of bytes read out-1 +函数功能：IIC连续读数据 +入口参数：dev：目标设备IIC地址；reg:寄存器地址；length：字节数； + *data:读出的数据将要存放的指针 +返回 值：count：读出来的字节数量-1 +**************************************************************************/ +u8 IICreadBytes(u8 dev, u8 reg, u8 length, u8 *data) +{ + u8 count = 0; + + IIC_Start(); + IIC_Send_Byte(dev); // 发送写命令 + IIC_Wait_Ack(); + IIC_Send_Byte(reg); // 发送地址 + IIC_Wait_Ack(); + IIC_Start(); + IIC_Send_Byte(dev + 1); // 进入接收模式 + IIC_Wait_Ack(); + + for (count = 0; count < length; count++) + { + + if (count != length - 1) + data[count] = IIC_Read_Byte(1); // 带ACK的读数据 + else + data[count] = IIC_Read_Byte(0); // 最后一个字节NACK + } + IIC_Stop(); // 产生一个停止条件 + return count; +} +/************************************************************************** +Function: Writes multiple bytes to the specified register of the specified device +Input : dev：Target device IIC address；reg：Register address；length：Number of bytes； + *data：The pointer where the read data will be stored +Output : 1 +函数功能：将多个字节写入指定设备指定寄存器 +入口参数：dev：目标设备地址；reg：寄存器地址；length：要写的字节数； + *data：将要写的数据的首地址 +返回 值：1：返回是否成功 +**************************************************************************/ +u8 IICwriteBytes(u8 dev, u8 reg, u8 length, u8 *data) +{ + + u8 count = 0; + IIC_Start(); + IIC_Send_Byte(dev); // 发送写命令 + IIC_Wait_Ack(); + IIC_Send_Byte(reg); // 发送地址 + IIC_Wait_Ack(); + for (count = 0; count < length; count++) + { + IIC_Send_Byte(data[count]); + IIC_Wait_Ack(); + } + IIC_Stop(); // 产生一个停止条件 + + return 1; // status == 0; +} + +/************************************************************************** +Function: Reads a byte of the specified register of the specified device +Input : dev：Target device IIC address；reg：Register address；*data：The pointer where the read data will be stored +Output : 1 +函数功能：读取指定设备指定寄存器的一个值 +入口参数：dev：目标设备地址；reg：寄存器地址；*data：将要写的数据的首地址 +返回 值：1：返回是否成功 +**************************************************************************/ +u8 IICreadByte(u8 dev, u8 reg, u8 *data) +{ + *data = I2C_ReadOneByte(dev, reg); + return 1; +} + +/************************************************************************** +Function: Write a byte to the specified register of the specified device +Input : dev：Target device IIC address；reg：Register address；data：Data to be writtenwill be stored +Output : 1 +函数功能：写入指定设备指定寄存器一个字节 +入口参数：dev：目标设备地址；reg：寄存器地址；data：将要写的数据 +返回 值：1 +**************************************************************************/ +unsigned char IICwriteByte(unsigned char dev, unsigned char reg, unsigned char data) +{ + return IICwriteBytes(dev, reg, 1, &data); +} + +/************************************************************************** +Function: Read, modify, and write multiple bits in a byte of the specified device specified register +Input : dev：Target device IIC address；reg：Register address；length：Number of bytes； + bitStart：Start bit of target byte；data：Stores the value of the target byte bit to be changed +Output : 1：success；0：fail +函数功能：读 修改 写 指定设备 指定寄存器一个字节 中的多个位 +入口参数：dev：目标设备地址；reg：寄存器地址；bitStart：目标字节的起始位； + data：存放改变目标字节位的值 +返回 值：1：成功；0：失败 +**************************************************************************/ +u8 IICwriteBits(u8 dev, u8 reg, u8 bitStart, u8 length, u8 data) +{ + + u8 b; + if (IICreadByte(dev, reg, &b) != 0) + { + u8 mask = (0xFF << (bitStart + 1)) | 0xFF >> ((8 - bitStart) + length - 1); + data <<= (8 - length); + data >>= (7 - bitStart); + b &= mask; + b |= data; + return IICwriteByte(dev, reg, b); + } + else + { + return 0; + } +} + +/************************************************************************** +Function: Read, modify, and write one bit in a byte of the specified device specified register +Input : dev：Target device IIC address；reg：Register address； + bitNum：To modify the bitnum bit of the target byte；data：When it is 0, the target bit will be cleared, otherwise it will be set +Output : 1：success；0：fail +函数功能：读 修改 写 指定设备 指定寄存器一个字节 中的1个位 +入口参数：dev：目标设备地址；reg：寄存器地址；bitNum：要修改目标字节的bitNum位； + data：为0时，目标位将被清，否则将被置位 +返回 值：1：成功；0：失败 +**************************************************************************/ +u8 IICwriteBit(u8 dev, u8 reg, u8 bitNum, u8 data) +{ + u8 b; + IICreadByte(dev, reg, &b); + b = (data != 0) ? (b | (1 << bitNum)) : (b & ~(1 << bitNum)); + return IICwriteByte(dev, reg, b); +} diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.h b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.h new file mode 100644 index 0000000..926eb0a --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/IIC/IOI2C.h @@ -0,0 +1,92 @@ +/*********************************************** +公司：轮趣科技（东莞）有限公司 +品牌：WHEELTEC +官网：wheeltec.net +淘宝店铺：shop114407458.taobao.com +速卖通: https://minibalance.aliexpress.com/store/4455017 +版本：5.7 +修改时间：2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update：2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __IOI2C_H +#define __IOI2C_H +#include "stm32f10x.h" + /************************************************************************** +作者：平衡小车之家 +我的淘宝小店：http://shop114407458.taobao.com/ +**************************************************************************/ +//IO口操作宏定义 +#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2)) +#define MEM_ADDR(addr) *((volatile unsigned long *)(addr)) +#define BIT_ADDR(addr, bitnum) MEM_ADDR(BITBAND(addr, bitnum)) + +//IO口地址映射 +#define GPIOA_ODR_Addr (GPIOA_BASE+12) //0x4001080C +#define GPIOB_ODR_Addr (GPIOB_BASE+12) //0x40010C0C +#define GPIOC_ODR_Addr (GPIOC_BASE+12) //0x4001100C +#define GPIOD_ODR_Addr (GPIOD_BASE+12) //0x4001140C +#define GPIOE_ODR_Addr (GPIOE_BASE+12) //0x4001180C +#define GPIOF_ODR_Addr (GPIOF_BASE+12) //0x40011A0C +#define GPIOG_ODR_Addr (GPIOG_BASE+12) //0x40011E0C + +#define GPIOA_IDR_Addr (GPIOA_BASE+8) //0x40010808 +#define GPIOB_IDR_Addr (GPIOB_BASE+8) //0x40010C08 +#define GPIOC_IDR_Addr (GPIOC_BASE+8) //0x40011008 +#define GPIOD_IDR_Addr (GPIOD_BASE+8) //0x40011408 +#define GPIOE_IDR_Addr (GPIOE_BASE+8) //0x40011808 +#define GPIOF_IDR_Addr (GPIOF_BASE+8) //0x40011A08 +#define GPIOG_IDR_Addr (GPIOG_BASE+8) //0x40011E08 + +#define PCout(n) BIT_ADDR(GPIOC_ODR_Addr,n) //输出 +#define PCin(n) BIT_ADDR(GPIOC_IDR_Addr,n) //输入 + +#define PBout(n) BIT_ADDR(GPIOB_ODR_Addr,n) //输出 +#define PBin(n) BIT_ADDR(GPIOB_IDR_Addr,n) //输入 + +#define PEout(n) BIT_ADDR(GPIOE_ODR_Addr,n) //输出 +#define PEin(n) BIT_ADDR(GPIOE_IDR_Addr,n) //输入 + + +//IO方向设置 +#define SDA_IN() {GPIOB->CRH&=0XFFFFFF0F;GPIOB->CRH|=8<<4;} +#define SDA_OUT() {GPIOB->CRH&=0XFFFFFF0F;GPIOB->CRH|=3<<4;} + +//IO操作函数 +#define IIC_SCL PBout(8) //SCL +#define IIC_SDA PBout(9) //SDA +#define READ_SDA PBin(9) //输入SDA + +//IIC所有操作函数 +void IIC_MPU6050_Init(void); // 初始化IIC的IO口 +// int IIC_Start(void); // 发送IIC开始信号 +// void IIC_Stop(void); // 发送IIC停止信号 +// void IIC_Send_Byte(u8 txd); // IIC发送一个字节 +// u8 IIC_Read_Byte(unsigned char ack); // IIC读取一个字节 +// int IIC_Wait_Ack(void); // IIC等待ACK信号 +// void IIC_Ack(void); // IIC发送ACK信号 +// void IIC_NAck(void); // IIC不发送ACK信号 + +unsigned char I2C_ReadOneByte(unsigned char I2C_Addr,unsigned char addr); +unsigned char IICwriteByte(unsigned char dev, unsigned char reg, unsigned char data); + + +u8 IICwriteBytes(u8 dev, u8 reg, u8 length, u8* data); +u8 IICwriteBits(u8 dev,u8 reg,u8 bitStart,u8 length,u8 data); +u8 IICwriteBit(u8 dev,u8 reg,u8 bitNum,u8 data); +u8 IICreadBytes(u8 dev, u8 reg, u8 length, u8 *data); + +int i2cWrite(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *data); +int i2cRead(uint8_t addr, uint8_t reg, uint8_t len, uint8_t *buf); + +#endif + +//------------------End of File---------------------------- diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.c b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.c new file mode 100644 index 0000000..f451ae3 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.c @@ -0,0 +1,127 @@ +/******************** (C) COPYRIGHT 2023 GeekRebot ***************************** +* File Name : bluetooth.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2023.04.06 zhanli: Create +* Comments : GeekRebot ģ,ʹHC05ģ飬͸ܣ + ʹôڲ࣬ʹstm32 uart2ģֻҪ + ӿڣTXDRXD5VGND + 1. PA2 -> RXD 2.PA3 -> TXD +********************************************************************************/ +#include "bluetooth.h" +#include + +volatile unsigned char *rx2_address; +volatile unsigned int rx2_count; +volatile unsigned int rx2_length; + +/**---------------------------------------------------------------------- +* Function : Bluetooth_Init +* Description : 1ʼ,PA2->RXD, PA3->TXD, boundΪò +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +void Bluetooth_Init(u32 bound) +{ + GPIO_InitTypeDef GPIO_InitStructure; + USART_InitTypeDef USART_InitStructure; + NVIC_InitTypeDef NVIC_InitStructure; + + /* Config USART2 clock */ + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); + RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); + + /* USART2 GPIO config */ + /* Configure USART2 Tx (PA.02) as alternate function push-pull */ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; + GPIO_Init(GPIOA, &GPIO_InitStructure); + /* Configure USART2 Rx (PA.03) as input floating */ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3; + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING; + GPIO_Init(GPIOA, &GPIO_InitStructure); + + /* USART2 mode config */ + USART_InitStructure.USART_BaudRate = bound; + USART_InitStructure.USART_WordLength = USART_WordLength_8b; + USART_InitStructure.USART_StopBits = USART_StopBits_1; + USART_InitStructure.USART_Parity = USART_Parity_No ; + USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; + USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; + USART_Init(USART2, &USART_InitStructure); + + + /* Configure the NVIC Preemption Priority Bits */ + NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0); + + /* Enable the USARTy Interrupt */ + NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn; + NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; + NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; + NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; + NVIC_Init(&NVIC_InitStructure); + + /* ʹܴ1ж */ + USART_ITConfig(USART2, USART_IT_RXNE, ENABLE); + USART_Cmd(USART2, ENABLE); +} + +/**---------------------------------------------------------------------- +* Function : USART2_Send +* Description : ͨUSART2͵ֻ +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +void USART2_Send(unsigned char *tx_buf, int len) +{ + USART_ClearFlag(USART2, USART_FLAG_TC); + USART_ClearITPendingBit(USART2, USART_FLAG_TXE); + while(len--) + { + USART_SendData(USART2, *tx_buf); + while(USART_GetFlagStatus(USART2, USART_FLAG_TC) != 1); + USART_ClearFlag(USART2, USART_FLAG_TC); + USART_ClearITPendingBit(USART2, USART_FLAG_TXE); + tx_buf++; + } +} + + +/**---------------------------------------------------------------------- +* Function : USART2_Receive +* Description : ܣֻ +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +void USART2_Receive(unsigned char *rx_buf, int len) +{ + rx2_count = 0; + rx2_length = len; + rx2_address = rx_buf; +} + + +/**---------------------------------------------------------------------- +* Function : USART2_Receive +* Description : 2жϺ +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +void USART2_IRQHandler(void) +{ + unsigned char Res; + // ж(յݱ0x0d 0x0aβ) + if(USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) + { + Res = USART_ReceiveData(USART2); + + if(rx2_length > rx2_count) + { + *rx2_address = Res; + rx2_address++; + rx2_count++; + } + USART_ClearITPendingBit(USART2, USART_IT_RXNE); + } +} diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.h b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.h new file mode 100644 index 0000000..842c7f7 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/bluetooth.h @@ -0,0 +1,31 @@ +#ifndef __BLUETOOTH_H +#define __BLUETOOTH_H + +#include "bsp_sys.h" +#include "stm32f10x.h" + +/**---------------------------------------------------------------------- +* Function : Bluetooth_Init +* Description : 1ʼ,PA2->RXD, PA3->TXD, boundΪò +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +void Bluetooth_Init(u32 bound); + +/**---------------------------------------------------------------------- +* Function : USART2_Send +* Description : ͨUSART2͵ֻ +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +void USART2_Send(unsigned char *tx_buf, int len); + +/**---------------------------------------------------------------------- +* Function : USART2_Receive +* Description : ܣֻ +* Author : zhanli&719901725@qq.com +* Date : 2023/05/20 zhanli +*---------------------------------------------------------------------**/ +void USART2_Receive(unsigned char *rx_buf, int len); + +#endif diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c new file mode 100644 index 0000000..a5c2044 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.c @@ -0,0 +1,97 @@ +/******************** (C) COPYRIGHT 2023 GeekRebot ***************************** +* File Name : car.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2023.04.06 zhanli: Create +* Comments : GeekRebot +********************************************************************************/ + +#include "car.h" +#include "pid.h" + +int Encoder_Left,Encoder_Right; // +int Moto_Left,Moto_Right; +int para_L,para_R;// + +//úҪ +int SetPoint=70;//ĿֵλRPMתٶ = setopint*ܳ = setpoint*3.14*0.065(ֱ65mm) λm/min һҪתٺٵĹϵ + + +//ʹüٱ1120ļ䡣ʵʵļٱȵ޸² +//6240=13*4*12013ߣSTM32ģʽ 4Ƶ1120 +//2496=13*4*4813ߣSTM32ģʽ 4Ƶ148 +#define SetPointL SetPoint*2496/600 //ɱΪpidƵDZ +#define SetPointR SetPoint*2496/600 //ɱΪpidƵDZ + +//ֱ +u32 temp1,temp2; +float temp3,temp4; +char set_speed[5];//ʾС +char speed[5];//ʾС +//Time1ʱ1жϷ +//100msʱ + + +void TIM6_IRQHandler(void) +{ + // ﶨʱ + if(TIM_GetFlagStatus(TIM6, TIM_IT_Update) != RESET) + { + TIM_ClearITPendingBit(TIM6, TIM_FLAG_Update); // ж + + LED_Flash(5); // 500ms˸һ + Encoder_Left = Read_Encoder(2) - 30000; // ȡ + Encoder_Right = Read_Encoder(4) - 30000; // ȡ + + //Сƶٶȣٶ + //㳵٣ֺٶȺͳ2 λ m/min + temp3 = (Encoder_Right + Encoder_Left) / 2*600/2496 *0.065*3.1415; + sprintf(speed,"%2.2f",temp3); + OLED_ShowString(48,0, (u8*)speed,16); //OLEDʾ + + if(Encoder_Left < 0)//ת + { + Encoder_Left = -Encoder_Left; + } + if(Encoder_Right < 0) + { + Encoder_Right = -Encoder_Right; + } + para_L=PID_Calc_Left(Encoder_Left,SetPointL); // õʽPIDֵ + para_R=PID_Calc_Right(Encoder_Right,SetPointR); // ҵõʽPIDֵ + + if((para_L<-3)||(para_L>3)) // PID СʱƵ𵴡 + { + Moto_Left +=para_L; + } + if((para_R<-3)||(para_R>3)) // PID СʱƵ𵴡 + { + Moto_Right += para_R; + } + + if(Moto_Left>3500)Moto_Left=3000; //޷ ֹջٵ + if(Moto_Right>3500)Moto_Right=3000; //޷ + + Moto_Left=1500; + Moto_Right=1500; + TIM3->CCR3=Moto_Left; //pwm + TIM3->CCR4=Moto_Right; //pwm + + //ʾpid + showPID(); + //ʾֵֺת λRPM + temp1 = Encoder_Left*600/2496; + OLED_ShowNum(56,2,temp1,3,12); //ʵʼת λRPM + temp2 = Encoder_Right*600/2496; + OLED_ShowNum(56,3,temp2,3,12); //ʵʼת λRPM + + //趨ֵʾ + OLED_ShowNum(48,6,SetPoint,3,12); //ʾ趨ijת λRPM + //temp4 = SetPoint*3.1415*0.065; //趨ٶ + //sprintf(set_speed,"%2.2f",temp4); + //OLED_ShowString(48,7, set_speed,12); //趨ٶ λm/min + } +} + + + diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h new file mode 100644 index 0000000..049e61d --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/car.h @@ -0,0 +1,9 @@ +#ifndef __CAR_H +#define __CAR_H + +#include "stm32f10x.h" +#include "bsp_sys.h" + + + +#endif diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.c b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.c new file mode 100644 index 0000000..44b5100 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.c @@ -0,0 +1,98 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : moto.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2023.04.06 zhanli: Create +* Comments : 直流减速电机控制 +********************************************************************************/ +#include "motor.h" + +// PWM在timer3里配置 +void Motor_Init(void) +{ + GPIO_InitTypeDef GPIO_InitStructure; + RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); /*开启GPIO的外设时钟*/ + GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; /*选择要控制的GPIO引脚*/ + GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; /*设置引脚模式为通用推挽输出*/ + GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; /*设置引脚速率为50MHz */ + GPIO_Init(GPIOB, &GPIO_InitStructure); /*调用库函数，初始化GPIO*/ +} + +//左电机 +void Motor_CtlLeft(char state) +{ + if(state == GO)//左前电机前进 + { + GPIO_SetBits(GPIOB,GPIO_Pin_12); + GPIO_ResetBits(GPIOB,GPIO_Pin_13); + } + if(state == BACK)//左前电机后退 + { + GPIO_SetBits(GPIOB,GPIO_Pin_13); + GPIO_ResetBits(GPIOB,GPIO_Pin_12); + } + if(state == STOP)//停转 + { + GPIO_ResetBits(GPIOB,GPIO_Pin_12); + GPIO_ResetBits(GPIOB,GPIO_Pin_13); + } +} + +//右电机 +void Motor_CtlRight(char state) +{ + if(state == GO)//左前电机前进 + { + GPIO_SetBits(GPIOB,GPIO_Pin_15); + GPIO_ResetBits(GPIOB,GPIO_Pin_14); + } + if(state == BACK)//左前电机后退 + { + GPIO_SetBits(GPIOB,GPIO_Pin_14); + GPIO_ResetBits(GPIOB,GPIO_Pin_15); + } + if(state == STOP)//停转 + { + GPIO_ResetBits(GPIOB,GPIO_Pin_14); + GPIO_ResetBits(GPIOB,GPIO_Pin_15); + } +} + +//***************************前进***************************// +//只要配置()的状态就可以改变电机转动方向 +void Car_Go(void) +{ + //左电机 前 //右电机 前 + Motor_CtlLeft(GO); Motor_CtlRight(GO); +} + +void Car_Back(void) +{ + //左电机 后 //右电机 后 + Motor_CtlLeft(BACK); Motor_CtlRight(BACK); +} + +//***************************向左转圈***************************// +void Car_TurnLeft(void) +{ + //左电机 后 //右电机 前 + Motor_CtlLeft(BACK); Motor_CtlRight(GO); +} + + +//***************************向右转圈***************************// +void Car_TurnRight(void) +{ + //左电机 前 //右电机 后 + Motor_CtlLeft(GO); Motor_CtlRight(BACK); +} + +//***************************停车***************************// +void Car_Stop(void) +{ + //左电机 停 //右电机 停 + Motor_CtlLeft(STOP); Motor_CtlRight(STOP); +} + + + diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.h b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.h new file mode 100644 index 0000000..493a2da --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/MOTO/motor.h @@ -0,0 +1,50 @@ +#ifndef __MOTO_H__ +#define __MOTO_H__ +#include "stm32f10x.h" + +/**---------------------------------------------------------------------- +硬件连接说明： + +// 电机控制 +PB0 -> R_PWM +PB13-> R_IN2 +PB12-> R_IN1 + +PB1 -> L_PWM +PB14-> L_IN2 +PB15-> L_IN1 + +PA0 -> LA +PA1 -> LB + +// 编码器 + +// 左电机编码器计数 +PA0----接 编码器A相 或者电机驱动的B2B标识 +PA1----接 编码器B相 或者电机驱动的B2A标识 + +// 右电机编码器计数 +PB6----接 编码器B相 或者电机驱动的B1A标识 +PB7----接 编码器A相 或者电机驱动的B1B标识 + +TB6612驱动中, 小车车头对应前进方向, Left对应A,Right对应B +*---------------------------------------------------------------------**/ + +//硬件连接说明： +#define GO 0 // 定义电机状态 前进 +#define BACK 1 // 后退 +#define STOP 2 // 停车 + +// 电机的GPIO初始化 +void Motor_Init(void); +// 左电机控制 +void Motor_CtlLeft(char state); +// 右电机控制 +void Motor_CtlRight(char state); + +void Car_Go(void); +void Car_Back(void); +void Car_TurnRight(void); +void Car_TurnLeft(void); +void Car_Stop(void); +#endif diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/bmp.h b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/bmp.h new file mode 100644 index 0000000..0775126 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/bmp.h @@ -0,0 +1,80 @@ +////////////////////////////////////////////////////////////////////////////////// +// +// +//洢ͼƬݣͼƬСΪ64*32 +// +///////////////////////////////////////////////////////////////////////////////// + +#ifndef __BMP_H +#define __BMP_H +unsigned char BMP1[] = +{0x00,0x06,0x0A,0xFE,0x0A,0xC6,0x00,0xE0,0x00,0xF0,0x00,0xF8,0x00,0x00,0x00,0x00, +0x00,0x00,0xFE,0x7D,0xBB,0xC7,0xEF,0xEF,0xEF,0xEF,0xEF,0xEF,0xEF,0xC7,0xBB,0x7D, +0xFE,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x08, +0x0C,0xFE,0xFE,0x0C,0x08,0x20,0x60,0xFE,0xFE,0x60,0x20,0x00,0x00,0x00,0x78,0x48, 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+0x10,0x10,0x20,0xC0,0x00,0x00,0xC0,0x20,0x10,0x10,0x10,0x10,0x20,0xC0,0x00,0x00, +0x00,0x12,0x0A,0x07,0x02,0x7F,0x02,0x07,0x0A,0x12,0x00,0x00,0x00,0x0B,0x0A,0x0A, +0x0A,0x7F,0x0A,0x0A,0x0A,0x0B,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, +0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x40,0x40, +0x40,0x50,0x20,0x5F,0x80,0x00,0x1F,0x20,0x40,0x40,0x40,0x50,0x20,0x5F,0x80,0x00,/*"C:\Users\evk\Desktop\??2014.bmp",0*/ + +}; + +#endif + + diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.c b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.c new file mode 100644 index 0000000..bedfcf9 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.c @@ -0,0 +1,302 @@ +/******************** (C) COPYRIGHT 2023 GeekRebot ***************************** +* File Name : oled.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.09 +* Comments : oled的iic方式驱动 + SCL -> PA10，SDA -> PA11 +********************************************************************************/ +#include "oled.h" +#include "stdlib.h" +#include "oledfont.h" +#include "delay.h" +#include "bsp_iic.h" +// OLED的显存 +// 存放格式如下. +//[0]0 1 2 3 ... 127 +//[1]0 1 2 3 ... 127 +//[2]0 1 2 3 ... 127 +//[3]0 1 2 3 ... 127 +//[4]0 1 2 3 ... 127 +//[5]0 1 2 3 ... 127 +//[6]0 1 2 3 ... 127 +//[7]0 1 2 3 ... 127 + +void Write_IIC_Command(unsigned char IIC_Command) +{ + IIC_Start(); + IIC_Send_Byte(0x78); // Slave address,SA0=0 + IIC_Wait_Ack(); + IIC_Send_Byte(0x00); // write command + IIC_Wait_Ack(); + IIC_Send_Byte(IIC_Command); + IIC_Wait_Ack(); + IIC_Stop(); +} +/********************************************** +// IIC Write Data +**********************************************/ +void Write_IIC_Data(unsigned char IIC_Data) +{ + IIC_Start(); + IIC_Send_Byte(0x78); // D/C#=0; R/W#=0 + IIC_Wait_Ack(); + IIC_Send_Byte(0x40); // write data + IIC_Wait_Ack(); + IIC_Send_Byte(IIC_Data); + IIC_Wait_Ack(); + IIC_Stop(); +} + +void OLED_WR_Byte(unsigned dat, unsigned cmd) +{ + if (cmd) + { + Write_IIC_Data(dat); + } + else + { + Write_IIC_Command(dat); + } +} + +/******************************************** +// fill_Picture +********************************************/ +void fill_picture(unsigned char fill_Data) +{ + unsigned char m, n; + for (m = 0; m < 8; m++) + { + OLED_WR_Byte(0xb0 + m, 0); // page0-page1 + OLED_WR_Byte(0x00, 0); // low column start address + OLED_WR_Byte(0x10, 0); // high column start address + for (n = 0; n < 128; n++) + { + OLED_WR_Byte(fill_Data, 1); + } + } +} + +/***********************Delay****************************************/ +void Delay_50ms(unsigned int Del_50ms) +{ + unsigned int m; + for (; Del_50ms > 0; Del_50ms--) + for (m = 6245; m > 0; m--); +} + +void Delay_1ms(unsigned int Del_1ms) +{ + unsigned char j; + while (Del_1ms--) + { + for (j = 0; j < 123; j++); + } +} + +// 坐标设置 + +void OLED_Set_Pos(unsigned char x, unsigned char y) +{ + OLED_WR_Byte(0xb0 + y, OLED_CMD); + OLED_WR_Byte(((x & 0xf0) >> 4) | 0x10, OLED_CMD); + OLED_WR_Byte((x & 0x0f), OLED_CMD); +} +// 开启OLED显示 +void OLED_Display_On(void) +{ + OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令 + OLED_WR_Byte(0X14, OLED_CMD); // DCDC ON + OLED_WR_Byte(0XAF, OLED_CMD); // DISPLAY ON +} +// 关闭OLED显示 +void OLED_Display_Off(void) +{ + OLED_WR_Byte(0X8D, OLED_CMD); // SET DCDC命令 + OLED_WR_Byte(0X10, OLED_CMD); // DCDC OFF + OLED_WR_Byte(0XAE, OLED_CMD); // DISPLAY OFF +} + +// 清屏函数,清完屏,整个屏幕是黑色的!和没点亮一样!!! +void OLED_Clear(void) +{ + u8 i, n; + for (i = 0; i < 8; i++) + { + OLED_WR_Byte(0xb0 + i, OLED_CMD); // 设置页地址（0~7） + OLED_WR_Byte(0x00, OLED_CMD); // 设置显示位置—列低地址 + OLED_WR_Byte(0x10, OLED_CMD); // 设置显示位置—列高地址 + for (n = 0; n < 128; n++) + OLED_WR_Byte(0, OLED_DATA); + } // 更新显示 +} + +void OLED_On(void) +{ + u8 i, n; + for (i = 0; i < 8; i++) + { + OLED_WR_Byte(0xb0 + i, OLED_CMD); // 设置页地址（0~7） + OLED_WR_Byte(0x00, OLED_CMD); // 设置显示位置—列低地址 + OLED_WR_Byte(0x10, OLED_CMD); // 设置显示位置—列高地址 + for (n = 0; n < 128; n++) + OLED_WR_Byte(1, OLED_DATA); + } // 更新显示 +} +// 在指定位置显示一个字符,包括部分字符 +// x:0~127 +// y:0~63 +// mode:0,反白显示;1,正常显示 +// size:选择字体 16/12 +void OLED_ShowChar(u8 x, u8 y, u8 chr, u8 Char_Size) +{ + unsigned char c = 0, i = 0; + c = chr - ' '; // 得到偏移后的值 + if (x > Max_Column - 1) + { + x = 0; + y = y + 2; + } + if (Char_Size == 16) + { + OLED_Set_Pos(x, y); + for (i = 0; i < 8; i++) + OLED_WR_Byte(F8X16[c * 16 + i], OLED_DATA); + OLED_Set_Pos(x, y + 1); + for (i = 0; i < 8; i++) + OLED_WR_Byte(F8X16[c * 16 + i + 8], OLED_DATA); + } + else + { + OLED_Set_Pos(x, y); + for (i = 0; i < 6; i++) + OLED_WR_Byte(F6x8[c][i], OLED_DATA); + } +} +// m^n函数 +u32 oled_pow(u8 m, u8 n) +{ + u32 result = 1; + while (n--) + result *= m; + return result; +} +// 显示2个数字 +// x,y :起点坐标 +// len :数字的位数 +// size:字体大小 +// mode:模式 0,填充模式;1,叠加模式 +// num:数值(0~4294967295); +void OLED_ShowNum(u8 x, u8 y, u32 num, u8 len, u8 size2) +{ + u8 t, temp; + u8 enshow = 0; + for (t = 0; t < len; t++) + { + temp = (num / oled_pow(10, len - t - 1)) % 10; + if (enshow == 0 && t < (len - 1)) + { + if (temp == 0) + { + OLED_ShowChar(x + (size2 / 2) * t, y, ' ', size2); + continue; + } + else + enshow = 1; + } + OLED_ShowChar(x + (size2 / 2) * t, y, temp + '0', size2); + } +} +// 显示一个字符号串 +void OLED_ShowString(u8 x, u8 y, u8 *chr, u8 Char_Size) +{ + unsigned char j = 0; + while (chr[j] != '\0') + { + OLED_ShowChar(x, y, chr[j], Char_Size); + x += 8; + if (x > 120) + { + x = 0; + y += 2; + } + j++; + } +} +// 显示汉字 +void OLED_ShowCHinese(u8 x, u8 y, u8 no) +{ + u8 t, adder = 0; + OLED_Set_Pos(x, y); + for (t = 0; t < 16; t++) + { + OLED_WR_Byte(Hzk[2 * no][t], OLED_DATA); + adder += 1; + } + OLED_Set_Pos(x, y + 1); + for (t = 0; t < 16; t++) + { + OLED_WR_Byte(Hzk[2 * no + 1][t], OLED_DATA); + adder += 1; + } +} +/***********功能描述：显示显示BMP图片128×64起始点坐标(x,y),x的范围0～127，y为页的范围0～7*****************/ +void OLED_DrawBMP(unsigned char x0, unsigned char y0, unsigned char x1, unsigned char y1, unsigned char BMP[]) +{ + unsigned int j = 0; + unsigned char x, y; + if (y1 % 8 == 0) + y = y1 / 8; + else + y = y1 / 8 + 1; + for (y = y0; y < y1; y++) + { + OLED_Set_Pos(x0, y); + for (x = x0; x < x1; x++) + { + OLED_WR_Byte(BMP[j++], OLED_DATA); + } + } +} + +// 初始化SSD1306 +void OLED_Init(void) +{ + IIC_Init(); + Delay_ms(800); + OLED_WR_Byte(0xAE, OLED_CMD); // Display off + OLED_WR_Byte(0x00, OLED_CMD); // set low column address + OLED_WR_Byte(0x10, OLED_CMD); // set high column address + OLED_WR_Byte(0x40, OLED_CMD); // set start line address + OLED_WR_Byte(0xB0, OLED_CMD); // set page address + OLED_WR_Byte(0x81, OLED_CMD); // contract control + OLED_WR_Byte(0xFF, OLED_CMD); // 128 + OLED_WR_Byte(0xA1, OLED_CMD); // set segment remap + OLED_WR_Byte(0xA6, OLED_CMD); // normal / reverse + OLED_WR_Byte(0xA8, OLED_CMD); // set multiplex ratio(1 to 64) + OLED_WR_Byte(0x3F, OLED_CMD); // 1/32 duty + OLED_WR_Byte(0xC8, OLED_CMD); // Com scan direction + OLED_WR_Byte(0xD3, OLED_CMD); // Set display offset + OLED_WR_Byte(0x00, OLED_CMD); + + OLED_WR_Byte(0xD5, OLED_CMD); // set osc division + OLED_WR_Byte(0x80, OLED_CMD); // + + OLED_WR_Byte(0xD8, OLED_CMD); // set area color mode off + OLED_WR_Byte(0x05, OLED_CMD); // + + OLED_WR_Byte(0xD9, OLED_CMD); // Set Pre-Charge Period + OLED_WR_Byte(0xF1, OLED_CMD); // + + OLED_WR_Byte(0xDA, OLED_CMD); // set com pin configuartion + OLED_WR_Byte(0x12, OLED_CMD); // + + OLED_WR_Byte(0xDB, OLED_CMD); // set Vcomh + OLED_WR_Byte(0x30, OLED_CMD); // + + OLED_WR_Byte(0x8D, OLED_CMD); // set charge pump enable + OLED_WR_Byte(0x14, OLED_CMD); + + OLED_WR_Byte(0xAF, OLED_CMD); // turn on oled panel +} diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.h b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.h new file mode 100644 index 0000000..a1da099 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oled.h @@ -0,0 +1,59 @@ +#ifndef __OLED_H +#define __OLED_H + +#include "stm32f10x.h" +#include "stdlib.h" + +#define OLED_MODE 0 +#define SIZE 8 +#define XLevelL 0x00 +#define XLevelH 0x10 +#define Max_Column 128 +#define Max_Row 64 +#define Brightness 0xFF +#define X_WIDTH 128 +#define Y_WIDTH 64 +//-----------------OLED IIC端口定义---------------- + +#define OLED_SCLK_Clr() GPIO_ResetBits(GPIOA,GPIO_Pin_5)//SCL +#define OLED_SCLK_Set() GPIO_SetBits(GPIOA,GPIO_Pin_5) + +#define OLED_SDIN_Clr() GPIO_ResetBits(GPIOA,GPIO_Pin_7)//SDA +#define OLED_SDIN_Set() GPIO_SetBits(GPIOA,GPIO_Pin_7) + + +#define OLED_CMD 0 //写命令 +#define OLED_DATA 1 //写数据 + + +//OLED控制用函数 +void OLED_WR_Byte(unsigned dat,unsigned cmd); +void OLED_Display_On(void); +void OLED_Display_Off(void); +void OLED_Init(void); +void OLED_Clear(void); +void OLED_DrawPoint(u8 x,u8 y,u8 t); +void OLED_Fill(u8 x1,u8 y1,u8 x2,u8 y2,u8 dot); +void OLED_ShowChar(u8 x,u8 y,u8 chr,u8 Char_Size); +void OLED_ShowNum(u8 x,u8 y,u32 num,u8 len,u8 size); +void OLED_ShowString(u8 x,u8 y, u8 *p,u8 Char_Size); +void OLED_Set_Pos(unsigned char x, unsigned char y); +void OLED_ShowCHinese(u8 x,u8 y,u8 no); +void OLED_DrawBMP(unsigned char x0, unsigned char y0,unsigned char x1, unsigned char y1,unsigned char BMP[]); +void Delay_50ms(unsigned int Del_50ms); +void Delay_1ms(unsigned int Del_1ms); +void fill_picture(unsigned char fill_Data); +//void Picture(); +//void IIC_Start(); +//void IIC_Stop(); +void Write_IIC_Command(unsigned char IIC_Command); +void Write_IIC_Data(unsigned char IIC_Data); +void Write_IIC_Byte(unsigned char IIC_Byte); + +//void IIC_Wait_Ack(); + +#endif + + + + diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oledfont.h b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oledfont.h new file mode 100644 index 0000000..a33eadd --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/OLED/oledfont.h @@ -0,0 +1,251 @@ +#ifndef __OLEDFONT_H +#define __OLEDFONT_H +//ASCII +//ƫ32 +//ASCIIַ +//ƫ32 +//С:12*6 +/************************************6*8ĵ************************************/ +const unsigned char F6x8[][6] = +{ +0x00, 0x00, 0x00, 0x00, 0x00, 0x00,// sp +0x00, 0x00, 0x00, 0x2f, 0x00, 0x00,// ! +0x00, 0x00, 0x07, 0x00, 0x07, 0x00,// " +0x00, 0x14, 0x7f, 0x14, 0x7f, 0x14,// # +0x00, 0x24, 0x2a, 0x7f, 0x2a, 0x12,// $ +0x00, 0x62, 0x64, 0x08, 0x13, 0x23,// % +0x00, 0x36, 0x49, 0x55, 0x22, 0x50,// & +0x00, 0x00, 0x05, 0x03, 0x00, 0x00,// ' +0x00, 0x00, 0x1c, 0x22, 0x41, 0x00,// ( +0x00, 0x00, 0x41, 0x22, 0x1c, 0x00,// ) +0x00, 0x14, 0x08, 0x3E, 0x08, 0x14,// * +0x00, 0x08, 0x08, 0x3E, 0x08, 0x08,// + +0x00, 0x00, 0x00, 0xA0, 0x60, 0x00,// , +0x00, 0x08, 0x08, 0x08, 0x08, 0x08,// - +0x00, 0x00, 0x60, 0x60, 0x00, 0x00,// . +0x00, 0x20, 0x10, 0x08, 0x04, 0x02,// / +0x00, 0x3E, 0x51, 0x49, 0x45, 0x3E,// 0 +0x00, 0x00, 0x42, 0x7F, 0x40, 0x00,// 1 +0x00, 0x42, 0x61, 0x51, 0x49, 0x46,// 2 +0x00, 0x21, 0x41, 0x45, 0x4B, 0x31,// 3 +0x00, 0x18, 0x14, 0x12, 0x7F, 0x10,// 4 +0x00, 0x27, 0x45, 0x45, 0x45, 0x39,// 5 +0x00, 0x3C, 0x4A, 0x49, 0x49, 0x30,// 6 +0x00, 0x01, 0x71, 0x09, 0x05, 0x03,// 7 +0x00, 0x36, 0x49, 0x49, 0x49, 0x36,// 8 +0x00, 0x06, 0x49, 0x49, 0x29, 0x1E,// 9 +0x00, 0x00, 0x36, 0x36, 0x00, 0x00,// : +0x00, 0x00, 0x56, 0x36, 0x00, 0x00,// ; +0x00, 0x08, 0x14, 0x22, 0x41, 0x00,// < +0x00, 0x14, 0x14, 0x14, 0x14, 0x14,// = +0x00, 0x00, 0x41, 0x22, 0x14, 0x08,// > +0x00, 0x02, 0x01, 0x51, 0x09, 0x06,// ? +0x00, 0x32, 0x49, 0x59, 0x51, 0x3E,// @ +0x00, 0x7C, 0x12, 0x11, 0x12, 0x7C,// A +0x00, 0x7F, 0x49, 0x49, 0x49, 0x36,// B +0x00, 0x3E, 0x41, 0x41, 0x41, 0x22,// C +0x00, 0x7F, 0x41, 0x41, 0x22, 0x1C,// D +0x00, 0x7F, 0x49, 0x49, 0x49, 0x41,// E +0x00, 0x7F, 0x09, 0x09, 0x09, 0x01,// F +0x00, 0x3E, 0x41, 0x49, 0x49, 0x7A,// G +0x00, 0x7F, 0x08, 0x08, 0x08, 0x7F,// H +0x00, 0x00, 0x41, 0x7F, 0x41, 0x00,// I +0x00, 0x20, 0x40, 0x41, 0x3F, 0x01,// J +0x00, 0x7F, 0x08, 0x14, 0x22, 0x41,// K +0x00, 0x7F, 0x40, 0x40, 0x40, 0x40,// L +0x00, 0x7F, 0x02, 0x0C, 0x02, 0x7F,// M +0x00, 0x7F, 0x04, 0x08, 0x10, 0x7F,// N +0x00, 0x3E, 0x41, 0x41, 0x41, 0x3E,// O +0x00, 0x7F, 0x09, 0x09, 0x09, 0x06,// P +0x00, 0x3E, 0x41, 0x51, 0x21, 0x5E,// Q +0x00, 0x7F, 0x09, 0x19, 0x29, 0x46,// R +0x00, 0x46, 0x49, 0x49, 0x49, 0x31,// S +0x00, 0x01, 0x01, 0x7F, 0x01, 0x01,// T +0x00, 0x3F, 0x40, 0x40, 0x40, 0x3F,// U +0x00, 0x1F, 0x20, 0x40, 0x20, 0x1F,// V +0x00, 0x3F, 0x40, 0x38, 0x40, 0x3F,// W +0x00, 0x63, 0x14, 0x08, 0x14, 0x63,// X +0x00, 0x07, 0x08, 0x70, 0x08, 0x07,// Y +0x00, 0x61, 0x51, 0x49, 0x45, 0x43,// Z +0x00, 0x00, 0x7F, 0x41, 0x41, 0x00,// [ +0x00, 0x55, 0x2A, 0x55, 0x2A, 0x55,// 55 +0x00, 0x00, 0x41, 0x41, 0x7F, 0x00,// ] +0x00, 0x04, 0x02, 0x01, 0x02, 0x04,// ^ +0x00, 0x40, 0x40, 0x40, 0x40, 0x40,// _ +0x00, 0x00, 0x01, 0x02, 0x04, 0x00,// ' +0x00, 0x20, 0x54, 0x54, 0x54, 0x78,// a +0x00, 0x7F, 0x48, 0x44, 0x44, 0x38,// b +0x00, 0x38, 0x44, 0x44, 0x44, 0x20,// c +0x00, 0x38, 0x44, 0x44, 0x48, 0x7F,// d +0x00, 0x38, 0x54, 0x54, 0x54, 0x18,// e +0x00, 0x08, 0x7E, 0x09, 0x01, 0x02,// f +0x00, 0x18, 0xA4, 0xA4, 0xA4, 0x7C,// g +0x00, 0x7F, 0x08, 0x04, 0x04, 0x78,// h +0x00, 0x00, 0x44, 0x7D, 0x40, 0x00,// i +0x00, 0x40, 0x80, 0x84, 0x7D, 0x00,// j +0x00, 0x7F, 0x10, 0x28, 0x44, 0x00,// k +0x00, 0x00, 0x41, 0x7F, 0x40, 0x00,// l +0x00, 0x7C, 0x04, 0x18, 0x04, 0x78,// m +0x00, 0x7C, 0x08, 0x04, 0x04, 0x78,// n +0x00, 0x38, 0x44, 0x44, 0x44, 0x38,// o +0x00, 0xFC, 0x24, 0x24, 0x24, 0x18,// p +0x00, 0x18, 0x24, 0x24, 0x18, 0xFC,// q +0x00, 0x7C, 0x08, 0x04, 0x04, 0x08,// r +0x00, 0x48, 0x54, 0x54, 0x54, 0x20,// s +0x00, 0x04, 0x3F, 0x44, 0x40, 0x20,// t +0x00, 0x3C, 0x40, 0x40, 0x20, 0x7C,// u +0x00, 0x1C, 0x20, 0x40, 0x20, 0x1C,// v +0x00, 0x3C, 0x40, 0x30, 0x40, 0x3C,// w +0x00, 0x44, 0x28, 0x10, 0x28, 0x44,// x +0x00, 0x1C, 0xA0, 0xA0, 0xA0, 0x7C,// y +0x00, 0x44, 0x64, 0x54, 0x4C, 0x44,// z +0x14, 0x14, 0x14, 0x14, 0x14, 0x14,// horiz lines +}; +/****************************************8*16ĵ************************************/ +const unsigned char F8X16[]= +{ + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0 + 0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1 + 0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2 + 0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3 + 0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4 + 0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5 + 0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6 + 0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7 + 0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8 + 0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9 + 0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10 + 0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11 + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12 + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13 + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14 + 0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15 + 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16 + 0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17 + 0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18 + 0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19 + 0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20 + 0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21 + 0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22 + 0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23 + 0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24 + 0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25 + 0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26 + 0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27 + 0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28 + 0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29 + 0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30 + 0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31 + 0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32 + 0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33 + 0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34 + 0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35 + 0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36 + 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37 + 0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38 + 0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39 + 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40 + 0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41 + 0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42 + 0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43 + 0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44 + 0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45 + 0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46 + 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47 + 0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48 + 0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49 + 0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50 + 0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51 + 0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52 + 0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53 + 0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54 + 0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55 + 0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56 + 0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57 + 0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58 + 0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59 + 0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60 + 0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61 + 0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62 + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63 + 0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64 + 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65 + 0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66 + 0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67 + 0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68 + 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69 + 0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70 + 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71 + 0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72 + 0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73 + 0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74 + 0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75 + 0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76 + 0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77 + 0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78 + 0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79 + 0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80 + 0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81 + 0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82 + 0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83 + 0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84 + 0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85 + 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86 + 0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87 + 0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88 + 0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89 + 0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90 + 0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91 + 0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92 + 0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93 + 0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94 +}; +char Hzk[][32]={ + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0x40,0x40,0x42,0xCC,0x00,0x40,0xA0,0x9E,0x82,0x82,0x82,0x9E,0xA0,0x20,0x20,0x00}, +{0x00,0x00,0x00,0x3F,0x90,0x88,0x40,0x43,0x2C,0x10,0x28,0x46,0x41,0x80,0x80,0x00}, + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0x10,0x0C,0x44,0x44,0x44,0x44,0x45,0xC6,0x44,0x44,0x44,0x44,0x44,0x14,0x0C,0x00}, +{0x80,0x40,0x20,0x1E,0x20,0x40,0x40,0x7F,0x44,0x44,0x44,0x44,0x44,0x40,0x40,0x00}, + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0x00,0x08,0x88,0x48,0x28,0x18,0x0F,0xE8,0x08,0x08,0x08,0x08,0x08,0x08,0x00,0x00}, +{0x08,0x08,0x09,0x09,0x09,0x09,0x09,0xFF,0x09,0x09,0x09,0x09,0x09,0x08,0x08,0x00}, + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0x40,0x40,0x42,0xCC,0x00,0x04,0xF4,0x94,0x94,0xFF,0x94,0x94,0xF4,0x04,0x00,0x00}, +{0x00,0x40,0x20,0x1F,0x20,0x48,0x44,0x42,0x41,0x5F,0x41,0x42,0x44,0x48,0x40,0x00}, + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0x08,0x08,0x08,0x08,0x88,0x78,0x0F,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x00}, +{0x20,0x10,0x48,0x46,0x41,0x41,0x41,0x41,0x7F,0x41,0x41,0x41,0x41,0x40,0x40,0x00}, + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0x08,0x08,0x08,0x08,0xC8,0x38,0x0F,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x00}, +{0x08,0x04,0x02,0x01,0xFF,0x41,0x41,0x41,0x41,0x41,0x41,0x41,0xFF,0x00,0x00,0x00}, + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0xC8,0xB8,0x8F,0xE8,0x88,0xC8,0x20,0x90,0x0C,0x03,0x0C,0x90,0x20,0x40,0x40,0x00}, +{0x08,0x18,0x08,0xFF,0x04,0x04,0x00,0x3F,0x44,0x42,0x41,0x40,0x40,0x70,0x00,0x00}, + +/*-- : --*/ +/*-- 12; ¶ӦĵΪx=16x16 --*/ +{0x00,0x00,0xFC,0x24,0x24,0x24,0xFC,0x25,0x26,0x24,0xFC,0x24,0x24,0x24,0x04,0x00}, +{0x40,0x30,0x8F,0x80,0x84,0x4C,0x55,0x25,0x25,0x25,0x55,0x4C,0x80,0x80,0x80,0x00}, + + + +}; + +#endif + + diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.c b/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.c new file mode 100644 index 0000000..d1d73bb --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.c @@ -0,0 +1,71 @@ +/******************** (C) COPYRIGHT 2023 GeekRebot ***************************** +* File Name : pid.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2023.04.06 zhanli: Create +* Comments : GeekRebotĵPIDƲ +********************************************************************************/ +#include "pid.h" + +/* ʽpid,PIDغ,趨ԵӰdz */ +float Proportion = 0.6; // Proportional Const +float Integral = 0.1; // ֳ Integral Const +float Derivative = 0; // ΢ֳ Derivative Const + +//ʾpidOLED +void showPID(void) +{ + float temp1,temp2,temp3; + char PID_P[3],PID_I[3],PID_D[3]; + temp1 = Proportion; + sprintf(PID_P,"%1.1f",temp1); + OLED_ShowString(16,4, (u8*)PID_P,16); + + temp2 = Integral; + sprintf(PID_I,"%1.1f",temp2); + OLED_ShowString(56,4, (u8*)PID_I,16); + + temp3 = Derivative; + sprintf(PID_D,"%1.1f",temp3); + OLED_ShowString(104,4, (u8*)PID_D,16); +} + +/********************ʽPID************************************/ +//NextPointǰֵ +//SetPoint趨ֵ + +//PID +int PID_Calc_Left(int NextPoint,int SetPoint) +{ + static int LastError; // Error[-1] + static int PrevError; // Error[-2] + int iError,Outpid; // ǰ + + iError=SetPoint-NextPoint; // + Outpid=(Proportion * iError) // E[k] + -(Integral * LastError) // E[k-1] + +(Derivative * PrevError); // E[k-2] + + PrevError=LastError; // 洢´μ + LastError=iError; + return(Outpid); // ֵ +} + + +//PID +int PID_Calc_Right(int NextPoint,int SetPoint) +{ + static int LastError; // Error[-1] + static int PrevError; // Error[-2] + int iError,Outpid; // ǰ + + iError = SetPoint-NextPoint; // + Outpid = (Proportion * iError) // E[k] + -(Integral * LastError) // E[k-1] + +(Derivative * PrevError); // E[k-2] + + PrevError=LastError; // 洢´μ + LastError=iError; + return(Outpid); // ֵ +} + diff --git a/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.h b/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.h new file mode 100644 index 0000000..8b7902c --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/HARDWARE/PID/pid.h @@ -0,0 +1,10 @@ +#ifndef __PID_H +#define __PID_H + +#include "stm32f10x.h" +#include "bsp_sys.h" +int PID_Calc_Left(int NextPoint,int Setpoint); +int PID_Calc_Right(int NextPoint,int Setpoint); +void showPID(void); +#endif + diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/core_cm3.c b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/core_cm3.c new file mode 100644 index 0000000..fcff0d1 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/core_cm3.c @@ -0,0 +1,784 @@ +/**************************************************************************//** + * @file core_cm3.c + * @brief CMSIS Cortex-M3 Core Peripheral Access Layer Source File + * @version V1.30 + * @date 30. October 2009 + * + * @note + * Copyright (C) 2009 ARM Limited. All rights reserved. + * + * @par + * ARM Limited (ARM) is supplying this software for use with Cortex-M + * processor based microcontrollers. This file can be freely distributed + * within development tools that are supporting such ARM based processors. + * + * @par + * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED + * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. + * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR + * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. + * + ******************************************************************************/ + +#include + +/* define compiler specific symbols */ +#if defined ( __CC_ARM ) + #define __ASM __asm /*!< asm keyword for ARM Compiler */ + #define __INLINE __inline /*!< inline keyword for ARM Compiler */ + +#elif defined ( __ICCARM__ ) + #define __ASM __asm /*!< asm keyword for IAR Compiler */ + #define __INLINE inline /*!< inline keyword for IAR Compiler. Only avaiable in High optimization mode! */ + +#elif defined ( __GNUC__ ) + #define __ASM __asm /*!< asm keyword for GNU Compiler */ + #define __INLINE inline /*!< inline keyword for GNU Compiler */ + +#elif defined ( __TASKING__ ) + #define __ASM __asm /*!< asm keyword for TASKING Compiler */ + #define __INLINE inline /*!< inline keyword for TASKING Compiler */ + +#endif + + +/* ################### Compiler specific Intrinsics ########################### */ + +#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/ +/* ARM armcc specific functions */ + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +__ASM uint32_t __get_PSP(void) +{ + mrs r0, psp + bx lr +} + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +__ASM void __set_PSP(uint32_t topOfProcStack) +{ + msr psp, r0 + bx lr +} + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +__ASM uint32_t __get_MSP(void) +{ + mrs r0, msp + bx lr +} + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +__ASM void __set_MSP(uint32_t mainStackPointer) +{ + msr msp, r0 + bx lr +} + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +__ASM uint32_t __REV16(uint16_t value) +{ + rev16 r0, r0 + bx lr +} + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +__ASM int32_t __REVSH(int16_t value) +{ + revsh r0, r0 + bx lr +} + + +#if (__ARMCC_VERSION < 400000) + +/** + * @brief Remove the exclusive lock created by ldrex + * + * Removes the exclusive lock which is created by ldrex. + */ +__ASM void __CLREX(void) +{ + clrex +} + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +__ASM uint32_t __get_BASEPRI(void) +{ + mrs r0, basepri + bx lr +} + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +__ASM void __set_BASEPRI(uint32_t basePri) +{ + msr basepri, r0 + bx lr +} + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +__ASM uint32_t __get_PRIMASK(void) +{ + mrs r0, primask + bx lr +} + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +__ASM void __set_PRIMASK(uint32_t priMask) +{ + msr primask, r0 + bx lr +} + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +__ASM uint32_t __get_FAULTMASK(void) +{ + mrs r0, faultmask + bx lr +} + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +__ASM void __set_FAULTMASK(uint32_t faultMask) +{ + msr faultmask, r0 + bx lr +} + +/** + * @brief Return the Control Register value + * + * @return Control value + * + * Return the content of the control register + */ +__ASM uint32_t __get_CONTROL(void) +{ + mrs r0, control + bx lr +} + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +__ASM void __set_CONTROL(uint32_t control) +{ + msr control, r0 + bx lr +} + +#endif /* __ARMCC_VERSION */ + + + +#elif (defined (__ICCARM__)) /*------------------ ICC Compiler -------------------*/ +/* IAR iccarm specific functions */ +#pragma diag_suppress=Pe940 + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +uint32_t __get_PSP(void) +{ + __ASM("mrs r0, psp"); + __ASM("bx lr"); +} + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +void __set_PSP(uint32_t topOfProcStack) +{ + __ASM("msr psp, r0"); + __ASM("bx lr"); +} + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +uint32_t __get_MSP(void) +{ + __ASM("mrs r0, msp"); + __ASM("bx lr"); +} + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +void __set_MSP(uint32_t topOfMainStack) +{ + __ASM("msr msp, r0"); + __ASM("bx lr"); +} + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +uint32_t __REV16(uint16_t value) +{ + __ASM("rev16 r0, r0"); + __ASM("bx lr"); +} + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +uint32_t __RBIT(uint32_t value) +{ + __ASM("rbit r0, r0"); + __ASM("bx lr"); +} + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit values) + */ +uint8_t __LDREXB(uint8_t *addr) +{ + __ASM("ldrexb r0, [r0]"); + __ASM("bx lr"); +} + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +uint16_t __LDREXH(uint16_t *addr) +{ + __ASM("ldrexh r0, [r0]"); + __ASM("bx lr"); +} + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +uint32_t __LDREXW(uint32_t *addr) +{ + __ASM("ldrex r0, [r0]"); + __ASM("bx lr"); +} + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +uint32_t __STREXB(uint8_t value, uint8_t *addr) +{ + __ASM("strexb r0, r0, [r1]"); + __ASM("bx lr"); +} + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +uint32_t __STREXH(uint16_t value, uint16_t *addr) +{ + __ASM("strexh r0, r0, [r1]"); + __ASM("bx lr"); +} + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +uint32_t __STREXW(uint32_t value, uint32_t *addr) +{ + __ASM("strex r0, r0, [r1]"); + __ASM("bx lr"); +} + +#pragma diag_default=Pe940 + + +#elif (defined (__GNUC__)) /*------------------ GNU Compiler ---------------------*/ +/* GNU gcc specific functions */ + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +uint32_t __get_PSP(void) __attribute__( ( naked ) ); +uint32_t __get_PSP(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, psp\n\t" + "MOV r0, %0 \n\t" + "BX lr \n\t" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +void __set_PSP(uint32_t topOfProcStack) __attribute__( ( naked ) ); +void __set_PSP(uint32_t topOfProcStack) +{ + __ASM volatile ("MSR psp, %0\n\t" + "BX lr \n\t" : : "r" (topOfProcStack) ); +} + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +uint32_t __get_MSP(void) __attribute__( ( naked ) ); +uint32_t __get_MSP(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, msp\n\t" + "MOV r0, %0 \n\t" + "BX lr \n\t" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +void __set_MSP(uint32_t topOfMainStack) __attribute__( ( naked ) ); +void __set_MSP(uint32_t topOfMainStack) +{ + __ASM volatile ("MSR msp, %0\n\t" + "BX lr \n\t" : : "r" (topOfMainStack) ); +} + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +uint32_t __get_BASEPRI(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, basepri_max" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +void __set_BASEPRI(uint32_t value) +{ + __ASM volatile ("MSR basepri, %0" : : "r" (value) ); +} + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +uint32_t __get_PRIMASK(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, primask" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +void __set_PRIMASK(uint32_t priMask) +{ + __ASM volatile ("MSR primask, %0" : : "r" (priMask) ); +} + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +uint32_t __get_FAULTMASK(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +void __set_FAULTMASK(uint32_t faultMask) +{ + __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) ); +} + +/** + * @brief Return the Control Register value +* +* @return Control value + * + * Return the content of the control register + */ +uint32_t __get_CONTROL(void) +{ + uint32_t result=0; + + __ASM volatile ("MRS %0, control" : "=r" (result) ); + return(result); +} + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +void __set_CONTROL(uint32_t control) +{ + __ASM volatile ("MSR control, %0" : : "r" (control) ); +} + + +/** + * @brief Reverse byte order in integer value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in integer value + */ +uint32_t __REV(uint32_t value) +{ + uint32_t result=0; + + __ASM volatile ("rev %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +uint32_t __REV16(uint16_t value) +{ + uint32_t result=0; + + __ASM volatile ("rev16 %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +int32_t __REVSH(int16_t value) +{ + uint32_t result=0; + + __ASM volatile ("revsh %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +uint32_t __RBIT(uint32_t value) +{ + uint32_t result=0; + + __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) ); + return(result); +} + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit value + */ +uint8_t __LDREXB(uint8_t *addr) +{ + uint8_t result=0; + + __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) ); + return(result); +} + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +uint16_t __LDREXH(uint16_t *addr) +{ + uint16_t result=0; + + __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) ); + return(result); +} + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +uint32_t __LDREXW(uint32_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("ldrex %0, [%1]" : "=r" (result) : "r" (addr) ); + return(result); +} + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +uint32_t __STREXB(uint8_t value, uint8_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("strexb %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) ); + return(result); +} + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +uint32_t __STREXH(uint16_t value, uint16_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("strexh %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) ); + return(result); +} + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +uint32_t __STREXW(uint32_t value, uint32_t *addr) +{ + uint32_t result=0; + + __ASM volatile ("strex %0, %2, [%1]" : "=r" (result) : "r" (addr), "r" (value) ); + return(result); +} + + +#elif (defined (__TASKING__)) /*------------------ TASKING Compiler ---------------------*/ +/* TASKING carm specific functions */ + +/* + * The CMSIS functions have been implemented as intrinsics in the compiler. + * Please use "carm -?i" to get an up to date list of all instrinsics, + * Including the CMSIS ones. + */ + +#endif diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/core_cm3.h b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/core_cm3.h new file mode 100644 index 0000000..7ab7b4b --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/core_cm3.h @@ -0,0 +1,1818 @@ +/**************************************************************************//** + * @file core_cm3.h + * @brief CMSIS Cortex-M3 Core Peripheral Access Layer Header File + * @version V1.30 + * @date 30. October 2009 + * + * @note + * Copyright (C) 2009 ARM Limited. All rights reserved. + * + * @par + * ARM Limited (ARM) is supplying this software for use with Cortex-M + * processor based microcontrollers. This file can be freely distributed + * within development tools that are supporting such ARM based processors. + * + * @par + * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED + * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. + * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR + * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. + * + ******************************************************************************/ + +#ifndef __CM3_CORE_H__ +#define __CM3_CORE_H__ + +/** @addtogroup CMSIS_CM3_core_LintCinfiguration CMSIS CM3 Core Lint Configuration + * + * List of Lint messages which will be suppressed and not shown: + * - Error 10: \n + * register uint32_t __regBasePri __asm("basepri"); \n + * Error 10: Expecting ';' + * . + * - Error 530: \n + * return(__regBasePri); \n + * Warning 530: Symbol '__regBasePri' (line 264) not initialized + * . + * - Error 550: \n + * __regBasePri = (basePri & 0x1ff); \n + * Warning 550: Symbol '__regBasePri' (line 271) not accessed + * . + * - Error 754: \n + * uint32_t RESERVED0[24]; \n + * Info 754: local structure member '' (line 109, file ./cm3_core.h) not referenced + * . + * - Error 750: \n + * #define __CM3_CORE_H__ \n + * Info 750: local macro '__CM3_CORE_H__' (line 43, file./cm3_core.h) not referenced + * . + * - Error 528: \n + * static __INLINE void NVIC_DisableIRQ(uint32_t IRQn) \n + * Warning 528: Symbol 'NVIC_DisableIRQ(unsigned int)' (line 419, file ./cm3_core.h) not referenced + * . + * - Error 751: \n + * } InterruptType_Type; \n + * Info 751: local typedef 'InterruptType_Type' (line 170, file ./cm3_core.h) not referenced + * . + * Note: To re-enable a Message, insert a space before 'lint' * + * + */ + +/*lint -save */ +/*lint -e10 */ +/*lint -e530 */ +/*lint -e550 */ +/*lint -e754 */ +/*lint -e750 */ +/*lint -e528 */ +/*lint -e751 */ + + +/** @addtogroup CMSIS_CM3_core_definitions CM3 Core Definitions + This file defines all structures and symbols for CMSIS core: + - CMSIS version number + - Cortex-M core registers and bitfields + - Cortex-M core peripheral base address + @{ + */ + +#ifdef __cplusplus + extern "C" { +#endif + +#define __CM3_CMSIS_VERSION_MAIN (0x01) /*!< [31:16] CMSIS HAL main version */ +#define __CM3_CMSIS_VERSION_SUB (0x30) /*!< [15:0] CMSIS HAL sub version */ +#define __CM3_CMSIS_VERSION ((__CM3_CMSIS_VERSION_MAIN << 16) | __CM3_CMSIS_VERSION_SUB) /*!< CMSIS HAL version number */ + +#define __CORTEX_M (0x03) /*!< Cortex core */ + +#include /* Include standard types */ + +#if defined (__ICCARM__) + #include /* IAR Intrinsics */ +#endif + + +#ifndef __NVIC_PRIO_BITS + #define __NVIC_PRIO_BITS 4 /*!< standard definition for NVIC Priority Bits */ +#endif + + + + +/** + * IO definitions + * + * define access restrictions to peripheral registers + */ + +#ifdef __cplusplus + #define __I volatile /*!< defines 'read only' permissions */ +#else + #define __I volatile const /*!< defines 'read only' permissions */ +#endif +#define __O volatile /*!< defines 'write only' permissions */ +#define __IO volatile /*!< defines 'read / write' permissions */ + + + +/******************************************************************************* + * Register Abstraction + ******************************************************************************/ +/** @addtogroup CMSIS_CM3_core_register CMSIS CM3 Core Register + @{ +*/ + + +/** @addtogroup CMSIS_CM3_NVIC CMSIS CM3 NVIC + memory mapped structure for Nested Vectored Interrupt Controller (NVIC) + @{ + */ +typedef struct +{ + __IO uint32_t ISER[8]; /*!< Offset: 0x000 Interrupt Set Enable Register */ + uint32_t RESERVED0[24]; + __IO uint32_t ICER[8]; /*!< Offset: 0x080 Interrupt Clear Enable Register */ + uint32_t RSERVED1[24]; + __IO uint32_t ISPR[8]; /*!< Offset: 0x100 Interrupt Set Pending Register */ + uint32_t RESERVED2[24]; + __IO uint32_t ICPR[8]; /*!< Offset: 0x180 Interrupt Clear Pending Register */ + uint32_t RESERVED3[24]; + __IO uint32_t IABR[8]; /*!< Offset: 0x200 Interrupt Active bit Register */ + uint32_t RESERVED4[56]; + __IO uint8_t IP[240]; /*!< Offset: 0x300 Interrupt Priority Register (8Bit wide) */ + uint32_t RESERVED5[644]; + __O uint32_t STIR; /*!< Offset: 0xE00 Software Trigger Interrupt Register */ +} NVIC_Type; +/*@}*/ /* end of group CMSIS_CM3_NVIC */ + + +/** @addtogroup CMSIS_CM3_SCB CMSIS CM3 SCB + memory mapped structure for System Control Block (SCB) + @{ + */ +typedef struct +{ + __I uint32_t CPUID; /*!< Offset: 0x00 CPU ID Base Register */ + __IO uint32_t ICSR; /*!< Offset: 0x04 Interrupt Control State Register */ + __IO uint32_t VTOR; /*!< Offset: 0x08 Vector Table Offset Register */ + __IO uint32_t AIRCR; /*!< Offset: 0x0C Application Interrupt / Reset Control Register */ + __IO uint32_t SCR; /*!< Offset: 0x10 System Control Register */ + __IO uint32_t CCR; /*!< Offset: 0x14 Configuration Control Register */ + __IO uint8_t SHP[12]; /*!< Offset: 0x18 System Handlers Priority Registers (4-7, 8-11, 12-15) */ + __IO uint32_t SHCSR; /*!< Offset: 0x24 System Handler Control and State Register */ + __IO uint32_t CFSR; /*!< Offset: 0x28 Configurable Fault Status Register */ + __IO uint32_t HFSR; /*!< Offset: 0x2C Hard Fault Status Register */ + __IO uint32_t DFSR; /*!< Offset: 0x30 Debug Fault Status Register */ + __IO uint32_t MMFAR; /*!< Offset: 0x34 Mem Manage Address Register */ + __IO uint32_t BFAR; /*!< Offset: 0x38 Bus Fault Address Register */ + __IO uint32_t AFSR; /*!< Offset: 0x3C Auxiliary Fault Status Register */ + __I uint32_t PFR[2]; /*!< Offset: 0x40 Processor Feature Register */ + __I uint32_t DFR; /*!< Offset: 0x48 Debug Feature Register */ + __I uint32_t ADR; /*!< Offset: 0x4C Auxiliary Feature Register */ + __I uint32_t MMFR[4]; /*!< Offset: 0x50 Memory Model Feature Register */ + __I uint32_t ISAR[5]; /*!< Offset: 0x60 ISA Feature Register */ +} SCB_Type; + +/* SCB CPUID Register Definitions */ +#define SCB_CPUID_IMPLEMENTER_Pos 24 /*!< SCB CPUID: IMPLEMENTER Position */ +#define SCB_CPUID_IMPLEMENTER_Msk (0xFFul << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ + +#define SCB_CPUID_VARIANT_Pos 20 /*!< SCB CPUID: VARIANT Position */ +#define SCB_CPUID_VARIANT_Msk (0xFul << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ + +#define SCB_CPUID_PARTNO_Pos 4 /*!< SCB CPUID: PARTNO Position */ +#define SCB_CPUID_PARTNO_Msk (0xFFFul << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ + +#define SCB_CPUID_REVISION_Pos 0 /*!< SCB CPUID: REVISION Position */ +#define SCB_CPUID_REVISION_Msk (0xFul << SCB_CPUID_REVISION_Pos) /*!< SCB CPUID: REVISION Mask */ + +/* SCB Interrupt Control State Register Definitions */ +#define SCB_ICSR_NMIPENDSET_Pos 31 /*!< SCB ICSR: NMIPENDSET Position */ +#define SCB_ICSR_NMIPENDSET_Msk (1ul << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */ + +#define SCB_ICSR_PENDSVSET_Pos 28 /*!< SCB ICSR: PENDSVSET Position */ +#define SCB_ICSR_PENDSVSET_Msk (1ul << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ + +#define SCB_ICSR_PENDSVCLR_Pos 27 /*!< SCB ICSR: PENDSVCLR Position */ +#define SCB_ICSR_PENDSVCLR_Msk (1ul << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ + +#define SCB_ICSR_PENDSTSET_Pos 26 /*!< SCB ICSR: PENDSTSET Position */ +#define SCB_ICSR_PENDSTSET_Msk (1ul << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ + +#define SCB_ICSR_PENDSTCLR_Pos 25 /*!< SCB ICSR: PENDSTCLR Position */ +#define SCB_ICSR_PENDSTCLR_Msk (1ul << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ + +#define SCB_ICSR_ISRPREEMPT_Pos 23 /*!< SCB ICSR: ISRPREEMPT Position */ +#define SCB_ICSR_ISRPREEMPT_Msk (1ul << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ + +#define SCB_ICSR_ISRPENDING_Pos 22 /*!< SCB ICSR: ISRPENDING Position */ +#define SCB_ICSR_ISRPENDING_Msk (1ul << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ + +#define SCB_ICSR_VECTPENDING_Pos 12 /*!< SCB ICSR: VECTPENDING Position */ +#define SCB_ICSR_VECTPENDING_Msk (0x1FFul << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ + +#define SCB_ICSR_RETTOBASE_Pos 11 /*!< SCB ICSR: RETTOBASE Position */ +#define SCB_ICSR_RETTOBASE_Msk (1ul << SCB_ICSR_RETTOBASE_Pos) /*!< SCB ICSR: RETTOBASE Mask */ + +#define SCB_ICSR_VECTACTIVE_Pos 0 /*!< SCB ICSR: VECTACTIVE Position */ +#define SCB_ICSR_VECTACTIVE_Msk (0x1FFul << SCB_ICSR_VECTACTIVE_Pos) /*!< SCB ICSR: VECTACTIVE Mask */ + +/* SCB Interrupt Control State Register Definitions */ +#define SCB_VTOR_TBLBASE_Pos 29 /*!< SCB VTOR: TBLBASE Position */ +#define SCB_VTOR_TBLBASE_Msk (0x1FFul << SCB_VTOR_TBLBASE_Pos) /*!< SCB VTOR: TBLBASE Mask */ + +#define SCB_VTOR_TBLOFF_Pos 7 /*!< SCB VTOR: TBLOFF Position */ +#define SCB_VTOR_TBLOFF_Msk (0x3FFFFFul << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ + +/* SCB Application Interrupt and Reset Control Register Definitions */ +#define SCB_AIRCR_VECTKEY_Pos 16 /*!< SCB AIRCR: VECTKEY Position */ +#define SCB_AIRCR_VECTKEY_Msk (0xFFFFul << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ + +#define SCB_AIRCR_VECTKEYSTAT_Pos 16 /*!< SCB AIRCR: VECTKEYSTAT Position */ +#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFul << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ + +#define SCB_AIRCR_ENDIANESS_Pos 15 /*!< SCB AIRCR: ENDIANESS Position */ +#define SCB_AIRCR_ENDIANESS_Msk (1ul << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ + +#define SCB_AIRCR_PRIGROUP_Pos 8 /*!< SCB AIRCR: PRIGROUP Position */ +#define SCB_AIRCR_PRIGROUP_Msk (7ul << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ + +#define SCB_AIRCR_SYSRESETREQ_Pos 2 /*!< SCB AIRCR: SYSRESETREQ Position */ +#define SCB_AIRCR_SYSRESETREQ_Msk (1ul << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ + +#define SCB_AIRCR_VECTCLRACTIVE_Pos 1 /*!< SCB AIRCR: VECTCLRACTIVE Position */ +#define SCB_AIRCR_VECTCLRACTIVE_Msk (1ul << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ + +#define SCB_AIRCR_VECTRESET_Pos 0 /*!< SCB AIRCR: VECTRESET Position */ +#define SCB_AIRCR_VECTRESET_Msk (1ul << SCB_AIRCR_VECTRESET_Pos) /*!< SCB AIRCR: VECTRESET Mask */ + +/* SCB System Control Register Definitions */ +#define SCB_SCR_SEVONPEND_Pos 4 /*!< SCB SCR: SEVONPEND Position */ +#define SCB_SCR_SEVONPEND_Msk (1ul << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ + +#define SCB_SCR_SLEEPDEEP_Pos 2 /*!< SCB SCR: SLEEPDEEP Position */ +#define SCB_SCR_SLEEPDEEP_Msk (1ul << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ + +#define SCB_SCR_SLEEPONEXIT_Pos 1 /*!< SCB SCR: SLEEPONEXIT Position */ +#define SCB_SCR_SLEEPONEXIT_Msk (1ul << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ + +/* SCB Configuration Control Register Definitions */ +#define SCB_CCR_STKALIGN_Pos 9 /*!< SCB CCR: STKALIGN Position */ +#define SCB_CCR_STKALIGN_Msk (1ul << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */ + +#define SCB_CCR_BFHFNMIGN_Pos 8 /*!< SCB CCR: BFHFNMIGN Position */ +#define SCB_CCR_BFHFNMIGN_Msk (1ul << SCB_CCR_BFHFNMIGN_Pos) /*!< SCB CCR: BFHFNMIGN Mask */ + +#define SCB_CCR_DIV_0_TRP_Pos 4 /*!< SCB CCR: DIV_0_TRP Position */ +#define SCB_CCR_DIV_0_TRP_Msk (1ul << SCB_CCR_DIV_0_TRP_Pos) /*!< SCB CCR: DIV_0_TRP Mask */ + +#define SCB_CCR_UNALIGN_TRP_Pos 3 /*!< SCB CCR: UNALIGN_TRP Position */ +#define SCB_CCR_UNALIGN_TRP_Msk (1ul << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ + +#define SCB_CCR_USERSETMPEND_Pos 1 /*!< SCB CCR: USERSETMPEND Position */ +#define SCB_CCR_USERSETMPEND_Msk (1ul << SCB_CCR_USERSETMPEND_Pos) /*!< SCB CCR: USERSETMPEND Mask */ + +#define SCB_CCR_NONBASETHRDENA_Pos 0 /*!< SCB CCR: NONBASETHRDENA Position */ +#define SCB_CCR_NONBASETHRDENA_Msk (1ul << SCB_CCR_NONBASETHRDENA_Pos) /*!< SCB CCR: NONBASETHRDENA Mask */ + +/* SCB System Handler Control and State Register Definitions */ +#define SCB_SHCSR_USGFAULTENA_Pos 18 /*!< SCB SHCSR: USGFAULTENA Position */ +#define SCB_SHCSR_USGFAULTENA_Msk (1ul << SCB_SHCSR_USGFAULTENA_Pos) /*!< SCB SHCSR: USGFAULTENA Mask */ + +#define SCB_SHCSR_BUSFAULTENA_Pos 17 /*!< SCB SHCSR: BUSFAULTENA Position */ +#define SCB_SHCSR_BUSFAULTENA_Msk (1ul << SCB_SHCSR_BUSFAULTENA_Pos) /*!< SCB SHCSR: BUSFAULTENA Mask */ + +#define SCB_SHCSR_MEMFAULTENA_Pos 16 /*!< SCB SHCSR: MEMFAULTENA Position */ +#define SCB_SHCSR_MEMFAULTENA_Msk (1ul << SCB_SHCSR_MEMFAULTENA_Pos) /*!< SCB SHCSR: MEMFAULTENA Mask */ + +#define SCB_SHCSR_SVCALLPENDED_Pos 15 /*!< SCB SHCSR: SVCALLPENDED Position */ +#define SCB_SHCSR_SVCALLPENDED_Msk (1ul << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ + +#define SCB_SHCSR_BUSFAULTPENDED_Pos 14 /*!< SCB SHCSR: BUSFAULTPENDED Position */ +#define SCB_SHCSR_BUSFAULTPENDED_Msk (1ul << SCB_SHCSR_BUSFAULTPENDED_Pos) /*!< SCB SHCSR: BUSFAULTPENDED Mask */ + +#define SCB_SHCSR_MEMFAULTPENDED_Pos 13 /*!< SCB SHCSR: MEMFAULTPENDED Position */ +#define SCB_SHCSR_MEMFAULTPENDED_Msk (1ul << SCB_SHCSR_MEMFAULTPENDED_Pos) /*!< SCB SHCSR: MEMFAULTPENDED Mask */ + +#define SCB_SHCSR_USGFAULTPENDED_Pos 12 /*!< SCB SHCSR: USGFAULTPENDED Position */ +#define SCB_SHCSR_USGFAULTPENDED_Msk (1ul << SCB_SHCSR_USGFAULTPENDED_Pos) /*!< SCB SHCSR: USGFAULTPENDED Mask */ + +#define SCB_SHCSR_SYSTICKACT_Pos 11 /*!< SCB SHCSR: SYSTICKACT Position */ +#define SCB_SHCSR_SYSTICKACT_Msk (1ul << SCB_SHCSR_SYSTICKACT_Pos) /*!< SCB SHCSR: SYSTICKACT Mask */ + +#define SCB_SHCSR_PENDSVACT_Pos 10 /*!< SCB SHCSR: PENDSVACT Position */ +#define SCB_SHCSR_PENDSVACT_Msk (1ul << SCB_SHCSR_PENDSVACT_Pos) /*!< SCB SHCSR: PENDSVACT Mask */ + +#define SCB_SHCSR_MONITORACT_Pos 8 /*!< SCB SHCSR: MONITORACT Position */ +#define SCB_SHCSR_MONITORACT_Msk (1ul << SCB_SHCSR_MONITORACT_Pos) /*!< SCB SHCSR: MONITORACT Mask */ + +#define SCB_SHCSR_SVCALLACT_Pos 7 /*!< SCB SHCSR: SVCALLACT Position */ +#define SCB_SHCSR_SVCALLACT_Msk (1ul << SCB_SHCSR_SVCALLACT_Pos) /*!< SCB SHCSR: SVCALLACT Mask */ + +#define SCB_SHCSR_USGFAULTACT_Pos 3 /*!< SCB SHCSR: USGFAULTACT Position */ +#define SCB_SHCSR_USGFAULTACT_Msk (1ul << SCB_SHCSR_USGFAULTACT_Pos) /*!< SCB SHCSR: USGFAULTACT Mask */ + +#define SCB_SHCSR_BUSFAULTACT_Pos 1 /*!< SCB SHCSR: BUSFAULTACT Position */ +#define SCB_SHCSR_BUSFAULTACT_Msk (1ul << SCB_SHCSR_BUSFAULTACT_Pos) /*!< SCB SHCSR: BUSFAULTACT Mask */ + +#define SCB_SHCSR_MEMFAULTACT_Pos 0 /*!< SCB SHCSR: MEMFAULTACT Position */ +#define SCB_SHCSR_MEMFAULTACT_Msk (1ul << SCB_SHCSR_MEMFAULTACT_Pos) /*!< SCB SHCSR: MEMFAULTACT Mask */ + +/* SCB Configurable Fault Status Registers Definitions */ +#define SCB_CFSR_USGFAULTSR_Pos 16 /*!< SCB CFSR: Usage Fault Status Register Position */ +#define SCB_CFSR_USGFAULTSR_Msk (0xFFFFul << SCB_CFSR_USGFAULTSR_Pos) /*!< SCB CFSR: Usage Fault Status Register Mask */ + +#define SCB_CFSR_BUSFAULTSR_Pos 8 /*!< SCB CFSR: Bus Fault Status Register Position */ +#define SCB_CFSR_BUSFAULTSR_Msk (0xFFul << SCB_CFSR_BUSFAULTSR_Pos) /*!< SCB CFSR: Bus Fault Status Register Mask */ + +#define SCB_CFSR_MEMFAULTSR_Pos 0 /*!< SCB CFSR: Memory Manage Fault Status Register Position */ +#define SCB_CFSR_MEMFAULTSR_Msk (0xFFul << SCB_CFSR_MEMFAULTSR_Pos) /*!< SCB CFSR: Memory Manage Fault Status Register Mask */ + +/* SCB Hard Fault Status Registers Definitions */ +#define SCB_HFSR_DEBUGEVT_Pos 31 /*!< SCB HFSR: DEBUGEVT Position */ +#define SCB_HFSR_DEBUGEVT_Msk (1ul << SCB_HFSR_DEBUGEVT_Pos) /*!< SCB HFSR: DEBUGEVT Mask */ + +#define SCB_HFSR_FORCED_Pos 30 /*!< SCB HFSR: FORCED Position */ +#define SCB_HFSR_FORCED_Msk (1ul << SCB_HFSR_FORCED_Pos) /*!< SCB HFSR: FORCED Mask */ + +#define SCB_HFSR_VECTTBL_Pos 1 /*!< SCB HFSR: VECTTBL Position */ +#define SCB_HFSR_VECTTBL_Msk (1ul << SCB_HFSR_VECTTBL_Pos) /*!< SCB HFSR: VECTTBL Mask */ + +/* SCB Debug Fault Status Register Definitions */ +#define SCB_DFSR_EXTERNAL_Pos 4 /*!< SCB DFSR: EXTERNAL Position */ +#define SCB_DFSR_EXTERNAL_Msk (1ul << SCB_DFSR_EXTERNAL_Pos) /*!< SCB DFSR: EXTERNAL Mask */ + +#define SCB_DFSR_VCATCH_Pos 3 /*!< SCB DFSR: VCATCH Position */ +#define SCB_DFSR_VCATCH_Msk (1ul << SCB_DFSR_VCATCH_Pos) /*!< SCB DFSR: VCATCH Mask */ + +#define SCB_DFSR_DWTTRAP_Pos 2 /*!< SCB DFSR: DWTTRAP Position */ +#define SCB_DFSR_DWTTRAP_Msk (1ul << SCB_DFSR_DWTTRAP_Pos) /*!< SCB DFSR: DWTTRAP Mask */ + +#define SCB_DFSR_BKPT_Pos 1 /*!< SCB DFSR: BKPT Position */ +#define SCB_DFSR_BKPT_Msk (1ul << SCB_DFSR_BKPT_Pos) /*!< SCB DFSR: BKPT Mask */ + +#define SCB_DFSR_HALTED_Pos 0 /*!< SCB DFSR: HALTED Position */ +#define SCB_DFSR_HALTED_Msk (1ul << SCB_DFSR_HALTED_Pos) /*!< SCB DFSR: HALTED Mask */ +/*@}*/ /* end of group CMSIS_CM3_SCB */ + + +/** @addtogroup CMSIS_CM3_SysTick CMSIS CM3 SysTick + memory mapped structure for SysTick + @{ + */ +typedef struct +{ + __IO uint32_t CTRL; /*!< Offset: 0x00 SysTick Control and Status Register */ + __IO uint32_t LOAD; /*!< Offset: 0x04 SysTick Reload Value Register */ + __IO uint32_t VAL; /*!< Offset: 0x08 SysTick Current Value Register */ + __I uint32_t CALIB; /*!< Offset: 0x0C SysTick Calibration Register */ +} SysTick_Type; + +/* SysTick Control / Status Register Definitions */ +#define SysTick_CTRL_COUNTFLAG_Pos 16 /*!< SysTick CTRL: COUNTFLAG Position */ +#define SysTick_CTRL_COUNTFLAG_Msk (1ul << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ + +#define SysTick_CTRL_CLKSOURCE_Pos 2 /*!< SysTick CTRL: CLKSOURCE Position */ +#define SysTick_CTRL_CLKSOURCE_Msk (1ul << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ + +#define SysTick_CTRL_TICKINT_Pos 1 /*!< SysTick CTRL: TICKINT Position */ +#define SysTick_CTRL_TICKINT_Msk (1ul << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ + +#define SysTick_CTRL_ENABLE_Pos 0 /*!< SysTick CTRL: ENABLE Position */ +#define SysTick_CTRL_ENABLE_Msk (1ul << SysTick_CTRL_ENABLE_Pos) /*!< SysTick CTRL: ENABLE Mask */ + +/* SysTick Reload Register Definitions */ +#define SysTick_LOAD_RELOAD_Pos 0 /*!< SysTick LOAD: RELOAD Position */ +#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFul << SysTick_LOAD_RELOAD_Pos) /*!< SysTick LOAD: RELOAD Mask */ + +/* SysTick Current Register Definitions */ +#define SysTick_VAL_CURRENT_Pos 0 /*!< SysTick VAL: CURRENT Position */ +#define SysTick_VAL_CURRENT_Msk (0xFFFFFFul << SysTick_VAL_CURRENT_Pos) /*!< SysTick VAL: CURRENT Mask */ + +/* SysTick Calibration Register Definitions */ +#define SysTick_CALIB_NOREF_Pos 31 /*!< SysTick CALIB: NOREF Position */ +#define SysTick_CALIB_NOREF_Msk (1ul << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ + +#define SysTick_CALIB_SKEW_Pos 30 /*!< SysTick CALIB: SKEW Position */ +#define SysTick_CALIB_SKEW_Msk (1ul << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ + +#define SysTick_CALIB_TENMS_Pos 0 /*!< SysTick CALIB: TENMS Position */ +#define SysTick_CALIB_TENMS_Msk (0xFFFFFFul << SysTick_VAL_CURRENT_Pos) /*!< SysTick CALIB: TENMS Mask */ +/*@}*/ /* end of group CMSIS_CM3_SysTick */ + + +/** @addtogroup CMSIS_CM3_ITM CMSIS CM3 ITM + memory mapped structure for Instrumentation Trace Macrocell (ITM) + @{ + */ +typedef struct +{ + __O union + { + __O uint8_t u8; /*!< Offset: ITM Stimulus Port 8-bit */ + __O uint16_t u16; /*!< Offset: ITM Stimulus Port 16-bit */ + __O uint32_t u32; /*!< Offset: ITM Stimulus Port 32-bit */ + } PORT [32]; /*!< Offset: 0x00 ITM Stimulus Port Registers */ + uint32_t RESERVED0[864]; + __IO uint32_t TER; /*!< Offset: ITM Trace Enable Register */ + uint32_t RESERVED1[15]; + __IO uint32_t TPR; /*!< Offset: ITM Trace Privilege Register */ + uint32_t RESERVED2[15]; + __IO uint32_t TCR; /*!< Offset: ITM Trace Control Register */ + uint32_t RESERVED3[29]; + __IO uint32_t IWR; /*!< Offset: ITM Integration Write Register */ + __IO uint32_t IRR; /*!< Offset: ITM Integration Read Register */ + __IO uint32_t IMCR; /*!< Offset: ITM Integration Mode Control Register */ + uint32_t RESERVED4[43]; + __IO uint32_t LAR; /*!< Offset: ITM Lock Access Register */ + __IO uint32_t LSR; /*!< Offset: ITM Lock Status Register */ + uint32_t RESERVED5[6]; + __I uint32_t PID4; /*!< Offset: ITM Peripheral Identification Register #4 */ + __I uint32_t PID5; /*!< Offset: ITM Peripheral Identification Register #5 */ + __I uint32_t PID6; /*!< Offset: ITM Peripheral Identification Register #6 */ + __I uint32_t PID7; /*!< Offset: ITM Peripheral Identification Register #7 */ + __I uint32_t PID0; /*!< Offset: ITM Peripheral Identification Register #0 */ + __I uint32_t PID1; /*!< Offset: ITM Peripheral Identification Register #1 */ + __I uint32_t PID2; /*!< Offset: ITM Peripheral Identification Register #2 */ + __I uint32_t PID3; /*!< Offset: ITM Peripheral Identification Register #3 */ + __I uint32_t CID0; /*!< Offset: ITM Component Identification Register #0 */ + __I uint32_t CID1; /*!< Offset: ITM Component Identification Register #1 */ + __I uint32_t CID2; /*!< Offset: ITM Component Identification Register #2 */ + __I uint32_t CID3; /*!< Offset: ITM Component Identification Register #3 */ +} ITM_Type; + +/* ITM Trace Privilege Register Definitions */ +#define ITM_TPR_PRIVMASK_Pos 0 /*!< ITM TPR: PRIVMASK Position */ +#define ITM_TPR_PRIVMASK_Msk (0xFul << ITM_TPR_PRIVMASK_Pos) /*!< ITM TPR: PRIVMASK Mask */ + +/* ITM Trace Control Register Definitions */ +#define ITM_TCR_BUSY_Pos 23 /*!< ITM TCR: BUSY Position */ +#define ITM_TCR_BUSY_Msk (1ul << ITM_TCR_BUSY_Pos) /*!< ITM TCR: BUSY Mask */ + +#define ITM_TCR_ATBID_Pos 16 /*!< ITM TCR: ATBID Position */ +#define ITM_TCR_ATBID_Msk (0x7Ful << ITM_TCR_ATBID_Pos) /*!< ITM TCR: ATBID Mask */ + +#define ITM_TCR_TSPrescale_Pos 8 /*!< ITM TCR: TSPrescale Position */ +#define ITM_TCR_TSPrescale_Msk (3ul << ITM_TCR_TSPrescale_Pos) /*!< ITM TCR: TSPrescale Mask */ + +#define ITM_TCR_SWOENA_Pos 4 /*!< ITM TCR: SWOENA Position */ +#define ITM_TCR_SWOENA_Msk (1ul << ITM_TCR_SWOENA_Pos) /*!< ITM TCR: SWOENA Mask */ + +#define ITM_TCR_DWTENA_Pos 3 /*!< ITM TCR: DWTENA Position */ +#define ITM_TCR_DWTENA_Msk (1ul << ITM_TCR_DWTENA_Pos) /*!< ITM TCR: DWTENA Mask */ + +#define ITM_TCR_SYNCENA_Pos 2 /*!< ITM TCR: SYNCENA Position */ +#define ITM_TCR_SYNCENA_Msk (1ul << ITM_TCR_SYNCENA_Pos) /*!< ITM TCR: SYNCENA Mask */ + +#define ITM_TCR_TSENA_Pos 1 /*!< ITM TCR: TSENA Position */ +#define ITM_TCR_TSENA_Msk (1ul << ITM_TCR_TSENA_Pos) /*!< ITM TCR: TSENA Mask */ + +#define ITM_TCR_ITMENA_Pos 0 /*!< ITM TCR: ITM Enable bit Position */ +#define ITM_TCR_ITMENA_Msk (1ul << ITM_TCR_ITMENA_Pos) /*!< ITM TCR: ITM Enable bit Mask */ + +/* ITM Integration Write Register Definitions */ +#define ITM_IWR_ATVALIDM_Pos 0 /*!< ITM IWR: ATVALIDM Position */ +#define ITM_IWR_ATVALIDM_Msk (1ul << ITM_IWR_ATVALIDM_Pos) /*!< ITM IWR: ATVALIDM Mask */ + +/* ITM Integration Read Register Definitions */ +#define ITM_IRR_ATREADYM_Pos 0 /*!< ITM IRR: ATREADYM Position */ +#define ITM_IRR_ATREADYM_Msk (1ul << ITM_IRR_ATREADYM_Pos) /*!< ITM IRR: ATREADYM Mask */ + +/* ITM Integration Mode Control Register Definitions */ +#define ITM_IMCR_INTEGRATION_Pos 0 /*!< ITM IMCR: INTEGRATION Position */ +#define ITM_IMCR_INTEGRATION_Msk (1ul << ITM_IMCR_INTEGRATION_Pos) /*!< ITM IMCR: INTEGRATION Mask */ + +/* ITM Lock Status Register Definitions */ +#define ITM_LSR_ByteAcc_Pos 2 /*!< ITM LSR: ByteAcc Position */ +#define ITM_LSR_ByteAcc_Msk (1ul << ITM_LSR_ByteAcc_Pos) /*!< ITM LSR: ByteAcc Mask */ + +#define ITM_LSR_Access_Pos 1 /*!< ITM LSR: Access Position */ +#define ITM_LSR_Access_Msk (1ul << ITM_LSR_Access_Pos) /*!< ITM LSR: Access Mask */ + +#define ITM_LSR_Present_Pos 0 /*!< ITM LSR: Present Position */ +#define ITM_LSR_Present_Msk (1ul << ITM_LSR_Present_Pos) /*!< ITM LSR: Present Mask */ +/*@}*/ /* end of group CMSIS_CM3_ITM */ + + +/** @addtogroup CMSIS_CM3_InterruptType CMSIS CM3 Interrupt Type + memory mapped structure for Interrupt Type + @{ + */ +typedef struct +{ + uint32_t RESERVED0; + __I uint32_t ICTR; /*!< Offset: 0x04 Interrupt Control Type Register */ +#if ((defined __CM3_REV) && (__CM3_REV >= 0x200)) + __IO uint32_t ACTLR; /*!< Offset: 0x08 Auxiliary Control Register */ +#else + uint32_t RESERVED1; +#endif +} InterruptType_Type; + +/* Interrupt Controller Type Register Definitions */ +#define InterruptType_ICTR_INTLINESNUM_Pos 0 /*!< InterruptType ICTR: INTLINESNUM Position */ +#define InterruptType_ICTR_INTLINESNUM_Msk (0x1Ful << InterruptType_ICTR_INTLINESNUM_Pos) /*!< InterruptType ICTR: INTLINESNUM Mask */ + +/* Auxiliary Control Register Definitions */ +#define InterruptType_ACTLR_DISFOLD_Pos 2 /*!< InterruptType ACTLR: DISFOLD Position */ +#define InterruptType_ACTLR_DISFOLD_Msk (1ul << InterruptType_ACTLR_DISFOLD_Pos) /*!< InterruptType ACTLR: DISFOLD Mask */ + +#define InterruptType_ACTLR_DISDEFWBUF_Pos 1 /*!< InterruptType ACTLR: DISDEFWBUF Position */ +#define InterruptType_ACTLR_DISDEFWBUF_Msk (1ul << InterruptType_ACTLR_DISDEFWBUF_Pos) /*!< InterruptType ACTLR: DISDEFWBUF Mask */ + +#define InterruptType_ACTLR_DISMCYCINT_Pos 0 /*!< InterruptType ACTLR: DISMCYCINT Position */ +#define InterruptType_ACTLR_DISMCYCINT_Msk (1ul << InterruptType_ACTLR_DISMCYCINT_Pos) /*!< InterruptType ACTLR: DISMCYCINT Mask */ +/*@}*/ /* end of group CMSIS_CM3_InterruptType */ + + +#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1) +/** @addtogroup CMSIS_CM3_MPU CMSIS CM3 MPU + memory mapped structure for Memory Protection Unit (MPU) + @{ + */ +typedef struct +{ + __I uint32_t TYPE; /*!< Offset: 0x00 MPU Type Register */ + __IO uint32_t CTRL; /*!< Offset: 0x04 MPU Control Register */ + __IO uint32_t RNR; /*!< Offset: 0x08 MPU Region RNRber Register */ + __IO uint32_t RBAR; /*!< Offset: 0x0C MPU Region Base Address Register */ + __IO uint32_t RASR; /*!< Offset: 0x10 MPU Region Attribute and Size Register */ + __IO uint32_t RBAR_A1; /*!< Offset: 0x14 MPU Alias 1 Region Base Address Register */ + __IO uint32_t RASR_A1; /*!< Offset: 0x18 MPU Alias 1 Region Attribute and Size Register */ + __IO uint32_t RBAR_A2; /*!< Offset: 0x1C MPU Alias 2 Region Base Address Register */ + __IO uint32_t RASR_A2; /*!< Offset: 0x20 MPU Alias 2 Region Attribute and Size Register */ + __IO uint32_t RBAR_A3; /*!< Offset: 0x24 MPU Alias 3 Region Base Address Register */ + __IO uint32_t RASR_A3; /*!< Offset: 0x28 MPU Alias 3 Region Attribute and Size Register */ +} MPU_Type; + +/* MPU Type Register */ +#define MPU_TYPE_IREGION_Pos 16 /*!< MPU TYPE: IREGION Position */ +#define MPU_TYPE_IREGION_Msk (0xFFul << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ + +#define MPU_TYPE_DREGION_Pos 8 /*!< MPU TYPE: DREGION Position */ +#define MPU_TYPE_DREGION_Msk (0xFFul << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ + +#define MPU_TYPE_SEPARATE_Pos 0 /*!< MPU TYPE: SEPARATE Position */ +#define MPU_TYPE_SEPARATE_Msk (1ul << MPU_TYPE_SEPARATE_Pos) /*!< MPU TYPE: SEPARATE Mask */ + +/* MPU Control Register */ +#define MPU_CTRL_PRIVDEFENA_Pos 2 /*!< MPU CTRL: PRIVDEFENA Position */ +#define MPU_CTRL_PRIVDEFENA_Msk (1ul << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ + +#define MPU_CTRL_HFNMIENA_Pos 1 /*!< MPU CTRL: HFNMIENA Position */ +#define MPU_CTRL_HFNMIENA_Msk (1ul << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ + +#define MPU_CTRL_ENABLE_Pos 0 /*!< MPU CTRL: ENABLE Position */ +#define MPU_CTRL_ENABLE_Msk (1ul << MPU_CTRL_ENABLE_Pos) /*!< MPU CTRL: ENABLE Mask */ + +/* MPU Region Number Register */ +#define MPU_RNR_REGION_Pos 0 /*!< MPU RNR: REGION Position */ +#define MPU_RNR_REGION_Msk (0xFFul << MPU_RNR_REGION_Pos) /*!< MPU RNR: REGION Mask */ + +/* MPU Region Base Address Register */ +#define MPU_RBAR_ADDR_Pos 5 /*!< MPU RBAR: ADDR Position */ +#define MPU_RBAR_ADDR_Msk (0x7FFFFFFul << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */ + +#define MPU_RBAR_VALID_Pos 4 /*!< MPU RBAR: VALID Position */ +#define MPU_RBAR_VALID_Msk (1ul << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */ + +#define MPU_RBAR_REGION_Pos 0 /*!< MPU RBAR: REGION Position */ +#define MPU_RBAR_REGION_Msk (0xFul << MPU_RBAR_REGION_Pos) /*!< MPU RBAR: REGION Mask */ + +/* MPU Region Attribute and Size Register */ +#define MPU_RASR_XN_Pos 28 /*!< MPU RASR: XN Position */ +#define MPU_RASR_XN_Msk (1ul << MPU_RASR_XN_Pos) /*!< MPU RASR: XN Mask */ + +#define MPU_RASR_AP_Pos 24 /*!< MPU RASR: AP Position */ +#define MPU_RASR_AP_Msk (7ul << MPU_RASR_AP_Pos) /*!< MPU RASR: AP Mask */ + +#define MPU_RASR_TEX_Pos 19 /*!< MPU RASR: TEX Position */ +#define MPU_RASR_TEX_Msk (7ul << MPU_RASR_TEX_Pos) /*!< MPU RASR: TEX Mask */ + +#define MPU_RASR_S_Pos 18 /*!< MPU RASR: Shareable bit Position */ +#define MPU_RASR_S_Msk (1ul << MPU_RASR_S_Pos) /*!< MPU RASR: Shareable bit Mask */ + +#define MPU_RASR_C_Pos 17 /*!< MPU RASR: Cacheable bit Position */ +#define MPU_RASR_C_Msk (1ul << MPU_RASR_C_Pos) /*!< MPU RASR: Cacheable bit Mask */ + +#define MPU_RASR_B_Pos 16 /*!< MPU RASR: Bufferable bit Position */ +#define MPU_RASR_B_Msk (1ul << MPU_RASR_B_Pos) /*!< MPU RASR: Bufferable bit Mask */ + +#define MPU_RASR_SRD_Pos 8 /*!< MPU RASR: Sub-Region Disable Position */ +#define MPU_RASR_SRD_Msk (0xFFul << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */ + +#define MPU_RASR_SIZE_Pos 1 /*!< MPU RASR: Region Size Field Position */ +#define MPU_RASR_SIZE_Msk (0x1Ful << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */ + +#define MPU_RASR_ENA_Pos 0 /*!< MPU RASR: Region enable bit Position */ +#define MPU_RASR_ENA_Msk (0x1Ful << MPU_RASR_ENA_Pos) /*!< MPU RASR: Region enable bit Disable Mask */ + +/*@}*/ /* end of group CMSIS_CM3_MPU */ +#endif + + +/** @addtogroup CMSIS_CM3_CoreDebug CMSIS CM3 Core Debug + memory mapped structure for Core Debug Register + @{ + */ +typedef struct +{ + __IO uint32_t DHCSR; /*!< Offset: 0x00 Debug Halting Control and Status Register */ + __O uint32_t DCRSR; /*!< Offset: 0x04 Debug Core Register Selector Register */ + __IO uint32_t DCRDR; /*!< Offset: 0x08 Debug Core Register Data Register */ + __IO uint32_t DEMCR; /*!< Offset: 0x0C Debug Exception and Monitor Control Register */ +} CoreDebug_Type; + +/* Debug Halting Control and Status Register */ +#define CoreDebug_DHCSR_DBGKEY_Pos 16 /*!< CoreDebug DHCSR: DBGKEY Position */ +#define CoreDebug_DHCSR_DBGKEY_Msk (0xFFFFul << CoreDebug_DHCSR_DBGKEY_Pos) /*!< CoreDebug DHCSR: DBGKEY Mask */ + +#define CoreDebug_DHCSR_S_RESET_ST_Pos 25 /*!< CoreDebug DHCSR: S_RESET_ST Position */ +#define CoreDebug_DHCSR_S_RESET_ST_Msk (1ul << CoreDebug_DHCSR_S_RESET_ST_Pos) /*!< CoreDebug DHCSR: S_RESET_ST Mask */ + +#define CoreDebug_DHCSR_S_RETIRE_ST_Pos 24 /*!< CoreDebug DHCSR: S_RETIRE_ST Position */ +#define CoreDebug_DHCSR_S_RETIRE_ST_Msk (1ul << CoreDebug_DHCSR_S_RETIRE_ST_Pos) /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */ + +#define CoreDebug_DHCSR_S_LOCKUP_Pos 19 /*!< CoreDebug DHCSR: S_LOCKUP Position */ +#define CoreDebug_DHCSR_S_LOCKUP_Msk (1ul << CoreDebug_DHCSR_S_LOCKUP_Pos) /*!< CoreDebug DHCSR: S_LOCKUP Mask */ + +#define CoreDebug_DHCSR_S_SLEEP_Pos 18 /*!< CoreDebug DHCSR: S_SLEEP Position */ +#define CoreDebug_DHCSR_S_SLEEP_Msk (1ul << CoreDebug_DHCSR_S_SLEEP_Pos) /*!< CoreDebug DHCSR: S_SLEEP Mask */ + +#define CoreDebug_DHCSR_S_HALT_Pos 17 /*!< CoreDebug DHCSR: S_HALT Position */ +#define CoreDebug_DHCSR_S_HALT_Msk (1ul << CoreDebug_DHCSR_S_HALT_Pos) /*!< CoreDebug DHCSR: S_HALT Mask */ + +#define CoreDebug_DHCSR_S_REGRDY_Pos 16 /*!< CoreDebug DHCSR: S_REGRDY Position */ +#define CoreDebug_DHCSR_S_REGRDY_Msk (1ul << CoreDebug_DHCSR_S_REGRDY_Pos) /*!< CoreDebug DHCSR: S_REGRDY Mask */ + +#define CoreDebug_DHCSR_C_SNAPSTALL_Pos 5 /*!< CoreDebug DHCSR: C_SNAPSTALL Position */ +#define CoreDebug_DHCSR_C_SNAPSTALL_Msk (1ul << CoreDebug_DHCSR_C_SNAPSTALL_Pos) /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */ + +#define CoreDebug_DHCSR_C_MASKINTS_Pos 3 /*!< CoreDebug DHCSR: C_MASKINTS Position */ +#define CoreDebug_DHCSR_C_MASKINTS_Msk (1ul << CoreDebug_DHCSR_C_MASKINTS_Pos) /*!< CoreDebug DHCSR: C_MASKINTS Mask */ + +#define CoreDebug_DHCSR_C_STEP_Pos 2 /*!< CoreDebug DHCSR: C_STEP Position */ +#define CoreDebug_DHCSR_C_STEP_Msk (1ul << CoreDebug_DHCSR_C_STEP_Pos) /*!< CoreDebug DHCSR: C_STEP Mask */ + +#define CoreDebug_DHCSR_C_HALT_Pos 1 /*!< CoreDebug DHCSR: C_HALT Position */ +#define CoreDebug_DHCSR_C_HALT_Msk (1ul << CoreDebug_DHCSR_C_HALT_Pos) /*!< CoreDebug DHCSR: C_HALT Mask */ + +#define CoreDebug_DHCSR_C_DEBUGEN_Pos 0 /*!< CoreDebug DHCSR: C_DEBUGEN Position */ +#define CoreDebug_DHCSR_C_DEBUGEN_Msk (1ul << CoreDebug_DHCSR_C_DEBUGEN_Pos) /*!< CoreDebug DHCSR: C_DEBUGEN Mask */ + +/* Debug Core Register Selector Register */ +#define CoreDebug_DCRSR_REGWnR_Pos 16 /*!< CoreDebug DCRSR: REGWnR Position */ +#define CoreDebug_DCRSR_REGWnR_Msk (1ul << CoreDebug_DCRSR_REGWnR_Pos) /*!< CoreDebug DCRSR: REGWnR Mask */ + +#define CoreDebug_DCRSR_REGSEL_Pos 0 /*!< CoreDebug DCRSR: REGSEL Position */ +#define CoreDebug_DCRSR_REGSEL_Msk (0x1Ful << CoreDebug_DCRSR_REGSEL_Pos) /*!< CoreDebug DCRSR: REGSEL Mask */ + +/* Debug Exception and Monitor Control Register */ +#define CoreDebug_DEMCR_TRCENA_Pos 24 /*!< CoreDebug DEMCR: TRCENA Position */ +#define CoreDebug_DEMCR_TRCENA_Msk (1ul << CoreDebug_DEMCR_TRCENA_Pos) /*!< CoreDebug DEMCR: TRCENA Mask */ + +#define CoreDebug_DEMCR_MON_REQ_Pos 19 /*!< CoreDebug DEMCR: MON_REQ Position */ +#define CoreDebug_DEMCR_MON_REQ_Msk (1ul << CoreDebug_DEMCR_MON_REQ_Pos) /*!< CoreDebug DEMCR: MON_REQ Mask */ + +#define CoreDebug_DEMCR_MON_STEP_Pos 18 /*!< CoreDebug DEMCR: MON_STEP Position */ +#define CoreDebug_DEMCR_MON_STEP_Msk (1ul << CoreDebug_DEMCR_MON_STEP_Pos) /*!< CoreDebug DEMCR: MON_STEP Mask */ + +#define CoreDebug_DEMCR_MON_PEND_Pos 17 /*!< CoreDebug DEMCR: MON_PEND Position */ +#define CoreDebug_DEMCR_MON_PEND_Msk (1ul << CoreDebug_DEMCR_MON_PEND_Pos) /*!< CoreDebug DEMCR: MON_PEND Mask */ + +#define CoreDebug_DEMCR_MON_EN_Pos 16 /*!< CoreDebug DEMCR: MON_EN Position */ +#define CoreDebug_DEMCR_MON_EN_Msk (1ul << CoreDebug_DEMCR_MON_EN_Pos) /*!< CoreDebug DEMCR: MON_EN Mask */ + +#define CoreDebug_DEMCR_VC_HARDERR_Pos 10 /*!< CoreDebug DEMCR: VC_HARDERR Position */ +#define CoreDebug_DEMCR_VC_HARDERR_Msk (1ul << CoreDebug_DEMCR_VC_HARDERR_Pos) /*!< CoreDebug DEMCR: VC_HARDERR Mask */ + +#define CoreDebug_DEMCR_VC_INTERR_Pos 9 /*!< CoreDebug DEMCR: VC_INTERR Position */ +#define CoreDebug_DEMCR_VC_INTERR_Msk (1ul << CoreDebug_DEMCR_VC_INTERR_Pos) /*!< CoreDebug DEMCR: VC_INTERR Mask */ + +#define CoreDebug_DEMCR_VC_BUSERR_Pos 8 /*!< CoreDebug DEMCR: VC_BUSERR Position */ +#define CoreDebug_DEMCR_VC_BUSERR_Msk (1ul << CoreDebug_DEMCR_VC_BUSERR_Pos) /*!< CoreDebug DEMCR: VC_BUSERR Mask */ + +#define CoreDebug_DEMCR_VC_STATERR_Pos 7 /*!< CoreDebug DEMCR: VC_STATERR Position */ +#define CoreDebug_DEMCR_VC_STATERR_Msk (1ul << CoreDebug_DEMCR_VC_STATERR_Pos) /*!< CoreDebug DEMCR: VC_STATERR Mask */ + +#define CoreDebug_DEMCR_VC_CHKERR_Pos 6 /*!< CoreDebug DEMCR: VC_CHKERR Position */ +#define CoreDebug_DEMCR_VC_CHKERR_Msk (1ul << CoreDebug_DEMCR_VC_CHKERR_Pos) /*!< CoreDebug DEMCR: VC_CHKERR Mask */ + +#define CoreDebug_DEMCR_VC_NOCPERR_Pos 5 /*!< CoreDebug DEMCR: VC_NOCPERR Position */ +#define CoreDebug_DEMCR_VC_NOCPERR_Msk (1ul << CoreDebug_DEMCR_VC_NOCPERR_Pos) /*!< CoreDebug DEMCR: VC_NOCPERR Mask */ + +#define CoreDebug_DEMCR_VC_MMERR_Pos 4 /*!< CoreDebug DEMCR: VC_MMERR Position */ +#define CoreDebug_DEMCR_VC_MMERR_Msk (1ul << CoreDebug_DEMCR_VC_MMERR_Pos) /*!< CoreDebug DEMCR: VC_MMERR Mask */ + +#define CoreDebug_DEMCR_VC_CORERESET_Pos 0 /*!< CoreDebug DEMCR: VC_CORERESET Position */ +#define CoreDebug_DEMCR_VC_CORERESET_Msk (1ul << CoreDebug_DEMCR_VC_CORERESET_Pos) /*!< CoreDebug DEMCR: VC_CORERESET Mask */ +/*@}*/ /* end of group CMSIS_CM3_CoreDebug */ + + +/* Memory mapping of Cortex-M3 Hardware */ +#define SCS_BASE (0xE000E000) /*!< System Control Space Base Address */ +#define ITM_BASE (0xE0000000) /*!< ITM Base Address */ +#define CoreDebug_BASE (0xE000EDF0) /*!< Core Debug Base Address */ +#define SysTick_BASE (SCS_BASE + 0x0010) /*!< SysTick Base Address */ +#define NVIC_BASE (SCS_BASE + 0x0100) /*!< NVIC Base Address */ +#define SCB_BASE (SCS_BASE + 0x0D00) /*!< System Control Block Base Address */ + +#define InterruptType ((InterruptType_Type *) SCS_BASE) /*!< Interrupt Type Register */ +#define SCB ((SCB_Type *) SCB_BASE) /*!< SCB configuration struct */ +#define SysTick ((SysTick_Type *) SysTick_BASE) /*!< SysTick configuration struct */ +#define NVIC ((NVIC_Type *) NVIC_BASE) /*!< NVIC configuration struct */ +#define ITM ((ITM_Type *) ITM_BASE) /*!< ITM configuration struct */ +#define CoreDebug ((CoreDebug_Type *) CoreDebug_BASE) /*!< Core Debug configuration struct */ + +#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1) + #define MPU_BASE (SCS_BASE + 0x0D90) /*!< Memory Protection Unit */ + #define MPU ((MPU_Type*) MPU_BASE) /*!< Memory Protection Unit */ +#endif + +/*@}*/ /* end of group CMSIS_CM3_core_register */ + + +/******************************************************************************* + * Hardware Abstraction Layer + ******************************************************************************/ + +#if defined ( __CC_ARM ) + #define __ASM __asm /*!< asm keyword for ARM Compiler */ + #define __INLINE __inline /*!< inline keyword for ARM Compiler */ + +#elif defined ( __ICCARM__ ) + #define __ASM __asm /*!< asm keyword for IAR Compiler */ + #define __INLINE inline /*!< inline keyword for IAR Compiler. Only avaiable in High optimization mode! */ + +#elif defined ( __GNUC__ ) + #define __ASM __asm /*!< asm keyword for GNU Compiler */ + #define __INLINE inline /*!< inline keyword for GNU Compiler */ + +#elif defined ( __TASKING__ ) + #define __ASM __asm /*!< asm keyword for TASKING Compiler */ + #define __INLINE inline /*!< inline keyword for TASKING Compiler */ + +#endif + + +/* ################### Compiler specific Intrinsics ########################### */ + +#if defined ( __CC_ARM ) /*------------------RealView Compiler -----------------*/ +/* ARM armcc specific functions */ + +#define __enable_fault_irq __enable_fiq +#define __disable_fault_irq __disable_fiq + +#define __NOP __nop +#define __WFI __wfi +#define __WFE __wfe +#define __SEV __sev +#define __ISB() __isb(0) +#define __DSB() __dsb(0) +#define __DMB() __dmb(0) +#define __REV __rev +#define __RBIT __rbit +#define __LDREXB(ptr) ((unsigned char ) __ldrex(ptr)) +#define __LDREXH(ptr) ((unsigned short) __ldrex(ptr)) +#define __LDREXW(ptr) ((unsigned int ) __ldrex(ptr)) +#define __STREXB(value, ptr) __strex(value, ptr) +#define __STREXH(value, ptr) __strex(value, ptr) +#define __STREXW(value, ptr) __strex(value, ptr) + + +/* intrinsic unsigned long long __ldrexd(volatile void *ptr) */ +/* intrinsic int __strexd(unsigned long long val, volatile void *ptr) */ +/* intrinsic void __enable_irq(); */ +/* intrinsic void __disable_irq(); */ + + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +extern uint32_t __get_PSP(void); + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +extern void __set_PSP(uint32_t topOfProcStack); + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +extern uint32_t __get_MSP(void); + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +extern void __set_MSP(uint32_t topOfMainStack); + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +extern uint32_t __REV16(uint16_t value); + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +extern int32_t __REVSH(int16_t value); + + +#if (__ARMCC_VERSION < 400000) + +/** + * @brief Remove the exclusive lock created by ldrex + * + * Removes the exclusive lock which is created by ldrex. + */ +extern void __CLREX(void); + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +extern uint32_t __get_BASEPRI(void); + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +extern void __set_BASEPRI(uint32_t basePri); + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +extern uint32_t __get_PRIMASK(void); + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +extern void __set_PRIMASK(uint32_t priMask); + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +extern uint32_t __get_FAULTMASK(void); + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +extern void __set_FAULTMASK(uint32_t faultMask); + +/** + * @brief Return the Control Register value + * + * @return Control value + * + * Return the content of the control register + */ +extern uint32_t __get_CONTROL(void); + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +extern void __set_CONTROL(uint32_t control); + +#else /* (__ARMCC_VERSION >= 400000) */ + +/** + * @brief Remove the exclusive lock created by ldrex + * + * Removes the exclusive lock which is created by ldrex. + */ +#define __CLREX __clrex + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +static __INLINE uint32_t __get_BASEPRI(void) +{ + register uint32_t __regBasePri __ASM("basepri"); + return(__regBasePri); +} + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +static __INLINE void __set_BASEPRI(uint32_t basePri) +{ + register uint32_t __regBasePri __ASM("basepri"); + __regBasePri = (basePri & 0xff); +} + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +static __INLINE uint32_t __get_PRIMASK(void) +{ + register uint32_t __regPriMask __ASM("primask"); + return(__regPriMask); +} + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +static __INLINE void __set_PRIMASK(uint32_t priMask) +{ + register uint32_t __regPriMask __ASM("primask"); + __regPriMask = (priMask); +} + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +static __INLINE uint32_t __get_FAULTMASK(void) +{ + register uint32_t __regFaultMask __ASM("faultmask"); + return(__regFaultMask); +} + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +static __INLINE void __set_FAULTMASK(uint32_t faultMask) +{ + register uint32_t __regFaultMask __ASM("faultmask"); + __regFaultMask = (faultMask & 1); +} + +/** + * @brief Return the Control Register value + * + * @return Control value + * + * Return the content of the control register + */ +static __INLINE uint32_t __get_CONTROL(void) +{ + register uint32_t __regControl __ASM("control"); + return(__regControl); +} + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +static __INLINE void __set_CONTROL(uint32_t control) +{ + register uint32_t __regControl __ASM("control"); + __regControl = control; +} + +#endif /* __ARMCC_VERSION */ + + + +#elif (defined (__ICCARM__)) /*------------------ ICC Compiler -------------------*/ +/* IAR iccarm specific functions */ + +#define __enable_irq __enable_interrupt /*!< global Interrupt enable */ +#define __disable_irq __disable_interrupt /*!< global Interrupt disable */ + +static __INLINE void __enable_fault_irq() { __ASM ("cpsie f"); } +static __INLINE void __disable_fault_irq() { __ASM ("cpsid f"); } + +#define __NOP __no_operation /*!< no operation intrinsic in IAR Compiler */ +static __INLINE void __WFI() { __ASM ("wfi"); } +static __INLINE void __WFE() { __ASM ("wfe"); } +static __INLINE void __SEV() { __ASM ("sev"); } +static __INLINE void __CLREX() { __ASM ("clrex"); } + +/* intrinsic void __ISB(void) */ +/* intrinsic void __DSB(void) */ +/* intrinsic void __DMB(void) */ +/* intrinsic void __set_PRIMASK(); */ +/* intrinsic void __get_PRIMASK(); */ +/* intrinsic void __set_FAULTMASK(); */ +/* intrinsic void __get_FAULTMASK(); */ +/* intrinsic uint32_t __REV(uint32_t value); */ +/* intrinsic uint32_t __REVSH(uint32_t value); */ +/* intrinsic unsigned long __STREX(unsigned long, unsigned long); */ +/* intrinsic unsigned long __LDREX(unsigned long *); */ + + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +extern uint32_t __get_PSP(void); + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +extern void __set_PSP(uint32_t topOfProcStack); + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +extern uint32_t __get_MSP(void); + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +extern void __set_MSP(uint32_t topOfMainStack); + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +extern uint32_t __REV16(uint16_t value); + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +extern uint32_t __RBIT(uint32_t value); + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit values) + */ +extern uint8_t __LDREXB(uint8_t *addr); + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +extern uint16_t __LDREXH(uint16_t *addr); + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +extern uint32_t __LDREXW(uint32_t *addr); + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +extern uint32_t __STREXB(uint8_t value, uint8_t *addr); + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +extern uint32_t __STREXH(uint16_t value, uint16_t *addr); + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +extern uint32_t __STREXW(uint32_t value, uint32_t *addr); + + + +#elif (defined (__GNUC__)) /*------------------ GNU Compiler ---------------------*/ +/* GNU gcc specific functions */ + +static __INLINE void __enable_irq() { __ASM volatile ("cpsie i"); } +static __INLINE void __disable_irq() { __ASM volatile ("cpsid i"); } + +static __INLINE void __enable_fault_irq() { __ASM volatile ("cpsie f"); } +static __INLINE void __disable_fault_irq() { __ASM volatile ("cpsid f"); } + +static __INLINE void __NOP() { __ASM volatile ("nop"); } +static __INLINE void __WFI() { __ASM volatile ("wfi"); } +static __INLINE void __WFE() { __ASM volatile ("wfe"); } +static __INLINE void __SEV() { __ASM volatile ("sev"); } +static __INLINE void __ISB() { __ASM volatile ("isb"); } +static __INLINE void __DSB() { __ASM volatile ("dsb"); } +static __INLINE void __DMB() { __ASM volatile ("dmb"); } +static __INLINE void __CLREX() { __ASM volatile ("clrex"); } + + +/** + * @brief Return the Process Stack Pointer + * + * @return ProcessStackPointer + * + * Return the actual process stack pointer + */ +extern uint32_t __get_PSP(void); + +/** + * @brief Set the Process Stack Pointer + * + * @param topOfProcStack Process Stack Pointer + * + * Assign the value ProcessStackPointer to the MSP + * (process stack pointer) Cortex processor register + */ +extern void __set_PSP(uint32_t topOfProcStack); + +/** + * @brief Return the Main Stack Pointer + * + * @return Main Stack Pointer + * + * Return the current value of the MSP (main stack pointer) + * Cortex processor register + */ +extern uint32_t __get_MSP(void); + +/** + * @brief Set the Main Stack Pointer + * + * @param topOfMainStack Main Stack Pointer + * + * Assign the value mainStackPointer to the MSP + * (main stack pointer) Cortex processor register + */ +extern void __set_MSP(uint32_t topOfMainStack); + +/** + * @brief Return the Base Priority value + * + * @return BasePriority + * + * Return the content of the base priority register + */ +extern uint32_t __get_BASEPRI(void); + +/** + * @brief Set the Base Priority value + * + * @param basePri BasePriority + * + * Set the base priority register + */ +extern void __set_BASEPRI(uint32_t basePri); + +/** + * @brief Return the Priority Mask value + * + * @return PriMask + * + * Return state of the priority mask bit from the priority mask register + */ +extern uint32_t __get_PRIMASK(void); + +/** + * @brief Set the Priority Mask value + * + * @param priMask PriMask + * + * Set the priority mask bit in the priority mask register + */ +extern void __set_PRIMASK(uint32_t priMask); + +/** + * @brief Return the Fault Mask value + * + * @return FaultMask + * + * Return the content of the fault mask register + */ +extern uint32_t __get_FAULTMASK(void); + +/** + * @brief Set the Fault Mask value + * + * @param faultMask faultMask value + * + * Set the fault mask register + */ +extern void __set_FAULTMASK(uint32_t faultMask); + +/** + * @brief Return the Control Register value +* +* @return Control value + * + * Return the content of the control register + */ +extern uint32_t __get_CONTROL(void); + +/** + * @brief Set the Control Register value + * + * @param control Control value + * + * Set the control register + */ +extern void __set_CONTROL(uint32_t control); + +/** + * @brief Reverse byte order in integer value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in integer value + */ +extern uint32_t __REV(uint32_t value); + +/** + * @brief Reverse byte order in unsigned short value + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in unsigned short value + */ +extern uint32_t __REV16(uint16_t value); + +/** + * @brief Reverse byte order in signed short value with sign extension to integer + * + * @param value value to reverse + * @return reversed value + * + * Reverse byte order in signed short value with sign extension to integer + */ +extern int32_t __REVSH(int16_t value); + +/** + * @brief Reverse bit order of value + * + * @param value value to reverse + * @return reversed value + * + * Reverse bit order of value + */ +extern uint32_t __RBIT(uint32_t value); + +/** + * @brief LDR Exclusive (8 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 8 bit value + */ +extern uint8_t __LDREXB(uint8_t *addr); + +/** + * @brief LDR Exclusive (16 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 16 bit values + */ +extern uint16_t __LDREXH(uint16_t *addr); + +/** + * @brief LDR Exclusive (32 bit) + * + * @param *addr address pointer + * @return value of (*address) + * + * Exclusive LDR command for 32 bit values + */ +extern uint32_t __LDREXW(uint32_t *addr); + +/** + * @brief STR Exclusive (8 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 8 bit values + */ +extern uint32_t __STREXB(uint8_t value, uint8_t *addr); + +/** + * @brief STR Exclusive (16 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 16 bit values + */ +extern uint32_t __STREXH(uint16_t value, uint16_t *addr); + +/** + * @brief STR Exclusive (32 bit) + * + * @param value value to store + * @param *addr address pointer + * @return successful / failed + * + * Exclusive STR command for 32 bit values + */ +extern uint32_t __STREXW(uint32_t value, uint32_t *addr); + + +#elif (defined (__TASKING__)) /*------------------ TASKING Compiler ---------------------*/ +/* TASKING carm specific functions */ + +/* + * The CMSIS functions have been implemented as intrinsics in the compiler. + * Please use "carm -?i" to get an up to date list of all instrinsics, + * Including the CMSIS ones. + */ + +#endif + + +/** @addtogroup CMSIS_CM3_Core_FunctionInterface CMSIS CM3 Core Function Interface + Core Function Interface containing: + - Core NVIC Functions + - Core SysTick Functions + - Core Reset Functions +*/ +/*@{*/ + +/* ########################## NVIC functions #################################### */ + +/** + * @brief Set the Priority Grouping in NVIC Interrupt Controller + * + * @param PriorityGroup is priority grouping field + * + * Set the priority grouping field using the required unlock sequence. + * The parameter priority_grouping is assigned to the field + * SCB->AIRCR [10:8] PRIGROUP field. Only values from 0..7 are used. + * In case of a conflict between priority grouping and available + * priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. + */ +static __INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup) +{ + uint32_t reg_value; + uint32_t PriorityGroupTmp = (PriorityGroup & 0x07); /* only values 0..7 are used */ + + reg_value = SCB->AIRCR; /* read old register configuration */ + reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); /* clear bits to change */ + reg_value = (reg_value | + (0x5FA << SCB_AIRCR_VECTKEY_Pos) | + (PriorityGroupTmp << 8)); /* Insert write key and priorty group */ + SCB->AIRCR = reg_value; +} + +/** + * @brief Get the Priority Grouping from NVIC Interrupt Controller + * + * @return priority grouping field + * + * Get the priority grouping from NVIC Interrupt Controller. + * priority grouping is SCB->AIRCR [10:8] PRIGROUP field. + */ +static __INLINE uint32_t NVIC_GetPriorityGrouping(void) +{ + return ((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos); /* read priority grouping field */ +} + +/** + * @brief Enable Interrupt in NVIC Interrupt Controller + * + * @param IRQn The positive number of the external interrupt to enable + * + * Enable a device specific interupt in the NVIC interrupt controller. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_EnableIRQ(IRQn_Type IRQn) +{ + NVIC->ISER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* enable interrupt */ +} + +/** + * @brief Disable the interrupt line for external interrupt specified + * + * @param IRQn The positive number of the external interrupt to disable + * + * Disable a device specific interupt in the NVIC interrupt controller. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_DisableIRQ(IRQn_Type IRQn) +{ + NVIC->ICER[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* disable interrupt */ +} + +/** + * @brief Read the interrupt pending bit for a device specific interrupt source + * + * @param IRQn The number of the device specifc interrupt + * @return 1 = interrupt pending, 0 = interrupt not pending + * + * Read the pending register in NVIC and return 1 if its status is pending, + * otherwise it returns 0 + */ +static __INLINE uint32_t NVIC_GetPendingIRQ(IRQn_Type IRQn) +{ + return((uint32_t) ((NVIC->ISPR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if pending else 0 */ +} + +/** + * @brief Set the pending bit for an external interrupt + * + * @param IRQn The number of the interrupt for set pending + * + * Set the pending bit for the specified interrupt. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_SetPendingIRQ(IRQn_Type IRQn) +{ + NVIC->ISPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* set interrupt pending */ +} + +/** + * @brief Clear the pending bit for an external interrupt + * + * @param IRQn The number of the interrupt for clear pending + * + * Clear the pending bit for the specified interrupt. + * The interrupt number cannot be a negative value. + */ +static __INLINE void NVIC_ClearPendingIRQ(IRQn_Type IRQn) +{ + NVIC->ICPR[((uint32_t)(IRQn) >> 5)] = (1 << ((uint32_t)(IRQn) & 0x1F)); /* Clear pending interrupt */ +} + +/** + * @brief Read the active bit for an external interrupt + * + * @param IRQn The number of the interrupt for read active bit + * @return 1 = interrupt active, 0 = interrupt not active + * + * Read the active register in NVIC and returns 1 if its status is active, + * otherwise it returns 0. + */ +static __INLINE uint32_t NVIC_GetActive(IRQn_Type IRQn) +{ + return((uint32_t)((NVIC->IABR[(uint32_t)(IRQn) >> 5] & (1 << ((uint32_t)(IRQn) & 0x1F)))?1:0)); /* Return 1 if active else 0 */ +} + +/** + * @brief Set the priority for an interrupt + * + * @param IRQn The number of the interrupt for set priority + * @param priority The priority to set + * + * Set the priority for the specified interrupt. The interrupt + * number can be positive to specify an external (device specific) + * interrupt, or negative to specify an internal (core) interrupt. + * + * Note: The priority cannot be set for every core interrupt. + */ +static __INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) +{ + if(IRQn < 0) { + SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M3 System Interrupts */ + else { + NVIC->IP[(uint32_t)(IRQn)] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for device specific Interrupts */ +} + +/** + * @brief Read the priority for an interrupt + * + * @param IRQn The number of the interrupt for get priority + * @return The priority for the interrupt + * + * Read the priority for the specified interrupt. The interrupt + * number can be positive to specify an external (device specific) + * interrupt, or negative to specify an internal (core) interrupt. + * + * The returned priority value is automatically aligned to the implemented + * priority bits of the microcontroller. + * + * Note: The priority cannot be set for every core interrupt. + */ +static __INLINE uint32_t NVIC_GetPriority(IRQn_Type IRQn) +{ + + if(IRQn < 0) { + return((uint32_t)(SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] >> (8 - __NVIC_PRIO_BITS))); } /* get priority for Cortex-M3 system interrupts */ + else { + return((uint32_t)(NVIC->IP[(uint32_t)(IRQn)] >> (8 - __NVIC_PRIO_BITS))); } /* get priority for device specific interrupts */ +} + + +/** + * @brief Encode the priority for an interrupt + * + * @param PriorityGroup The used priority group + * @param PreemptPriority The preemptive priority value (starting from 0) + * @param SubPriority The sub priority value (starting from 0) + * @return The encoded priority for the interrupt + * + * Encode the priority for an interrupt with the given priority group, + * preemptive priority value and sub priority value. + * In case of a conflict between priority grouping and available + * priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set. + * + * The returned priority value can be used for NVIC_SetPriority(...) function + */ +static __INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) +{ + uint32_t PriorityGroupTmp = (PriorityGroup & 0x07); /* only values 0..7 are used */ + uint32_t PreemptPriorityBits; + uint32_t SubPriorityBits; + + PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp; + SubPriorityBits = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS; + + return ( + ((PreemptPriority & ((1 << (PreemptPriorityBits)) - 1)) << SubPriorityBits) | + ((SubPriority & ((1 << (SubPriorityBits )) - 1))) + ); +} + + +/** + * @brief Decode the priority of an interrupt + * + * @param Priority The priority for the interrupt + * @param PriorityGroup The used priority group + * @param pPreemptPriority The preemptive priority value (starting from 0) + * @param pSubPriority The sub priority value (starting from 0) + * + * Decode an interrupt priority value with the given priority group to + * preemptive priority value and sub priority value. + * In case of a conflict between priority grouping and available + * priority bits (__NVIC_PRIO_BITS) the samllest possible priority group is set. + * + * The priority value can be retrieved with NVIC_GetPriority(...) function + */ +static __INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority) +{ + uint32_t PriorityGroupTmp = (PriorityGroup & 0x07); /* only values 0..7 are used */ + uint32_t PreemptPriorityBits; + uint32_t SubPriorityBits; + + PreemptPriorityBits = ((7 - PriorityGroupTmp) > __NVIC_PRIO_BITS) ? __NVIC_PRIO_BITS : 7 - PriorityGroupTmp; + SubPriorityBits = ((PriorityGroupTmp + __NVIC_PRIO_BITS) < 7) ? 0 : PriorityGroupTmp - 7 + __NVIC_PRIO_BITS; + + *pPreemptPriority = (Priority >> SubPriorityBits) & ((1 << (PreemptPriorityBits)) - 1); + *pSubPriority = (Priority ) & ((1 << (SubPriorityBits )) - 1); +} + + + +/* ################################## SysTick function ############################################ */ + +#if (!defined (__Vendor_SysTickConfig)) || (__Vendor_SysTickConfig == 0) + +/** + * @brief Initialize and start the SysTick counter and its interrupt. + * + * @param ticks number of ticks between two interrupts + * @return 1 = failed, 0 = successful + * + * Initialise the system tick timer and its interrupt and start the + * system tick timer / counter in free running mode to generate + * periodical interrupts. + */ +static __INLINE uint32_t SysTick_Config(uint32_t ticks) +{ + if (ticks > SysTick_LOAD_RELOAD_Msk) return (1); /* Reload value impossible */ + + SysTick->LOAD = (ticks & SysTick_LOAD_RELOAD_Msk) - 1; /* set reload register */ + NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1); /* set Priority for Cortex-M0 System Interrupts */ + SysTick->VAL = 0; /* Load the SysTick Counter Value */ + SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | + SysTick_CTRL_TICKINT_Msk | + SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ + return (0); /* Function successful */ +} + +#endif + + + + +/* ################################## Reset function ############################################ */ + +/** + * @brief Initiate a system reset request. + * + * Initiate a system reset request to reset the MCU + */ +static __INLINE void NVIC_SystemReset(void) +{ + SCB->AIRCR = ((0x5FA << SCB_AIRCR_VECTKEY_Pos) | + (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) | + SCB_AIRCR_SYSRESETREQ_Msk); /* Keep priority group unchanged */ + __DSB(); /* Ensure completion of memory access */ + while(1); /* wait until reset */ +} + +/*@}*/ /* end of group CMSIS_CM3_Core_FunctionInterface */ + + + +/* ##################################### Debug In/Output function ########################################### */ + +/** @addtogroup CMSIS_CM3_CoreDebugInterface CMSIS CM3 Core Debug Interface + Core Debug Interface containing: + - Core Debug Receive / Transmit Functions + - Core Debug Defines + - Core Debug Variables +*/ +/*@{*/ + +extern volatile int ITM_RxBuffer; /*!< variable to receive characters */ +#define ITM_RXBUFFER_EMPTY 0x5AA55AA5 /*!< value identifying ITM_RxBuffer is ready for next character */ + + +/** + * @brief Outputs a character via the ITM channel 0 + * + * @param ch character to output + * @return character to output + * + * The function outputs a character via the ITM channel 0. + * The function returns when no debugger is connected that has booked the output. + * It is blocking when a debugger is connected, but the previous character send is not transmitted. + */ +static __INLINE uint32_t ITM_SendChar (uint32_t ch) +{ + if ((CoreDebug->DEMCR & CoreDebug_DEMCR_TRCENA_Msk) && /* Trace enabled */ + (ITM->TCR & ITM_TCR_ITMENA_Msk) && /* ITM enabled */ + (ITM->TER & (1ul << 0) ) ) /* ITM Port #0 enabled */ + { + while (ITM->PORT[0].u32 == 0); + ITM->PORT[0].u8 = (uint8_t) ch; + } + return (ch); +} + + +/** + * @brief Inputs a character via variable ITM_RxBuffer + * + * @return received character, -1 = no character received + * + * The function inputs a character via variable ITM_RxBuffer. + * The function returns when no debugger is connected that has booked the output. + * It is blocking when a debugger is connected, but the previous character send is not transmitted. + */ +static __INLINE int ITM_ReceiveChar (void) { + int ch = -1; /* no character available */ + + if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) { + ch = ITM_RxBuffer; + ITM_RxBuffer = ITM_RXBUFFER_EMPTY; /* ready for next character */ + } + + return (ch); +} + + +/** + * @brief Check if a character via variable ITM_RxBuffer is available + * + * @return 1 = character available, 0 = no character available + * + * The function checks variable ITM_RxBuffer whether a character is available or not. + * The function returns '1' if a character is available and '0' if no character is available. + */ +static __INLINE int ITM_CheckChar (void) { + + if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) { + return (0); /* no character available */ + } else { + return (1); /* character available */ + } +} + +/*@}*/ /* end of group CMSIS_CM3_core_DebugInterface */ + + +#ifdef __cplusplus +} +#endif + +/*@}*/ /* end of group CMSIS_CM3_core_definitions */ + +#endif /* __CM3_CORE_H__ */ + +/*lint -restore */ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_cl.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_cl.s new file mode 100644 index 0000000..833ece4 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_cl.s @@ -0,0 +1,368 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_cl.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x Connectivity line devices vector table for MDK-ARM +;* toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1 and ADC2 + DCD CAN1_TX_IRQHandler ; CAN1 TX + DCD CAN1_RX0_IRQHandler ; CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_IRQHandler ; TIM1 Break + DCD TIM1_UP_IRQHandler ; TIM1 Update + DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C1 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC alarm through EXTI line + DCD OTG_FS_WKUP_IRQHandler ; USB OTG FS Wakeup through EXTI line + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD TIM5_IRQHandler ; TIM5 + DCD SPI3_IRQHandler ; SPI3 + DCD UART4_IRQHandler ; UART4 + DCD UART5_IRQHandler ; UART5 + DCD TIM6_IRQHandler ; TIM6 + DCD TIM7_IRQHandler ; TIM7 + DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1 + DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2 + DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3 + DCD DMA2_Channel4_IRQHandler ; DMA2 Channel4 + DCD DMA2_Channel5_IRQHandler ; DMA2 Channel5 + DCD ETH_IRQHandler ; Ethernet + DCD ETH_WKUP_IRQHandler ; Ethernet Wakeup through EXTI line + DCD CAN2_TX_IRQHandler ; CAN2 TX + DCD CAN2_RX0_IRQHandler ; CAN2 RX0 + DCD CAN2_RX1_IRQHandler ; CAN2 RX1 + DCD CAN2_SCE_IRQHandler ; CAN2 SCE + DCD OTG_FS_IRQHandler ; USB OTG FS +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT SystemInit + IMPORT __main + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT CAN1_TX_IRQHandler [WEAK] + EXPORT CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_IRQHandler [WEAK] + EXPORT TIM1_UP_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT OTG_FS_WKUP_IRQHandler [WEAK] + EXPORT TIM5_IRQHandler [WEAK] + EXPORT SPI3_IRQHandler [WEAK] + EXPORT UART4_IRQHandler [WEAK] + EXPORT UART5_IRQHandler [WEAK] + EXPORT TIM6_IRQHandler [WEAK] + EXPORT TIM7_IRQHandler [WEAK] + EXPORT DMA2_Channel1_IRQHandler [WEAK] + EXPORT DMA2_Channel2_IRQHandler [WEAK] + EXPORT DMA2_Channel3_IRQHandler [WEAK] + EXPORT DMA2_Channel4_IRQHandler [WEAK] + EXPORT DMA2_Channel5_IRQHandler [WEAK] + EXPORT ETH_IRQHandler [WEAK] + EXPORT ETH_WKUP_IRQHandler [WEAK] + EXPORT CAN2_TX_IRQHandler [WEAK] + EXPORT CAN2_RX0_IRQHandler [WEAK] + EXPORT CAN2_RX1_IRQHandler [WEAK] + EXPORT CAN2_SCE_IRQHandler [WEAK] + EXPORT OTG_FS_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +CAN1_TX_IRQHandler +CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_IRQHandler +TIM1_UP_IRQHandler +TIM1_TRG_COM_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +OTG_FS_WKUP_IRQHandler +TIM5_IRQHandler +SPI3_IRQHandler +UART4_IRQHandler +UART5_IRQHandler +TIM6_IRQHandler +TIM7_IRQHandler +DMA2_Channel1_IRQHandler +DMA2_Channel2_IRQHandler +DMA2_Channel3_IRQHandler +DMA2_Channel4_IRQHandler +DMA2_Channel5_IRQHandler +ETH_IRQHandler +ETH_WKUP_IRQHandler +CAN2_TX_IRQHandler +CAN2_RX0_IRQHandler +CAN2_RX1_IRQHandler +CAN2_SCE_IRQHandler +OTG_FS_IRQHandler + + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_hd.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_hd.s new file mode 100644 index 0000000..8a19827 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_hd.s @@ -0,0 +1,358 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_hd.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x High Density Devices vector table for MDK-ARM +;* toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system and also configure the external +;* SRAM mounted on STM3210E-EVAL board to be used as data +;* memory (optional, to be enabled by user) +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1 & ADC2 + DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX + DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_IRQHandler ; TIM1 Break + DCD TIM1_UP_IRQHandler ; TIM1 Update + DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend + DCD TIM8_BRK_IRQHandler ; TIM8 Break + DCD TIM8_UP_IRQHandler ; TIM8 Update + DCD TIM8_TRG_COM_IRQHandler ; TIM8 Trigger and Commutation + DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare + DCD ADC3_IRQHandler ; ADC3 + DCD FSMC_IRQHandler ; FSMC + DCD SDIO_IRQHandler ; SDIO + DCD TIM5_IRQHandler ; TIM5 + DCD SPI3_IRQHandler ; SPI3 + DCD UART4_IRQHandler ; UART4 + DCD UART5_IRQHandler ; UART5 + DCD TIM6_IRQHandler ; TIM6 + DCD TIM7_IRQHandler ; TIM7 + DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1 + DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2 + DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3 + DCD DMA2_Channel4_5_IRQHandler ; DMA2 Channel4 & Channel5 +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] + EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_IRQHandler [WEAK] + EXPORT TIM1_UP_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT USBWakeUp_IRQHandler [WEAK] + EXPORT TIM8_BRK_IRQHandler [WEAK] + EXPORT TIM8_UP_IRQHandler [WEAK] + EXPORT TIM8_TRG_COM_IRQHandler [WEAK] + EXPORT TIM8_CC_IRQHandler [WEAK] + EXPORT ADC3_IRQHandler [WEAK] + EXPORT FSMC_IRQHandler [WEAK] + EXPORT SDIO_IRQHandler [WEAK] + EXPORT TIM5_IRQHandler [WEAK] + EXPORT SPI3_IRQHandler [WEAK] + EXPORT UART4_IRQHandler [WEAK] + EXPORT UART5_IRQHandler [WEAK] + EXPORT TIM6_IRQHandler [WEAK] + EXPORT TIM7_IRQHandler [WEAK] + EXPORT DMA2_Channel1_IRQHandler [WEAK] + EXPORT DMA2_Channel2_IRQHandler [WEAK] + EXPORT DMA2_Channel3_IRQHandler [WEAK] + EXPORT DMA2_Channel4_5_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +USB_HP_CAN1_TX_IRQHandler +USB_LP_CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_IRQHandler +TIM1_UP_IRQHandler +TIM1_TRG_COM_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +USBWakeUp_IRQHandler +TIM8_BRK_IRQHandler +TIM8_UP_IRQHandler +TIM8_TRG_COM_IRQHandler +TIM8_CC_IRQHandler +ADC3_IRQHandler +FSMC_IRQHandler +SDIO_IRQHandler +TIM5_IRQHandler +SPI3_IRQHandler +UART4_IRQHandler +UART5_IRQHandler +TIM6_IRQHandler +TIM7_IRQHandler +DMA2_Channel1_IRQHandler +DMA2_Channel2_IRQHandler +DMA2_Channel3_IRQHandler +DMA2_Channel4_5_IRQHandler + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_hd_vl.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_hd_vl.s new file mode 100644 index 0000000..2768298 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_hd_vl.s @@ -0,0 +1,346 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_hd_vl.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x High Density Value Line Devices vector table +;* for MDK-ARM toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system and also configure the external +;* SRAM mounted on STM32100E-EVAL board to be used as data +;* memory (optional, to be enabled by user) +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_IRQHandler ; ADC1 + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_TIM15_IRQHandler ; TIM1 Break and TIM15 + DCD TIM1_UP_TIM16_IRQHandler ; TIM1 Update and TIM16 + DCD TIM1_TRG_COM_TIM17_IRQHandler ; TIM1 Trigger and Commutation and TIM17 + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD CEC_IRQHandler ; HDMI-CEC + DCD TIM12_IRQHandler ; TIM12 + DCD TIM13_IRQHandler ; TIM13 + DCD TIM14_IRQHandler ; TIM14 + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD TIM5_IRQHandler ; TIM5 + DCD SPI3_IRQHandler ; SPI3 + DCD UART4_IRQHandler ; UART4 + DCD UART5_IRQHandler ; UART5 + DCD TIM6_DAC_IRQHandler ; TIM6 and DAC underrun + DCD TIM7_IRQHandler ; TIM7 + DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1 + DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2 + DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3 + DCD DMA2_Channel4_5_IRQHandler ; DMA2 Channel4 & Channel5 + DCD DMA2_Channel5_IRQHandler ; DMA2 Channel5 +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_TIM15_IRQHandler [WEAK] + EXPORT TIM1_UP_TIM16_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_TIM17_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT CEC_IRQHandler [WEAK] + EXPORT TIM12_IRQHandler [WEAK] + EXPORT TIM13_IRQHandler [WEAK] + EXPORT TIM14_IRQHandler [WEAK] + EXPORT TIM5_IRQHandler [WEAK] + EXPORT SPI3_IRQHandler [WEAK] + EXPORT UART4_IRQHandler [WEAK] + EXPORT UART5_IRQHandler [WEAK] + EXPORT TIM6_DAC_IRQHandler [WEAK] + EXPORT TIM7_IRQHandler [WEAK] + EXPORT DMA2_Channel1_IRQHandler [WEAK] + EXPORT DMA2_Channel2_IRQHandler [WEAK] + EXPORT DMA2_Channel3_IRQHandler [WEAK] + EXPORT DMA2_Channel4_5_IRQHandler [WEAK] + EXPORT DMA2_Channel5_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_TIM15_IRQHandler +TIM1_UP_TIM16_IRQHandler +TIM1_TRG_COM_TIM17_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +CEC_IRQHandler +TIM12_IRQHandler +TIM13_IRQHandler +TIM14_IRQHandler +TIM5_IRQHandler +SPI3_IRQHandler +UART4_IRQHandler +UART5_IRQHandler +TIM6_DAC_IRQHandler +TIM7_IRQHandler +DMA2_Channel1_IRQHandler +DMA2_Channel2_IRQHandler +DMA2_Channel3_IRQHandler +DMA2_Channel4_5_IRQHandler +DMA2_Channel5_IRQHandler + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_ld.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_ld.s new file mode 100644 index 0000000..f18be4b --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_ld.s @@ -0,0 +1,297 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_ld.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x Low Density Devices vector table for MDK-ARM +;* toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1_2 + DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX + DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_IRQHandler ; TIM1 Break + DCD TIM1_UP_IRQHandler ; TIM1 Update + DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD 0 ; Reserved + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SPI1_IRQHandler ; SPI1 + DCD 0 ; Reserved + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD 0 ; Reserved + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler routine +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] + EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_IRQHandler [WEAK] + EXPORT TIM1_UP_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT USBWakeUp_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +USB_HP_CAN1_TX_IRQHandler +USB_LP_CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_IRQHandler +TIM1_UP_IRQHandler +TIM1_TRG_COM_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +SPI1_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +USBWakeUp_IRQHandler + + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_ld_vl.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_ld_vl.s new file mode 100644 index 0000000..f7240dc --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_ld_vl.s @@ -0,0 +1,304 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_ld_vl.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x Low Density Value Line Devices vector table +;* for MDK-ARM toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_IRQHandler ; ADC1 + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_TIM15_IRQHandler ; TIM1 Break and TIM15 + DCD TIM1_UP_TIM16_IRQHandler ; TIM1 Update and TIM16 + DCD TIM1_TRG_COM_TIM17_IRQHandler ; TIM1 Trigger and Commutation and TIM17 + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD 0 ; Reserved + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SPI1_IRQHandler ; SPI1 + DCD 0 ; Reserved + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD 0 ; Reserved + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD CEC_IRQHandler ; HDMI-CEC + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD TIM6_DAC_IRQHandler ; TIM6 and DAC underrun + DCD TIM7_IRQHandler ; TIM7 +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_TIM15_IRQHandler [WEAK] + EXPORT TIM1_UP_TIM16_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_TIM17_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT CEC_IRQHandler [WEAK] + EXPORT TIM6_DAC_IRQHandler [WEAK] + EXPORT TIM7_IRQHandler [WEAK] +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_TIM15_IRQHandler +TIM1_UP_TIM16_IRQHandler +TIM1_TRG_COM_TIM17_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +SPI1_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +CEC_IRQHandler +TIM6_DAC_IRQHandler +TIM7_IRQHandler + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_md.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_md.s new file mode 100644 index 0000000..74da96c --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_md.s @@ -0,0 +1,307 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_md.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x Medium Density Devices vector table for MDK-ARM +;* toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1_2 + DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX + DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_IRQHandler ; TIM1 Break + DCD TIM1_UP_IRQHandler ; TIM1 Update + DCD TIM1_TRG_COM_IRQHandler ; TIM1 Trigger and Commutation + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] + EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_IRQHandler [WEAK] + EXPORT TIM1_UP_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT USBWakeUp_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +USB_HP_CAN1_TX_IRQHandler +USB_LP_CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_IRQHandler +TIM1_UP_IRQHandler +TIM1_TRG_COM_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +USBWakeUp_IRQHandler + + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_md_vl.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_md_vl.s new file mode 100644 index 0000000..076aa7f --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_md_vl.s @@ -0,0 +1,315 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_md_vl.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x Medium Density Value Line Devices vector table +;* for MDK-ARM toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_IRQHandler ; ADC1 + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_TIM15_IRQHandler ; TIM1 Break and TIM15 + DCD TIM1_UP_TIM16_IRQHandler ; TIM1 Update and TIM16 + DCD TIM1_TRG_COM_TIM17_IRQHandler ; TIM1 Trigger and Commutation and TIM17 + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD CEC_IRQHandler ; HDMI-CEC + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD TIM6_DAC_IRQHandler ; TIM6 and DAC underrun + DCD TIM7_IRQHandler ; TIM7 +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_TIM15_IRQHandler [WEAK] + EXPORT TIM1_UP_TIM16_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_TIM17_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT CEC_IRQHandler [WEAK] + EXPORT TIM6_DAC_IRQHandler [WEAK] + EXPORT TIM7_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_TIM15_IRQHandler +TIM1_UP_TIM16_IRQHandler +TIM1_TRG_COM_TIM17_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +CEC_IRQHandler +TIM6_DAC_IRQHandler +TIM7_IRQHandler + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_xl.s b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_xl.s new file mode 100644 index 0000000..9fbc640 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/startup/startup_stm32f10x_xl.s @@ -0,0 +1,358 @@ +;******************** (C) COPYRIGHT 2011 STMicroelectronics ******************** +;* File Name : startup_stm32f10x_xl.s +;* Author : MCD Application Team +;* Version : V3.5.0 +;* Date : 11-March-2011 +;* Description : STM32F10x XL-Density Devices vector table for MDK-ARM +;* toolchain. +;* This module performs: +;* - Set the initial SP +;* - Set the initial PC == Reset_Handler +;* - Set the vector table entries with the exceptions ISR address +;* - Configure the clock system and also configure the external +;* SRAM mounted on STM3210E-EVAL board to be used as data +;* memory (optional, to be enabled by user) +;* - Branches to __main in the C library (which eventually +;* calls main()). +;* After Reset the CortexM3 processor is in Thread mode, +;* priority is Privileged, and the Stack is set to Main. +;* <<< Use Configuration Wizard in Context Menu >>> +;******************************************************************************* +; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME. +; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT, +; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE +; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING +; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. +;******************************************************************************* + +; Amount of memory (in bytes) allocated for Stack +; Tailor this value to your application needs +; Stack Configuration +; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Stack_Size EQU 0x00000400 + + AREA STACK, NOINIT, READWRITE, ALIGN=3 +Stack_Mem SPACE Stack_Size +__initial_sp + +; Heap Configuration +; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> +; + +Heap_Size EQU 0x00000200 + + AREA HEAP, NOINIT, READWRITE, ALIGN=3 +__heap_base +Heap_Mem SPACE Heap_Size +__heap_limit + + PRESERVE8 + THUMB + + +; Vector Table Mapped to Address 0 at Reset + AREA RESET, DATA, READONLY + EXPORT __Vectors + EXPORT __Vectors_End + EXPORT __Vectors_Size + +__Vectors DCD __initial_sp ; Top of Stack + DCD Reset_Handler ; Reset Handler + DCD NMI_Handler ; NMI Handler + DCD HardFault_Handler ; Hard Fault Handler + DCD MemManage_Handler ; MPU Fault Handler + DCD BusFault_Handler ; Bus Fault Handler + DCD UsageFault_Handler ; Usage Fault Handler + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD 0 ; Reserved + DCD SVC_Handler ; SVCall Handler + DCD DebugMon_Handler ; Debug Monitor Handler + DCD 0 ; Reserved + DCD PendSV_Handler ; PendSV Handler + DCD SysTick_Handler ; SysTick Handler + + ; External Interrupts + DCD WWDG_IRQHandler ; Window Watchdog + DCD PVD_IRQHandler ; PVD through EXTI Line detect + DCD TAMPER_IRQHandler ; Tamper + DCD RTC_IRQHandler ; RTC + DCD FLASH_IRQHandler ; Flash + DCD RCC_IRQHandler ; RCC + DCD EXTI0_IRQHandler ; EXTI Line 0 + DCD EXTI1_IRQHandler ; EXTI Line 1 + DCD EXTI2_IRQHandler ; EXTI Line 2 + DCD EXTI3_IRQHandler ; EXTI Line 3 + DCD EXTI4_IRQHandler ; EXTI Line 4 + DCD DMA1_Channel1_IRQHandler ; DMA1 Channel 1 + DCD DMA1_Channel2_IRQHandler ; DMA1 Channel 2 + DCD DMA1_Channel3_IRQHandler ; DMA1 Channel 3 + DCD DMA1_Channel4_IRQHandler ; DMA1 Channel 4 + DCD DMA1_Channel5_IRQHandler ; DMA1 Channel 5 + DCD DMA1_Channel6_IRQHandler ; DMA1 Channel 6 + DCD DMA1_Channel7_IRQHandler ; DMA1 Channel 7 + DCD ADC1_2_IRQHandler ; ADC1 & ADC2 + DCD USB_HP_CAN1_TX_IRQHandler ; USB High Priority or CAN1 TX + DCD USB_LP_CAN1_RX0_IRQHandler ; USB Low Priority or CAN1 RX0 + DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + DCD CAN1_SCE_IRQHandler ; CAN1 SCE + DCD EXTI9_5_IRQHandler ; EXTI Line 9..5 + DCD TIM1_BRK_TIM9_IRQHandler ; TIM1 Break and TIM9 + DCD TIM1_UP_TIM10_IRQHandler ; TIM1 Update and TIM10 + DCD TIM1_TRG_COM_TIM11_IRQHandler ; TIM1 Trigger and Commutation and TIM11 + DCD TIM1_CC_IRQHandler ; TIM1 Capture Compare + DCD TIM2_IRQHandler ; TIM2 + DCD TIM3_IRQHandler ; TIM3 + DCD TIM4_IRQHandler ; TIM4 + DCD I2C1_EV_IRQHandler ; I2C1 Event + DCD I2C1_ER_IRQHandler ; I2C1 Error + DCD I2C2_EV_IRQHandler ; I2C2 Event + DCD I2C2_ER_IRQHandler ; I2C2 Error + DCD SPI1_IRQHandler ; SPI1 + DCD SPI2_IRQHandler ; SPI2 + DCD USART1_IRQHandler ; USART1 + DCD USART2_IRQHandler ; USART2 + DCD USART3_IRQHandler ; USART3 + DCD EXTI15_10_IRQHandler ; EXTI Line 15..10 + DCD RTCAlarm_IRQHandler ; RTC Alarm through EXTI Line + DCD USBWakeUp_IRQHandler ; USB Wakeup from suspend + DCD TIM8_BRK_TIM12_IRQHandler ; TIM8 Break and TIM12 + DCD TIM8_UP_TIM13_IRQHandler ; TIM8 Update and TIM13 + DCD TIM8_TRG_COM_TIM14_IRQHandler ; TIM8 Trigger and Commutation and TIM14 + DCD TIM8_CC_IRQHandler ; TIM8 Capture Compare + DCD ADC3_IRQHandler ; ADC3 + DCD FSMC_IRQHandler ; FSMC + DCD SDIO_IRQHandler ; SDIO + DCD TIM5_IRQHandler ; TIM5 + DCD SPI3_IRQHandler ; SPI3 + DCD UART4_IRQHandler ; UART4 + DCD UART5_IRQHandler ; UART5 + DCD TIM6_IRQHandler ; TIM6 + DCD TIM7_IRQHandler ; TIM7 + DCD DMA2_Channel1_IRQHandler ; DMA2 Channel1 + DCD DMA2_Channel2_IRQHandler ; DMA2 Channel2 + DCD DMA2_Channel3_IRQHandler ; DMA2 Channel3 + DCD DMA2_Channel4_5_IRQHandler ; DMA2 Channel4 & Channel5 +__Vectors_End + +__Vectors_Size EQU __Vectors_End - __Vectors + + AREA |.text|, CODE, READONLY + +; Reset handler +Reset_Handler PROC + EXPORT Reset_Handler [WEAK] + IMPORT __main + IMPORT SystemInit + LDR R0, =SystemInit + BLX R0 + LDR R0, =__main + BX R0 + ENDP + +; Dummy Exception Handlers (infinite loops which can be modified) + +NMI_Handler PROC + EXPORT NMI_Handler [WEAK] + B . + ENDP +HardFault_Handler\ + PROC + EXPORT HardFault_Handler [WEAK] + B . + ENDP +MemManage_Handler\ + PROC + EXPORT MemManage_Handler [WEAK] + B . + ENDP +BusFault_Handler\ + PROC + EXPORT BusFault_Handler [WEAK] + B . + ENDP +UsageFault_Handler\ + PROC + EXPORT UsageFault_Handler [WEAK] + B . + ENDP +SVC_Handler PROC + EXPORT SVC_Handler [WEAK] + B . + ENDP +DebugMon_Handler\ + PROC + EXPORT DebugMon_Handler [WEAK] + B . + ENDP +PendSV_Handler PROC + EXPORT PendSV_Handler [WEAK] + B . + ENDP +SysTick_Handler PROC + EXPORT SysTick_Handler [WEAK] + B . + ENDP + +Default_Handler PROC + + EXPORT WWDG_IRQHandler [WEAK] + EXPORT PVD_IRQHandler [WEAK] + EXPORT TAMPER_IRQHandler [WEAK] + EXPORT RTC_IRQHandler [WEAK] + EXPORT FLASH_IRQHandler [WEAK] + EXPORT RCC_IRQHandler [WEAK] + EXPORT EXTI0_IRQHandler [WEAK] + EXPORT EXTI1_IRQHandler [WEAK] + EXPORT EXTI2_IRQHandler [WEAK] + EXPORT EXTI3_IRQHandler [WEAK] + EXPORT EXTI4_IRQHandler [WEAK] + EXPORT DMA1_Channel1_IRQHandler [WEAK] + EXPORT DMA1_Channel2_IRQHandler [WEAK] + EXPORT DMA1_Channel3_IRQHandler [WEAK] + EXPORT DMA1_Channel4_IRQHandler [WEAK] + EXPORT DMA1_Channel5_IRQHandler [WEAK] + EXPORT DMA1_Channel6_IRQHandler [WEAK] + EXPORT DMA1_Channel7_IRQHandler [WEAK] + EXPORT ADC1_2_IRQHandler [WEAK] + EXPORT USB_HP_CAN1_TX_IRQHandler [WEAK] + EXPORT USB_LP_CAN1_RX0_IRQHandler [WEAK] + EXPORT CAN1_RX1_IRQHandler [WEAK] + EXPORT CAN1_SCE_IRQHandler [WEAK] + EXPORT EXTI9_5_IRQHandler [WEAK] + EXPORT TIM1_BRK_TIM9_IRQHandler [WEAK] + EXPORT TIM1_UP_TIM10_IRQHandler [WEAK] + EXPORT TIM1_TRG_COM_TIM11_IRQHandler [WEAK] + EXPORT TIM1_CC_IRQHandler [WEAK] + EXPORT TIM2_IRQHandler [WEAK] + EXPORT TIM3_IRQHandler [WEAK] + EXPORT TIM4_IRQHandler [WEAK] + EXPORT I2C1_EV_IRQHandler [WEAK] + EXPORT I2C1_ER_IRQHandler [WEAK] + EXPORT I2C2_EV_IRQHandler [WEAK] + EXPORT I2C2_ER_IRQHandler [WEAK] + EXPORT SPI1_IRQHandler [WEAK] + EXPORT SPI2_IRQHandler [WEAK] + EXPORT USART1_IRQHandler [WEAK] + EXPORT USART2_IRQHandler [WEAK] + EXPORT USART3_IRQHandler [WEAK] + EXPORT EXTI15_10_IRQHandler [WEAK] + EXPORT RTCAlarm_IRQHandler [WEAK] + EXPORT USBWakeUp_IRQHandler [WEAK] + EXPORT TIM8_BRK_TIM12_IRQHandler [WEAK] + EXPORT TIM8_UP_TIM13_IRQHandler [WEAK] + EXPORT TIM8_TRG_COM_TIM14_IRQHandler [WEAK] + EXPORT TIM8_CC_IRQHandler [WEAK] + EXPORT ADC3_IRQHandler [WEAK] + EXPORT FSMC_IRQHandler [WEAK] + EXPORT SDIO_IRQHandler [WEAK] + EXPORT TIM5_IRQHandler [WEAK] + EXPORT SPI3_IRQHandler [WEAK] + EXPORT UART4_IRQHandler [WEAK] + EXPORT UART5_IRQHandler [WEAK] + EXPORT TIM6_IRQHandler [WEAK] + EXPORT TIM7_IRQHandler [WEAK] + EXPORT DMA2_Channel1_IRQHandler [WEAK] + EXPORT DMA2_Channel2_IRQHandler [WEAK] + EXPORT DMA2_Channel3_IRQHandler [WEAK] + EXPORT DMA2_Channel4_5_IRQHandler [WEAK] + +WWDG_IRQHandler +PVD_IRQHandler +TAMPER_IRQHandler +RTC_IRQHandler +FLASH_IRQHandler +RCC_IRQHandler +EXTI0_IRQHandler +EXTI1_IRQHandler +EXTI2_IRQHandler +EXTI3_IRQHandler +EXTI4_IRQHandler +DMA1_Channel1_IRQHandler +DMA1_Channel2_IRQHandler +DMA1_Channel3_IRQHandler +DMA1_Channel4_IRQHandler +DMA1_Channel5_IRQHandler +DMA1_Channel6_IRQHandler +DMA1_Channel7_IRQHandler +ADC1_2_IRQHandler +USB_HP_CAN1_TX_IRQHandler +USB_LP_CAN1_RX0_IRQHandler +CAN1_RX1_IRQHandler +CAN1_SCE_IRQHandler +EXTI9_5_IRQHandler +TIM1_BRK_TIM9_IRQHandler +TIM1_UP_TIM10_IRQHandler +TIM1_TRG_COM_TIM11_IRQHandler +TIM1_CC_IRQHandler +TIM2_IRQHandler +TIM3_IRQHandler +TIM4_IRQHandler +I2C1_EV_IRQHandler +I2C1_ER_IRQHandler +I2C2_EV_IRQHandler +I2C2_ER_IRQHandler +SPI1_IRQHandler +SPI2_IRQHandler +USART1_IRQHandler +USART2_IRQHandler +USART3_IRQHandler +EXTI15_10_IRQHandler +RTCAlarm_IRQHandler +USBWakeUp_IRQHandler +TIM8_BRK_TIM12_IRQHandler +TIM8_UP_TIM13_IRQHandler +TIM8_TRG_COM_TIM14_IRQHandler +TIM8_CC_IRQHandler +ADC3_IRQHandler +FSMC_IRQHandler +SDIO_IRQHandler +TIM5_IRQHandler +SPI3_IRQHandler +UART4_IRQHandler +UART5_IRQHandler +TIM6_IRQHandler +TIM7_IRQHandler +DMA2_Channel1_IRQHandler +DMA2_Channel2_IRQHandler +DMA2_Channel3_IRQHandler +DMA2_Channel4_5_IRQHandler + B . + + ENDP + + ALIGN + +;******************************************************************************* +; User Stack and Heap initialization +;******************************************************************************* + IF :DEF:__MICROLIB + + EXPORT __initial_sp + EXPORT __heap_base + EXPORT __heap_limit + + ELSE + + IMPORT __use_two_region_memory + EXPORT __user_initial_stackheap + +__user_initial_stackheap + + LDR R0, = Heap_Mem + LDR R1, =(Stack_Mem + Stack_Size) + LDR R2, = (Heap_Mem + Heap_Size) + LDR R3, = Stack_Mem + BX LR + + ALIGN + + ENDIF + + END + +;******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE***** diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/stm32f10x.h b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/stm32f10x.h new file mode 100644 index 0000000..7e3b08d --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/stm32f10x.h @@ -0,0 +1,8337 @@ +/** + ****************************************************************************** + * @file stm32f10x.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief CMSIS Cortex-M3 Device Peripheral Access Layer Header File. + * This file contains all the peripheral register's definitions, bits + * definitions and memory mapping for STM32F10x Connectivity line, + * High density, High density value line, Medium density, + * Medium density Value line, Low density, Low density Value line + * and XL-density devices. + * + * The file is the unique include file that the application programmer + * is using in the C source code, usually in main.c. This file contains: + * - Configuration section that allows to select: + * - The device used in the target application + * - To use or not the peripherals drivers in application code(i.e. + * code will be based on direct access to peripherals registers + * rather than drivers API), this option is controlled by + * "#define USE_STDPERIPH_DRIVER" + * - To change few application-specific parameters such as the HSE + * crystal frequency + * - Data structures and the address mapping for all peripherals + * - Peripheral's registers declarations and bits definition + * - Macros to access peripherals registers hardware + * + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f10x + * @{ + */ + +#ifndef __STM32F10x_H +#define __STM32F10x_H + +#ifdef __cplusplus + extern "C" { +#endif + +/** @addtogroup Library_configuration_section + * @{ + */ + +/* Uncomment the line below according to the target STM32 device used in your + application + */ + + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD) && !defined (STM32F10X_HD_VL) && !defined (STM32F10X_XL) && !defined (STM32F10X_CL) + /* #define STM32F10X_LD */ /*!< STM32F10X_LD: STM32 Low density devices */ + /* #define STM32F10X_LD_VL */ /*!< STM32F10X_LD_VL: STM32 Low density Value Line devices */ + /* #define STM32F10X_MD */ /*!< STM32F10X_MD: STM32 Medium density devices */ + /* #define STM32F10X_MD_VL */ /*!< STM32F10X_MD_VL: STM32 Medium density Value Line devices */ + /* #define STM32F10X_HD */ /*!< STM32F10X_HD: STM32 High density devices */ + /* #define STM32F10X_HD_VL */ /*!< STM32F10X_HD_VL: STM32 High density value line devices */ + /* #define STM32F10X_XL */ /*!< STM32F10X_XL: STM32 XL-density devices */ + /* #define STM32F10X_CL */ /*!< STM32F10X_CL: STM32 Connectivity line devices */ +#endif +/* Tip: To avoid modifying this file each time you need to switch between these + devices, you can define the device in your toolchain compiler preprocessor. + + - Low-density devices are STM32F101xx, STM32F102xx and STM32F103xx microcontrollers + where the Flash memory density ranges between 16 and 32 Kbytes. + - Low-density value line devices are STM32F100xx microcontrollers where the Flash + memory density ranges between 16 and 32 Kbytes. + - Medium-density devices are STM32F101xx, STM32F102xx and STM32F103xx microcontrollers + where the Flash memory density ranges between 64 and 128 Kbytes. + - Medium-density value line devices are STM32F100xx microcontrollers where the + Flash memory density ranges between 64 and 128 Kbytes. + - High-density devices are STM32F101xx and STM32F103xx microcontrollers where + the Flash memory density ranges between 256 and 512 Kbytes. + - High-density value line devices are STM32F100xx microcontrollers where the + Flash memory density ranges between 256 and 512 Kbytes. + - XL-density devices are STM32F101xx and STM32F103xx microcontrollers where + the Flash memory density ranges between 512 and 1024 Kbytes. + - Connectivity line devices are STM32F105xx and STM32F107xx microcontrollers. + */ + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD) && !defined (STM32F10X_HD_VL) && !defined (STM32F10X_XL) && !defined (STM32F10X_CL) + #error "Please select first the target STM32F10x device used in your application (in stm32f10x.h file)" +#endif + +#if !defined USE_STDPERIPH_DRIVER +/** + * @brief Comment the line below if you will not use the peripherals drivers. + In this case, these drivers will not be included and the application code will + be based on direct access to peripherals registers + */ + /*#define USE_STDPERIPH_DRIVER*/ +#endif + +/** + * @brief In the following line adjust the value of External High Speed oscillator (HSE) + used in your application + + Tip: To avoid modifying this file each time you need to use different HSE, you + can define the HSE value in your toolchain compiler preprocessor. + */ +#if !defined HSE_VALUE + #ifdef STM32F10X_CL + #define HSE_VALUE ((uint32_t)25000000) /*!< Value of the External oscillator in Hz */ + #else + #define HSE_VALUE ((uint32_t)8000000) /*!< Value of the External oscillator in Hz */ + #endif /* STM32F10X_CL */ +#endif /* HSE_VALUE */ + + +/** + * @brief In the following line adjust the External High Speed oscillator (HSE) Startup + Timeout value + */ +#define HSE_STARTUP_TIMEOUT ((uint16_t)0x0500) /*!< Time out for HSE start up */ + +#define HSI_VALUE ((uint32_t)8000000) /*!< Value of the Internal oscillator in Hz*/ + +/** + * @brief STM32F10x Standard Peripheral Library version number + */ +#define __STM32F10X_STDPERIPH_VERSION_MAIN (0x03) /*!< [31:24] main version */ +#define __STM32F10X_STDPERIPH_VERSION_SUB1 (0x05) /*!< [23:16] sub1 version */ +#define __STM32F10X_STDPERIPH_VERSION_SUB2 (0x00) /*!< [15:8] sub2 version */ +#define __STM32F10X_STDPERIPH_VERSION_RC (0x00) /*!< [7:0] release candidate */ +#define __STM32F10X_STDPERIPH_VERSION ( (__STM32F10X_STDPERIPH_VERSION_MAIN << 24)\ + |(__STM32F10X_STDPERIPH_VERSION_SUB1 << 16)\ + |(__STM32F10X_STDPERIPH_VERSION_SUB2 << 8)\ + |(__STM32F10X_STDPERIPH_VERSION_RC)) + +/** + * @} + */ + +/** @addtogroup Configuration_section_for_CMSIS + * @{ + */ + +/** + * @brief Configuration of the Cortex-M3 Processor and Core Peripherals + */ +#ifdef STM32F10X_XL + #define __MPU_PRESENT 1 /*!< STM32 XL-density devices provide an MPU */ +#else + #define __MPU_PRESENT 0 /*!< Other STM32 devices does not provide an MPU */ +#endif /* STM32F10X_XL */ +#define __NVIC_PRIO_BITS 4 /*!< STM32 uses 4 Bits for the Priority Levels */ +#define __Vendor_SysTickConfig 0 /*!< Set to 1 if different SysTick Config is used */ + +/** + * @brief STM32F10x Interrupt Number Definition, according to the selected device + * in @ref Library_configuration_section + */ +typedef enum IRQn +{ +/****** Cortex-M3 Processor Exceptions Numbers ***************************************************/ + NonMaskableInt_IRQn = -14, /*!< 2 Non Maskable Interrupt */ + MemoryManagement_IRQn = -12, /*!< 4 Cortex-M3 Memory Management Interrupt */ + BusFault_IRQn = -11, /*!< 5 Cortex-M3 Bus Fault Interrupt */ + UsageFault_IRQn = -10, /*!< 6 Cortex-M3 Usage Fault Interrupt */ + SVCall_IRQn = -5, /*!< 11 Cortex-M3 SV Call Interrupt */ + DebugMonitor_IRQn = -4, /*!< 12 Cortex-M3 Debug Monitor Interrupt */ + PendSV_IRQn = -2, /*!< 14 Cortex-M3 Pend SV Interrupt */ + SysTick_IRQn = -1, /*!< 15 Cortex-M3 System Tick Interrupt */ + +/****** STM32 specific Interrupt Numbers *********************************************************/ + WWDG_IRQn = 0, /*!< Window WatchDog Interrupt */ + PVD_IRQn = 1, /*!< PVD through EXTI Line detection Interrupt */ + TAMPER_IRQn = 2, /*!< Tamper Interrupt */ + RTC_IRQn = 3, /*!< RTC global Interrupt */ + FLASH_IRQn = 4, /*!< FLASH global Interrupt */ + RCC_IRQn = 5, /*!< RCC global Interrupt */ + EXTI0_IRQn = 6, /*!< EXTI Line0 Interrupt */ + EXTI1_IRQn = 7, /*!< EXTI Line1 Interrupt */ + EXTI2_IRQn = 8, /*!< EXTI Line2 Interrupt */ + EXTI3_IRQn = 9, /*!< EXTI Line3 Interrupt */ + EXTI4_IRQn = 10, /*!< EXTI Line4 Interrupt */ + DMA1_Channel1_IRQn = 11, /*!< DMA1 Channel 1 global Interrupt */ + DMA1_Channel2_IRQn = 12, /*!< DMA1 Channel 2 global Interrupt */ + DMA1_Channel3_IRQn = 13, /*!< DMA1 Channel 3 global Interrupt */ + DMA1_Channel4_IRQn = 14, /*!< DMA1 Channel 4 global Interrupt */ + DMA1_Channel5_IRQn = 15, /*!< DMA1 Channel 5 global Interrupt */ + DMA1_Channel6_IRQn = 16, /*!< DMA1 Channel 6 global Interrupt */ + DMA1_Channel7_IRQn = 17, /*!< DMA1 Channel 7 global Interrupt */ + +#ifdef STM32F10X_LD + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42 /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ +#endif /* STM32F10X_LD */ + +#ifdef STM32F10X_LD_VL + ADC1_IRQn = 18, /*!< ADC1 global Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM15_IRQn = 24, /*!< TIM1 Break and TIM15 Interrupts */ + TIM1_UP_TIM16_IRQn = 25, /*!< TIM1 Update and TIM16 Interrupts */ + TIM1_TRG_COM_TIM17_IRQn = 26, /*!< TIM1 Trigger and Commutation and TIM17 Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + CEC_IRQn = 42, /*!< HDMI-CEC Interrupt */ + TIM6_DAC_IRQn = 54, /*!< TIM6 and DAC underrun Interrupt */ + TIM7_IRQn = 55 /*!< TIM7 Interrupt */ +#endif /* STM32F10X_LD_VL */ + +#ifdef STM32F10X_MD + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42 /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ +#endif /* STM32F10X_MD */ + +#ifdef STM32F10X_MD_VL + ADC1_IRQn = 18, /*!< ADC1 global Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM15_IRQn = 24, /*!< TIM1 Break and TIM15 Interrupts */ + TIM1_UP_TIM16_IRQn = 25, /*!< TIM1 Update and TIM16 Interrupts */ + TIM1_TRG_COM_TIM17_IRQn = 26, /*!< TIM1 Trigger and Commutation and TIM17 Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + CEC_IRQn = 42, /*!< HDMI-CEC Interrupt */ + TIM6_DAC_IRQn = 54, /*!< TIM6 and DAC underrun Interrupt */ + TIM7_IRQn = 55 /*!< TIM7 Interrupt */ +#endif /* STM32F10X_MD_VL */ + +#ifdef STM32F10X_HD + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42, /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ + TIM8_BRK_IRQn = 43, /*!< TIM8 Break Interrupt */ + TIM8_UP_IRQn = 44, /*!< TIM8 Update Interrupt */ + TIM8_TRG_COM_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt */ + TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare Interrupt */ + ADC3_IRQn = 47, /*!< ADC3 global Interrupt */ + FSMC_IRQn = 48, /*!< FSMC global Interrupt */ + SDIO_IRQn = 49, /*!< SDIO global Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_IRQn = 54, /*!< TIM6 global Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 global Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_5_IRQn = 59 /*!< DMA2 Channel 4 and Channel 5 global Interrupt */ +#endif /* STM32F10X_HD */ + +#ifdef STM32F10X_HD_VL + ADC1_IRQn = 18, /*!< ADC1 global Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM15_IRQn = 24, /*!< TIM1 Break and TIM15 Interrupts */ + TIM1_UP_TIM16_IRQn = 25, /*!< TIM1 Update and TIM16 Interrupts */ + TIM1_TRG_COM_TIM17_IRQn = 26, /*!< TIM1 Trigger and Commutation and TIM17 Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + CEC_IRQn = 42, /*!< HDMI-CEC Interrupt */ + TIM12_IRQn = 43, /*!< TIM12 global Interrupt */ + TIM13_IRQn = 44, /*!< TIM13 global Interrupt */ + TIM14_IRQn = 45, /*!< TIM14 global Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_DAC_IRQn = 54, /*!< TIM6 and DAC underrun Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_5_IRQn = 59, /*!< DMA2 Channel 4 and Channel 5 global Interrupt */ + DMA2_Channel5_IRQn = 60 /*!< DMA2 Channel 5 global Interrupt (DMA2 Channel 5 is + mapped at position 60 only if the MISC_REMAP bit in + the AFIO_MAPR2 register is set) */ +#endif /* STM32F10X_HD_VL */ + +#ifdef STM32F10X_XL + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + USB_HP_CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + USB_LP_CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_TIM9_IRQn = 24, /*!< TIM1 Break Interrupt and TIM9 global Interrupt */ + TIM1_UP_TIM10_IRQn = 25, /*!< TIM1 Update Interrupt and TIM10 global Interrupt */ + TIM1_TRG_COM_TIM11_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt and TIM11 global interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + USBWakeUp_IRQn = 42, /*!< USB Device WakeUp from suspend through EXTI Line Interrupt */ + TIM8_BRK_TIM12_IRQn = 43, /*!< TIM8 Break Interrupt and TIM12 global Interrupt */ + TIM8_UP_TIM13_IRQn = 44, /*!< TIM8 Update Interrupt and TIM13 global Interrupt */ + TIM8_TRG_COM_TIM14_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */ + TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare Interrupt */ + ADC3_IRQn = 47, /*!< ADC3 global Interrupt */ + FSMC_IRQn = 48, /*!< FSMC global Interrupt */ + SDIO_IRQn = 49, /*!< SDIO global Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_IRQn = 54, /*!< TIM6 global Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 global Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_5_IRQn = 59 /*!< DMA2 Channel 4 and Channel 5 global Interrupt */ +#endif /* STM32F10X_XL */ + +#ifdef STM32F10X_CL + ADC1_2_IRQn = 18, /*!< ADC1 and ADC2 global Interrupt */ + CAN1_TX_IRQn = 19, /*!< USB Device High Priority or CAN1 TX Interrupts */ + CAN1_RX0_IRQn = 20, /*!< USB Device Low Priority or CAN1 RX0 Interrupts */ + CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ + CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ + EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ + TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ + TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ + TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ + TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ + TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ + TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ + TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ + I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ + I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ + I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ + I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ + SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ + SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ + USART1_IRQn = 37, /*!< USART1 global Interrupt */ + USART2_IRQn = 38, /*!< USART2 global Interrupt */ + USART3_IRQn = 39, /*!< USART3 global Interrupt */ + EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ + RTCAlarm_IRQn = 41, /*!< RTC Alarm through EXTI Line Interrupt */ + OTG_FS_WKUP_IRQn = 42, /*!< USB OTG FS WakeUp from suspend through EXTI Line Interrupt */ + TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ + SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ + UART4_IRQn = 52, /*!< UART4 global Interrupt */ + UART5_IRQn = 53, /*!< UART5 global Interrupt */ + TIM6_IRQn = 54, /*!< TIM6 global Interrupt */ + TIM7_IRQn = 55, /*!< TIM7 global Interrupt */ + DMA2_Channel1_IRQn = 56, /*!< DMA2 Channel 1 global Interrupt */ + DMA2_Channel2_IRQn = 57, /*!< DMA2 Channel 2 global Interrupt */ + DMA2_Channel3_IRQn = 58, /*!< DMA2 Channel 3 global Interrupt */ + DMA2_Channel4_IRQn = 59, /*!< DMA2 Channel 4 global Interrupt */ + DMA2_Channel5_IRQn = 60, /*!< DMA2 Channel 5 global Interrupt */ + ETH_IRQn = 61, /*!< Ethernet global Interrupt */ + ETH_WKUP_IRQn = 62, /*!< Ethernet Wakeup through EXTI line Interrupt */ + CAN2_TX_IRQn = 63, /*!< CAN2 TX Interrupt */ + CAN2_RX0_IRQn = 64, /*!< CAN2 RX0 Interrupt */ + CAN2_RX1_IRQn = 65, /*!< CAN2 RX1 Interrupt */ + CAN2_SCE_IRQn = 66, /*!< CAN2 SCE Interrupt */ + OTG_FS_IRQn = 67 /*!< USB OTG FS global Interrupt */ +#endif /* STM32F10X_CL */ +} IRQn_Type; + +/** + * @} + */ + +#include "core_cm3.h" +#include "system_stm32f10x.h" +#include + +/** @addtogroup Exported_types + * @{ + */ + +/*!< STM32F10x Standard Peripheral Library old types (maintained for legacy purpose) */ +typedef int32_t s32; +typedef int16_t s16; +typedef int8_t s8; + +typedef const int32_t sc32; /*!< Read Only */ +typedef const int16_t sc16; /*!< Read Only */ +typedef const int8_t sc8; /*!< Read Only */ + +typedef __IO int32_t vs32; +typedef __IO int16_t vs16; +typedef __IO int8_t vs8; + +typedef __I int32_t vsc32; /*!< Read Only */ +typedef __I int16_t vsc16; /*!< Read Only */ +typedef __I int8_t vsc8; /*!< Read Only */ + +typedef uint32_t u32; +typedef uint16_t u16; +typedef uint8_t u8; + +typedef const uint32_t uc32; /*!< Read Only */ +typedef const uint16_t uc16; /*!< Read Only */ +typedef const uint8_t uc8; /*!< Read Only */ + +typedef __IO uint32_t vu32; +typedef __IO uint16_t vu16; +typedef __IO uint8_t vu8; + +typedef __I uint32_t vuc32; /*!< Read Only */ +typedef __I uint16_t vuc16; /*!< Read Only */ +typedef __I uint8_t vuc8; /*!< Read Only */ + +typedef enum {RESET = 0, SET = !RESET} FlagStatus, ITStatus; + +typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState; +#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE)) + +typedef enum {ERROR = 0, SUCCESS = !ERROR} ErrorStatus; + +/*!< STM32F10x Standard Peripheral Library old definitions (maintained for legacy purpose) */ +#define HSEStartUp_TimeOut HSE_STARTUP_TIMEOUT +#define HSE_Value HSE_VALUE +#define HSI_Value HSI_VALUE +/** + * @} + */ + +/** @addtogroup Peripheral_registers_structures + * @{ + */ + +/** + * @brief Analog to Digital Converter + */ + +typedef struct +{ + __IO uint32_t SR; + __IO uint32_t CR1; + __IO uint32_t CR2; + __IO uint32_t SMPR1; + __IO uint32_t SMPR2; + __IO uint32_t JOFR1; + __IO uint32_t JOFR2; + __IO uint32_t JOFR3; + __IO uint32_t JOFR4; + __IO uint32_t HTR; + __IO uint32_t LTR; + __IO uint32_t SQR1; + __IO uint32_t SQR2; + __IO uint32_t SQR3; + __IO uint32_t JSQR; + __IO uint32_t JDR1; + __IO uint32_t JDR2; + __IO uint32_t JDR3; + __IO uint32_t JDR4; + __IO uint32_t DR; +} ADC_TypeDef; + +/** + * @brief Backup Registers + */ + +typedef struct +{ + uint32_t RESERVED0; + __IO uint16_t DR1; + uint16_t RESERVED1; + __IO uint16_t DR2; + uint16_t RESERVED2; + __IO uint16_t DR3; + uint16_t RESERVED3; + __IO uint16_t DR4; + uint16_t RESERVED4; + __IO uint16_t DR5; + uint16_t RESERVED5; + __IO uint16_t DR6; + uint16_t RESERVED6; + __IO uint16_t DR7; + uint16_t RESERVED7; + __IO uint16_t DR8; + uint16_t RESERVED8; + __IO uint16_t DR9; + uint16_t RESERVED9; + __IO uint16_t DR10; + uint16_t RESERVED10; + __IO uint16_t RTCCR; + uint16_t RESERVED11; + __IO uint16_t CR; + uint16_t RESERVED12; + __IO uint16_t CSR; + uint16_t RESERVED13[5]; + __IO uint16_t DR11; + uint16_t RESERVED14; + __IO uint16_t DR12; + uint16_t RESERVED15; + __IO uint16_t DR13; + uint16_t RESERVED16; + __IO uint16_t DR14; + uint16_t RESERVED17; + __IO uint16_t DR15; + uint16_t RESERVED18; + __IO uint16_t DR16; + uint16_t RESERVED19; + __IO uint16_t DR17; + uint16_t RESERVED20; + __IO uint16_t DR18; + uint16_t RESERVED21; + __IO uint16_t DR19; + uint16_t RESERVED22; + __IO uint16_t DR20; + uint16_t RESERVED23; + __IO uint16_t DR21; + uint16_t RESERVED24; + __IO uint16_t DR22; + uint16_t RESERVED25; + __IO uint16_t DR23; + uint16_t RESERVED26; + __IO uint16_t DR24; + uint16_t RESERVED27; + __IO uint16_t DR25; + uint16_t RESERVED28; + __IO uint16_t DR26; + uint16_t RESERVED29; + __IO uint16_t DR27; + uint16_t RESERVED30; + __IO uint16_t DR28; + uint16_t RESERVED31; + __IO uint16_t DR29; + uint16_t RESERVED32; + __IO uint16_t DR30; + uint16_t RESERVED33; + __IO uint16_t DR31; + uint16_t RESERVED34; + __IO uint16_t DR32; + uint16_t RESERVED35; + __IO uint16_t DR33; + uint16_t RESERVED36; + __IO uint16_t DR34; + uint16_t RESERVED37; + __IO uint16_t DR35; + uint16_t RESERVED38; + __IO uint16_t DR36; + uint16_t RESERVED39; + __IO uint16_t DR37; + uint16_t RESERVED40; + __IO uint16_t DR38; + uint16_t RESERVED41; + __IO uint16_t DR39; + uint16_t RESERVED42; + __IO uint16_t DR40; + uint16_t RESERVED43; + __IO uint16_t DR41; + uint16_t RESERVED44; + __IO uint16_t DR42; + uint16_t RESERVED45; +} BKP_TypeDef; + +/** + * @brief Controller Area Network TxMailBox + */ + +typedef struct +{ + __IO uint32_t TIR; + __IO uint32_t TDTR; + __IO uint32_t TDLR; + __IO uint32_t TDHR; +} CAN_TxMailBox_TypeDef; + +/** + * @brief Controller Area Network FIFOMailBox + */ + +typedef struct +{ + __IO uint32_t RIR; + __IO uint32_t RDTR; + __IO uint32_t RDLR; + __IO uint32_t RDHR; +} CAN_FIFOMailBox_TypeDef; + +/** + * @brief Controller Area Network FilterRegister + */ + +typedef struct +{ + __IO uint32_t FR1; + __IO uint32_t FR2; +} CAN_FilterRegister_TypeDef; + +/** + * @brief Controller Area Network + */ + +typedef struct +{ + __IO uint32_t MCR; + __IO uint32_t MSR; + __IO uint32_t TSR; + __IO uint32_t RF0R; + __IO uint32_t RF1R; + __IO uint32_t IER; + __IO uint32_t ESR; + __IO uint32_t BTR; + uint32_t RESERVED0[88]; + CAN_TxMailBox_TypeDef sTxMailBox[3]; + CAN_FIFOMailBox_TypeDef sFIFOMailBox[2]; + uint32_t RESERVED1[12]; + __IO uint32_t FMR; + __IO uint32_t FM1R; + uint32_t RESERVED2; + __IO uint32_t FS1R; + uint32_t RESERVED3; + __IO uint32_t FFA1R; + uint32_t RESERVED4; + __IO uint32_t FA1R; + uint32_t RESERVED5[8]; +#ifndef STM32F10X_CL + CAN_FilterRegister_TypeDef sFilterRegister[14]; +#else + CAN_FilterRegister_TypeDef sFilterRegister[28]; +#endif /* STM32F10X_CL */ +} CAN_TypeDef; + +/** + * @brief Consumer Electronics Control (CEC) + */ +typedef struct +{ + __IO uint32_t CFGR; + __IO uint32_t OAR; + __IO uint32_t PRES; + __IO uint32_t ESR; + __IO uint32_t CSR; + __IO uint32_t TXD; + __IO uint32_t RXD; +} CEC_TypeDef; + +/** + * @brief CRC calculation unit + */ + +typedef struct +{ + __IO uint32_t DR; + __IO uint8_t IDR; + uint8_t RESERVED0; + uint16_t RESERVED1; + __IO uint32_t CR; +} CRC_TypeDef; + +/** + * @brief Digital to Analog Converter + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t SWTRIGR; + __IO uint32_t DHR12R1; + __IO uint32_t DHR12L1; + __IO uint32_t DHR8R1; + __IO uint32_t DHR12R2; + __IO uint32_t DHR12L2; + __IO uint32_t DHR8R2; + __IO uint32_t DHR12RD; + __IO uint32_t DHR12LD; + __IO uint32_t DHR8RD; + __IO uint32_t DOR1; + __IO uint32_t DOR2; +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + __IO uint32_t SR; +#endif +} DAC_TypeDef; + +/** + * @brief Debug MCU + */ + +typedef struct +{ + __IO uint32_t IDCODE; + __IO uint32_t CR; +}DBGMCU_TypeDef; + +/** + * @brief DMA Controller + */ + +typedef struct +{ + __IO uint32_t CCR; + __IO uint32_t CNDTR; + __IO uint32_t CPAR; + __IO uint32_t CMAR; +} DMA_Channel_TypeDef; + +typedef struct +{ + __IO uint32_t ISR; + __IO uint32_t IFCR; +} DMA_TypeDef; + +/** + * @brief Ethernet MAC + */ + +typedef struct +{ + __IO uint32_t MACCR; + __IO uint32_t MACFFR; + __IO uint32_t MACHTHR; + __IO uint32_t MACHTLR; + __IO uint32_t MACMIIAR; + __IO uint32_t MACMIIDR; + __IO uint32_t MACFCR; + __IO uint32_t MACVLANTR; /* 8 */ + uint32_t RESERVED0[2]; + __IO uint32_t MACRWUFFR; /* 11 */ + __IO uint32_t MACPMTCSR; + uint32_t RESERVED1[2]; + __IO uint32_t MACSR; /* 15 */ + __IO uint32_t MACIMR; + __IO uint32_t MACA0HR; + __IO uint32_t MACA0LR; + __IO uint32_t MACA1HR; + __IO uint32_t MACA1LR; + __IO uint32_t MACA2HR; + __IO uint32_t MACA2LR; + __IO uint32_t MACA3HR; + __IO uint32_t MACA3LR; /* 24 */ + uint32_t RESERVED2[40]; + __IO uint32_t MMCCR; /* 65 */ + __IO uint32_t MMCRIR; + __IO uint32_t MMCTIR; + __IO uint32_t MMCRIMR; + __IO uint32_t MMCTIMR; /* 69 */ + uint32_t RESERVED3[14]; + __IO uint32_t MMCTGFSCCR; /* 84 */ + __IO uint32_t MMCTGFMSCCR; + uint32_t RESERVED4[5]; + __IO uint32_t MMCTGFCR; + uint32_t RESERVED5[10]; + __IO uint32_t MMCRFCECR; + __IO uint32_t MMCRFAECR; + uint32_t RESERVED6[10]; + __IO uint32_t MMCRGUFCR; + uint32_t RESERVED7[334]; + __IO uint32_t PTPTSCR; + __IO uint32_t PTPSSIR; + __IO uint32_t PTPTSHR; + __IO uint32_t PTPTSLR; + __IO uint32_t PTPTSHUR; + __IO uint32_t PTPTSLUR; + __IO uint32_t PTPTSAR; + __IO uint32_t PTPTTHR; + __IO uint32_t PTPTTLR; + uint32_t RESERVED8[567]; + __IO uint32_t DMABMR; + __IO uint32_t DMATPDR; + __IO uint32_t DMARPDR; + __IO uint32_t DMARDLAR; + __IO uint32_t DMATDLAR; + __IO uint32_t DMASR; + __IO uint32_t DMAOMR; + __IO uint32_t DMAIER; + __IO uint32_t DMAMFBOCR; + uint32_t RESERVED9[9]; + __IO uint32_t DMACHTDR; + __IO uint32_t DMACHRDR; + __IO uint32_t DMACHTBAR; + __IO uint32_t DMACHRBAR; +} ETH_TypeDef; + +/** + * @brief External Interrupt/Event Controller + */ + +typedef struct +{ + __IO uint32_t IMR; + __IO uint32_t EMR; + __IO uint32_t RTSR; + __IO uint32_t FTSR; + __IO uint32_t SWIER; + __IO uint32_t PR; +} EXTI_TypeDef; + +/** + * @brief FLASH Registers + */ + +typedef struct +{ + __IO uint32_t ACR; + __IO uint32_t KEYR; + __IO uint32_t OPTKEYR; + __IO uint32_t SR; + __IO uint32_t CR; + __IO uint32_t AR; + __IO uint32_t RESERVED; + __IO uint32_t OBR; + __IO uint32_t WRPR; +#ifdef STM32F10X_XL + uint32_t RESERVED1[8]; + __IO uint32_t KEYR2; + uint32_t RESERVED2; + __IO uint32_t SR2; + __IO uint32_t CR2; + __IO uint32_t AR2; +#endif /* STM32F10X_XL */ +} FLASH_TypeDef; + +/** + * @brief Option Bytes Registers + */ + +typedef struct +{ + __IO uint16_t RDP; + __IO uint16_t USER; + __IO uint16_t Data0; + __IO uint16_t Data1; + __IO uint16_t WRP0; + __IO uint16_t WRP1; + __IO uint16_t WRP2; + __IO uint16_t WRP3; +} OB_TypeDef; + +/** + * @brief Flexible Static Memory Controller + */ + +typedef struct +{ + __IO uint32_t BTCR[8]; +} FSMC_Bank1_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank1E + */ + +typedef struct +{ + __IO uint32_t BWTR[7]; +} FSMC_Bank1E_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank2 + */ + +typedef struct +{ + __IO uint32_t PCR2; + __IO uint32_t SR2; + __IO uint32_t PMEM2; + __IO uint32_t PATT2; + uint32_t RESERVED0; + __IO uint32_t ECCR2; +} FSMC_Bank2_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank3 + */ + +typedef struct +{ + __IO uint32_t PCR3; + __IO uint32_t SR3; + __IO uint32_t PMEM3; + __IO uint32_t PATT3; + uint32_t RESERVED0; + __IO uint32_t ECCR3; +} FSMC_Bank3_TypeDef; + +/** + * @brief Flexible Static Memory Controller Bank4 + */ + +typedef struct +{ + __IO uint32_t PCR4; + __IO uint32_t SR4; + __IO uint32_t PMEM4; + __IO uint32_t PATT4; + __IO uint32_t PIO4; +} FSMC_Bank4_TypeDef; + +/** + * @brief General Purpose I/O + */ + +typedef struct +{ + __IO uint32_t CRL; + __IO uint32_t CRH; + __IO uint32_t IDR; + __IO uint32_t ODR; + __IO uint32_t BSRR; + __IO uint32_t BRR; + __IO uint32_t LCKR; +} GPIO_TypeDef; + +/** + * @brief Alternate Function I/O + */ + +typedef struct +{ + __IO uint32_t EVCR; + __IO uint32_t MAPR; + __IO uint32_t EXTICR[4]; + uint32_t RESERVED0; + __IO uint32_t MAPR2; +} AFIO_TypeDef; +/** + * @brief Inter Integrated Circuit Interface + */ + +typedef struct +{ + __IO uint16_t CR1; + uint16_t RESERVED0; + __IO uint16_t CR2; + uint16_t RESERVED1; + __IO uint16_t OAR1; + uint16_t RESERVED2; + __IO uint16_t OAR2; + uint16_t RESERVED3; + __IO uint16_t DR; + uint16_t RESERVED4; + __IO uint16_t SR1; + uint16_t RESERVED5; + __IO uint16_t SR2; + uint16_t RESERVED6; + __IO uint16_t CCR; + uint16_t RESERVED7; + __IO uint16_t TRISE; + uint16_t RESERVED8; +} I2C_TypeDef; + +/** + * @brief Independent WATCHDOG + */ + +typedef struct +{ + __IO uint32_t KR; + __IO uint32_t PR; + __IO uint32_t RLR; + __IO uint32_t SR; +} IWDG_TypeDef; + +/** + * @brief Power Control + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t CSR; +} PWR_TypeDef; + +/** + * @brief Reset and Clock Control + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t CFGR; + __IO uint32_t CIR; + __IO uint32_t APB2RSTR; + __IO uint32_t APB1RSTR; + __IO uint32_t AHBENR; + __IO uint32_t APB2ENR; + __IO uint32_t APB1ENR; + __IO uint32_t BDCR; + __IO uint32_t CSR; + +#ifdef STM32F10X_CL + __IO uint32_t AHBRSTR; + __IO uint32_t CFGR2; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + uint32_t RESERVED0; + __IO uint32_t CFGR2; +#endif /* STM32F10X_LD_VL || STM32F10X_MD_VL || STM32F10X_HD_VL */ +} RCC_TypeDef; + +/** + * @brief Real-Time Clock + */ + +typedef struct +{ + __IO uint16_t CRH; + uint16_t RESERVED0; + __IO uint16_t CRL; + uint16_t RESERVED1; + __IO uint16_t PRLH; + uint16_t RESERVED2; + __IO uint16_t PRLL; + uint16_t RESERVED3; + __IO uint16_t DIVH; + uint16_t RESERVED4; + __IO uint16_t DIVL; + uint16_t RESERVED5; + __IO uint16_t CNTH; + uint16_t RESERVED6; + __IO uint16_t CNTL; + uint16_t RESERVED7; + __IO uint16_t ALRH; + uint16_t RESERVED8; + __IO uint16_t ALRL; + uint16_t RESERVED9; +} RTC_TypeDef; + +/** + * @brief SD host Interface + */ + +typedef struct +{ + __IO uint32_t POWER; + __IO uint32_t CLKCR; + __IO uint32_t ARG; + __IO uint32_t CMD; + __I uint32_t RESPCMD; + __I uint32_t RESP1; + __I uint32_t RESP2; + __I uint32_t RESP3; + __I uint32_t RESP4; + __IO uint32_t DTIMER; + __IO uint32_t DLEN; + __IO uint32_t DCTRL; + __I uint32_t DCOUNT; + __I uint32_t STA; + __IO uint32_t ICR; + __IO uint32_t MASK; + uint32_t RESERVED0[2]; + __I uint32_t FIFOCNT; + uint32_t RESERVED1[13]; + __IO uint32_t FIFO; +} SDIO_TypeDef; + +/** + * @brief Serial Peripheral Interface + */ + +typedef struct +{ + __IO uint16_t CR1; + uint16_t RESERVED0; + __IO uint16_t CR2; + uint16_t RESERVED1; + __IO uint16_t SR; + uint16_t RESERVED2; + __IO uint16_t DR; + uint16_t RESERVED3; + __IO uint16_t CRCPR; + uint16_t RESERVED4; + __IO uint16_t RXCRCR; + uint16_t RESERVED5; + __IO uint16_t TXCRCR; + uint16_t RESERVED6; + __IO uint16_t I2SCFGR; + uint16_t RESERVED7; + __IO uint16_t I2SPR; + uint16_t RESERVED8; +} SPI_TypeDef; + +/** + * @brief TIM + */ + +typedef struct +{ + __IO uint16_t CR1; + uint16_t RESERVED0; + __IO uint16_t CR2; + uint16_t RESERVED1; + __IO uint16_t SMCR; + uint16_t RESERVED2; + __IO uint16_t DIER; + uint16_t RESERVED3; + __IO uint16_t SR; + uint16_t RESERVED4; + __IO uint16_t EGR; + uint16_t RESERVED5; + __IO uint16_t CCMR1; + uint16_t RESERVED6; + __IO uint16_t CCMR2; + uint16_t RESERVED7; + __IO uint16_t CCER; + uint16_t RESERVED8; + __IO uint16_t CNT; + uint16_t RESERVED9; + __IO uint16_t PSC; + uint16_t RESERVED10; + __IO uint16_t ARR; + uint16_t RESERVED11; + __IO uint16_t RCR; + uint16_t RESERVED12; + __IO uint16_t CCR1; + uint16_t RESERVED13; + __IO uint16_t CCR2; + uint16_t RESERVED14; + __IO uint16_t CCR3; + uint16_t RESERVED15; + __IO uint16_t CCR4; + uint16_t RESERVED16; + __IO uint16_t BDTR; + uint16_t RESERVED17; + __IO uint16_t DCR; + uint16_t RESERVED18; + __IO uint16_t DMAR; + uint16_t RESERVED19; +} TIM_TypeDef; + +/** + * @brief Universal Synchronous Asynchronous Receiver Transmitter + */ + +typedef struct +{ + __IO uint16_t SR; + uint16_t RESERVED0; + __IO uint16_t DR; + uint16_t RESERVED1; + __IO uint16_t BRR; + uint16_t RESERVED2; + __IO uint16_t CR1; + uint16_t RESERVED3; + __IO uint16_t CR2; + uint16_t RESERVED4; + __IO uint16_t CR3; + uint16_t RESERVED5; + __IO uint16_t GTPR; + uint16_t RESERVED6; +} USART_TypeDef; + +/** + * @brief Window WATCHDOG + */ + +typedef struct +{ + __IO uint32_t CR; + __IO uint32_t CFR; + __IO uint32_t SR; +} WWDG_TypeDef; + +/** + * @} + */ + +/** @addtogroup Peripheral_memory_map + * @{ + */ + + +#define FLASH_BASE ((uint32_t)0x08000000) /*!< FLASH base address in the alias region */ +#define SRAM_BASE ((uint32_t)0x20000000) /*!< SRAM base address in the alias region */ +#define PERIPH_BASE ((uint32_t)0x40000000) /*!< Peripheral base address in the alias region */ + +#define SRAM_BB_BASE ((uint32_t)0x22000000) /*!< SRAM base address in the bit-band region */ +#define PERIPH_BB_BASE ((uint32_t)0x42000000) /*!< Peripheral base address in the bit-band region */ + +#define FSMC_R_BASE ((uint32_t)0xA0000000) /*!< FSMC registers base address */ + +/*!< Peripheral memory map */ +#define APB1PERIPH_BASE PERIPH_BASE +#define APB2PERIPH_BASE (PERIPH_BASE + 0x10000) +#define AHBPERIPH_BASE (PERIPH_BASE + 0x20000) + +#define TIM2_BASE (APB1PERIPH_BASE + 0x0000) +#define TIM3_BASE (APB1PERIPH_BASE + 0x0400) +#define TIM4_BASE (APB1PERIPH_BASE + 0x0800) +#define TIM5_BASE (APB1PERIPH_BASE + 0x0C00) +#define TIM6_BASE (APB1PERIPH_BASE + 0x1000) +#define TIM7_BASE (APB1PERIPH_BASE + 0x1400) +#define TIM12_BASE (APB1PERIPH_BASE + 0x1800) +#define TIM13_BASE (APB1PERIPH_BASE + 0x1C00) +#define TIM14_BASE (APB1PERIPH_BASE + 0x2000) +#define RTC_BASE (APB1PERIPH_BASE + 0x2800) +#define WWDG_BASE (APB1PERIPH_BASE + 0x2C00) +#define IWDG_BASE (APB1PERIPH_BASE + 0x3000) +#define SPI2_BASE (APB1PERIPH_BASE + 0x3800) +#define SPI3_BASE (APB1PERIPH_BASE + 0x3C00) +#define USART2_BASE (APB1PERIPH_BASE + 0x4400) +#define USART3_BASE (APB1PERIPH_BASE + 0x4800) +#define UART4_BASE (APB1PERIPH_BASE + 0x4C00) +#define UART5_BASE (APB1PERIPH_BASE + 0x5000) +#define I2C1_BASE (APB1PERIPH_BASE + 0x5400) +#define I2C2_BASE (APB1PERIPH_BASE + 0x5800) +#define CAN1_BASE (APB1PERIPH_BASE + 0x6400) +#define CAN2_BASE (APB1PERIPH_BASE + 0x6800) +#define BKP_BASE (APB1PERIPH_BASE + 0x6C00) +#define PWR_BASE (APB1PERIPH_BASE + 0x7000) +#define DAC_BASE (APB1PERIPH_BASE + 0x7400) +#define CEC_BASE (APB1PERIPH_BASE + 0x7800) + +#define AFIO_BASE (APB2PERIPH_BASE + 0x0000) +#define EXTI_BASE (APB2PERIPH_BASE + 0x0400) +#define GPIOA_BASE (APB2PERIPH_BASE + 0x0800) +#define GPIOB_BASE (APB2PERIPH_BASE + 0x0C00) +#define GPIOC_BASE (APB2PERIPH_BASE + 0x1000) +#define GPIOD_BASE (APB2PERIPH_BASE + 0x1400) +#define GPIOE_BASE (APB2PERIPH_BASE + 0x1800) +#define GPIOF_BASE (APB2PERIPH_BASE + 0x1C00) +#define GPIOG_BASE (APB2PERIPH_BASE + 0x2000) +#define ADC1_BASE (APB2PERIPH_BASE + 0x2400) +#define ADC2_BASE (APB2PERIPH_BASE + 0x2800) +#define TIM1_BASE (APB2PERIPH_BASE + 0x2C00) +#define SPI1_BASE (APB2PERIPH_BASE + 0x3000) +#define TIM8_BASE (APB2PERIPH_BASE + 0x3400) +#define USART1_BASE (APB2PERIPH_BASE + 0x3800) +#define ADC3_BASE (APB2PERIPH_BASE + 0x3C00) +#define TIM15_BASE (APB2PERIPH_BASE + 0x4000) +#define TIM16_BASE (APB2PERIPH_BASE + 0x4400) +#define TIM17_BASE (APB2PERIPH_BASE + 0x4800) +#define TIM9_BASE (APB2PERIPH_BASE + 0x4C00) +#define TIM10_BASE (APB2PERIPH_BASE + 0x5000) +#define TIM11_BASE (APB2PERIPH_BASE + 0x5400) + +#define SDIO_BASE (PERIPH_BASE + 0x18000) + +#define DMA1_BASE (AHBPERIPH_BASE + 0x0000) +#define DMA1_Channel1_BASE (AHBPERIPH_BASE + 0x0008) +#define DMA1_Channel2_BASE (AHBPERIPH_BASE + 0x001C) +#define DMA1_Channel3_BASE (AHBPERIPH_BASE + 0x0030) +#define DMA1_Channel4_BASE (AHBPERIPH_BASE + 0x0044) +#define DMA1_Channel5_BASE (AHBPERIPH_BASE + 0x0058) +#define DMA1_Channel6_BASE (AHBPERIPH_BASE + 0x006C) +#define DMA1_Channel7_BASE (AHBPERIPH_BASE + 0x0080) +#define DMA2_BASE (AHBPERIPH_BASE + 0x0400) +#define DMA2_Channel1_BASE (AHBPERIPH_BASE + 0x0408) +#define DMA2_Channel2_BASE (AHBPERIPH_BASE + 0x041C) +#define DMA2_Channel3_BASE (AHBPERIPH_BASE + 0x0430) +#define DMA2_Channel4_BASE (AHBPERIPH_BASE + 0x0444) +#define DMA2_Channel5_BASE (AHBPERIPH_BASE + 0x0458) +#define RCC_BASE (AHBPERIPH_BASE + 0x1000) +#define CRC_BASE (AHBPERIPH_BASE + 0x3000) + +#define FLASH_R_BASE (AHBPERIPH_BASE + 0x2000) /*!< Flash registers base address */ +#define OB_BASE ((uint32_t)0x1FFFF800) /*!< Flash Option Bytes base address */ + +#define ETH_BASE (AHBPERIPH_BASE + 0x8000) +#define ETH_MAC_BASE (ETH_BASE) +#define ETH_MMC_BASE (ETH_BASE + 0x0100) +#define ETH_PTP_BASE (ETH_BASE + 0x0700) +#define ETH_DMA_BASE (ETH_BASE + 0x1000) + +#define FSMC_Bank1_R_BASE (FSMC_R_BASE + 0x0000) /*!< FSMC Bank1 registers base address */ +#define FSMC_Bank1E_R_BASE (FSMC_R_BASE + 0x0104) /*!< FSMC Bank1E registers base address */ +#define FSMC_Bank2_R_BASE (FSMC_R_BASE + 0x0060) /*!< FSMC Bank2 registers base address */ +#define FSMC_Bank3_R_BASE (FSMC_R_BASE + 0x0080) /*!< FSMC Bank3 registers base address */ +#define FSMC_Bank4_R_BASE (FSMC_R_BASE + 0x00A0) /*!< FSMC Bank4 registers base address */ + +#define DBGMCU_BASE ((uint32_t)0xE0042000) /*!< Debug MCU registers base address */ + +/** + * @} + */ + +/** @addtogroup Peripheral_declaration + * @{ + */ + +#define TIM2 ((TIM_TypeDef *) TIM2_BASE) +#define TIM3 ((TIM_TypeDef *) TIM3_BASE) +#define TIM4 ((TIM_TypeDef *) TIM4_BASE) +#define TIM5 ((TIM_TypeDef *) TIM5_BASE) +#define TIM6 ((TIM_TypeDef *) TIM6_BASE) +#define TIM7 ((TIM_TypeDef *) TIM7_BASE) +#define TIM12 ((TIM_TypeDef *) TIM12_BASE) +#define TIM13 ((TIM_TypeDef *) TIM13_BASE) +#define TIM14 ((TIM_TypeDef *) TIM14_BASE) +#define RTC ((RTC_TypeDef *) RTC_BASE) +#define WWDG ((WWDG_TypeDef *) WWDG_BASE) +#define IWDG ((IWDG_TypeDef *) IWDG_BASE) +#define SPI2 ((SPI_TypeDef *) SPI2_BASE) +#define SPI3 ((SPI_TypeDef *) SPI3_BASE) +#define USART2 ((USART_TypeDef *) USART2_BASE) +#define USART3 ((USART_TypeDef *) USART3_BASE) +#define UART4 ((USART_TypeDef *) UART4_BASE) +#define UART5 ((USART_TypeDef *) UART5_BASE) +#define I2C1 ((I2C_TypeDef *) I2C1_BASE) +#define I2C2 ((I2C_TypeDef *) I2C2_BASE) +#define CAN1 ((CAN_TypeDef *) CAN1_BASE) +#define CAN2 ((CAN_TypeDef *) CAN2_BASE) +#define BKP ((BKP_TypeDef *) BKP_BASE) +#define PWR ((PWR_TypeDef *) PWR_BASE) +#define DAC ((DAC_TypeDef *) DAC_BASE) +#define CEC ((CEC_TypeDef *) CEC_BASE) +#define AFIO ((AFIO_TypeDef *) AFIO_BASE) +#define EXTI ((EXTI_TypeDef *) EXTI_BASE) +#define GPIOA ((GPIO_TypeDef *) GPIOA_BASE) +#define GPIOB ((GPIO_TypeDef *) GPIOB_BASE) +#define GPIOC ((GPIO_TypeDef *) GPIOC_BASE) +#define GPIOD ((GPIO_TypeDef *) GPIOD_BASE) +#define GPIOE ((GPIO_TypeDef *) GPIOE_BASE) +#define GPIOF ((GPIO_TypeDef *) GPIOF_BASE) +#define GPIOG ((GPIO_TypeDef *) GPIOG_BASE) +#define ADC1 ((ADC_TypeDef *) ADC1_BASE) +#define ADC2 ((ADC_TypeDef *) ADC2_BASE) +#define TIM1 ((TIM_TypeDef *) TIM1_BASE) +#define SPI1 ((SPI_TypeDef *) SPI1_BASE) +#define TIM8 ((TIM_TypeDef *) TIM8_BASE) +#define USART1 ((USART_TypeDef *) USART1_BASE) +#define ADC3 ((ADC_TypeDef *) ADC3_BASE) +#define TIM15 ((TIM_TypeDef *) TIM15_BASE) +#define TIM16 ((TIM_TypeDef *) TIM16_BASE) +#define TIM17 ((TIM_TypeDef *) TIM17_BASE) +#define TIM9 ((TIM_TypeDef *) TIM9_BASE) +#define TIM10 ((TIM_TypeDef *) TIM10_BASE) +#define TIM11 ((TIM_TypeDef *) TIM11_BASE) +#define SDIO ((SDIO_TypeDef *) SDIO_BASE) +#define DMA1 ((DMA_TypeDef *) DMA1_BASE) +#define DMA2 ((DMA_TypeDef *) DMA2_BASE) +#define DMA1_Channel1 ((DMA_Channel_TypeDef *) DMA1_Channel1_BASE) +#define DMA1_Channel2 ((DMA_Channel_TypeDef *) DMA1_Channel2_BASE) +#define DMA1_Channel3 ((DMA_Channel_TypeDef *) DMA1_Channel3_BASE) +#define DMA1_Channel4 ((DMA_Channel_TypeDef *) DMA1_Channel4_BASE) +#define DMA1_Channel5 ((DMA_Channel_TypeDef *) DMA1_Channel5_BASE) +#define DMA1_Channel6 ((DMA_Channel_TypeDef *) DMA1_Channel6_BASE) +#define DMA1_Channel7 ((DMA_Channel_TypeDef *) DMA1_Channel7_BASE) +#define DMA2_Channel1 ((DMA_Channel_TypeDef *) DMA2_Channel1_BASE) +#define DMA2_Channel2 ((DMA_Channel_TypeDef *) DMA2_Channel2_BASE) +#define DMA2_Channel3 ((DMA_Channel_TypeDef *) DMA2_Channel3_BASE) +#define DMA2_Channel4 ((DMA_Channel_TypeDef *) DMA2_Channel4_BASE) +#define DMA2_Channel5 ((DMA_Channel_TypeDef *) DMA2_Channel5_BASE) +#define RCC ((RCC_TypeDef *) RCC_BASE) +#define CRC ((CRC_TypeDef *) CRC_BASE) +#define FLASH ((FLASH_TypeDef *) FLASH_R_BASE) +#define OB ((OB_TypeDef *) OB_BASE) +#define ETH ((ETH_TypeDef *) ETH_BASE) +#define FSMC_Bank1 ((FSMC_Bank1_TypeDef *) FSMC_Bank1_R_BASE) +#define FSMC_Bank1E ((FSMC_Bank1E_TypeDef *) FSMC_Bank1E_R_BASE) +#define FSMC_Bank2 ((FSMC_Bank2_TypeDef *) FSMC_Bank2_R_BASE) +#define FSMC_Bank3 ((FSMC_Bank3_TypeDef *) FSMC_Bank3_R_BASE) +#define FSMC_Bank4 ((FSMC_Bank4_TypeDef *) FSMC_Bank4_R_BASE) +#define DBGMCU ((DBGMCU_TypeDef *) DBGMCU_BASE) + +/** + * @} + */ + +/** @addtogroup Exported_constants + * @{ + */ + + /** @addtogroup Peripheral_Registers_Bits_Definition + * @{ + */ + +/******************************************************************************/ +/* Peripheral Registers_Bits_Definition */ +/******************************************************************************/ + +/******************************************************************************/ +/* */ +/* CRC calculation unit */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for CRC_DR register *********************/ +#define CRC_DR_DR ((uint32_t)0xFFFFFFFF) /*!< Data register bits */ + + +/******************* Bit definition for CRC_IDR register ********************/ +#define CRC_IDR_IDR ((uint8_t)0xFF) /*!< General-purpose 8-bit data register bits */ + + +/******************** Bit definition for CRC_CR register ********************/ +#define CRC_CR_RESET ((uint8_t)0x01) /*!< RESET bit */ + +/******************************************************************************/ +/* */ +/* Power Control */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for PWR_CR register ********************/ +#define PWR_CR_LPDS ((uint16_t)0x0001) /*!< Low-Power Deepsleep */ +#define PWR_CR_PDDS ((uint16_t)0x0002) /*!< Power Down Deepsleep */ +#define PWR_CR_CWUF ((uint16_t)0x0004) /*!< Clear Wakeup Flag */ +#define PWR_CR_CSBF ((uint16_t)0x0008) /*!< Clear Standby Flag */ +#define PWR_CR_PVDE ((uint16_t)0x0010) /*!< Power Voltage Detector Enable */ + +#define PWR_CR_PLS ((uint16_t)0x00E0) /*!< PLS[2:0] bits (PVD Level Selection) */ +#define PWR_CR_PLS_0 ((uint16_t)0x0020) /*!< Bit 0 */ +#define PWR_CR_PLS_1 ((uint16_t)0x0040) /*!< Bit 1 */ +#define PWR_CR_PLS_2 ((uint16_t)0x0080) /*!< Bit 2 */ + +/*!< PVD level configuration */ +#define PWR_CR_PLS_2V2 ((uint16_t)0x0000) /*!< PVD level 2.2V */ +#define PWR_CR_PLS_2V3 ((uint16_t)0x0020) /*!< PVD level 2.3V */ +#define PWR_CR_PLS_2V4 ((uint16_t)0x0040) /*!< PVD level 2.4V */ +#define PWR_CR_PLS_2V5 ((uint16_t)0x0060) /*!< PVD level 2.5V */ +#define PWR_CR_PLS_2V6 ((uint16_t)0x0080) /*!< PVD level 2.6V */ +#define PWR_CR_PLS_2V7 ((uint16_t)0x00A0) /*!< PVD level 2.7V */ +#define PWR_CR_PLS_2V8 ((uint16_t)0x00C0) /*!< PVD level 2.8V */ +#define PWR_CR_PLS_2V9 ((uint16_t)0x00E0) /*!< PVD level 2.9V */ + +#define PWR_CR_DBP ((uint16_t)0x0100) /*!< Disable Backup Domain write protection */ + + +/******************* Bit definition for PWR_CSR register ********************/ +#define PWR_CSR_WUF ((uint16_t)0x0001) /*!< Wakeup Flag */ +#define PWR_CSR_SBF ((uint16_t)0x0002) /*!< Standby Flag */ +#define PWR_CSR_PVDO ((uint16_t)0x0004) /*!< PVD Output */ +#define PWR_CSR_EWUP ((uint16_t)0x0100) /*!< Enable WKUP pin */ + +/******************************************************************************/ +/* */ +/* Backup registers */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for BKP_DR1 register ********************/ +#define BKP_DR1_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR2 register ********************/ +#define BKP_DR2_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR3 register ********************/ +#define BKP_DR3_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR4 register ********************/ +#define BKP_DR4_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR5 register ********************/ +#define BKP_DR5_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR6 register ********************/ +#define BKP_DR6_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR7 register ********************/ +#define BKP_DR7_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR8 register ********************/ +#define BKP_DR8_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR9 register ********************/ +#define BKP_DR9_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR10 register *******************/ +#define BKP_DR10_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR11 register *******************/ +#define BKP_DR11_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR12 register *******************/ +#define BKP_DR12_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR13 register *******************/ +#define BKP_DR13_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR14 register *******************/ +#define BKP_DR14_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR15 register *******************/ +#define BKP_DR15_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR16 register *******************/ +#define BKP_DR16_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR17 register *******************/ +#define BKP_DR17_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/****************** Bit definition for BKP_DR18 register ********************/ +#define BKP_DR18_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR19 register *******************/ +#define BKP_DR19_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR20 register *******************/ +#define BKP_DR20_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR21 register *******************/ +#define BKP_DR21_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR22 register *******************/ +#define BKP_DR22_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR23 register *******************/ +#define BKP_DR23_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR24 register *******************/ +#define BKP_DR24_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR25 register *******************/ +#define BKP_DR25_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR26 register *******************/ +#define BKP_DR26_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR27 register *******************/ +#define BKP_DR27_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR28 register *******************/ +#define BKP_DR28_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR29 register *******************/ +#define BKP_DR29_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR30 register *******************/ +#define BKP_DR30_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR31 register *******************/ +#define BKP_DR31_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR32 register *******************/ +#define BKP_DR32_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR33 register *******************/ +#define BKP_DR33_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR34 register *******************/ +#define BKP_DR34_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR35 register *******************/ +#define BKP_DR35_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR36 register *******************/ +#define BKP_DR36_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR37 register *******************/ +#define BKP_DR37_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR38 register *******************/ +#define BKP_DR38_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR39 register *******************/ +#define BKP_DR39_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR40 register *******************/ +#define BKP_DR40_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR41 register *******************/ +#define BKP_DR41_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/******************* Bit definition for BKP_DR42 register *******************/ +#define BKP_DR42_D ((uint16_t)0xFFFF) /*!< Backup data */ + +/****************** Bit definition for BKP_RTCCR register *******************/ +#define BKP_RTCCR_CAL ((uint16_t)0x007F) /*!< Calibration value */ +#define BKP_RTCCR_CCO ((uint16_t)0x0080) /*!< Calibration Clock Output */ +#define BKP_RTCCR_ASOE ((uint16_t)0x0100) /*!< Alarm or Second Output Enable */ +#define BKP_RTCCR_ASOS ((uint16_t)0x0200) /*!< Alarm or Second Output Selection */ + +/******************** Bit definition for BKP_CR register ********************/ +#define BKP_CR_TPE ((uint8_t)0x01) /*!< TAMPER pin enable */ +#define BKP_CR_TPAL ((uint8_t)0x02) /*!< TAMPER pin active level */ + +/******************* Bit definition for BKP_CSR register ********************/ +#define BKP_CSR_CTE ((uint16_t)0x0001) /*!< Clear Tamper event */ +#define BKP_CSR_CTI ((uint16_t)0x0002) /*!< Clear Tamper Interrupt */ +#define BKP_CSR_TPIE ((uint16_t)0x0004) /*!< TAMPER Pin interrupt enable */ +#define BKP_CSR_TEF ((uint16_t)0x0100) /*!< Tamper Event Flag */ +#define BKP_CSR_TIF ((uint16_t)0x0200) /*!< Tamper Interrupt Flag */ + +/******************************************************************************/ +/* */ +/* Reset and Clock Control */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for RCC_CR register ********************/ +#define RCC_CR_HSION ((uint32_t)0x00000001) /*!< Internal High Speed clock enable */ +#define RCC_CR_HSIRDY ((uint32_t)0x00000002) /*!< Internal High Speed clock ready flag */ +#define RCC_CR_HSITRIM ((uint32_t)0x000000F8) /*!< Internal High Speed clock trimming */ +#define RCC_CR_HSICAL ((uint32_t)0x0000FF00) /*!< Internal High Speed clock Calibration */ +#define RCC_CR_HSEON ((uint32_t)0x00010000) /*!< External High Speed clock enable */ +#define RCC_CR_HSERDY ((uint32_t)0x00020000) /*!< External High Speed clock ready flag */ +#define RCC_CR_HSEBYP ((uint32_t)0x00040000) /*!< External High Speed clock Bypass */ +#define RCC_CR_CSSON ((uint32_t)0x00080000) /*!< Clock Security System enable */ +#define RCC_CR_PLLON ((uint32_t)0x01000000) /*!< PLL enable */ +#define RCC_CR_PLLRDY ((uint32_t)0x02000000) /*!< PLL clock ready flag */ + +#ifdef STM32F10X_CL + #define RCC_CR_PLL2ON ((uint32_t)0x04000000) /*!< PLL2 enable */ + #define RCC_CR_PLL2RDY ((uint32_t)0x08000000) /*!< PLL2 clock ready flag */ + #define RCC_CR_PLL3ON ((uint32_t)0x10000000) /*!< PLL3 enable */ + #define RCC_CR_PLL3RDY ((uint32_t)0x20000000) /*!< PLL3 clock ready flag */ +#endif /* STM32F10X_CL */ + +/******************* Bit definition for RCC_CFGR register *******************/ +/*!< SW configuration */ +#define RCC_CFGR_SW ((uint32_t)0x00000003) /*!< SW[1:0] bits (System clock Switch) */ +#define RCC_CFGR_SW_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define RCC_CFGR_SW_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + +#define RCC_CFGR_SW_HSI ((uint32_t)0x00000000) /*!< HSI selected as system clock */ +#define RCC_CFGR_SW_HSE ((uint32_t)0x00000001) /*!< HSE selected as system clock */ +#define RCC_CFGR_SW_PLL ((uint32_t)0x00000002) /*!< PLL selected as system clock */ + +/*!< SWS configuration */ +#define RCC_CFGR_SWS ((uint32_t)0x0000000C) /*!< SWS[1:0] bits (System Clock Switch Status) */ +#define RCC_CFGR_SWS_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define RCC_CFGR_SWS_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define RCC_CFGR_SWS_HSI ((uint32_t)0x00000000) /*!< HSI oscillator used as system clock */ +#define RCC_CFGR_SWS_HSE ((uint32_t)0x00000004) /*!< HSE oscillator used as system clock */ +#define RCC_CFGR_SWS_PLL ((uint32_t)0x00000008) /*!< PLL used as system clock */ + +/*!< HPRE configuration */ +#define RCC_CFGR_HPRE ((uint32_t)0x000000F0) /*!< HPRE[3:0] bits (AHB prescaler) */ +#define RCC_CFGR_HPRE_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define RCC_CFGR_HPRE_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define RCC_CFGR_HPRE_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define RCC_CFGR_HPRE_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define RCC_CFGR_HPRE_DIV1 ((uint32_t)0x00000000) /*!< SYSCLK not divided */ +#define RCC_CFGR_HPRE_DIV2 ((uint32_t)0x00000080) /*!< SYSCLK divided by 2 */ +#define RCC_CFGR_HPRE_DIV4 ((uint32_t)0x00000090) /*!< SYSCLK divided by 4 */ +#define RCC_CFGR_HPRE_DIV8 ((uint32_t)0x000000A0) /*!< SYSCLK divided by 8 */ +#define RCC_CFGR_HPRE_DIV16 ((uint32_t)0x000000B0) /*!< SYSCLK divided by 16 */ +#define RCC_CFGR_HPRE_DIV64 ((uint32_t)0x000000C0) /*!< SYSCLK divided by 64 */ +#define RCC_CFGR_HPRE_DIV128 ((uint32_t)0x000000D0) /*!< SYSCLK divided by 128 */ +#define RCC_CFGR_HPRE_DIV256 ((uint32_t)0x000000E0) /*!< SYSCLK divided by 256 */ +#define RCC_CFGR_HPRE_DIV512 ((uint32_t)0x000000F0) /*!< SYSCLK divided by 512 */ + +/*!< PPRE1 configuration */ +#define RCC_CFGR_PPRE1 ((uint32_t)0x00000700) /*!< PRE1[2:0] bits (APB1 prescaler) */ +#define RCC_CFGR_PPRE1_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define RCC_CFGR_PPRE1_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define RCC_CFGR_PPRE1_2 ((uint32_t)0x00000400) /*!< Bit 2 */ + +#define RCC_CFGR_PPRE1_DIV1 ((uint32_t)0x00000000) /*!< HCLK not divided */ +#define RCC_CFGR_PPRE1_DIV2 ((uint32_t)0x00000400) /*!< HCLK divided by 2 */ +#define RCC_CFGR_PPRE1_DIV4 ((uint32_t)0x00000500) /*!< HCLK divided by 4 */ +#define RCC_CFGR_PPRE1_DIV8 ((uint32_t)0x00000600) /*!< HCLK divided by 8 */ +#define RCC_CFGR_PPRE1_DIV16 ((uint32_t)0x00000700) /*!< HCLK divided by 16 */ + +/*!< PPRE2 configuration */ +#define RCC_CFGR_PPRE2 ((uint32_t)0x00003800) /*!< PRE2[2:0] bits (APB2 prescaler) */ +#define RCC_CFGR_PPRE2_0 ((uint32_t)0x00000800) /*!< Bit 0 */ +#define RCC_CFGR_PPRE2_1 ((uint32_t)0x00001000) /*!< Bit 1 */ +#define RCC_CFGR_PPRE2_2 ((uint32_t)0x00002000) /*!< Bit 2 */ + +#define RCC_CFGR_PPRE2_DIV1 ((uint32_t)0x00000000) /*!< HCLK not divided */ +#define RCC_CFGR_PPRE2_DIV2 ((uint32_t)0x00002000) /*!< HCLK divided by 2 */ +#define RCC_CFGR_PPRE2_DIV4 ((uint32_t)0x00002800) /*!< HCLK divided by 4 */ +#define RCC_CFGR_PPRE2_DIV8 ((uint32_t)0x00003000) /*!< HCLK divided by 8 */ +#define RCC_CFGR_PPRE2_DIV16 ((uint32_t)0x00003800) /*!< HCLK divided by 16 */ + +/*!< ADCPPRE configuration */ +#define RCC_CFGR_ADCPRE ((uint32_t)0x0000C000) /*!< ADCPRE[1:0] bits (ADC prescaler) */ +#define RCC_CFGR_ADCPRE_0 ((uint32_t)0x00004000) /*!< Bit 0 */ +#define RCC_CFGR_ADCPRE_1 ((uint32_t)0x00008000) /*!< Bit 1 */ + +#define RCC_CFGR_ADCPRE_DIV2 ((uint32_t)0x00000000) /*!< PCLK2 divided by 2 */ +#define RCC_CFGR_ADCPRE_DIV4 ((uint32_t)0x00004000) /*!< PCLK2 divided by 4 */ +#define RCC_CFGR_ADCPRE_DIV6 ((uint32_t)0x00008000) /*!< PCLK2 divided by 6 */ +#define RCC_CFGR_ADCPRE_DIV8 ((uint32_t)0x0000C000) /*!< PCLK2 divided by 8 */ + +#define RCC_CFGR_PLLSRC ((uint32_t)0x00010000) /*!< PLL entry clock source */ + +#define RCC_CFGR_PLLXTPRE ((uint32_t)0x00020000) /*!< HSE divider for PLL entry */ + +/*!< PLLMUL configuration */ +#define RCC_CFGR_PLLMULL ((uint32_t)0x003C0000) /*!< PLLMUL[3:0] bits (PLL multiplication factor) */ +#define RCC_CFGR_PLLMULL_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define RCC_CFGR_PLLMULL_1 ((uint32_t)0x00080000) /*!< Bit 1 */ +#define RCC_CFGR_PLLMULL_2 ((uint32_t)0x00100000) /*!< Bit 2 */ +#define RCC_CFGR_PLLMULL_3 ((uint32_t)0x00200000) /*!< Bit 3 */ + +#ifdef STM32F10X_CL + #define RCC_CFGR_PLLSRC_HSI_Div2 ((uint32_t)0x00000000) /*!< HSI clock divided by 2 selected as PLL entry clock source */ + #define RCC_CFGR_PLLSRC_PREDIV1 ((uint32_t)0x00010000) /*!< PREDIV1 clock selected as PLL entry clock source */ + + #define RCC_CFGR_PLLXTPRE_PREDIV1 ((uint32_t)0x00000000) /*!< PREDIV1 clock not divided for PLL entry */ + #define RCC_CFGR_PLLXTPRE_PREDIV1_Div2 ((uint32_t)0x00020000) /*!< PREDIV1 clock divided by 2 for PLL entry */ + + #define RCC_CFGR_PLLMULL4 ((uint32_t)0x00080000) /*!< PLL input clock * 4 */ + #define RCC_CFGR_PLLMULL5 ((uint32_t)0x000C0000) /*!< PLL input clock * 5 */ + #define RCC_CFGR_PLLMULL6 ((uint32_t)0x00100000) /*!< PLL input clock * 6 */ + #define RCC_CFGR_PLLMULL7 ((uint32_t)0x00140000) /*!< PLL input clock * 7 */ + #define RCC_CFGR_PLLMULL8 ((uint32_t)0x00180000) /*!< PLL input clock * 8 */ + #define RCC_CFGR_PLLMULL9 ((uint32_t)0x001C0000) /*!< PLL input clock * 9 */ + #define RCC_CFGR_PLLMULL6_5 ((uint32_t)0x00340000) /*!< PLL input clock * 6.5 */ + + #define RCC_CFGR_OTGFSPRE ((uint32_t)0x00400000) /*!< USB OTG FS prescaler */ + +/*!< MCO configuration */ + #define RCC_CFGR_MCO ((uint32_t)0x0F000000) /*!< MCO[3:0] bits (Microcontroller Clock Output) */ + #define RCC_CFGR_MCO_0 ((uint32_t)0x01000000) /*!< Bit 0 */ + #define RCC_CFGR_MCO_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + #define RCC_CFGR_MCO_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + #define RCC_CFGR_MCO_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + + #define RCC_CFGR_MCO_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ + #define RCC_CFGR_MCO_SYSCLK ((uint32_t)0x04000000) /*!< System clock selected as MCO source */ + #define RCC_CFGR_MCO_HSI ((uint32_t)0x05000000) /*!< HSI clock selected as MCO source */ + #define RCC_CFGR_MCO_HSE ((uint32_t)0x06000000) /*!< HSE clock selected as MCO source */ + #define RCC_CFGR_MCO_PLLCLK_Div2 ((uint32_t)0x07000000) /*!< PLL clock divided by 2 selected as MCO source */ + #define RCC_CFGR_MCO_PLL2CLK ((uint32_t)0x08000000) /*!< PLL2 clock selected as MCO source*/ + #define RCC_CFGR_MCO_PLL3CLK_Div2 ((uint32_t)0x09000000) /*!< PLL3 clock divided by 2 selected as MCO source*/ + #define RCC_CFGR_MCO_Ext_HSE ((uint32_t)0x0A000000) /*!< XT1 external 3-25 MHz oscillator clock selected as MCO source */ + #define RCC_CFGR_MCO_PLL3CLK ((uint32_t)0x0B000000) /*!< PLL3 clock selected as MCO source */ +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + #define RCC_CFGR_PLLSRC_HSI_Div2 ((uint32_t)0x00000000) /*!< HSI clock divided by 2 selected as PLL entry clock source */ + #define RCC_CFGR_PLLSRC_PREDIV1 ((uint32_t)0x00010000) /*!< PREDIV1 clock selected as PLL entry clock source */ + + #define RCC_CFGR_PLLXTPRE_PREDIV1 ((uint32_t)0x00000000) /*!< PREDIV1 clock not divided for PLL entry */ + #define RCC_CFGR_PLLXTPRE_PREDIV1_Div2 ((uint32_t)0x00020000) /*!< PREDIV1 clock divided by 2 for PLL entry */ + + #define RCC_CFGR_PLLMULL2 ((uint32_t)0x00000000) /*!< PLL input clock*2 */ + #define RCC_CFGR_PLLMULL3 ((uint32_t)0x00040000) /*!< PLL input clock*3 */ + #define RCC_CFGR_PLLMULL4 ((uint32_t)0x00080000) /*!< PLL input clock*4 */ + #define RCC_CFGR_PLLMULL5 ((uint32_t)0x000C0000) /*!< PLL input clock*5 */ + #define RCC_CFGR_PLLMULL6 ((uint32_t)0x00100000) /*!< PLL input clock*6 */ + #define RCC_CFGR_PLLMULL7 ((uint32_t)0x00140000) /*!< PLL input clock*7 */ + #define RCC_CFGR_PLLMULL8 ((uint32_t)0x00180000) /*!< PLL input clock*8 */ + #define RCC_CFGR_PLLMULL9 ((uint32_t)0x001C0000) /*!< PLL input clock*9 */ + #define RCC_CFGR_PLLMULL10 ((uint32_t)0x00200000) /*!< PLL input clock10 */ + #define RCC_CFGR_PLLMULL11 ((uint32_t)0x00240000) /*!< PLL input clock*11 */ + #define RCC_CFGR_PLLMULL12 ((uint32_t)0x00280000) /*!< PLL input clock*12 */ + #define RCC_CFGR_PLLMULL13 ((uint32_t)0x002C0000) /*!< PLL input clock*13 */ + #define RCC_CFGR_PLLMULL14 ((uint32_t)0x00300000) /*!< PLL input clock*14 */ + #define RCC_CFGR_PLLMULL15 ((uint32_t)0x00340000) /*!< PLL input clock*15 */ + #define RCC_CFGR_PLLMULL16 ((uint32_t)0x00380000) /*!< PLL input clock*16 */ + +/*!< MCO configuration */ + #define RCC_CFGR_MCO ((uint32_t)0x07000000) /*!< MCO[2:0] bits (Microcontroller Clock Output) */ + #define RCC_CFGR_MCO_0 ((uint32_t)0x01000000) /*!< Bit 0 */ + #define RCC_CFGR_MCO_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + #define RCC_CFGR_MCO_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + + #define RCC_CFGR_MCO_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ + #define RCC_CFGR_MCO_SYSCLK ((uint32_t)0x04000000) /*!< System clock selected as MCO source */ + #define RCC_CFGR_MCO_HSI ((uint32_t)0x05000000) /*!< HSI clock selected as MCO source */ + #define RCC_CFGR_MCO_HSE ((uint32_t)0x06000000) /*!< HSE clock selected as MCO source */ + #define RCC_CFGR_MCO_PLL ((uint32_t)0x07000000) /*!< PLL clock divided by 2 selected as MCO source */ +#else + #define RCC_CFGR_PLLSRC_HSI_Div2 ((uint32_t)0x00000000) /*!< HSI clock divided by 2 selected as PLL entry clock source */ + #define RCC_CFGR_PLLSRC_HSE ((uint32_t)0x00010000) /*!< HSE clock selected as PLL entry clock source */ + + #define RCC_CFGR_PLLXTPRE_HSE ((uint32_t)0x00000000) /*!< HSE clock not divided for PLL entry */ + #define RCC_CFGR_PLLXTPRE_HSE_Div2 ((uint32_t)0x00020000) /*!< HSE clock divided by 2 for PLL entry */ + + #define RCC_CFGR_PLLMULL2 ((uint32_t)0x00000000) /*!< PLL input clock*2 */ + #define RCC_CFGR_PLLMULL3 ((uint32_t)0x00040000) /*!< PLL input clock*3 */ + #define RCC_CFGR_PLLMULL4 ((uint32_t)0x00080000) /*!< PLL input clock*4 */ + #define RCC_CFGR_PLLMULL5 ((uint32_t)0x000C0000) /*!< PLL input clock*5 */ + #define RCC_CFGR_PLLMULL6 ((uint32_t)0x00100000) /*!< PLL input clock*6 */ + #define RCC_CFGR_PLLMULL7 ((uint32_t)0x00140000) /*!< PLL input clock*7 */ + #define RCC_CFGR_PLLMULL8 ((uint32_t)0x00180000) /*!< PLL input clock*8 */ + #define RCC_CFGR_PLLMULL9 ((uint32_t)0x001C0000) /*!< PLL input clock*9 */ + #define RCC_CFGR_PLLMULL10 ((uint32_t)0x00200000) /*!< PLL input clock10 */ + #define RCC_CFGR_PLLMULL11 ((uint32_t)0x00240000) /*!< PLL input clock*11 */ + #define RCC_CFGR_PLLMULL12 ((uint32_t)0x00280000) /*!< PLL input clock*12 */ + #define RCC_CFGR_PLLMULL13 ((uint32_t)0x002C0000) /*!< PLL input clock*13 */ + #define RCC_CFGR_PLLMULL14 ((uint32_t)0x00300000) /*!< PLL input clock*14 */ + #define RCC_CFGR_PLLMULL15 ((uint32_t)0x00340000) /*!< PLL input clock*15 */ + #define RCC_CFGR_PLLMULL16 ((uint32_t)0x00380000) /*!< PLL input clock*16 */ + #define RCC_CFGR_USBPRE ((uint32_t)0x00400000) /*!< USB Device prescaler */ + +/*!< MCO configuration */ + #define RCC_CFGR_MCO ((uint32_t)0x07000000) /*!< MCO[2:0] bits (Microcontroller Clock Output) */ + #define RCC_CFGR_MCO_0 ((uint32_t)0x01000000) /*!< Bit 0 */ + #define RCC_CFGR_MCO_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + #define RCC_CFGR_MCO_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + + #define RCC_CFGR_MCO_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ + #define RCC_CFGR_MCO_SYSCLK ((uint32_t)0x04000000) /*!< System clock selected as MCO source */ + #define RCC_CFGR_MCO_HSI ((uint32_t)0x05000000) /*!< HSI clock selected as MCO source */ + #define RCC_CFGR_MCO_HSE ((uint32_t)0x06000000) /*!< HSE clock selected as MCO source */ + #define RCC_CFGR_MCO_PLL ((uint32_t)0x07000000) /*!< PLL clock divided by 2 selected as MCO source */ +#endif /* STM32F10X_CL */ + +/*!<****************** Bit definition for RCC_CIR register ********************/ +#define RCC_CIR_LSIRDYF ((uint32_t)0x00000001) /*!< LSI Ready Interrupt flag */ +#define RCC_CIR_LSERDYF ((uint32_t)0x00000002) /*!< LSE Ready Interrupt flag */ +#define RCC_CIR_HSIRDYF ((uint32_t)0x00000004) /*!< HSI Ready Interrupt flag */ +#define RCC_CIR_HSERDYF ((uint32_t)0x00000008) /*!< HSE Ready Interrupt flag */ +#define RCC_CIR_PLLRDYF ((uint32_t)0x00000010) /*!< PLL Ready Interrupt flag */ +#define RCC_CIR_CSSF ((uint32_t)0x00000080) /*!< Clock Security System Interrupt flag */ +#define RCC_CIR_LSIRDYIE ((uint32_t)0x00000100) /*!< LSI Ready Interrupt Enable */ +#define RCC_CIR_LSERDYIE ((uint32_t)0x00000200) /*!< LSE Ready Interrupt Enable */ +#define RCC_CIR_HSIRDYIE ((uint32_t)0x00000400) /*!< HSI Ready Interrupt Enable */ +#define RCC_CIR_HSERDYIE ((uint32_t)0x00000800) /*!< HSE Ready Interrupt Enable */ +#define RCC_CIR_PLLRDYIE ((uint32_t)0x00001000) /*!< PLL Ready Interrupt Enable */ +#define RCC_CIR_LSIRDYC ((uint32_t)0x00010000) /*!< LSI Ready Interrupt Clear */ +#define RCC_CIR_LSERDYC ((uint32_t)0x00020000) /*!< LSE Ready Interrupt Clear */ +#define RCC_CIR_HSIRDYC ((uint32_t)0x00040000) /*!< HSI Ready Interrupt Clear */ +#define RCC_CIR_HSERDYC ((uint32_t)0x00080000) /*!< HSE Ready Interrupt Clear */ +#define RCC_CIR_PLLRDYC ((uint32_t)0x00100000) /*!< PLL Ready Interrupt Clear */ +#define RCC_CIR_CSSC ((uint32_t)0x00800000) /*!< Clock Security System Interrupt Clear */ + +#ifdef STM32F10X_CL + #define RCC_CIR_PLL2RDYF ((uint32_t)0x00000020) /*!< PLL2 Ready Interrupt flag */ + #define RCC_CIR_PLL3RDYF ((uint32_t)0x00000040) /*!< PLL3 Ready Interrupt flag */ + #define RCC_CIR_PLL2RDYIE ((uint32_t)0x00002000) /*!< PLL2 Ready Interrupt Enable */ + #define RCC_CIR_PLL3RDYIE ((uint32_t)0x00004000) /*!< PLL3 Ready Interrupt Enable */ + #define RCC_CIR_PLL2RDYC ((uint32_t)0x00200000) /*!< PLL2 Ready Interrupt Clear */ + #define RCC_CIR_PLL3RDYC ((uint32_t)0x00400000) /*!< PLL3 Ready Interrupt Clear */ +#endif /* STM32F10X_CL */ + +/***************** Bit definition for RCC_APB2RSTR register *****************/ +#define RCC_APB2RSTR_AFIORST ((uint32_t)0x00000001) /*!< Alternate Function I/O reset */ +#define RCC_APB2RSTR_IOPARST ((uint32_t)0x00000004) /*!< I/O port A reset */ +#define RCC_APB2RSTR_IOPBRST ((uint32_t)0x00000008) /*!< I/O port B reset */ +#define RCC_APB2RSTR_IOPCRST ((uint32_t)0x00000010) /*!< I/O port C reset */ +#define RCC_APB2RSTR_IOPDRST ((uint32_t)0x00000020) /*!< I/O port D reset */ +#define RCC_APB2RSTR_ADC1RST ((uint32_t)0x00000200) /*!< ADC 1 interface reset */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB2RSTR_ADC2RST ((uint32_t)0x00000400) /*!< ADC 2 interface reset */ +#endif + +#define RCC_APB2RSTR_TIM1RST ((uint32_t)0x00000800) /*!< TIM1 Timer reset */ +#define RCC_APB2RSTR_SPI1RST ((uint32_t)0x00001000) /*!< SPI 1 reset */ +#define RCC_APB2RSTR_USART1RST ((uint32_t)0x00004000) /*!< USART1 reset */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +#define RCC_APB2RSTR_TIM15RST ((uint32_t)0x00010000) /*!< TIM15 Timer reset */ +#define RCC_APB2RSTR_TIM16RST ((uint32_t)0x00020000) /*!< TIM16 Timer reset */ +#define RCC_APB2RSTR_TIM17RST ((uint32_t)0x00040000) /*!< TIM17 Timer reset */ +#endif + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB2RSTR_IOPERST ((uint32_t)0x00000040) /*!< I/O port E reset */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_XL) + #define RCC_APB2RSTR_IOPFRST ((uint32_t)0x00000080) /*!< I/O port F reset */ + #define RCC_APB2RSTR_IOPGRST ((uint32_t)0x00000100) /*!< I/O port G reset */ + #define RCC_APB2RSTR_TIM8RST ((uint32_t)0x00002000) /*!< TIM8 Timer reset */ + #define RCC_APB2RSTR_ADC3RST ((uint32_t)0x00008000) /*!< ADC3 interface reset */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_APB2RSTR_IOPFRST ((uint32_t)0x00000080) /*!< I/O port F reset */ + #define RCC_APB2RSTR_IOPGRST ((uint32_t)0x00000100) /*!< I/O port G reset */ +#endif + +#ifdef STM32F10X_XL + #define RCC_APB2RSTR_TIM9RST ((uint32_t)0x00080000) /*!< TIM9 Timer reset */ + #define RCC_APB2RSTR_TIM10RST ((uint32_t)0x00100000) /*!< TIM10 Timer reset */ + #define RCC_APB2RSTR_TIM11RST ((uint32_t)0x00200000) /*!< TIM11 Timer reset */ +#endif /* STM32F10X_XL */ + +/***************** Bit definition for RCC_APB1RSTR register *****************/ +#define RCC_APB1RSTR_TIM2RST ((uint32_t)0x00000001) /*!< Timer 2 reset */ +#define RCC_APB1RSTR_TIM3RST ((uint32_t)0x00000002) /*!< Timer 3 reset */ +#define RCC_APB1RSTR_WWDGRST ((uint32_t)0x00000800) /*!< Window Watchdog reset */ +#define RCC_APB1RSTR_USART2RST ((uint32_t)0x00020000) /*!< USART 2 reset */ +#define RCC_APB1RSTR_I2C1RST ((uint32_t)0x00200000) /*!< I2C 1 reset */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB1RSTR_CAN1RST ((uint32_t)0x02000000) /*!< CAN1 reset */ +#endif + +#define RCC_APB1RSTR_BKPRST ((uint32_t)0x08000000) /*!< Backup interface reset */ +#define RCC_APB1RSTR_PWRRST ((uint32_t)0x10000000) /*!< Power interface reset */ + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB1RSTR_TIM4RST ((uint32_t)0x00000004) /*!< Timer 4 reset */ + #define RCC_APB1RSTR_SPI2RST ((uint32_t)0x00004000) /*!< SPI 2 reset */ + #define RCC_APB1RSTR_USART3RST ((uint32_t)0x00040000) /*!< USART 3 reset */ + #define RCC_APB1RSTR_I2C2RST ((uint32_t)0x00400000) /*!< I2C 2 reset */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_MD) || defined (STM32F10X_LD) || defined (STM32F10X_XL) + #define RCC_APB1RSTR_USBRST ((uint32_t)0x00800000) /*!< USB Device reset */ +#endif + +#if defined (STM32F10X_HD) || defined (STM32F10X_CL) || defined (STM32F10X_XL) + #define RCC_APB1RSTR_TIM5RST ((uint32_t)0x00000008) /*!< Timer 5 reset */ + #define RCC_APB1RSTR_TIM6RST ((uint32_t)0x00000010) /*!< Timer 6 reset */ + #define RCC_APB1RSTR_TIM7RST ((uint32_t)0x00000020) /*!< Timer 7 reset */ + #define RCC_APB1RSTR_SPI3RST ((uint32_t)0x00008000) /*!< SPI 3 reset */ + #define RCC_APB1RSTR_UART4RST ((uint32_t)0x00080000) /*!< UART 4 reset */ + #define RCC_APB1RSTR_UART5RST ((uint32_t)0x00100000) /*!< UART 5 reset */ + #define RCC_APB1RSTR_DACRST ((uint32_t)0x20000000) /*!< DAC interface reset */ +#endif + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + #define RCC_APB1RSTR_TIM6RST ((uint32_t)0x00000010) /*!< Timer 6 reset */ + #define RCC_APB1RSTR_TIM7RST ((uint32_t)0x00000020) /*!< Timer 7 reset */ + #define RCC_APB1RSTR_DACRST ((uint32_t)0x20000000) /*!< DAC interface reset */ + #define RCC_APB1RSTR_CECRST ((uint32_t)0x40000000) /*!< CEC interface reset */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_APB1RSTR_TIM5RST ((uint32_t)0x00000008) /*!< Timer 5 reset */ + #define RCC_APB1RSTR_TIM12RST ((uint32_t)0x00000040) /*!< TIM12 Timer reset */ + #define RCC_APB1RSTR_TIM13RST ((uint32_t)0x00000080) /*!< TIM13 Timer reset */ + #define RCC_APB1RSTR_TIM14RST ((uint32_t)0x00000100) /*!< TIM14 Timer reset */ + #define RCC_APB1RSTR_SPI3RST ((uint32_t)0x00008000) /*!< SPI 3 reset */ + #define RCC_APB1RSTR_UART4RST ((uint32_t)0x00080000) /*!< UART 4 reset */ + #define RCC_APB1RSTR_UART5RST ((uint32_t)0x00100000) /*!< UART 5 reset */ +#endif + +#ifdef STM32F10X_CL + #define RCC_APB1RSTR_CAN2RST ((uint32_t)0x04000000) /*!< CAN2 reset */ +#endif /* STM32F10X_CL */ + +#ifdef STM32F10X_XL + #define RCC_APB1RSTR_TIM12RST ((uint32_t)0x00000040) /*!< TIM12 Timer reset */ + #define RCC_APB1RSTR_TIM13RST ((uint32_t)0x00000080) /*!< TIM13 Timer reset */ + #define RCC_APB1RSTR_TIM14RST ((uint32_t)0x00000100) /*!< TIM14 Timer reset */ +#endif /* STM32F10X_XL */ + +/****************** Bit definition for RCC_AHBENR register ******************/ +#define RCC_AHBENR_DMA1EN ((uint16_t)0x0001) /*!< DMA1 clock enable */ +#define RCC_AHBENR_SRAMEN ((uint16_t)0x0004) /*!< SRAM interface clock enable */ +#define RCC_AHBENR_FLITFEN ((uint16_t)0x0010) /*!< FLITF clock enable */ +#define RCC_AHBENR_CRCEN ((uint16_t)0x0040) /*!< CRC clock enable */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_CL) || defined (STM32F10X_HD_VL) + #define RCC_AHBENR_DMA2EN ((uint16_t)0x0002) /*!< DMA2 clock enable */ +#endif + +#if defined (STM32F10X_HD) || defined (STM32F10X_XL) + #define RCC_AHBENR_FSMCEN ((uint16_t)0x0100) /*!< FSMC clock enable */ + #define RCC_AHBENR_SDIOEN ((uint16_t)0x0400) /*!< SDIO clock enable */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_AHBENR_FSMCEN ((uint16_t)0x0100) /*!< FSMC clock enable */ +#endif + +#ifdef STM32F10X_CL + #define RCC_AHBENR_OTGFSEN ((uint32_t)0x00001000) /*!< USB OTG FS clock enable */ + #define RCC_AHBENR_ETHMACEN ((uint32_t)0x00004000) /*!< ETHERNET MAC clock enable */ + #define RCC_AHBENR_ETHMACTXEN ((uint32_t)0x00008000) /*!< ETHERNET MAC Tx clock enable */ + #define RCC_AHBENR_ETHMACRXEN ((uint32_t)0x00010000) /*!< ETHERNET MAC Rx clock enable */ +#endif /* STM32F10X_CL */ + +/****************** Bit definition for RCC_APB2ENR register *****************/ +#define RCC_APB2ENR_AFIOEN ((uint32_t)0x00000001) /*!< Alternate Function I/O clock enable */ +#define RCC_APB2ENR_IOPAEN ((uint32_t)0x00000004) /*!< I/O port A clock enable */ +#define RCC_APB2ENR_IOPBEN ((uint32_t)0x00000008) /*!< I/O port B clock enable */ +#define RCC_APB2ENR_IOPCEN ((uint32_t)0x00000010) /*!< I/O port C clock enable */ +#define RCC_APB2ENR_IOPDEN ((uint32_t)0x00000020) /*!< I/O port D clock enable */ +#define RCC_APB2ENR_ADC1EN ((uint32_t)0x00000200) /*!< ADC 1 interface clock enable */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB2ENR_ADC2EN ((uint32_t)0x00000400) /*!< ADC 2 interface clock enable */ +#endif + +#define RCC_APB2ENR_TIM1EN ((uint32_t)0x00000800) /*!< TIM1 Timer clock enable */ +#define RCC_APB2ENR_SPI1EN ((uint32_t)0x00001000) /*!< SPI 1 clock enable */ +#define RCC_APB2ENR_USART1EN ((uint32_t)0x00004000) /*!< USART1 clock enable */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +#define RCC_APB2ENR_TIM15EN ((uint32_t)0x00010000) /*!< TIM15 Timer clock enable */ +#define RCC_APB2ENR_TIM16EN ((uint32_t)0x00020000) /*!< TIM16 Timer clock enable */ +#define RCC_APB2ENR_TIM17EN ((uint32_t)0x00040000) /*!< TIM17 Timer clock enable */ +#endif + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB2ENR_IOPEEN ((uint32_t)0x00000040) /*!< I/O port E clock enable */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_XL) + #define RCC_APB2ENR_IOPFEN ((uint32_t)0x00000080) /*!< I/O port F clock enable */ + #define RCC_APB2ENR_IOPGEN ((uint32_t)0x00000100) /*!< I/O port G clock enable */ + #define RCC_APB2ENR_TIM8EN ((uint32_t)0x00002000) /*!< TIM8 Timer clock enable */ + #define RCC_APB2ENR_ADC3EN ((uint32_t)0x00008000) /*!< DMA1 clock enable */ +#endif + +#if defined (STM32F10X_HD_VL) + #define RCC_APB2ENR_IOPFEN ((uint32_t)0x00000080) /*!< I/O port F clock enable */ + #define RCC_APB2ENR_IOPGEN ((uint32_t)0x00000100) /*!< I/O port G clock enable */ +#endif + +#ifdef STM32F10X_XL + #define RCC_APB2ENR_TIM9EN ((uint32_t)0x00080000) /*!< TIM9 Timer clock enable */ + #define RCC_APB2ENR_TIM10EN ((uint32_t)0x00100000) /*!< TIM10 Timer clock enable */ + #define RCC_APB2ENR_TIM11EN ((uint32_t)0x00200000) /*!< TIM11 Timer clock enable */ +#endif + +/***************** Bit definition for RCC_APB1ENR register ******************/ +#define RCC_APB1ENR_TIM2EN ((uint32_t)0x00000001) /*!< Timer 2 clock enabled*/ +#define RCC_APB1ENR_TIM3EN ((uint32_t)0x00000002) /*!< Timer 3 clock enable */ +#define RCC_APB1ENR_WWDGEN ((uint32_t)0x00000800) /*!< Window Watchdog clock enable */ +#define RCC_APB1ENR_USART2EN ((uint32_t)0x00020000) /*!< USART 2 clock enable */ +#define RCC_APB1ENR_I2C1EN ((uint32_t)0x00200000) /*!< I2C 1 clock enable */ + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) +#define RCC_APB1ENR_CAN1EN ((uint32_t)0x02000000) /*!< CAN1 clock enable */ +#endif + +#define RCC_APB1ENR_BKPEN ((uint32_t)0x08000000) /*!< Backup interface clock enable */ +#define RCC_APB1ENR_PWREN ((uint32_t)0x10000000) /*!< Power interface clock enable */ + +#if !defined (STM32F10X_LD) && !defined (STM32F10X_LD_VL) + #define RCC_APB1ENR_TIM4EN ((uint32_t)0x00000004) /*!< Timer 4 clock enable */ + #define RCC_APB1ENR_SPI2EN ((uint32_t)0x00004000) /*!< SPI 2 clock enable */ + #define RCC_APB1ENR_USART3EN ((uint32_t)0x00040000) /*!< USART 3 clock enable */ + #define RCC_APB1ENR_I2C2EN ((uint32_t)0x00400000) /*!< I2C 2 clock enable */ +#endif /* STM32F10X_LD && STM32F10X_LD_VL */ + +#if defined (STM32F10X_HD) || defined (STM32F10X_MD) || defined (STM32F10X_LD) + #define RCC_APB1ENR_USBEN ((uint32_t)0x00800000) /*!< USB Device clock enable */ +#endif + +#if defined (STM32F10X_HD) || defined (STM32F10X_CL) + #define RCC_APB1ENR_TIM5EN ((uint32_t)0x00000008) /*!< Timer 5 clock enable */ + #define RCC_APB1ENR_TIM6EN ((uint32_t)0x00000010) /*!< Timer 6 clock enable */ + #define RCC_APB1ENR_TIM7EN ((uint32_t)0x00000020) /*!< Timer 7 clock enable */ + #define RCC_APB1ENR_SPI3EN ((uint32_t)0x00008000) /*!< SPI 3 clock enable */ + #define RCC_APB1ENR_UART4EN ((uint32_t)0x00080000) /*!< UART 4 clock enable */ + #define RCC_APB1ENR_UART5EN ((uint32_t)0x00100000) /*!< UART 5 clock enable */ + #define RCC_APB1ENR_DACEN ((uint32_t)0x20000000) /*!< DAC interface clock enable */ +#endif + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + #define RCC_APB1ENR_TIM6EN ((uint32_t)0x00000010) /*!< Timer 6 clock enable */ + #define RCC_APB1ENR_TIM7EN ((uint32_t)0x00000020) /*!< Timer 7 clock enable */ + #define RCC_APB1ENR_DACEN ((uint32_t)0x20000000) /*!< DAC interface clock enable */ + #define RCC_APB1ENR_CECEN ((uint32_t)0x40000000) /*!< CEC interface clock enable */ +#endif + +#ifdef STM32F10X_HD_VL + #define RCC_APB1ENR_TIM5EN ((uint32_t)0x00000008) /*!< Timer 5 clock enable */ + #define RCC_APB1ENR_TIM12EN ((uint32_t)0x00000040) /*!< TIM12 Timer clock enable */ + #define RCC_APB1ENR_TIM13EN ((uint32_t)0x00000080) /*!< TIM13 Timer clock enable */ + #define RCC_APB1ENR_TIM14EN ((uint32_t)0x00000100) /*!< TIM14 Timer clock enable */ + #define RCC_APB1ENR_SPI3EN ((uint32_t)0x00008000) /*!< SPI 3 clock enable */ + #define RCC_APB1ENR_UART4EN ((uint32_t)0x00080000) /*!< UART 4 clock enable */ + #define RCC_APB1ENR_UART5EN ((uint32_t)0x00100000) /*!< UART 5 clock enable */ +#endif /* STM32F10X_HD_VL */ + +#ifdef STM32F10X_CL + #define RCC_APB1ENR_CAN2EN ((uint32_t)0x04000000) /*!< CAN2 clock enable */ +#endif /* STM32F10X_CL */ + +#ifdef STM32F10X_XL + #define RCC_APB1ENR_TIM12EN ((uint32_t)0x00000040) /*!< TIM12 Timer clock enable */ + #define RCC_APB1ENR_TIM13EN ((uint32_t)0x00000080) /*!< TIM13 Timer clock enable */ + #define RCC_APB1ENR_TIM14EN ((uint32_t)0x00000100) /*!< TIM14 Timer clock enable */ +#endif /* STM32F10X_XL */ + +/******************* Bit definition for RCC_BDCR register *******************/ +#define RCC_BDCR_LSEON ((uint32_t)0x00000001) /*!< External Low Speed oscillator enable */ +#define RCC_BDCR_LSERDY ((uint32_t)0x00000002) /*!< External Low Speed oscillator Ready */ +#define RCC_BDCR_LSEBYP ((uint32_t)0x00000004) /*!< External Low Speed oscillator Bypass */ + +#define RCC_BDCR_RTCSEL ((uint32_t)0x00000300) /*!< RTCSEL[1:0] bits (RTC clock source selection) */ +#define RCC_BDCR_RTCSEL_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define RCC_BDCR_RTCSEL_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +/*!< RTC congiguration */ +#define RCC_BDCR_RTCSEL_NOCLOCK ((uint32_t)0x00000000) /*!< No clock */ +#define RCC_BDCR_RTCSEL_LSE ((uint32_t)0x00000100) /*!< LSE oscillator clock used as RTC clock */ +#define RCC_BDCR_RTCSEL_LSI ((uint32_t)0x00000200) /*!< LSI oscillator clock used as RTC clock */ +#define RCC_BDCR_RTCSEL_HSE ((uint32_t)0x00000300) /*!< HSE oscillator clock divided by 128 used as RTC clock */ + +#define RCC_BDCR_RTCEN ((uint32_t)0x00008000) /*!< RTC clock enable */ +#define RCC_BDCR_BDRST ((uint32_t)0x00010000) /*!< Backup domain software reset */ + +/******************* Bit definition for RCC_CSR register ********************/ +#define RCC_CSR_LSION ((uint32_t)0x00000001) /*!< Internal Low Speed oscillator enable */ +#define RCC_CSR_LSIRDY ((uint32_t)0x00000002) /*!< Internal Low Speed oscillator Ready */ +#define RCC_CSR_RMVF ((uint32_t)0x01000000) /*!< Remove reset flag */ +#define RCC_CSR_PINRSTF ((uint32_t)0x04000000) /*!< PIN reset flag */ +#define RCC_CSR_PORRSTF ((uint32_t)0x08000000) /*!< POR/PDR reset flag */ +#define RCC_CSR_SFTRSTF ((uint32_t)0x10000000) /*!< Software Reset flag */ +#define RCC_CSR_IWDGRSTF ((uint32_t)0x20000000) /*!< Independent Watchdog reset flag */ +#define RCC_CSR_WWDGRSTF ((uint32_t)0x40000000) /*!< Window watchdog reset flag */ +#define RCC_CSR_LPWRRSTF ((uint32_t)0x80000000) /*!< Low-Power reset flag */ + +#ifdef STM32F10X_CL +/******************* Bit definition for RCC_AHBRSTR register ****************/ + #define RCC_AHBRSTR_OTGFSRST ((uint32_t)0x00001000) /*!< USB OTG FS reset */ + #define RCC_AHBRSTR_ETHMACRST ((uint32_t)0x00004000) /*!< ETHERNET MAC reset */ + +/******************* Bit definition for RCC_CFGR2 register ******************/ +/*!< PREDIV1 configuration */ + #define RCC_CFGR2_PREDIV1 ((uint32_t)0x0000000F) /*!< PREDIV1[3:0] bits */ + #define RCC_CFGR2_PREDIV1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ + #define RCC_CFGR2_PREDIV1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + #define RCC_CFGR2_PREDIV1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + #define RCC_CFGR2_PREDIV1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + + #define RCC_CFGR2_PREDIV1_DIV1 ((uint32_t)0x00000000) /*!< PREDIV1 input clock not divided */ + #define RCC_CFGR2_PREDIV1_DIV2 ((uint32_t)0x00000001) /*!< PREDIV1 input clock divided by 2 */ + #define RCC_CFGR2_PREDIV1_DIV3 ((uint32_t)0x00000002) /*!< PREDIV1 input clock divided by 3 */ + #define RCC_CFGR2_PREDIV1_DIV4 ((uint32_t)0x00000003) /*!< PREDIV1 input clock divided by 4 */ + #define RCC_CFGR2_PREDIV1_DIV5 ((uint32_t)0x00000004) /*!< PREDIV1 input clock divided by 5 */ + #define RCC_CFGR2_PREDIV1_DIV6 ((uint32_t)0x00000005) /*!< PREDIV1 input clock divided by 6 */ + #define RCC_CFGR2_PREDIV1_DIV7 ((uint32_t)0x00000006) /*!< PREDIV1 input clock divided by 7 */ + #define RCC_CFGR2_PREDIV1_DIV8 ((uint32_t)0x00000007) /*!< PREDIV1 input clock divided by 8 */ + #define RCC_CFGR2_PREDIV1_DIV9 ((uint32_t)0x00000008) /*!< PREDIV1 input clock divided by 9 */ + #define RCC_CFGR2_PREDIV1_DIV10 ((uint32_t)0x00000009) /*!< PREDIV1 input clock divided by 10 */ + #define RCC_CFGR2_PREDIV1_DIV11 ((uint32_t)0x0000000A) /*!< PREDIV1 input clock divided by 11 */ + #define RCC_CFGR2_PREDIV1_DIV12 ((uint32_t)0x0000000B) /*!< PREDIV1 input clock divided by 12 */ + #define RCC_CFGR2_PREDIV1_DIV13 ((uint32_t)0x0000000C) /*!< PREDIV1 input clock divided by 13 */ + #define RCC_CFGR2_PREDIV1_DIV14 ((uint32_t)0x0000000D) /*!< PREDIV1 input clock divided by 14 */ + #define RCC_CFGR2_PREDIV1_DIV15 ((uint32_t)0x0000000E) /*!< PREDIV1 input clock divided by 15 */ + #define RCC_CFGR2_PREDIV1_DIV16 ((uint32_t)0x0000000F) /*!< PREDIV1 input clock divided by 16 */ + +/*!< PREDIV2 configuration */ + #define RCC_CFGR2_PREDIV2 ((uint32_t)0x000000F0) /*!< PREDIV2[3:0] bits */ + #define RCC_CFGR2_PREDIV2_0 ((uint32_t)0x00000010) /*!< Bit 0 */ + #define RCC_CFGR2_PREDIV2_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + #define RCC_CFGR2_PREDIV2_2 ((uint32_t)0x00000040) /*!< Bit 2 */ + #define RCC_CFGR2_PREDIV2_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + + #define RCC_CFGR2_PREDIV2_DIV1 ((uint32_t)0x00000000) /*!< PREDIV2 input clock not divided */ + #define RCC_CFGR2_PREDIV2_DIV2 ((uint32_t)0x00000010) /*!< PREDIV2 input clock divided by 2 */ + #define RCC_CFGR2_PREDIV2_DIV3 ((uint32_t)0x00000020) /*!< PREDIV2 input clock divided by 3 */ + #define RCC_CFGR2_PREDIV2_DIV4 ((uint32_t)0x00000030) /*!< PREDIV2 input clock divided by 4 */ + #define RCC_CFGR2_PREDIV2_DIV5 ((uint32_t)0x00000040) /*!< PREDIV2 input clock divided by 5 */ + #define RCC_CFGR2_PREDIV2_DIV6 ((uint32_t)0x00000050) /*!< PREDIV2 input clock divided by 6 */ + #define RCC_CFGR2_PREDIV2_DIV7 ((uint32_t)0x00000060) /*!< PREDIV2 input clock divided by 7 */ + #define RCC_CFGR2_PREDIV2_DIV8 ((uint32_t)0x00000070) /*!< PREDIV2 input clock divided by 8 */ + #define RCC_CFGR2_PREDIV2_DIV9 ((uint32_t)0x00000080) /*!< PREDIV2 input clock divided by 9 */ + #define RCC_CFGR2_PREDIV2_DIV10 ((uint32_t)0x00000090) /*!< PREDIV2 input clock divided by 10 */ + #define RCC_CFGR2_PREDIV2_DIV11 ((uint32_t)0x000000A0) /*!< PREDIV2 input clock divided by 11 */ + #define RCC_CFGR2_PREDIV2_DIV12 ((uint32_t)0x000000B0) /*!< PREDIV2 input clock divided by 12 */ + #define RCC_CFGR2_PREDIV2_DIV13 ((uint32_t)0x000000C0) /*!< PREDIV2 input clock divided by 13 */ + #define RCC_CFGR2_PREDIV2_DIV14 ((uint32_t)0x000000D0) /*!< PREDIV2 input clock divided by 14 */ + #define RCC_CFGR2_PREDIV2_DIV15 ((uint32_t)0x000000E0) /*!< PREDIV2 input clock divided by 15 */ + #define RCC_CFGR2_PREDIV2_DIV16 ((uint32_t)0x000000F0) /*!< PREDIV2 input clock divided by 16 */ + +/*!< PLL2MUL configuration */ + #define RCC_CFGR2_PLL2MUL ((uint32_t)0x00000F00) /*!< PLL2MUL[3:0] bits */ + #define RCC_CFGR2_PLL2MUL_0 ((uint32_t)0x00000100) /*!< Bit 0 */ + #define RCC_CFGR2_PLL2MUL_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + #define RCC_CFGR2_PLL2MUL_2 ((uint32_t)0x00000400) /*!< Bit 2 */ + #define RCC_CFGR2_PLL2MUL_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + + #define RCC_CFGR2_PLL2MUL8 ((uint32_t)0x00000600) /*!< PLL2 input clock * 8 */ + #define RCC_CFGR2_PLL2MUL9 ((uint32_t)0x00000700) /*!< PLL2 input clock * 9 */ + #define RCC_CFGR2_PLL2MUL10 ((uint32_t)0x00000800) /*!< PLL2 input clock * 10 */ + #define RCC_CFGR2_PLL2MUL11 ((uint32_t)0x00000900) /*!< PLL2 input clock * 11 */ + #define RCC_CFGR2_PLL2MUL12 ((uint32_t)0x00000A00) /*!< PLL2 input clock * 12 */ + #define RCC_CFGR2_PLL2MUL13 ((uint32_t)0x00000B00) /*!< PLL2 input clock * 13 */ + #define RCC_CFGR2_PLL2MUL14 ((uint32_t)0x00000C00) /*!< PLL2 input clock * 14 */ + #define RCC_CFGR2_PLL2MUL16 ((uint32_t)0x00000E00) /*!< PLL2 input clock * 16 */ + #define RCC_CFGR2_PLL2MUL20 ((uint32_t)0x00000F00) /*!< PLL2 input clock * 20 */ + +/*!< PLL3MUL configuration */ + #define RCC_CFGR2_PLL3MUL ((uint32_t)0x0000F000) /*!< PLL3MUL[3:0] bits */ + #define RCC_CFGR2_PLL3MUL_0 ((uint32_t)0x00001000) /*!< Bit 0 */ + #define RCC_CFGR2_PLL3MUL_1 ((uint32_t)0x00002000) /*!< Bit 1 */ + #define RCC_CFGR2_PLL3MUL_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + #define RCC_CFGR2_PLL3MUL_3 ((uint32_t)0x00008000) /*!< Bit 3 */ + + #define RCC_CFGR2_PLL3MUL8 ((uint32_t)0x00006000) /*!< PLL3 input clock * 8 */ + #define RCC_CFGR2_PLL3MUL9 ((uint32_t)0x00007000) /*!< PLL3 input clock * 9 */ + #define RCC_CFGR2_PLL3MUL10 ((uint32_t)0x00008000) /*!< PLL3 input clock * 10 */ + #define RCC_CFGR2_PLL3MUL11 ((uint32_t)0x00009000) /*!< PLL3 input clock * 11 */ + #define RCC_CFGR2_PLL3MUL12 ((uint32_t)0x0000A000) /*!< PLL3 input clock * 12 */ + #define RCC_CFGR2_PLL3MUL13 ((uint32_t)0x0000B000) /*!< PLL3 input clock * 13 */ + #define RCC_CFGR2_PLL3MUL14 ((uint32_t)0x0000C000) /*!< PLL3 input clock * 14 */ + #define RCC_CFGR2_PLL3MUL16 ((uint32_t)0x0000E000) /*!< PLL3 input clock * 16 */ + #define RCC_CFGR2_PLL3MUL20 ((uint32_t)0x0000F000) /*!< PLL3 input clock * 20 */ + + #define RCC_CFGR2_PREDIV1SRC ((uint32_t)0x00010000) /*!< PREDIV1 entry clock source */ + #define RCC_CFGR2_PREDIV1SRC_PLL2 ((uint32_t)0x00010000) /*!< PLL2 selected as PREDIV1 entry clock source */ + #define RCC_CFGR2_PREDIV1SRC_HSE ((uint32_t)0x00000000) /*!< HSE selected as PREDIV1 entry clock source */ + #define RCC_CFGR2_I2S2SRC ((uint32_t)0x00020000) /*!< I2S2 entry clock source */ + #define RCC_CFGR2_I2S3SRC ((uint32_t)0x00040000) /*!< I2S3 clock source */ +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/******************* Bit definition for RCC_CFGR2 register ******************/ +/*!< PREDIV1 configuration */ + #define RCC_CFGR2_PREDIV1 ((uint32_t)0x0000000F) /*!< PREDIV1[3:0] bits */ + #define RCC_CFGR2_PREDIV1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ + #define RCC_CFGR2_PREDIV1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + #define RCC_CFGR2_PREDIV1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + #define RCC_CFGR2_PREDIV1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + + #define RCC_CFGR2_PREDIV1_DIV1 ((uint32_t)0x00000000) /*!< PREDIV1 input clock not divided */ + #define RCC_CFGR2_PREDIV1_DIV2 ((uint32_t)0x00000001) /*!< PREDIV1 input clock divided by 2 */ + #define RCC_CFGR2_PREDIV1_DIV3 ((uint32_t)0x00000002) /*!< PREDIV1 input clock divided by 3 */ + #define RCC_CFGR2_PREDIV1_DIV4 ((uint32_t)0x00000003) /*!< PREDIV1 input clock divided by 4 */ + #define RCC_CFGR2_PREDIV1_DIV5 ((uint32_t)0x00000004) /*!< PREDIV1 input clock divided by 5 */ + #define RCC_CFGR2_PREDIV1_DIV6 ((uint32_t)0x00000005) /*!< PREDIV1 input clock divided by 6 */ + #define RCC_CFGR2_PREDIV1_DIV7 ((uint32_t)0x00000006) /*!< PREDIV1 input clock divided by 7 */ + #define RCC_CFGR2_PREDIV1_DIV8 ((uint32_t)0x00000007) /*!< PREDIV1 input clock divided by 8 */ + #define RCC_CFGR2_PREDIV1_DIV9 ((uint32_t)0x00000008) /*!< PREDIV1 input clock divided by 9 */ + #define RCC_CFGR2_PREDIV1_DIV10 ((uint32_t)0x00000009) /*!< PREDIV1 input clock divided by 10 */ + #define RCC_CFGR2_PREDIV1_DIV11 ((uint32_t)0x0000000A) /*!< PREDIV1 input clock divided by 11 */ + #define RCC_CFGR2_PREDIV1_DIV12 ((uint32_t)0x0000000B) /*!< PREDIV1 input clock divided by 12 */ + #define RCC_CFGR2_PREDIV1_DIV13 ((uint32_t)0x0000000C) /*!< PREDIV1 input clock divided by 13 */ + #define RCC_CFGR2_PREDIV1_DIV14 ((uint32_t)0x0000000D) /*!< PREDIV1 input clock divided by 14 */ + #define RCC_CFGR2_PREDIV1_DIV15 ((uint32_t)0x0000000E) /*!< PREDIV1 input clock divided by 15 */ + #define RCC_CFGR2_PREDIV1_DIV16 ((uint32_t)0x0000000F) /*!< PREDIV1 input clock divided by 16 */ +#endif + +/******************************************************************************/ +/* */ +/* General Purpose and Alternate Function I/O */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for GPIO_CRL register *******************/ +#define GPIO_CRL_MODE ((uint32_t)0x33333333) /*!< Port x mode bits */ + +#define GPIO_CRL_MODE0 ((uint32_t)0x00000003) /*!< MODE0[1:0] bits (Port x mode bits, pin 0) */ +#define GPIO_CRL_MODE0_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define GPIO_CRL_MODE0_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + +#define GPIO_CRL_MODE1 ((uint32_t)0x00000030) /*!< MODE1[1:0] bits (Port x mode bits, pin 1) */ +#define GPIO_CRL_MODE1_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define GPIO_CRL_MODE1_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define GPIO_CRL_MODE2 ((uint32_t)0x00000300) /*!< MODE2[1:0] bits (Port x mode bits, pin 2) */ +#define GPIO_CRL_MODE2_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define GPIO_CRL_MODE2_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +#define GPIO_CRL_MODE3 ((uint32_t)0x00003000) /*!< MODE3[1:0] bits (Port x mode bits, pin 3) */ +#define GPIO_CRL_MODE3_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define GPIO_CRL_MODE3_1 ((uint32_t)0x00002000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE4 ((uint32_t)0x00030000) /*!< MODE4[1:0] bits (Port x mode bits, pin 4) */ +#define GPIO_CRL_MODE4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define GPIO_CRL_MODE4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE5 ((uint32_t)0x00300000) /*!< MODE5[1:0] bits (Port x mode bits, pin 5) */ +#define GPIO_CRL_MODE5_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define GPIO_CRL_MODE5_1 ((uint32_t)0x00200000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE6 ((uint32_t)0x03000000) /*!< MODE6[1:0] bits (Port x mode bits, pin 6) */ +#define GPIO_CRL_MODE6_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define GPIO_CRL_MODE6_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + +#define GPIO_CRL_MODE7 ((uint32_t)0x30000000) /*!< MODE7[1:0] bits (Port x mode bits, pin 7) */ +#define GPIO_CRL_MODE7_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define GPIO_CRL_MODE7_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF ((uint32_t)0xCCCCCCCC) /*!< Port x configuration bits */ + +#define GPIO_CRL_CNF0 ((uint32_t)0x0000000C) /*!< CNF0[1:0] bits (Port x configuration bits, pin 0) */ +#define GPIO_CRL_CNF0_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define GPIO_CRL_CNF0_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define GPIO_CRL_CNF1 ((uint32_t)0x000000C0) /*!< CNF1[1:0] bits (Port x configuration bits, pin 1) */ +#define GPIO_CRL_CNF1_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define GPIO_CRL_CNF1_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define GPIO_CRL_CNF2 ((uint32_t)0x00000C00) /*!< CNF2[1:0] bits (Port x configuration bits, pin 2) */ +#define GPIO_CRL_CNF2_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define GPIO_CRL_CNF2_1 ((uint32_t)0x00000800) /*!< Bit 1 */ + +#define GPIO_CRL_CNF3 ((uint32_t)0x0000C000) /*!< CNF3[1:0] bits (Port x configuration bits, pin 3) */ +#define GPIO_CRL_CNF3_0 ((uint32_t)0x00004000) /*!< Bit 0 */ +#define GPIO_CRL_CNF3_1 ((uint32_t)0x00008000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF4 ((uint32_t)0x000C0000) /*!< CNF4[1:0] bits (Port x configuration bits, pin 4) */ +#define GPIO_CRL_CNF4_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define GPIO_CRL_CNF4_1 ((uint32_t)0x00080000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF5 ((uint32_t)0x00C00000) /*!< CNF5[1:0] bits (Port x configuration bits, pin 5) */ +#define GPIO_CRL_CNF5_0 ((uint32_t)0x00400000) /*!< Bit 0 */ +#define GPIO_CRL_CNF5_1 ((uint32_t)0x00800000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF6 ((uint32_t)0x0C000000) /*!< CNF6[1:0] bits (Port x configuration bits, pin 6) */ +#define GPIO_CRL_CNF6_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define GPIO_CRL_CNF6_1 ((uint32_t)0x08000000) /*!< Bit 1 */ + +#define GPIO_CRL_CNF7 ((uint32_t)0xC0000000) /*!< CNF7[1:0] bits (Port x configuration bits, pin 7) */ +#define GPIO_CRL_CNF7_0 ((uint32_t)0x40000000) /*!< Bit 0 */ +#define GPIO_CRL_CNF7_1 ((uint32_t)0x80000000) /*!< Bit 1 */ + +/******************* Bit definition for GPIO_CRH register *******************/ +#define GPIO_CRH_MODE ((uint32_t)0x33333333) /*!< Port x mode bits */ + +#define GPIO_CRH_MODE8 ((uint32_t)0x00000003) /*!< MODE8[1:0] bits (Port x mode bits, pin 8) */ +#define GPIO_CRH_MODE8_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define GPIO_CRH_MODE8_1 ((uint32_t)0x00000002) /*!< Bit 1 */ + +#define GPIO_CRH_MODE9 ((uint32_t)0x00000030) /*!< MODE9[1:0] bits (Port x mode bits, pin 9) */ +#define GPIO_CRH_MODE9_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define GPIO_CRH_MODE9_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define GPIO_CRH_MODE10 ((uint32_t)0x00000300) /*!< MODE10[1:0] bits (Port x mode bits, pin 10) */ +#define GPIO_CRH_MODE10_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define GPIO_CRH_MODE10_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +#define GPIO_CRH_MODE11 ((uint32_t)0x00003000) /*!< MODE11[1:0] bits (Port x mode bits, pin 11) */ +#define GPIO_CRH_MODE11_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define GPIO_CRH_MODE11_1 ((uint32_t)0x00002000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE12 ((uint32_t)0x00030000) /*!< MODE12[1:0] bits (Port x mode bits, pin 12) */ +#define GPIO_CRH_MODE12_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define GPIO_CRH_MODE12_1 ((uint32_t)0x00020000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE13 ((uint32_t)0x00300000) /*!< MODE13[1:0] bits (Port x mode bits, pin 13) */ +#define GPIO_CRH_MODE13_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define GPIO_CRH_MODE13_1 ((uint32_t)0x00200000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE14 ((uint32_t)0x03000000) /*!< MODE14[1:0] bits (Port x mode bits, pin 14) */ +#define GPIO_CRH_MODE14_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define GPIO_CRH_MODE14_1 ((uint32_t)0x02000000) /*!< Bit 1 */ + +#define GPIO_CRH_MODE15 ((uint32_t)0x30000000) /*!< MODE15[1:0] bits (Port x mode bits, pin 15) */ +#define GPIO_CRH_MODE15_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define GPIO_CRH_MODE15_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF ((uint32_t)0xCCCCCCCC) /*!< Port x configuration bits */ + +#define GPIO_CRH_CNF8 ((uint32_t)0x0000000C) /*!< CNF8[1:0] bits (Port x configuration bits, pin 8) */ +#define GPIO_CRH_CNF8_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define GPIO_CRH_CNF8_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define GPIO_CRH_CNF9 ((uint32_t)0x000000C0) /*!< CNF9[1:0] bits (Port x configuration bits, pin 9) */ +#define GPIO_CRH_CNF9_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define GPIO_CRH_CNF9_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define GPIO_CRH_CNF10 ((uint32_t)0x00000C00) /*!< CNF10[1:0] bits (Port x configuration bits, pin 10) */ +#define GPIO_CRH_CNF10_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define GPIO_CRH_CNF10_1 ((uint32_t)0x00000800) /*!< Bit 1 */ + +#define GPIO_CRH_CNF11 ((uint32_t)0x0000C000) /*!< CNF11[1:0] bits (Port x configuration bits, pin 11) */ +#define GPIO_CRH_CNF11_0 ((uint32_t)0x00004000) /*!< Bit 0 */ +#define GPIO_CRH_CNF11_1 ((uint32_t)0x00008000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF12 ((uint32_t)0x000C0000) /*!< CNF12[1:0] bits (Port x configuration bits, pin 12) */ +#define GPIO_CRH_CNF12_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define GPIO_CRH_CNF12_1 ((uint32_t)0x00080000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF13 ((uint32_t)0x00C00000) /*!< CNF13[1:0] bits (Port x configuration bits, pin 13) */ +#define GPIO_CRH_CNF13_0 ((uint32_t)0x00400000) /*!< Bit 0 */ +#define GPIO_CRH_CNF13_1 ((uint32_t)0x00800000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF14 ((uint32_t)0x0C000000) /*!< CNF14[1:0] bits (Port x configuration bits, pin 14) */ +#define GPIO_CRH_CNF14_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define GPIO_CRH_CNF14_1 ((uint32_t)0x08000000) /*!< Bit 1 */ + +#define GPIO_CRH_CNF15 ((uint32_t)0xC0000000) /*!< CNF15[1:0] bits (Port x configuration bits, pin 15) */ +#define GPIO_CRH_CNF15_0 ((uint32_t)0x40000000) /*!< Bit 0 */ +#define GPIO_CRH_CNF15_1 ((uint32_t)0x80000000) /*!< Bit 1 */ + +/*!<****************** Bit definition for GPIO_IDR register *******************/ +#define GPIO_IDR_IDR0 ((uint16_t)0x0001) /*!< Port input data, bit 0 */ +#define GPIO_IDR_IDR1 ((uint16_t)0x0002) /*!< Port input data, bit 1 */ +#define GPIO_IDR_IDR2 ((uint16_t)0x0004) /*!< Port input data, bit 2 */ +#define GPIO_IDR_IDR3 ((uint16_t)0x0008) /*!< Port input data, bit 3 */ +#define GPIO_IDR_IDR4 ((uint16_t)0x0010) /*!< Port input data, bit 4 */ +#define GPIO_IDR_IDR5 ((uint16_t)0x0020) /*!< Port input data, bit 5 */ +#define GPIO_IDR_IDR6 ((uint16_t)0x0040) /*!< Port input data, bit 6 */ +#define GPIO_IDR_IDR7 ((uint16_t)0x0080) /*!< Port input data, bit 7 */ +#define GPIO_IDR_IDR8 ((uint16_t)0x0100) /*!< Port input data, bit 8 */ +#define GPIO_IDR_IDR9 ((uint16_t)0x0200) /*!< Port input data, bit 9 */ +#define GPIO_IDR_IDR10 ((uint16_t)0x0400) /*!< Port input data, bit 10 */ +#define GPIO_IDR_IDR11 ((uint16_t)0x0800) /*!< Port input data, bit 11 */ +#define GPIO_IDR_IDR12 ((uint16_t)0x1000) /*!< Port input data, bit 12 */ +#define GPIO_IDR_IDR13 ((uint16_t)0x2000) /*!< Port input data, bit 13 */ +#define GPIO_IDR_IDR14 ((uint16_t)0x4000) /*!< Port input data, bit 14 */ +#define GPIO_IDR_IDR15 ((uint16_t)0x8000) /*!< Port input data, bit 15 */ + +/******************* Bit definition for GPIO_ODR register *******************/ +#define GPIO_ODR_ODR0 ((uint16_t)0x0001) /*!< Port output data, bit 0 */ +#define GPIO_ODR_ODR1 ((uint16_t)0x0002) /*!< Port output data, bit 1 */ +#define GPIO_ODR_ODR2 ((uint16_t)0x0004) /*!< Port output data, bit 2 */ +#define GPIO_ODR_ODR3 ((uint16_t)0x0008) /*!< Port output data, bit 3 */ +#define GPIO_ODR_ODR4 ((uint16_t)0x0010) /*!< Port output data, bit 4 */ +#define GPIO_ODR_ODR5 ((uint16_t)0x0020) /*!< Port output data, bit 5 */ +#define GPIO_ODR_ODR6 ((uint16_t)0x0040) /*!< Port output data, bit 6 */ +#define GPIO_ODR_ODR7 ((uint16_t)0x0080) /*!< Port output data, bit 7 */ +#define GPIO_ODR_ODR8 ((uint16_t)0x0100) /*!< Port output data, bit 8 */ +#define GPIO_ODR_ODR9 ((uint16_t)0x0200) /*!< Port output data, bit 9 */ +#define GPIO_ODR_ODR10 ((uint16_t)0x0400) /*!< Port output data, bit 10 */ +#define GPIO_ODR_ODR11 ((uint16_t)0x0800) /*!< Port output data, bit 11 */ +#define GPIO_ODR_ODR12 ((uint16_t)0x1000) /*!< Port output data, bit 12 */ +#define GPIO_ODR_ODR13 ((uint16_t)0x2000) /*!< Port output data, bit 13 */ +#define GPIO_ODR_ODR14 ((uint16_t)0x4000) /*!< Port output data, bit 14 */ +#define GPIO_ODR_ODR15 ((uint16_t)0x8000) /*!< Port output data, bit 15 */ + +/****************** Bit definition for GPIO_BSRR register *******************/ +#define GPIO_BSRR_BS0 ((uint32_t)0x00000001) /*!< Port x Set bit 0 */ +#define GPIO_BSRR_BS1 ((uint32_t)0x00000002) /*!< Port x Set bit 1 */ +#define GPIO_BSRR_BS2 ((uint32_t)0x00000004) /*!< Port x Set bit 2 */ +#define GPIO_BSRR_BS3 ((uint32_t)0x00000008) /*!< Port x Set bit 3 */ +#define GPIO_BSRR_BS4 ((uint32_t)0x00000010) /*!< Port x Set bit 4 */ +#define GPIO_BSRR_BS5 ((uint32_t)0x00000020) /*!< Port x Set bit 5 */ +#define GPIO_BSRR_BS6 ((uint32_t)0x00000040) /*!< Port x Set bit 6 */ +#define GPIO_BSRR_BS7 ((uint32_t)0x00000080) /*!< Port x Set bit 7 */ +#define GPIO_BSRR_BS8 ((uint32_t)0x00000100) /*!< Port x Set bit 8 */ +#define GPIO_BSRR_BS9 ((uint32_t)0x00000200) /*!< Port x Set bit 9 */ +#define GPIO_BSRR_BS10 ((uint32_t)0x00000400) /*!< Port x Set bit 10 */ +#define GPIO_BSRR_BS11 ((uint32_t)0x00000800) /*!< Port x Set bit 11 */ +#define GPIO_BSRR_BS12 ((uint32_t)0x00001000) /*!< Port x Set bit 12 */ +#define GPIO_BSRR_BS13 ((uint32_t)0x00002000) /*!< Port x Set bit 13 */ +#define GPIO_BSRR_BS14 ((uint32_t)0x00004000) /*!< Port x Set bit 14 */ +#define GPIO_BSRR_BS15 ((uint32_t)0x00008000) /*!< Port x Set bit 15 */ + +#define GPIO_BSRR_BR0 ((uint32_t)0x00010000) /*!< Port x Reset bit 0 */ +#define GPIO_BSRR_BR1 ((uint32_t)0x00020000) /*!< Port x Reset bit 1 */ +#define GPIO_BSRR_BR2 ((uint32_t)0x00040000) /*!< Port x Reset bit 2 */ +#define GPIO_BSRR_BR3 ((uint32_t)0x00080000) /*!< Port x Reset bit 3 */ +#define GPIO_BSRR_BR4 ((uint32_t)0x00100000) /*!< Port x Reset bit 4 */ +#define GPIO_BSRR_BR5 ((uint32_t)0x00200000) /*!< Port x Reset bit 5 */ +#define GPIO_BSRR_BR6 ((uint32_t)0x00400000) /*!< Port x Reset bit 6 */ +#define GPIO_BSRR_BR7 ((uint32_t)0x00800000) /*!< Port x Reset bit 7 */ +#define GPIO_BSRR_BR8 ((uint32_t)0x01000000) /*!< Port x Reset bit 8 */ +#define GPIO_BSRR_BR9 ((uint32_t)0x02000000) /*!< Port x Reset bit 9 */ +#define GPIO_BSRR_BR10 ((uint32_t)0x04000000) /*!< Port x Reset bit 10 */ +#define GPIO_BSRR_BR11 ((uint32_t)0x08000000) /*!< Port x Reset bit 11 */ +#define GPIO_BSRR_BR12 ((uint32_t)0x10000000) /*!< Port x Reset bit 12 */ +#define GPIO_BSRR_BR13 ((uint32_t)0x20000000) /*!< Port x Reset bit 13 */ +#define GPIO_BSRR_BR14 ((uint32_t)0x40000000) /*!< Port x Reset bit 14 */ +#define GPIO_BSRR_BR15 ((uint32_t)0x80000000) /*!< Port x Reset bit 15 */ + +/******************* Bit definition for GPIO_BRR register *******************/ +#define GPIO_BRR_BR0 ((uint16_t)0x0001) /*!< Port x Reset bit 0 */ +#define GPIO_BRR_BR1 ((uint16_t)0x0002) /*!< Port x Reset bit 1 */ +#define GPIO_BRR_BR2 ((uint16_t)0x0004) /*!< Port x Reset bit 2 */ +#define GPIO_BRR_BR3 ((uint16_t)0x0008) /*!< Port x Reset bit 3 */ +#define GPIO_BRR_BR4 ((uint16_t)0x0010) /*!< Port x Reset bit 4 */ +#define GPIO_BRR_BR5 ((uint16_t)0x0020) /*!< Port x Reset bit 5 */ +#define GPIO_BRR_BR6 ((uint16_t)0x0040) /*!< Port x Reset bit 6 */ +#define GPIO_BRR_BR7 ((uint16_t)0x0080) /*!< Port x Reset bit 7 */ +#define GPIO_BRR_BR8 ((uint16_t)0x0100) /*!< Port x Reset bit 8 */ +#define GPIO_BRR_BR9 ((uint16_t)0x0200) /*!< Port x Reset bit 9 */ +#define GPIO_BRR_BR10 ((uint16_t)0x0400) /*!< Port x Reset bit 10 */ +#define GPIO_BRR_BR11 ((uint16_t)0x0800) /*!< Port x Reset bit 11 */ +#define GPIO_BRR_BR12 ((uint16_t)0x1000) /*!< Port x Reset bit 12 */ +#define GPIO_BRR_BR13 ((uint16_t)0x2000) /*!< Port x Reset bit 13 */ +#define GPIO_BRR_BR14 ((uint16_t)0x4000) /*!< Port x Reset bit 14 */ +#define GPIO_BRR_BR15 ((uint16_t)0x8000) /*!< Port x Reset bit 15 */ + +/****************** Bit definition for GPIO_LCKR register *******************/ +#define GPIO_LCKR_LCK0 ((uint32_t)0x00000001) /*!< Port x Lock bit 0 */ +#define GPIO_LCKR_LCK1 ((uint32_t)0x00000002) /*!< Port x Lock bit 1 */ +#define GPIO_LCKR_LCK2 ((uint32_t)0x00000004) /*!< Port x Lock bit 2 */ +#define GPIO_LCKR_LCK3 ((uint32_t)0x00000008) /*!< Port x Lock bit 3 */ +#define GPIO_LCKR_LCK4 ((uint32_t)0x00000010) /*!< Port x Lock bit 4 */ +#define GPIO_LCKR_LCK5 ((uint32_t)0x00000020) /*!< Port x Lock bit 5 */ +#define GPIO_LCKR_LCK6 ((uint32_t)0x00000040) /*!< Port x Lock bit 6 */ +#define GPIO_LCKR_LCK7 ((uint32_t)0x00000080) /*!< Port x Lock bit 7 */ +#define GPIO_LCKR_LCK8 ((uint32_t)0x00000100) /*!< Port x Lock bit 8 */ +#define GPIO_LCKR_LCK9 ((uint32_t)0x00000200) /*!< Port x Lock bit 9 */ +#define GPIO_LCKR_LCK10 ((uint32_t)0x00000400) /*!< Port x Lock bit 10 */ +#define GPIO_LCKR_LCK11 ((uint32_t)0x00000800) /*!< Port x Lock bit 11 */ +#define GPIO_LCKR_LCK12 ((uint32_t)0x00001000) /*!< Port x Lock bit 12 */ +#define GPIO_LCKR_LCK13 ((uint32_t)0x00002000) /*!< Port x Lock bit 13 */ +#define GPIO_LCKR_LCK14 ((uint32_t)0x00004000) /*!< Port x Lock bit 14 */ +#define GPIO_LCKR_LCK15 ((uint32_t)0x00008000) /*!< Port x Lock bit 15 */ +#define GPIO_LCKR_LCKK ((uint32_t)0x00010000) /*!< Lock key */ + +/*----------------------------------------------------------------------------*/ + +/****************** Bit definition for AFIO_EVCR register *******************/ +#define AFIO_EVCR_PIN ((uint8_t)0x0F) /*!< PIN[3:0] bits (Pin selection) */ +#define AFIO_EVCR_PIN_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define AFIO_EVCR_PIN_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define AFIO_EVCR_PIN_2 ((uint8_t)0x04) /*!< Bit 2 */ +#define AFIO_EVCR_PIN_3 ((uint8_t)0x08) /*!< Bit 3 */ + +/*!< PIN configuration */ +#define AFIO_EVCR_PIN_PX0 ((uint8_t)0x00) /*!< Pin 0 selected */ +#define AFIO_EVCR_PIN_PX1 ((uint8_t)0x01) /*!< Pin 1 selected */ +#define AFIO_EVCR_PIN_PX2 ((uint8_t)0x02) /*!< Pin 2 selected */ +#define AFIO_EVCR_PIN_PX3 ((uint8_t)0x03) /*!< Pin 3 selected */ +#define AFIO_EVCR_PIN_PX4 ((uint8_t)0x04) /*!< Pin 4 selected */ +#define AFIO_EVCR_PIN_PX5 ((uint8_t)0x05) /*!< Pin 5 selected */ +#define AFIO_EVCR_PIN_PX6 ((uint8_t)0x06) /*!< Pin 6 selected */ +#define AFIO_EVCR_PIN_PX7 ((uint8_t)0x07) /*!< Pin 7 selected */ +#define AFIO_EVCR_PIN_PX8 ((uint8_t)0x08) /*!< Pin 8 selected */ +#define AFIO_EVCR_PIN_PX9 ((uint8_t)0x09) /*!< Pin 9 selected */ +#define AFIO_EVCR_PIN_PX10 ((uint8_t)0x0A) /*!< Pin 10 selected */ +#define AFIO_EVCR_PIN_PX11 ((uint8_t)0x0B) /*!< Pin 11 selected */ +#define AFIO_EVCR_PIN_PX12 ((uint8_t)0x0C) /*!< Pin 12 selected */ +#define AFIO_EVCR_PIN_PX13 ((uint8_t)0x0D) /*!< Pin 13 selected */ +#define AFIO_EVCR_PIN_PX14 ((uint8_t)0x0E) /*!< Pin 14 selected */ +#define AFIO_EVCR_PIN_PX15 ((uint8_t)0x0F) /*!< Pin 15 selected */ + +#define AFIO_EVCR_PORT ((uint8_t)0x70) /*!< PORT[2:0] bits (Port selection) */ +#define AFIO_EVCR_PORT_0 ((uint8_t)0x10) /*!< Bit 0 */ +#define AFIO_EVCR_PORT_1 ((uint8_t)0x20) /*!< Bit 1 */ +#define AFIO_EVCR_PORT_2 ((uint8_t)0x40) /*!< Bit 2 */ + +/*!< PORT configuration */ +#define AFIO_EVCR_PORT_PA ((uint8_t)0x00) /*!< Port A selected */ +#define AFIO_EVCR_PORT_PB ((uint8_t)0x10) /*!< Port B selected */ +#define AFIO_EVCR_PORT_PC ((uint8_t)0x20) /*!< Port C selected */ +#define AFIO_EVCR_PORT_PD ((uint8_t)0x30) /*!< Port D selected */ +#define AFIO_EVCR_PORT_PE ((uint8_t)0x40) /*!< Port E selected */ + +#define AFIO_EVCR_EVOE ((uint8_t)0x80) /*!< Event Output Enable */ + +/****************** Bit definition for AFIO_MAPR register *******************/ +#define AFIO_MAPR_SPI1_REMAP ((uint32_t)0x00000001) /*!< SPI1 remapping */ +#define AFIO_MAPR_I2C1_REMAP ((uint32_t)0x00000002) /*!< I2C1 remapping */ +#define AFIO_MAPR_USART1_REMAP ((uint32_t)0x00000004) /*!< USART1 remapping */ +#define AFIO_MAPR_USART2_REMAP ((uint32_t)0x00000008) /*!< USART2 remapping */ + +#define AFIO_MAPR_USART3_REMAP ((uint32_t)0x00000030) /*!< USART3_REMAP[1:0] bits (USART3 remapping) */ +#define AFIO_MAPR_USART3_REMAP_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define AFIO_MAPR_USART3_REMAP_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +/* USART3_REMAP configuration */ +#define AFIO_MAPR_USART3_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (TX/PB10, RX/PB11, CK/PB12, CTS/PB13, RTS/PB14) */ +#define AFIO_MAPR_USART3_REMAP_PARTIALREMAP ((uint32_t)0x00000010) /*!< Partial remap (TX/PC10, RX/PC11, CK/PC12, CTS/PB13, RTS/PB14) */ +#define AFIO_MAPR_USART3_REMAP_FULLREMAP ((uint32_t)0x00000030) /*!< Full remap (TX/PD8, RX/PD9, CK/PD10, CTS/PD11, RTS/PD12) */ + +#define AFIO_MAPR_TIM1_REMAP ((uint32_t)0x000000C0) /*!< TIM1_REMAP[1:0] bits (TIM1 remapping) */ +#define AFIO_MAPR_TIM1_REMAP_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define AFIO_MAPR_TIM1_REMAP_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +/*!< TIM1_REMAP configuration */ +#define AFIO_MAPR_TIM1_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (ETR/PA12, CH1/PA8, CH2/PA9, CH3/PA10, CH4/PA11, BKIN/PB12, CH1N/PB13, CH2N/PB14, CH3N/PB15) */ +#define AFIO_MAPR_TIM1_REMAP_PARTIALREMAP ((uint32_t)0x00000040) /*!< Partial remap (ETR/PA12, CH1/PA8, CH2/PA9, CH3/PA10, CH4/PA11, BKIN/PA6, CH1N/PA7, CH2N/PB0, CH3N/PB1) */ +#define AFIO_MAPR_TIM1_REMAP_FULLREMAP ((uint32_t)0x000000C0) /*!< Full remap (ETR/PE7, CH1/PE9, CH2/PE11, CH3/PE13, CH4/PE14, BKIN/PE15, CH1N/PE8, CH2N/PE10, CH3N/PE12) */ + +#define AFIO_MAPR_TIM2_REMAP ((uint32_t)0x00000300) /*!< TIM2_REMAP[1:0] bits (TIM2 remapping) */ +#define AFIO_MAPR_TIM2_REMAP_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define AFIO_MAPR_TIM2_REMAP_1 ((uint32_t)0x00000200) /*!< Bit 1 */ + +/*!< TIM2_REMAP configuration */ +#define AFIO_MAPR_TIM2_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (CH1/ETR/PA0, CH2/PA1, CH3/PA2, CH4/PA3) */ +#define AFIO_MAPR_TIM2_REMAP_PARTIALREMAP1 ((uint32_t)0x00000100) /*!< Partial remap (CH1/ETR/PA15, CH2/PB3, CH3/PA2, CH4/PA3) */ +#define AFIO_MAPR_TIM2_REMAP_PARTIALREMAP2 ((uint32_t)0x00000200) /*!< Partial remap (CH1/ETR/PA0, CH2/PA1, CH3/PB10, CH4/PB11) */ +#define AFIO_MAPR_TIM2_REMAP_FULLREMAP ((uint32_t)0x00000300) /*!< Full remap (CH1/ETR/PA15, CH2/PB3, CH3/PB10, CH4/PB11) */ + +#define AFIO_MAPR_TIM3_REMAP ((uint32_t)0x00000C00) /*!< TIM3_REMAP[1:0] bits (TIM3 remapping) */ +#define AFIO_MAPR_TIM3_REMAP_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define AFIO_MAPR_TIM3_REMAP_1 ((uint32_t)0x00000800) /*!< Bit 1 */ + +/*!< TIM3_REMAP configuration */ +#define AFIO_MAPR_TIM3_REMAP_NOREMAP ((uint32_t)0x00000000) /*!< No remap (CH1/PA6, CH2/PA7, CH3/PB0, CH4/PB1) */ +#define AFIO_MAPR_TIM3_REMAP_PARTIALREMAP ((uint32_t)0x00000800) /*!< Partial remap (CH1/PB4, CH2/PB5, CH3/PB0, CH4/PB1) */ +#define AFIO_MAPR_TIM3_REMAP_FULLREMAP ((uint32_t)0x00000C00) /*!< Full remap (CH1/PC6, CH2/PC7, CH3/PC8, CH4/PC9) */ + +#define AFIO_MAPR_TIM4_REMAP ((uint32_t)0x00001000) /*!< TIM4_REMAP bit (TIM4 remapping) */ + +#define AFIO_MAPR_CAN_REMAP ((uint32_t)0x00006000) /*!< CAN_REMAP[1:0] bits (CAN Alternate function remapping) */ +#define AFIO_MAPR_CAN_REMAP_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define AFIO_MAPR_CAN_REMAP_1 ((uint32_t)0x00004000) /*!< Bit 1 */ + +/*!< CAN_REMAP configuration */ +#define AFIO_MAPR_CAN_REMAP_REMAP1 ((uint32_t)0x00000000) /*!< CANRX mapped to PA11, CANTX mapped to PA12 */ +#define AFIO_MAPR_CAN_REMAP_REMAP2 ((uint32_t)0x00004000) /*!< CANRX mapped to PB8, CANTX mapped to PB9 */ +#define AFIO_MAPR_CAN_REMAP_REMAP3 ((uint32_t)0x00006000) /*!< CANRX mapped to PD0, CANTX mapped to PD1 */ + +#define AFIO_MAPR_PD01_REMAP ((uint32_t)0x00008000) /*!< Port D0/Port D1 mapping on OSC_IN/OSC_OUT */ +#define AFIO_MAPR_TIM5CH4_IREMAP ((uint32_t)0x00010000) /*!< TIM5 Channel4 Internal Remap */ +#define AFIO_MAPR_ADC1_ETRGINJ_REMAP ((uint32_t)0x00020000) /*!< ADC 1 External Trigger Injected Conversion remapping */ +#define AFIO_MAPR_ADC1_ETRGREG_REMAP ((uint32_t)0x00040000) /*!< ADC 1 External Trigger Regular Conversion remapping */ +#define AFIO_MAPR_ADC2_ETRGINJ_REMAP ((uint32_t)0x00080000) /*!< ADC 2 External Trigger Injected Conversion remapping */ +#define AFIO_MAPR_ADC2_ETRGREG_REMAP ((uint32_t)0x00100000) /*!< ADC 2 External Trigger Regular Conversion remapping */ + +/*!< SWJ_CFG configuration */ +#define AFIO_MAPR_SWJ_CFG ((uint32_t)0x07000000) /*!< SWJ_CFG[2:0] bits (Serial Wire JTAG configuration) */ +#define AFIO_MAPR_SWJ_CFG_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define AFIO_MAPR_SWJ_CFG_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define AFIO_MAPR_SWJ_CFG_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + +#define AFIO_MAPR_SWJ_CFG_RESET ((uint32_t)0x00000000) /*!< Full SWJ (JTAG-DP + SW-DP) : Reset State */ +#define AFIO_MAPR_SWJ_CFG_NOJNTRST ((uint32_t)0x01000000) /*!< Full SWJ (JTAG-DP + SW-DP) but without JNTRST */ +#define AFIO_MAPR_SWJ_CFG_JTAGDISABLE ((uint32_t)0x02000000) /*!< JTAG-DP Disabled and SW-DP Enabled */ +#define AFIO_MAPR_SWJ_CFG_DISABLE ((uint32_t)0x04000000) /*!< JTAG-DP Disabled and SW-DP Disabled */ + +#ifdef STM32F10X_CL +/*!< ETH_REMAP configuration */ + #define AFIO_MAPR_ETH_REMAP ((uint32_t)0x00200000) /*!< SPI3_REMAP bit (Ethernet MAC I/O remapping) */ + +/*!< CAN2_REMAP configuration */ + #define AFIO_MAPR_CAN2_REMAP ((uint32_t)0x00400000) /*!< CAN2_REMAP bit (CAN2 I/O remapping) */ + +/*!< MII_RMII_SEL configuration */ + #define AFIO_MAPR_MII_RMII_SEL ((uint32_t)0x00800000) /*!< MII_RMII_SEL bit (Ethernet MII or RMII selection) */ + +/*!< SPI3_REMAP configuration */ + #define AFIO_MAPR_SPI3_REMAP ((uint32_t)0x10000000) /*!< SPI3_REMAP bit (SPI3 remapping) */ + +/*!< TIM2ITR1_IREMAP configuration */ + #define AFIO_MAPR_TIM2ITR1_IREMAP ((uint32_t)0x20000000) /*!< TIM2ITR1_IREMAP bit (TIM2 internal trigger 1 remapping) */ + +/*!< PTP_PPS_REMAP configuration */ + #define AFIO_MAPR_PTP_PPS_REMAP ((uint32_t)0x40000000) /*!< PTP_PPS_REMAP bit (Ethernet PTP PPS remapping) */ +#endif + +/***************** Bit definition for AFIO_EXTICR1 register *****************/ +#define AFIO_EXTICR1_EXTI0 ((uint16_t)0x000F) /*!< EXTI 0 configuration */ +#define AFIO_EXTICR1_EXTI1 ((uint16_t)0x00F0) /*!< EXTI 1 configuration */ +#define AFIO_EXTICR1_EXTI2 ((uint16_t)0x0F00) /*!< EXTI 2 configuration */ +#define AFIO_EXTICR1_EXTI3 ((uint16_t)0xF000) /*!< EXTI 3 configuration */ + +/*!< EXTI0 configuration */ +#define AFIO_EXTICR1_EXTI0_PA ((uint16_t)0x0000) /*!< PA[0] pin */ +#define AFIO_EXTICR1_EXTI0_PB ((uint16_t)0x0001) /*!< PB[0] pin */ +#define AFIO_EXTICR1_EXTI0_PC ((uint16_t)0x0002) /*!< PC[0] pin */ +#define AFIO_EXTICR1_EXTI0_PD ((uint16_t)0x0003) /*!< PD[0] pin */ +#define AFIO_EXTICR1_EXTI0_PE ((uint16_t)0x0004) /*!< PE[0] pin */ +#define AFIO_EXTICR1_EXTI0_PF ((uint16_t)0x0005) /*!< PF[0] pin */ +#define AFIO_EXTICR1_EXTI0_PG ((uint16_t)0x0006) /*!< PG[0] pin */ + +/*!< EXTI1 configuration */ +#define AFIO_EXTICR1_EXTI1_PA ((uint16_t)0x0000) /*!< PA[1] pin */ +#define AFIO_EXTICR1_EXTI1_PB ((uint16_t)0x0010) /*!< PB[1] pin */ +#define AFIO_EXTICR1_EXTI1_PC ((uint16_t)0x0020) /*!< PC[1] pin */ +#define AFIO_EXTICR1_EXTI1_PD ((uint16_t)0x0030) /*!< PD[1] pin */ +#define AFIO_EXTICR1_EXTI1_PE ((uint16_t)0x0040) /*!< PE[1] pin */ +#define AFIO_EXTICR1_EXTI1_PF ((uint16_t)0x0050) /*!< PF[1] pin */ +#define AFIO_EXTICR1_EXTI1_PG ((uint16_t)0x0060) /*!< PG[1] pin */ + +/*!< EXTI2 configuration */ +#define AFIO_EXTICR1_EXTI2_PA ((uint16_t)0x0000) /*!< PA[2] pin */ +#define AFIO_EXTICR1_EXTI2_PB ((uint16_t)0x0100) /*!< PB[2] pin */ +#define AFIO_EXTICR1_EXTI2_PC ((uint16_t)0x0200) /*!< PC[2] pin */ +#define AFIO_EXTICR1_EXTI2_PD ((uint16_t)0x0300) /*!< PD[2] pin */ +#define AFIO_EXTICR1_EXTI2_PE ((uint16_t)0x0400) /*!< PE[2] pin */ +#define AFIO_EXTICR1_EXTI2_PF ((uint16_t)0x0500) /*!< PF[2] pin */ +#define AFIO_EXTICR1_EXTI2_PG ((uint16_t)0x0600) /*!< PG[2] pin */ + +/*!< EXTI3 configuration */ +#define AFIO_EXTICR1_EXTI3_PA ((uint16_t)0x0000) /*!< PA[3] pin */ +#define AFIO_EXTICR1_EXTI3_PB ((uint16_t)0x1000) /*!< PB[3] pin */ +#define AFIO_EXTICR1_EXTI3_PC ((uint16_t)0x2000) /*!< PC[3] pin */ +#define AFIO_EXTICR1_EXTI3_PD ((uint16_t)0x3000) /*!< PD[3] pin */ +#define AFIO_EXTICR1_EXTI3_PE ((uint16_t)0x4000) /*!< PE[3] pin */ +#define AFIO_EXTICR1_EXTI3_PF ((uint16_t)0x5000) /*!< PF[3] pin */ +#define AFIO_EXTICR1_EXTI3_PG ((uint16_t)0x6000) /*!< PG[3] pin */ + +/***************** Bit definition for AFIO_EXTICR2 register *****************/ +#define AFIO_EXTICR2_EXTI4 ((uint16_t)0x000F) /*!< EXTI 4 configuration */ +#define AFIO_EXTICR2_EXTI5 ((uint16_t)0x00F0) /*!< EXTI 5 configuration */ +#define AFIO_EXTICR2_EXTI6 ((uint16_t)0x0F00) /*!< EXTI 6 configuration */ +#define AFIO_EXTICR2_EXTI7 ((uint16_t)0xF000) /*!< EXTI 7 configuration */ + +/*!< EXTI4 configuration */ +#define AFIO_EXTICR2_EXTI4_PA ((uint16_t)0x0000) /*!< PA[4] pin */ +#define AFIO_EXTICR2_EXTI4_PB ((uint16_t)0x0001) /*!< PB[4] pin */ +#define AFIO_EXTICR2_EXTI4_PC ((uint16_t)0x0002) /*!< PC[4] pin */ +#define AFIO_EXTICR2_EXTI4_PD ((uint16_t)0x0003) /*!< PD[4] pin */ +#define AFIO_EXTICR2_EXTI4_PE ((uint16_t)0x0004) /*!< PE[4] pin */ +#define AFIO_EXTICR2_EXTI4_PF ((uint16_t)0x0005) /*!< PF[4] pin */ +#define AFIO_EXTICR2_EXTI4_PG ((uint16_t)0x0006) /*!< PG[4] pin */ + +/* EXTI5 configuration */ +#define AFIO_EXTICR2_EXTI5_PA ((uint16_t)0x0000) /*!< PA[5] pin */ +#define AFIO_EXTICR2_EXTI5_PB ((uint16_t)0x0010) /*!< PB[5] pin */ +#define AFIO_EXTICR2_EXTI5_PC ((uint16_t)0x0020) /*!< PC[5] pin */ +#define AFIO_EXTICR2_EXTI5_PD ((uint16_t)0x0030) /*!< PD[5] pin */ +#define AFIO_EXTICR2_EXTI5_PE ((uint16_t)0x0040) /*!< PE[5] pin */ +#define AFIO_EXTICR2_EXTI5_PF ((uint16_t)0x0050) /*!< PF[5] pin */ +#define AFIO_EXTICR2_EXTI5_PG ((uint16_t)0x0060) /*!< PG[5] pin */ + +/*!< EXTI6 configuration */ +#define AFIO_EXTICR2_EXTI6_PA ((uint16_t)0x0000) /*!< PA[6] pin */ +#define AFIO_EXTICR2_EXTI6_PB ((uint16_t)0x0100) /*!< PB[6] pin */ +#define AFIO_EXTICR2_EXTI6_PC ((uint16_t)0x0200) /*!< PC[6] pin */ +#define AFIO_EXTICR2_EXTI6_PD ((uint16_t)0x0300) /*!< PD[6] pin */ +#define AFIO_EXTICR2_EXTI6_PE ((uint16_t)0x0400) /*!< PE[6] pin */ +#define AFIO_EXTICR2_EXTI6_PF ((uint16_t)0x0500) /*!< PF[6] pin */ +#define AFIO_EXTICR2_EXTI6_PG ((uint16_t)0x0600) /*!< PG[6] pin */ + +/*!< EXTI7 configuration */ +#define AFIO_EXTICR2_EXTI7_PA ((uint16_t)0x0000) /*!< PA[7] pin */ +#define AFIO_EXTICR2_EXTI7_PB ((uint16_t)0x1000) /*!< PB[7] pin */ +#define AFIO_EXTICR2_EXTI7_PC ((uint16_t)0x2000) /*!< PC[7] pin */ +#define AFIO_EXTICR2_EXTI7_PD ((uint16_t)0x3000) /*!< PD[7] pin */ +#define AFIO_EXTICR2_EXTI7_PE ((uint16_t)0x4000) /*!< PE[7] pin */ +#define AFIO_EXTICR2_EXTI7_PF ((uint16_t)0x5000) /*!< PF[7] pin */ +#define AFIO_EXTICR2_EXTI7_PG ((uint16_t)0x6000) /*!< PG[7] pin */ + +/***************** Bit definition for AFIO_EXTICR3 register *****************/ +#define AFIO_EXTICR3_EXTI8 ((uint16_t)0x000F) /*!< EXTI 8 configuration */ +#define AFIO_EXTICR3_EXTI9 ((uint16_t)0x00F0) /*!< EXTI 9 configuration */ +#define AFIO_EXTICR3_EXTI10 ((uint16_t)0x0F00) /*!< EXTI 10 configuration */ +#define AFIO_EXTICR3_EXTI11 ((uint16_t)0xF000) /*!< EXTI 11 configuration */ + +/*!< EXTI8 configuration */ +#define AFIO_EXTICR3_EXTI8_PA ((uint16_t)0x0000) /*!< PA[8] pin */ +#define AFIO_EXTICR3_EXTI8_PB ((uint16_t)0x0001) /*!< PB[8] pin */ +#define AFIO_EXTICR3_EXTI8_PC ((uint16_t)0x0002) /*!< PC[8] pin */ +#define AFIO_EXTICR3_EXTI8_PD ((uint16_t)0x0003) /*!< PD[8] pin */ +#define AFIO_EXTICR3_EXTI8_PE ((uint16_t)0x0004) /*!< PE[8] pin */ +#define AFIO_EXTICR3_EXTI8_PF ((uint16_t)0x0005) /*!< PF[8] pin */ +#define AFIO_EXTICR3_EXTI8_PG ((uint16_t)0x0006) /*!< PG[8] pin */ + +/*!< EXTI9 configuration */ +#define AFIO_EXTICR3_EXTI9_PA ((uint16_t)0x0000) /*!< PA[9] pin */ +#define AFIO_EXTICR3_EXTI9_PB ((uint16_t)0x0010) /*!< PB[9] pin */ +#define AFIO_EXTICR3_EXTI9_PC ((uint16_t)0x0020) /*!< PC[9] pin */ +#define AFIO_EXTICR3_EXTI9_PD ((uint16_t)0x0030) /*!< PD[9] pin */ +#define AFIO_EXTICR3_EXTI9_PE ((uint16_t)0x0040) /*!< PE[9] pin */ +#define AFIO_EXTICR3_EXTI9_PF ((uint16_t)0x0050) /*!< PF[9] pin */ +#define AFIO_EXTICR3_EXTI9_PG ((uint16_t)0x0060) /*!< PG[9] pin */ + +/*!< EXTI10 configuration */ +#define AFIO_EXTICR3_EXTI10_PA ((uint16_t)0x0000) /*!< PA[10] pin */ +#define AFIO_EXTICR3_EXTI10_PB ((uint16_t)0x0100) /*!< PB[10] pin */ +#define AFIO_EXTICR3_EXTI10_PC ((uint16_t)0x0200) /*!< PC[10] pin */ +#define AFIO_EXTICR3_EXTI10_PD ((uint16_t)0x0300) /*!< PD[10] pin */ +#define AFIO_EXTICR3_EXTI10_PE ((uint16_t)0x0400) /*!< PE[10] pin */ +#define AFIO_EXTICR3_EXTI10_PF ((uint16_t)0x0500) /*!< PF[10] pin */ +#define AFIO_EXTICR3_EXTI10_PG ((uint16_t)0x0600) /*!< PG[10] pin */ + +/*!< EXTI11 configuration */ +#define AFIO_EXTICR3_EXTI11_PA ((uint16_t)0x0000) /*!< PA[11] pin */ +#define AFIO_EXTICR3_EXTI11_PB ((uint16_t)0x1000) /*!< PB[11] pin */ +#define AFIO_EXTICR3_EXTI11_PC ((uint16_t)0x2000) /*!< PC[11] pin */ +#define AFIO_EXTICR3_EXTI11_PD ((uint16_t)0x3000) /*!< PD[11] pin */ +#define AFIO_EXTICR3_EXTI11_PE ((uint16_t)0x4000) /*!< PE[11] pin */ +#define AFIO_EXTICR3_EXTI11_PF ((uint16_t)0x5000) /*!< PF[11] pin */ +#define AFIO_EXTICR3_EXTI11_PG ((uint16_t)0x6000) /*!< PG[11] pin */ + +/***************** Bit definition for AFIO_EXTICR4 register *****************/ +#define AFIO_EXTICR4_EXTI12 ((uint16_t)0x000F) /*!< EXTI 12 configuration */ +#define AFIO_EXTICR4_EXTI13 ((uint16_t)0x00F0) /*!< EXTI 13 configuration */ +#define AFIO_EXTICR4_EXTI14 ((uint16_t)0x0F00) /*!< EXTI 14 configuration */ +#define AFIO_EXTICR4_EXTI15 ((uint16_t)0xF000) /*!< EXTI 15 configuration */ + +/* EXTI12 configuration */ +#define AFIO_EXTICR4_EXTI12_PA ((uint16_t)0x0000) /*!< PA[12] pin */ +#define AFIO_EXTICR4_EXTI12_PB ((uint16_t)0x0001) /*!< PB[12] pin */ +#define AFIO_EXTICR4_EXTI12_PC ((uint16_t)0x0002) /*!< PC[12] pin */ +#define AFIO_EXTICR4_EXTI12_PD ((uint16_t)0x0003) /*!< PD[12] pin */ +#define AFIO_EXTICR4_EXTI12_PE ((uint16_t)0x0004) /*!< PE[12] pin */ +#define AFIO_EXTICR4_EXTI12_PF ((uint16_t)0x0005) /*!< PF[12] pin */ +#define AFIO_EXTICR4_EXTI12_PG ((uint16_t)0x0006) /*!< PG[12] pin */ + +/* EXTI13 configuration */ +#define AFIO_EXTICR4_EXTI13_PA ((uint16_t)0x0000) /*!< PA[13] pin */ +#define AFIO_EXTICR4_EXTI13_PB ((uint16_t)0x0010) /*!< PB[13] pin */ +#define AFIO_EXTICR4_EXTI13_PC ((uint16_t)0x0020) /*!< PC[13] pin */ +#define AFIO_EXTICR4_EXTI13_PD ((uint16_t)0x0030) /*!< PD[13] pin */ +#define AFIO_EXTICR4_EXTI13_PE ((uint16_t)0x0040) /*!< PE[13] pin */ +#define AFIO_EXTICR4_EXTI13_PF ((uint16_t)0x0050) /*!< PF[13] pin */ +#define AFIO_EXTICR4_EXTI13_PG ((uint16_t)0x0060) /*!< PG[13] pin */ + +/*!< EXTI14 configuration */ +#define AFIO_EXTICR4_EXTI14_PA ((uint16_t)0x0000) /*!< PA[14] pin */ +#define AFIO_EXTICR4_EXTI14_PB ((uint16_t)0x0100) /*!< PB[14] pin */ +#define AFIO_EXTICR4_EXTI14_PC ((uint16_t)0x0200) /*!< PC[14] pin */ +#define AFIO_EXTICR4_EXTI14_PD ((uint16_t)0x0300) /*!< PD[14] pin */ +#define AFIO_EXTICR4_EXTI14_PE ((uint16_t)0x0400) /*!< PE[14] pin */ +#define AFIO_EXTICR4_EXTI14_PF ((uint16_t)0x0500) /*!< PF[14] pin */ +#define AFIO_EXTICR4_EXTI14_PG ((uint16_t)0x0600) /*!< PG[14] pin */ + +/*!< EXTI15 configuration */ +#define AFIO_EXTICR4_EXTI15_PA ((uint16_t)0x0000) /*!< PA[15] pin */ +#define AFIO_EXTICR4_EXTI15_PB ((uint16_t)0x1000) /*!< PB[15] pin */ +#define AFIO_EXTICR4_EXTI15_PC ((uint16_t)0x2000) /*!< PC[15] pin */ +#define AFIO_EXTICR4_EXTI15_PD ((uint16_t)0x3000) /*!< PD[15] pin */ +#define AFIO_EXTICR4_EXTI15_PE ((uint16_t)0x4000) /*!< PE[15] pin */ +#define AFIO_EXTICR4_EXTI15_PF ((uint16_t)0x5000) /*!< PF[15] pin */ +#define AFIO_EXTICR4_EXTI15_PG ((uint16_t)0x6000) /*!< PG[15] pin */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/****************** Bit definition for AFIO_MAPR2 register ******************/ +#define AFIO_MAPR2_TIM15_REMAP ((uint32_t)0x00000001) /*!< TIM15 remapping */ +#define AFIO_MAPR2_TIM16_REMAP ((uint32_t)0x00000002) /*!< TIM16 remapping */ +#define AFIO_MAPR2_TIM17_REMAP ((uint32_t)0x00000004) /*!< TIM17 remapping */ +#define AFIO_MAPR2_CEC_REMAP ((uint32_t)0x00000008) /*!< CEC remapping */ +#define AFIO_MAPR2_TIM1_DMA_REMAP ((uint32_t)0x00000010) /*!< TIM1_DMA remapping */ +#endif + +#ifdef STM32F10X_HD_VL +#define AFIO_MAPR2_TIM13_REMAP ((uint32_t)0x00000100) /*!< TIM13 remapping */ +#define AFIO_MAPR2_TIM14_REMAP ((uint32_t)0x00000200) /*!< TIM14 remapping */ +#define AFIO_MAPR2_FSMC_NADV_REMAP ((uint32_t)0x00000400) /*!< FSMC NADV remapping */ +#define AFIO_MAPR2_TIM67_DAC_DMA_REMAP ((uint32_t)0x00000800) /*!< TIM6/TIM7 and DAC DMA remapping */ +#define AFIO_MAPR2_TIM12_REMAP ((uint32_t)0x00001000) /*!< TIM12 remapping */ +#define AFIO_MAPR2_MISC_REMAP ((uint32_t)0x00002000) /*!< Miscellaneous remapping */ +#endif + +#ifdef STM32F10X_XL +/****************** Bit definition for AFIO_MAPR2 register ******************/ +#define AFIO_MAPR2_TIM9_REMAP ((uint32_t)0x00000020) /*!< TIM9 remapping */ +#define AFIO_MAPR2_TIM10_REMAP ((uint32_t)0x00000040) /*!< TIM10 remapping */ +#define AFIO_MAPR2_TIM11_REMAP ((uint32_t)0x00000080) /*!< TIM11 remapping */ +#define AFIO_MAPR2_TIM13_REMAP ((uint32_t)0x00000100) /*!< TIM13 remapping */ +#define AFIO_MAPR2_TIM14_REMAP ((uint32_t)0x00000200) /*!< TIM14 remapping */ +#define AFIO_MAPR2_FSMC_NADV_REMAP ((uint32_t)0x00000400) /*!< FSMC NADV remapping */ +#endif + +/******************************************************************************/ +/* */ +/* SystemTick */ +/* */ +/******************************************************************************/ + +/***************** Bit definition for SysTick_CTRL register *****************/ +#define SysTick_CTRL_ENABLE ((uint32_t)0x00000001) /*!< Counter enable */ +#define SysTick_CTRL_TICKINT ((uint32_t)0x00000002) /*!< Counting down to 0 pends the SysTick handler */ +#define SysTick_CTRL_CLKSOURCE ((uint32_t)0x00000004) /*!< Clock source */ +#define SysTick_CTRL_COUNTFLAG ((uint32_t)0x00010000) /*!< Count Flag */ + +/***************** Bit definition for SysTick_LOAD register *****************/ +#define SysTick_LOAD_RELOAD ((uint32_t)0x00FFFFFF) /*!< Value to load into the SysTick Current Value Register when the counter reaches 0 */ + +/***************** Bit definition for SysTick_VAL register ******************/ +#define SysTick_VAL_CURRENT ((uint32_t)0x00FFFFFF) /*!< Current value at the time the register is accessed */ + +/***************** Bit definition for SysTick_CALIB register ****************/ +#define SysTick_CALIB_TENMS ((uint32_t)0x00FFFFFF) /*!< Reload value to use for 10ms timing */ +#define SysTick_CALIB_SKEW ((uint32_t)0x40000000) /*!< Calibration value is not exactly 10 ms */ +#define SysTick_CALIB_NOREF ((uint32_t)0x80000000) /*!< The reference clock is not provided */ + +/******************************************************************************/ +/* */ +/* Nested Vectored Interrupt Controller */ +/* */ +/******************************************************************************/ + +/****************** Bit definition for NVIC_ISER register *******************/ +#define NVIC_ISER_SETENA ((uint32_t)0xFFFFFFFF) /*!< Interrupt set enable bits */ +#define NVIC_ISER_SETENA_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ISER_SETENA_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ISER_SETENA_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ISER_SETENA_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ISER_SETENA_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ISER_SETENA_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ISER_SETENA_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ISER_SETENA_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ISER_SETENA_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ISER_SETENA_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ISER_SETENA_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ISER_SETENA_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ISER_SETENA_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ISER_SETENA_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ISER_SETENA_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ISER_SETENA_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ISER_SETENA_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ISER_SETENA_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ISER_SETENA_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ISER_SETENA_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ISER_SETENA_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ISER_SETENA_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ISER_SETENA_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ISER_SETENA_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ISER_SETENA_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ISER_SETENA_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ISER_SETENA_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ISER_SETENA_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ISER_SETENA_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ISER_SETENA_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ISER_SETENA_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ISER_SETENA_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_ICER register *******************/ +#define NVIC_ICER_CLRENA ((uint32_t)0xFFFFFFFF) /*!< Interrupt clear-enable bits */ +#define NVIC_ICER_CLRENA_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ICER_CLRENA_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ICER_CLRENA_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ICER_CLRENA_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ICER_CLRENA_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ICER_CLRENA_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ICER_CLRENA_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ICER_CLRENA_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ICER_CLRENA_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ICER_CLRENA_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ICER_CLRENA_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ICER_CLRENA_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ICER_CLRENA_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ICER_CLRENA_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ICER_CLRENA_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ICER_CLRENA_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ICER_CLRENA_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ICER_CLRENA_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ICER_CLRENA_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ICER_CLRENA_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ICER_CLRENA_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ICER_CLRENA_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ICER_CLRENA_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ICER_CLRENA_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ICER_CLRENA_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ICER_CLRENA_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ICER_CLRENA_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ICER_CLRENA_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ICER_CLRENA_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ICER_CLRENA_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ICER_CLRENA_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ICER_CLRENA_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_ISPR register *******************/ +#define NVIC_ISPR_SETPEND ((uint32_t)0xFFFFFFFF) /*!< Interrupt set-pending bits */ +#define NVIC_ISPR_SETPEND_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ISPR_SETPEND_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ISPR_SETPEND_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ISPR_SETPEND_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ISPR_SETPEND_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ISPR_SETPEND_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ISPR_SETPEND_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ISPR_SETPEND_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ISPR_SETPEND_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ISPR_SETPEND_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ISPR_SETPEND_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ISPR_SETPEND_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ISPR_SETPEND_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ISPR_SETPEND_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ISPR_SETPEND_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ISPR_SETPEND_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ISPR_SETPEND_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ISPR_SETPEND_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ISPR_SETPEND_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ISPR_SETPEND_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ISPR_SETPEND_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ISPR_SETPEND_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ISPR_SETPEND_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ISPR_SETPEND_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ISPR_SETPEND_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ISPR_SETPEND_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ISPR_SETPEND_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ISPR_SETPEND_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ISPR_SETPEND_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ISPR_SETPEND_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ISPR_SETPEND_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ISPR_SETPEND_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_ICPR register *******************/ +#define NVIC_ICPR_CLRPEND ((uint32_t)0xFFFFFFFF) /*!< Interrupt clear-pending bits */ +#define NVIC_ICPR_CLRPEND_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_ICPR_CLRPEND_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_ICPR_CLRPEND_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_ICPR_CLRPEND_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_ICPR_CLRPEND_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_ICPR_CLRPEND_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_ICPR_CLRPEND_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_ICPR_CLRPEND_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_ICPR_CLRPEND_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_ICPR_CLRPEND_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_ICPR_CLRPEND_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_ICPR_CLRPEND_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_ICPR_CLRPEND_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_ICPR_CLRPEND_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_ICPR_CLRPEND_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_ICPR_CLRPEND_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_ICPR_CLRPEND_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_ICPR_CLRPEND_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_ICPR_CLRPEND_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_ICPR_CLRPEND_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_ICPR_CLRPEND_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_ICPR_CLRPEND_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_ICPR_CLRPEND_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_ICPR_CLRPEND_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_ICPR_CLRPEND_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_ICPR_CLRPEND_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_ICPR_CLRPEND_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_ICPR_CLRPEND_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_ICPR_CLRPEND_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_ICPR_CLRPEND_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_ICPR_CLRPEND_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_ICPR_CLRPEND_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_IABR register *******************/ +#define NVIC_IABR_ACTIVE ((uint32_t)0xFFFFFFFF) /*!< Interrupt active flags */ +#define NVIC_IABR_ACTIVE_0 ((uint32_t)0x00000001) /*!< bit 0 */ +#define NVIC_IABR_ACTIVE_1 ((uint32_t)0x00000002) /*!< bit 1 */ +#define NVIC_IABR_ACTIVE_2 ((uint32_t)0x00000004) /*!< bit 2 */ +#define NVIC_IABR_ACTIVE_3 ((uint32_t)0x00000008) /*!< bit 3 */ +#define NVIC_IABR_ACTIVE_4 ((uint32_t)0x00000010) /*!< bit 4 */ +#define NVIC_IABR_ACTIVE_5 ((uint32_t)0x00000020) /*!< bit 5 */ +#define NVIC_IABR_ACTIVE_6 ((uint32_t)0x00000040) /*!< bit 6 */ +#define NVIC_IABR_ACTIVE_7 ((uint32_t)0x00000080) /*!< bit 7 */ +#define NVIC_IABR_ACTIVE_8 ((uint32_t)0x00000100) /*!< bit 8 */ +#define NVIC_IABR_ACTIVE_9 ((uint32_t)0x00000200) /*!< bit 9 */ +#define NVIC_IABR_ACTIVE_10 ((uint32_t)0x00000400) /*!< bit 10 */ +#define NVIC_IABR_ACTIVE_11 ((uint32_t)0x00000800) /*!< bit 11 */ +#define NVIC_IABR_ACTIVE_12 ((uint32_t)0x00001000) /*!< bit 12 */ +#define NVIC_IABR_ACTIVE_13 ((uint32_t)0x00002000) /*!< bit 13 */ +#define NVIC_IABR_ACTIVE_14 ((uint32_t)0x00004000) /*!< bit 14 */ +#define NVIC_IABR_ACTIVE_15 ((uint32_t)0x00008000) /*!< bit 15 */ +#define NVIC_IABR_ACTIVE_16 ((uint32_t)0x00010000) /*!< bit 16 */ +#define NVIC_IABR_ACTIVE_17 ((uint32_t)0x00020000) /*!< bit 17 */ +#define NVIC_IABR_ACTIVE_18 ((uint32_t)0x00040000) /*!< bit 18 */ +#define NVIC_IABR_ACTIVE_19 ((uint32_t)0x00080000) /*!< bit 19 */ +#define NVIC_IABR_ACTIVE_20 ((uint32_t)0x00100000) /*!< bit 20 */ +#define NVIC_IABR_ACTIVE_21 ((uint32_t)0x00200000) /*!< bit 21 */ +#define NVIC_IABR_ACTIVE_22 ((uint32_t)0x00400000) /*!< bit 22 */ +#define NVIC_IABR_ACTIVE_23 ((uint32_t)0x00800000) /*!< bit 23 */ +#define NVIC_IABR_ACTIVE_24 ((uint32_t)0x01000000) /*!< bit 24 */ +#define NVIC_IABR_ACTIVE_25 ((uint32_t)0x02000000) /*!< bit 25 */ +#define NVIC_IABR_ACTIVE_26 ((uint32_t)0x04000000) /*!< bit 26 */ +#define NVIC_IABR_ACTIVE_27 ((uint32_t)0x08000000) /*!< bit 27 */ +#define NVIC_IABR_ACTIVE_28 ((uint32_t)0x10000000) /*!< bit 28 */ +#define NVIC_IABR_ACTIVE_29 ((uint32_t)0x20000000) /*!< bit 29 */ +#define NVIC_IABR_ACTIVE_30 ((uint32_t)0x40000000) /*!< bit 30 */ +#define NVIC_IABR_ACTIVE_31 ((uint32_t)0x80000000) /*!< bit 31 */ + +/****************** Bit definition for NVIC_PRI0 register *******************/ +#define NVIC_IPR0_PRI_0 ((uint32_t)0x000000FF) /*!< Priority of interrupt 0 */ +#define NVIC_IPR0_PRI_1 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 1 */ +#define NVIC_IPR0_PRI_2 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 2 */ +#define NVIC_IPR0_PRI_3 ((uint32_t)0xFF000000) /*!< Priority of interrupt 3 */ + +/****************** Bit definition for NVIC_PRI1 register *******************/ +#define NVIC_IPR1_PRI_4 ((uint32_t)0x000000FF) /*!< Priority of interrupt 4 */ +#define NVIC_IPR1_PRI_5 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 5 */ +#define NVIC_IPR1_PRI_6 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 6 */ +#define NVIC_IPR1_PRI_7 ((uint32_t)0xFF000000) /*!< Priority of interrupt 7 */ + +/****************** Bit definition for NVIC_PRI2 register *******************/ +#define NVIC_IPR2_PRI_8 ((uint32_t)0x000000FF) /*!< Priority of interrupt 8 */ +#define NVIC_IPR2_PRI_9 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 9 */ +#define NVIC_IPR2_PRI_10 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 10 */ +#define NVIC_IPR2_PRI_11 ((uint32_t)0xFF000000) /*!< Priority of interrupt 11 */ + +/****************** Bit definition for NVIC_PRI3 register *******************/ +#define NVIC_IPR3_PRI_12 ((uint32_t)0x000000FF) /*!< Priority of interrupt 12 */ +#define NVIC_IPR3_PRI_13 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 13 */ +#define NVIC_IPR3_PRI_14 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 14 */ +#define NVIC_IPR3_PRI_15 ((uint32_t)0xFF000000) /*!< Priority of interrupt 15 */ + +/****************** Bit definition for NVIC_PRI4 register *******************/ +#define NVIC_IPR4_PRI_16 ((uint32_t)0x000000FF) /*!< Priority of interrupt 16 */ +#define NVIC_IPR4_PRI_17 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 17 */ +#define NVIC_IPR4_PRI_18 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 18 */ +#define NVIC_IPR4_PRI_19 ((uint32_t)0xFF000000) /*!< Priority of interrupt 19 */ + +/****************** Bit definition for NVIC_PRI5 register *******************/ +#define NVIC_IPR5_PRI_20 ((uint32_t)0x000000FF) /*!< Priority of interrupt 20 */ +#define NVIC_IPR5_PRI_21 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 21 */ +#define NVIC_IPR5_PRI_22 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 22 */ +#define NVIC_IPR5_PRI_23 ((uint32_t)0xFF000000) /*!< Priority of interrupt 23 */ + +/****************** Bit definition for NVIC_PRI6 register *******************/ +#define NVIC_IPR6_PRI_24 ((uint32_t)0x000000FF) /*!< Priority of interrupt 24 */ +#define NVIC_IPR6_PRI_25 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 25 */ +#define NVIC_IPR6_PRI_26 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 26 */ +#define NVIC_IPR6_PRI_27 ((uint32_t)0xFF000000) /*!< Priority of interrupt 27 */ + +/****************** Bit definition for NVIC_PRI7 register *******************/ +#define NVIC_IPR7_PRI_28 ((uint32_t)0x000000FF) /*!< Priority of interrupt 28 */ +#define NVIC_IPR7_PRI_29 ((uint32_t)0x0000FF00) /*!< Priority of interrupt 29 */ +#define NVIC_IPR7_PRI_30 ((uint32_t)0x00FF0000) /*!< Priority of interrupt 30 */ +#define NVIC_IPR7_PRI_31 ((uint32_t)0xFF000000) /*!< Priority of interrupt 31 */ + +/****************** Bit definition for SCB_CPUID register *******************/ +#define SCB_CPUID_REVISION ((uint32_t)0x0000000F) /*!< Implementation defined revision number */ +#define SCB_CPUID_PARTNO ((uint32_t)0x0000FFF0) /*!< Number of processor within family */ +#define SCB_CPUID_Constant ((uint32_t)0x000F0000) /*!< Reads as 0x0F */ +#define SCB_CPUID_VARIANT ((uint32_t)0x00F00000) /*!< Implementation defined variant number */ +#define SCB_CPUID_IMPLEMENTER ((uint32_t)0xFF000000) /*!< Implementer code. ARM is 0x41 */ + +/******************* Bit definition for SCB_ICSR register *******************/ +#define SCB_ICSR_VECTACTIVE ((uint32_t)0x000001FF) /*!< Active ISR number field */ +#define SCB_ICSR_RETTOBASE ((uint32_t)0x00000800) /*!< All active exceptions minus the IPSR_current_exception yields the empty set */ +#define SCB_ICSR_VECTPENDING ((uint32_t)0x003FF000) /*!< Pending ISR number field */ +#define SCB_ICSR_ISRPENDING ((uint32_t)0x00400000) /*!< Interrupt pending flag */ +#define SCB_ICSR_ISRPREEMPT ((uint32_t)0x00800000) /*!< It indicates that a pending interrupt becomes active in the next running cycle */ +#define SCB_ICSR_PENDSTCLR ((uint32_t)0x02000000) /*!< Clear pending SysTick bit */ +#define SCB_ICSR_PENDSTSET ((uint32_t)0x04000000) /*!< Set pending SysTick bit */ +#define SCB_ICSR_PENDSVCLR ((uint32_t)0x08000000) /*!< Clear pending pendSV bit */ +#define SCB_ICSR_PENDSVSET ((uint32_t)0x10000000) /*!< Set pending pendSV bit */ +#define SCB_ICSR_NMIPENDSET ((uint32_t)0x80000000) /*!< Set pending NMI bit */ + +/******************* Bit definition for SCB_VTOR register *******************/ +#define SCB_VTOR_TBLOFF ((uint32_t)0x1FFFFF80) /*!< Vector table base offset field */ +#define SCB_VTOR_TBLBASE ((uint32_t)0x20000000) /*!< Table base in code(0) or RAM(1) */ + +/*!<***************** Bit definition for SCB_AIRCR register *******************/ +#define SCB_AIRCR_VECTRESET ((uint32_t)0x00000001) /*!< System Reset bit */ +#define SCB_AIRCR_VECTCLRACTIVE ((uint32_t)0x00000002) /*!< Clear active vector bit */ +#define SCB_AIRCR_SYSRESETREQ ((uint32_t)0x00000004) /*!< Requests chip control logic to generate a reset */ + +#define SCB_AIRCR_PRIGROUP ((uint32_t)0x00000700) /*!< PRIGROUP[2:0] bits (Priority group) */ +#define SCB_AIRCR_PRIGROUP_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define SCB_AIRCR_PRIGROUP_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define SCB_AIRCR_PRIGROUP_2 ((uint32_t)0x00000400) /*!< Bit 2 */ + +/* prority group configuration */ +#define SCB_AIRCR_PRIGROUP0 ((uint32_t)0x00000000) /*!< Priority group=0 (7 bits of pre-emption priority, 1 bit of subpriority) */ +#define SCB_AIRCR_PRIGROUP1 ((uint32_t)0x00000100) /*!< Priority group=1 (6 bits of pre-emption priority, 2 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP2 ((uint32_t)0x00000200) /*!< Priority group=2 (5 bits of pre-emption priority, 3 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP3 ((uint32_t)0x00000300) /*!< Priority group=3 (4 bits of pre-emption priority, 4 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP4 ((uint32_t)0x00000400) /*!< Priority group=4 (3 bits of pre-emption priority, 5 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP5 ((uint32_t)0x00000500) /*!< Priority group=5 (2 bits of pre-emption priority, 6 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP6 ((uint32_t)0x00000600) /*!< Priority group=6 (1 bit of pre-emption priority, 7 bits of subpriority) */ +#define SCB_AIRCR_PRIGROUP7 ((uint32_t)0x00000700) /*!< Priority group=7 (no pre-emption priority, 8 bits of subpriority) */ + +#define SCB_AIRCR_ENDIANESS ((uint32_t)0x00008000) /*!< Data endianness bit */ +#define SCB_AIRCR_VECTKEY ((uint32_t)0xFFFF0000) /*!< Register key (VECTKEY) - Reads as 0xFA05 (VECTKEYSTAT) */ + +/******************* Bit definition for SCB_SCR register ********************/ +#define SCB_SCR_SLEEPONEXIT ((uint8_t)0x02) /*!< Sleep on exit bit */ +#define SCB_SCR_SLEEPDEEP ((uint8_t)0x04) /*!< Sleep deep bit */ +#define SCB_SCR_SEVONPEND ((uint8_t)0x10) /*!< Wake up from WFE */ + +/******************** Bit definition for SCB_CCR register *******************/ +#define SCB_CCR_NONBASETHRDENA ((uint16_t)0x0001) /*!< Thread mode can be entered from any level in Handler mode by controlled return value */ +#define SCB_CCR_USERSETMPEND ((uint16_t)0x0002) /*!< Enables user code to write the Software Trigger Interrupt register to trigger (pend) a Main exception */ +#define SCB_CCR_UNALIGN_TRP ((uint16_t)0x0008) /*!< Trap for unaligned access */ +#define SCB_CCR_DIV_0_TRP ((uint16_t)0x0010) /*!< Trap on Divide by 0 */ +#define SCB_CCR_BFHFNMIGN ((uint16_t)0x0100) /*!< Handlers running at priority -1 and -2 */ +#define SCB_CCR_STKALIGN ((uint16_t)0x0200) /*!< On exception entry, the SP used prior to the exception is adjusted to be 8-byte aligned */ + +/******************* Bit definition for SCB_SHPR register ********************/ +#define SCB_SHPR_PRI_N ((uint32_t)0x000000FF) /*!< Priority of system handler 4,8, and 12. Mem Manage, reserved and Debug Monitor */ +#define SCB_SHPR_PRI_N1 ((uint32_t)0x0000FF00) /*!< Priority of system handler 5,9, and 13. Bus Fault, reserved and reserved */ +#define SCB_SHPR_PRI_N2 ((uint32_t)0x00FF0000) /*!< Priority of system handler 6,10, and 14. Usage Fault, reserved and PendSV */ +#define SCB_SHPR_PRI_N3 ((uint32_t)0xFF000000) /*!< Priority of system handler 7,11, and 15. Reserved, SVCall and SysTick */ + +/****************** Bit definition for SCB_SHCSR register *******************/ +#define SCB_SHCSR_MEMFAULTACT ((uint32_t)0x00000001) /*!< MemManage is active */ +#define SCB_SHCSR_BUSFAULTACT ((uint32_t)0x00000002) /*!< BusFault is active */ +#define SCB_SHCSR_USGFAULTACT ((uint32_t)0x00000008) /*!< UsageFault is active */ +#define SCB_SHCSR_SVCALLACT ((uint32_t)0x00000080) /*!< SVCall is active */ +#define SCB_SHCSR_MONITORACT ((uint32_t)0x00000100) /*!< Monitor is active */ +#define SCB_SHCSR_PENDSVACT ((uint32_t)0x00000400) /*!< PendSV is active */ +#define SCB_SHCSR_SYSTICKACT ((uint32_t)0x00000800) /*!< SysTick is active */ +#define SCB_SHCSR_USGFAULTPENDED ((uint32_t)0x00001000) /*!< Usage Fault is pended */ +#define SCB_SHCSR_MEMFAULTPENDED ((uint32_t)0x00002000) /*!< MemManage is pended */ +#define SCB_SHCSR_BUSFAULTPENDED ((uint32_t)0x00004000) /*!< Bus Fault is pended */ +#define SCB_SHCSR_SVCALLPENDED ((uint32_t)0x00008000) /*!< SVCall is pended */ +#define SCB_SHCSR_MEMFAULTENA ((uint32_t)0x00010000) /*!< MemManage enable */ +#define SCB_SHCSR_BUSFAULTENA ((uint32_t)0x00020000) /*!< Bus Fault enable */ +#define SCB_SHCSR_USGFAULTENA ((uint32_t)0x00040000) /*!< UsageFault enable */ + +/******************* Bit definition for SCB_CFSR register *******************/ +/*!< MFSR */ +#define SCB_CFSR_IACCVIOL ((uint32_t)0x00000001) /*!< Instruction access violation */ +#define SCB_CFSR_DACCVIOL ((uint32_t)0x00000002) /*!< Data access violation */ +#define SCB_CFSR_MUNSTKERR ((uint32_t)0x00000008) /*!< Unstacking error */ +#define SCB_CFSR_MSTKERR ((uint32_t)0x00000010) /*!< Stacking error */ +#define SCB_CFSR_MMARVALID ((uint32_t)0x00000080) /*!< Memory Manage Address Register address valid flag */ +/*!< BFSR */ +#define SCB_CFSR_IBUSERR ((uint32_t)0x00000100) /*!< Instruction bus error flag */ +#define SCB_CFSR_PRECISERR ((uint32_t)0x00000200) /*!< Precise data bus error */ +#define SCB_CFSR_IMPRECISERR ((uint32_t)0x00000400) /*!< Imprecise data bus error */ +#define SCB_CFSR_UNSTKERR ((uint32_t)0x00000800) /*!< Unstacking error */ +#define SCB_CFSR_STKERR ((uint32_t)0x00001000) /*!< Stacking error */ +#define SCB_CFSR_BFARVALID ((uint32_t)0x00008000) /*!< Bus Fault Address Register address valid flag */ +/*!< UFSR */ +#define SCB_CFSR_UNDEFINSTR ((uint32_t)0x00010000) /*!< The processor attempt to execute an undefined instruction */ +#define SCB_CFSR_INVSTATE ((uint32_t)0x00020000) /*!< Invalid combination of EPSR and instruction */ +#define SCB_CFSR_INVPC ((uint32_t)0x00040000) /*!< Attempt to load EXC_RETURN into pc illegally */ +#define SCB_CFSR_NOCP ((uint32_t)0x00080000) /*!< Attempt to use a coprocessor instruction */ +#define SCB_CFSR_UNALIGNED ((uint32_t)0x01000000) /*!< Fault occurs when there is an attempt to make an unaligned memory access */ +#define SCB_CFSR_DIVBYZERO ((uint32_t)0x02000000) /*!< Fault occurs when SDIV or DIV instruction is used with a divisor of 0 */ + +/******************* Bit definition for SCB_HFSR register *******************/ +#define SCB_HFSR_VECTTBL ((uint32_t)0x00000002) /*!< Fault occurs because of vector table read on exception processing */ +#define SCB_HFSR_FORCED ((uint32_t)0x40000000) /*!< Hard Fault activated when a configurable Fault was received and cannot activate */ +#define SCB_HFSR_DEBUGEVT ((uint32_t)0x80000000) /*!< Fault related to debug */ + +/******************* Bit definition for SCB_DFSR register *******************/ +#define SCB_DFSR_HALTED ((uint8_t)0x01) /*!< Halt request flag */ +#define SCB_DFSR_BKPT ((uint8_t)0x02) /*!< BKPT flag */ +#define SCB_DFSR_DWTTRAP ((uint8_t)0x04) /*!< Data Watchpoint and Trace (DWT) flag */ +#define SCB_DFSR_VCATCH ((uint8_t)0x08) /*!< Vector catch flag */ +#define SCB_DFSR_EXTERNAL ((uint8_t)0x10) /*!< External debug request flag */ + +/******************* Bit definition for SCB_MMFAR register ******************/ +#define SCB_MMFAR_ADDRESS ((uint32_t)0xFFFFFFFF) /*!< Mem Manage fault address field */ + +/******************* Bit definition for SCB_BFAR register *******************/ +#define SCB_BFAR_ADDRESS ((uint32_t)0xFFFFFFFF) /*!< Bus fault address field */ + +/******************* Bit definition for SCB_afsr register *******************/ +#define SCB_AFSR_IMPDEF ((uint32_t)0xFFFFFFFF) /*!< Implementation defined */ + +/******************************************************************************/ +/* */ +/* External Interrupt/Event Controller */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for EXTI_IMR register *******************/ +#define EXTI_IMR_MR0 ((uint32_t)0x00000001) /*!< Interrupt Mask on line 0 */ +#define EXTI_IMR_MR1 ((uint32_t)0x00000002) /*!< Interrupt Mask on line 1 */ +#define EXTI_IMR_MR2 ((uint32_t)0x00000004) /*!< Interrupt Mask on line 2 */ +#define EXTI_IMR_MR3 ((uint32_t)0x00000008) /*!< Interrupt Mask on line 3 */ +#define EXTI_IMR_MR4 ((uint32_t)0x00000010) /*!< Interrupt Mask on line 4 */ +#define EXTI_IMR_MR5 ((uint32_t)0x00000020) /*!< Interrupt Mask on line 5 */ +#define EXTI_IMR_MR6 ((uint32_t)0x00000040) /*!< Interrupt Mask on line 6 */ +#define EXTI_IMR_MR7 ((uint32_t)0x00000080) /*!< Interrupt Mask on line 7 */ +#define EXTI_IMR_MR8 ((uint32_t)0x00000100) /*!< Interrupt Mask on line 8 */ +#define EXTI_IMR_MR9 ((uint32_t)0x00000200) /*!< Interrupt Mask on line 9 */ +#define EXTI_IMR_MR10 ((uint32_t)0x00000400) /*!< Interrupt Mask on line 10 */ +#define EXTI_IMR_MR11 ((uint32_t)0x00000800) /*!< Interrupt Mask on line 11 */ +#define EXTI_IMR_MR12 ((uint32_t)0x00001000) /*!< Interrupt Mask on line 12 */ +#define EXTI_IMR_MR13 ((uint32_t)0x00002000) /*!< Interrupt Mask on line 13 */ +#define EXTI_IMR_MR14 ((uint32_t)0x00004000) /*!< Interrupt Mask on line 14 */ +#define EXTI_IMR_MR15 ((uint32_t)0x00008000) /*!< Interrupt Mask on line 15 */ +#define EXTI_IMR_MR16 ((uint32_t)0x00010000) /*!< Interrupt Mask on line 16 */ +#define EXTI_IMR_MR17 ((uint32_t)0x00020000) /*!< Interrupt Mask on line 17 */ +#define EXTI_IMR_MR18 ((uint32_t)0x00040000) /*!< Interrupt Mask on line 18 */ +#define EXTI_IMR_MR19 ((uint32_t)0x00080000) /*!< Interrupt Mask on line 19 */ + +/******************* Bit definition for EXTI_EMR register *******************/ +#define EXTI_EMR_MR0 ((uint32_t)0x00000001) /*!< Event Mask on line 0 */ +#define EXTI_EMR_MR1 ((uint32_t)0x00000002) /*!< Event Mask on line 1 */ +#define EXTI_EMR_MR2 ((uint32_t)0x00000004) /*!< Event Mask on line 2 */ +#define EXTI_EMR_MR3 ((uint32_t)0x00000008) /*!< Event Mask on line 3 */ +#define EXTI_EMR_MR4 ((uint32_t)0x00000010) /*!< Event Mask on line 4 */ +#define EXTI_EMR_MR5 ((uint32_t)0x00000020) /*!< Event Mask on line 5 */ +#define EXTI_EMR_MR6 ((uint32_t)0x00000040) /*!< Event Mask on line 6 */ +#define EXTI_EMR_MR7 ((uint32_t)0x00000080) /*!< Event Mask on line 7 */ +#define EXTI_EMR_MR8 ((uint32_t)0x00000100) /*!< Event Mask on line 8 */ +#define EXTI_EMR_MR9 ((uint32_t)0x00000200) /*!< Event Mask on line 9 */ +#define EXTI_EMR_MR10 ((uint32_t)0x00000400) /*!< Event Mask on line 10 */ +#define EXTI_EMR_MR11 ((uint32_t)0x00000800) /*!< Event Mask on line 11 */ +#define EXTI_EMR_MR12 ((uint32_t)0x00001000) /*!< Event Mask on line 12 */ +#define EXTI_EMR_MR13 ((uint32_t)0x00002000) /*!< Event Mask on line 13 */ +#define EXTI_EMR_MR14 ((uint32_t)0x00004000) /*!< Event Mask on line 14 */ +#define EXTI_EMR_MR15 ((uint32_t)0x00008000) /*!< Event Mask on line 15 */ +#define EXTI_EMR_MR16 ((uint32_t)0x00010000) /*!< Event Mask on line 16 */ +#define EXTI_EMR_MR17 ((uint32_t)0x00020000) /*!< Event Mask on line 17 */ +#define EXTI_EMR_MR18 ((uint32_t)0x00040000) /*!< Event Mask on line 18 */ +#define EXTI_EMR_MR19 ((uint32_t)0x00080000) /*!< Event Mask on line 19 */ + +/****************** Bit definition for EXTI_RTSR register *******************/ +#define EXTI_RTSR_TR0 ((uint32_t)0x00000001) /*!< Rising trigger event configuration bit of line 0 */ +#define EXTI_RTSR_TR1 ((uint32_t)0x00000002) /*!< Rising trigger event configuration bit of line 1 */ +#define EXTI_RTSR_TR2 ((uint32_t)0x00000004) /*!< Rising trigger event configuration bit of line 2 */ +#define EXTI_RTSR_TR3 ((uint32_t)0x00000008) /*!< Rising trigger event configuration bit of line 3 */ +#define EXTI_RTSR_TR4 ((uint32_t)0x00000010) /*!< Rising trigger event configuration bit of line 4 */ +#define EXTI_RTSR_TR5 ((uint32_t)0x00000020) /*!< Rising trigger event configuration bit of line 5 */ +#define EXTI_RTSR_TR6 ((uint32_t)0x00000040) /*!< Rising trigger event configuration bit of line 6 */ +#define EXTI_RTSR_TR7 ((uint32_t)0x00000080) /*!< Rising trigger event configuration bit of line 7 */ +#define EXTI_RTSR_TR8 ((uint32_t)0x00000100) /*!< Rising trigger event configuration bit of line 8 */ +#define EXTI_RTSR_TR9 ((uint32_t)0x00000200) /*!< Rising trigger event configuration bit of line 9 */ +#define EXTI_RTSR_TR10 ((uint32_t)0x00000400) /*!< Rising trigger event configuration bit of line 10 */ +#define EXTI_RTSR_TR11 ((uint32_t)0x00000800) /*!< Rising trigger event configuration bit of line 11 */ +#define EXTI_RTSR_TR12 ((uint32_t)0x00001000) /*!< Rising trigger event configuration bit of line 12 */ +#define EXTI_RTSR_TR13 ((uint32_t)0x00002000) /*!< Rising trigger event configuration bit of line 13 */ +#define EXTI_RTSR_TR14 ((uint32_t)0x00004000) /*!< Rising trigger event configuration bit of line 14 */ +#define EXTI_RTSR_TR15 ((uint32_t)0x00008000) /*!< Rising trigger event configuration bit of line 15 */ +#define EXTI_RTSR_TR16 ((uint32_t)0x00010000) /*!< Rising trigger event configuration bit of line 16 */ +#define EXTI_RTSR_TR17 ((uint32_t)0x00020000) /*!< Rising trigger event configuration bit of line 17 */ +#define EXTI_RTSR_TR18 ((uint32_t)0x00040000) /*!< Rising trigger event configuration bit of line 18 */ +#define EXTI_RTSR_TR19 ((uint32_t)0x00080000) /*!< Rising trigger event configuration bit of line 19 */ + +/****************** Bit definition for EXTI_FTSR register *******************/ +#define EXTI_FTSR_TR0 ((uint32_t)0x00000001) /*!< Falling trigger event configuration bit of line 0 */ +#define EXTI_FTSR_TR1 ((uint32_t)0x00000002) /*!< Falling trigger event configuration bit of line 1 */ +#define EXTI_FTSR_TR2 ((uint32_t)0x00000004) /*!< Falling trigger event configuration bit of line 2 */ +#define EXTI_FTSR_TR3 ((uint32_t)0x00000008) /*!< Falling trigger event configuration bit of line 3 */ +#define EXTI_FTSR_TR4 ((uint32_t)0x00000010) /*!< Falling trigger event configuration bit of line 4 */ +#define EXTI_FTSR_TR5 ((uint32_t)0x00000020) /*!< Falling trigger event configuration bit of line 5 */ +#define EXTI_FTSR_TR6 ((uint32_t)0x00000040) /*!< Falling trigger event configuration bit of line 6 */ +#define EXTI_FTSR_TR7 ((uint32_t)0x00000080) /*!< Falling trigger event configuration bit of line 7 */ +#define EXTI_FTSR_TR8 ((uint32_t)0x00000100) /*!< Falling trigger event configuration bit of line 8 */ +#define EXTI_FTSR_TR9 ((uint32_t)0x00000200) /*!< Falling trigger event configuration bit of line 9 */ +#define EXTI_FTSR_TR10 ((uint32_t)0x00000400) /*!< Falling trigger event configuration bit of line 10 */ +#define EXTI_FTSR_TR11 ((uint32_t)0x00000800) /*!< Falling trigger event configuration bit of line 11 */ +#define EXTI_FTSR_TR12 ((uint32_t)0x00001000) /*!< Falling trigger event configuration bit of line 12 */ +#define EXTI_FTSR_TR13 ((uint32_t)0x00002000) /*!< Falling trigger event configuration bit of line 13 */ +#define EXTI_FTSR_TR14 ((uint32_t)0x00004000) /*!< Falling trigger event configuration bit of line 14 */ +#define EXTI_FTSR_TR15 ((uint32_t)0x00008000) /*!< Falling trigger event configuration bit of line 15 */ +#define EXTI_FTSR_TR16 ((uint32_t)0x00010000) /*!< Falling trigger event configuration bit of line 16 */ +#define EXTI_FTSR_TR17 ((uint32_t)0x00020000) /*!< Falling trigger event configuration bit of line 17 */ +#define EXTI_FTSR_TR18 ((uint32_t)0x00040000) /*!< Falling trigger event configuration bit of line 18 */ +#define EXTI_FTSR_TR19 ((uint32_t)0x00080000) /*!< Falling trigger event configuration bit of line 19 */ + +/****************** Bit definition for EXTI_SWIER register ******************/ +#define EXTI_SWIER_SWIER0 ((uint32_t)0x00000001) /*!< Software Interrupt on line 0 */ +#define EXTI_SWIER_SWIER1 ((uint32_t)0x00000002) /*!< Software Interrupt on line 1 */ +#define EXTI_SWIER_SWIER2 ((uint32_t)0x00000004) /*!< Software Interrupt on line 2 */ +#define EXTI_SWIER_SWIER3 ((uint32_t)0x00000008) /*!< Software Interrupt on line 3 */ +#define EXTI_SWIER_SWIER4 ((uint32_t)0x00000010) /*!< Software Interrupt on line 4 */ +#define EXTI_SWIER_SWIER5 ((uint32_t)0x00000020) /*!< Software Interrupt on line 5 */ +#define EXTI_SWIER_SWIER6 ((uint32_t)0x00000040) /*!< Software Interrupt on line 6 */ +#define EXTI_SWIER_SWIER7 ((uint32_t)0x00000080) /*!< Software Interrupt on line 7 */ +#define EXTI_SWIER_SWIER8 ((uint32_t)0x00000100) /*!< Software Interrupt on line 8 */ +#define EXTI_SWIER_SWIER9 ((uint32_t)0x00000200) /*!< Software Interrupt on line 9 */ +#define EXTI_SWIER_SWIER10 ((uint32_t)0x00000400) /*!< Software Interrupt on line 10 */ +#define EXTI_SWIER_SWIER11 ((uint32_t)0x00000800) /*!< Software Interrupt on line 11 */ +#define EXTI_SWIER_SWIER12 ((uint32_t)0x00001000) /*!< Software Interrupt on line 12 */ +#define EXTI_SWIER_SWIER13 ((uint32_t)0x00002000) /*!< Software Interrupt on line 13 */ +#define EXTI_SWIER_SWIER14 ((uint32_t)0x00004000) /*!< Software Interrupt on line 14 */ +#define EXTI_SWIER_SWIER15 ((uint32_t)0x00008000) /*!< Software Interrupt on line 15 */ +#define EXTI_SWIER_SWIER16 ((uint32_t)0x00010000) /*!< Software Interrupt on line 16 */ +#define EXTI_SWIER_SWIER17 ((uint32_t)0x00020000) /*!< Software Interrupt on line 17 */ +#define EXTI_SWIER_SWIER18 ((uint32_t)0x00040000) /*!< Software Interrupt on line 18 */ +#define EXTI_SWIER_SWIER19 ((uint32_t)0x00080000) /*!< Software Interrupt on line 19 */ + +/******************* Bit definition for EXTI_PR register ********************/ +#define EXTI_PR_PR0 ((uint32_t)0x00000001) /*!< Pending bit for line 0 */ +#define EXTI_PR_PR1 ((uint32_t)0x00000002) /*!< Pending bit for line 1 */ +#define EXTI_PR_PR2 ((uint32_t)0x00000004) /*!< Pending bit for line 2 */ +#define EXTI_PR_PR3 ((uint32_t)0x00000008) /*!< Pending bit for line 3 */ +#define EXTI_PR_PR4 ((uint32_t)0x00000010) /*!< Pending bit for line 4 */ +#define EXTI_PR_PR5 ((uint32_t)0x00000020) /*!< Pending bit for line 5 */ +#define EXTI_PR_PR6 ((uint32_t)0x00000040) /*!< Pending bit for line 6 */ +#define EXTI_PR_PR7 ((uint32_t)0x00000080) /*!< Pending bit for line 7 */ +#define EXTI_PR_PR8 ((uint32_t)0x00000100) /*!< Pending bit for line 8 */ +#define EXTI_PR_PR9 ((uint32_t)0x00000200) /*!< Pending bit for line 9 */ +#define EXTI_PR_PR10 ((uint32_t)0x00000400) /*!< Pending bit for line 10 */ +#define EXTI_PR_PR11 ((uint32_t)0x00000800) /*!< Pending bit for line 11 */ +#define EXTI_PR_PR12 ((uint32_t)0x00001000) /*!< Pending bit for line 12 */ +#define EXTI_PR_PR13 ((uint32_t)0x00002000) /*!< Pending bit for line 13 */ +#define EXTI_PR_PR14 ((uint32_t)0x00004000) /*!< Pending bit for line 14 */ +#define EXTI_PR_PR15 ((uint32_t)0x00008000) /*!< Pending bit for line 15 */ +#define EXTI_PR_PR16 ((uint32_t)0x00010000) /*!< Pending bit for line 16 */ +#define EXTI_PR_PR17 ((uint32_t)0x00020000) /*!< Pending bit for line 17 */ +#define EXTI_PR_PR18 ((uint32_t)0x00040000) /*!< Pending bit for line 18 */ +#define EXTI_PR_PR19 ((uint32_t)0x00080000) /*!< Pending bit for line 19 */ + +/******************************************************************************/ +/* */ +/* DMA Controller */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for DMA_ISR register ********************/ +#define DMA_ISR_GIF1 ((uint32_t)0x00000001) /*!< Channel 1 Global interrupt flag */ +#define DMA_ISR_TCIF1 ((uint32_t)0x00000002) /*!< Channel 1 Transfer Complete flag */ +#define DMA_ISR_HTIF1 ((uint32_t)0x00000004) /*!< Channel 1 Half Transfer flag */ +#define DMA_ISR_TEIF1 ((uint32_t)0x00000008) /*!< Channel 1 Transfer Error flag */ +#define DMA_ISR_GIF2 ((uint32_t)0x00000010) /*!< Channel 2 Global interrupt flag */ +#define DMA_ISR_TCIF2 ((uint32_t)0x00000020) /*!< Channel 2 Transfer Complete flag */ +#define DMA_ISR_HTIF2 ((uint32_t)0x00000040) /*!< Channel 2 Half Transfer flag */ +#define DMA_ISR_TEIF2 ((uint32_t)0x00000080) /*!< Channel 2 Transfer Error flag */ +#define DMA_ISR_GIF3 ((uint32_t)0x00000100) /*!< Channel 3 Global interrupt flag */ +#define DMA_ISR_TCIF3 ((uint32_t)0x00000200) /*!< Channel 3 Transfer Complete flag */ +#define DMA_ISR_HTIF3 ((uint32_t)0x00000400) /*!< Channel 3 Half Transfer flag */ +#define DMA_ISR_TEIF3 ((uint32_t)0x00000800) /*!< Channel 3 Transfer Error flag */ +#define DMA_ISR_GIF4 ((uint32_t)0x00001000) /*!< Channel 4 Global interrupt flag */ +#define DMA_ISR_TCIF4 ((uint32_t)0x00002000) /*!< Channel 4 Transfer Complete flag */ +#define DMA_ISR_HTIF4 ((uint32_t)0x00004000) /*!< Channel 4 Half Transfer flag */ +#define DMA_ISR_TEIF4 ((uint32_t)0x00008000) /*!< Channel 4 Transfer Error flag */ +#define DMA_ISR_GIF5 ((uint32_t)0x00010000) /*!< Channel 5 Global interrupt flag */ +#define DMA_ISR_TCIF5 ((uint32_t)0x00020000) /*!< Channel 5 Transfer Complete flag */ +#define DMA_ISR_HTIF5 ((uint32_t)0x00040000) /*!< Channel 5 Half Transfer flag */ +#define DMA_ISR_TEIF5 ((uint32_t)0x00080000) /*!< Channel 5 Transfer Error flag */ +#define DMA_ISR_GIF6 ((uint32_t)0x00100000) /*!< Channel 6 Global interrupt flag */ +#define DMA_ISR_TCIF6 ((uint32_t)0x00200000) /*!< Channel 6 Transfer Complete flag */ +#define DMA_ISR_HTIF6 ((uint32_t)0x00400000) /*!< Channel 6 Half Transfer flag */ +#define DMA_ISR_TEIF6 ((uint32_t)0x00800000) /*!< Channel 6 Transfer Error flag */ +#define DMA_ISR_GIF7 ((uint32_t)0x01000000) /*!< Channel 7 Global interrupt flag */ +#define DMA_ISR_TCIF7 ((uint32_t)0x02000000) /*!< Channel 7 Transfer Complete flag */ +#define DMA_ISR_HTIF7 ((uint32_t)0x04000000) /*!< Channel 7 Half Transfer flag */ +#define DMA_ISR_TEIF7 ((uint32_t)0x08000000) /*!< Channel 7 Transfer Error flag */ + +/******************* Bit definition for DMA_IFCR register *******************/ +#define DMA_IFCR_CGIF1 ((uint32_t)0x00000001) /*!< Channel 1 Global interrupt clear */ +#define DMA_IFCR_CTCIF1 ((uint32_t)0x00000002) /*!< Channel 1 Transfer Complete clear */ +#define DMA_IFCR_CHTIF1 ((uint32_t)0x00000004) /*!< Channel 1 Half Transfer clear */ +#define DMA_IFCR_CTEIF1 ((uint32_t)0x00000008) /*!< Channel 1 Transfer Error clear */ +#define DMA_IFCR_CGIF2 ((uint32_t)0x00000010) /*!< Channel 2 Global interrupt clear */ +#define DMA_IFCR_CTCIF2 ((uint32_t)0x00000020) /*!< Channel 2 Transfer Complete clear */ +#define DMA_IFCR_CHTIF2 ((uint32_t)0x00000040) /*!< Channel 2 Half Transfer clear */ +#define DMA_IFCR_CTEIF2 ((uint32_t)0x00000080) /*!< Channel 2 Transfer Error clear */ +#define DMA_IFCR_CGIF3 ((uint32_t)0x00000100) /*!< Channel 3 Global interrupt clear */ +#define DMA_IFCR_CTCIF3 ((uint32_t)0x00000200) /*!< Channel 3 Transfer Complete clear */ +#define DMA_IFCR_CHTIF3 ((uint32_t)0x00000400) /*!< Channel 3 Half Transfer clear */ +#define DMA_IFCR_CTEIF3 ((uint32_t)0x00000800) /*!< Channel 3 Transfer Error clear */ +#define DMA_IFCR_CGIF4 ((uint32_t)0x00001000) /*!< Channel 4 Global interrupt clear */ +#define DMA_IFCR_CTCIF4 ((uint32_t)0x00002000) /*!< Channel 4 Transfer Complete clear */ +#define DMA_IFCR_CHTIF4 ((uint32_t)0x00004000) /*!< Channel 4 Half Transfer clear */ +#define DMA_IFCR_CTEIF4 ((uint32_t)0x00008000) /*!< Channel 4 Transfer Error clear */ +#define DMA_IFCR_CGIF5 ((uint32_t)0x00010000) /*!< Channel 5 Global interrupt clear */ +#define DMA_IFCR_CTCIF5 ((uint32_t)0x00020000) /*!< Channel 5 Transfer Complete clear */ +#define DMA_IFCR_CHTIF5 ((uint32_t)0x00040000) /*!< Channel 5 Half Transfer clear */ +#define DMA_IFCR_CTEIF5 ((uint32_t)0x00080000) /*!< Channel 5 Transfer Error clear */ +#define DMA_IFCR_CGIF6 ((uint32_t)0x00100000) /*!< Channel 6 Global interrupt clear */ +#define DMA_IFCR_CTCIF6 ((uint32_t)0x00200000) /*!< Channel 6 Transfer Complete clear */ +#define DMA_IFCR_CHTIF6 ((uint32_t)0x00400000) /*!< Channel 6 Half Transfer clear */ +#define DMA_IFCR_CTEIF6 ((uint32_t)0x00800000) /*!< Channel 6 Transfer Error clear */ +#define DMA_IFCR_CGIF7 ((uint32_t)0x01000000) /*!< Channel 7 Global interrupt clear */ +#define DMA_IFCR_CTCIF7 ((uint32_t)0x02000000) /*!< Channel 7 Transfer Complete clear */ +#define DMA_IFCR_CHTIF7 ((uint32_t)0x04000000) /*!< Channel 7 Half Transfer clear */ +#define DMA_IFCR_CTEIF7 ((uint32_t)0x08000000) /*!< Channel 7 Transfer Error clear */ + +/******************* Bit definition for DMA_CCR1 register *******************/ +#define DMA_CCR1_EN ((uint16_t)0x0001) /*!< Channel enable*/ +#define DMA_CCR1_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR1_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR1_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR1_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR1_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR1_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR1_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR1_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR1_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR1_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR1_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR1_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR1_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR1_PL ((uint16_t)0x3000) /*!< PL[1:0] bits(Channel Priority level) */ +#define DMA_CCR1_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR1_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR1_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/******************* Bit definition for DMA_CCR2 register *******************/ +#define DMA_CCR2_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR2_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR2_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR2_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR2_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR2_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR2_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR2_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR2_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR2_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR2_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR2_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR2_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR2_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR2_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR2_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR2_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR2_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/******************* Bit definition for DMA_CCR3 register *******************/ +#define DMA_CCR3_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR3_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR3_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR3_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR3_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR3_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR3_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR3_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR3_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR3_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR3_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR3_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR3_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR3_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR3_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR3_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR3_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR3_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/*!<****************** Bit definition for DMA_CCR4 register *******************/ +#define DMA_CCR4_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR4_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR4_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR4_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR4_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR4_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR4_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR4_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR4_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR4_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR4_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR4_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR4_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR4_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR4_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR4_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR4_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR4_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/****************** Bit definition for DMA_CCR5 register *******************/ +#define DMA_CCR5_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR5_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR5_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR5_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR5_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR5_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR5_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR5_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR5_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR5_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR5_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR5_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR5_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR5_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR5_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR5_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR5_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR5_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode enable */ + +/******************* Bit definition for DMA_CCR6 register *******************/ +#define DMA_CCR6_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR6_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR6_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR6_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR6_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR6_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR6_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR6_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR6_PSIZE ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR6_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR6_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR6_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR6_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR6_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR6_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR6_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR6_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR6_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode */ + +/******************* Bit definition for DMA_CCR7 register *******************/ +#define DMA_CCR7_EN ((uint16_t)0x0001) /*!< Channel enable */ +#define DMA_CCR7_TCIE ((uint16_t)0x0002) /*!< Transfer complete interrupt enable */ +#define DMA_CCR7_HTIE ((uint16_t)0x0004) /*!< Half Transfer interrupt enable */ +#define DMA_CCR7_TEIE ((uint16_t)0x0008) /*!< Transfer error interrupt enable */ +#define DMA_CCR7_DIR ((uint16_t)0x0010) /*!< Data transfer direction */ +#define DMA_CCR7_CIRC ((uint16_t)0x0020) /*!< Circular mode */ +#define DMA_CCR7_PINC ((uint16_t)0x0040) /*!< Peripheral increment mode */ +#define DMA_CCR7_MINC ((uint16_t)0x0080) /*!< Memory increment mode */ + +#define DMA_CCR7_PSIZE , ((uint16_t)0x0300) /*!< PSIZE[1:0] bits (Peripheral size) */ +#define DMA_CCR7_PSIZE_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define DMA_CCR7_PSIZE_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define DMA_CCR7_MSIZE ((uint16_t)0x0C00) /*!< MSIZE[1:0] bits (Memory size) */ +#define DMA_CCR7_MSIZE_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define DMA_CCR7_MSIZE_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define DMA_CCR7_PL ((uint16_t)0x3000) /*!< PL[1:0] bits (Channel Priority level) */ +#define DMA_CCR7_PL_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define DMA_CCR7_PL_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define DMA_CCR7_MEM2MEM ((uint16_t)0x4000) /*!< Memory to memory mode enable */ + +/****************** Bit definition for DMA_CNDTR1 register ******************/ +#define DMA_CNDTR1_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR2 register ******************/ +#define DMA_CNDTR2_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR3 register ******************/ +#define DMA_CNDTR3_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR4 register ******************/ +#define DMA_CNDTR4_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR5 register ******************/ +#define DMA_CNDTR5_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR6 register ******************/ +#define DMA_CNDTR6_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CNDTR7 register ******************/ +#define DMA_CNDTR7_NDT ((uint16_t)0xFFFF) /*!< Number of data to Transfer */ + +/****************** Bit definition for DMA_CPAR1 register *******************/ +#define DMA_CPAR1_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR2 register *******************/ +#define DMA_CPAR2_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR3 register *******************/ +#define DMA_CPAR3_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + + +/****************** Bit definition for DMA_CPAR4 register *******************/ +#define DMA_CPAR4_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR5 register *******************/ +#define DMA_CPAR5_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CPAR6 register *******************/ +#define DMA_CPAR6_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + + +/****************** Bit definition for DMA_CPAR7 register *******************/ +#define DMA_CPAR7_PA ((uint32_t)0xFFFFFFFF) /*!< Peripheral Address */ + +/****************** Bit definition for DMA_CMAR1 register *******************/ +#define DMA_CMAR1_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR2 register *******************/ +#define DMA_CMAR2_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR3 register *******************/ +#define DMA_CMAR3_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + + +/****************** Bit definition for DMA_CMAR4 register *******************/ +#define DMA_CMAR4_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR5 register *******************/ +#define DMA_CMAR5_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR6 register *******************/ +#define DMA_CMAR6_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/****************** Bit definition for DMA_CMAR7 register *******************/ +#define DMA_CMAR7_MA ((uint32_t)0xFFFFFFFF) /*!< Memory Address */ + +/******************************************************************************/ +/* */ +/* Analog to Digital Converter */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for ADC_SR register ********************/ +#define ADC_SR_AWD ((uint8_t)0x01) /*!< Analog watchdog flag */ +#define ADC_SR_EOC ((uint8_t)0x02) /*!< End of conversion */ +#define ADC_SR_JEOC ((uint8_t)0x04) /*!< Injected channel end of conversion */ +#define ADC_SR_JSTRT ((uint8_t)0x08) /*!< Injected channel Start flag */ +#define ADC_SR_STRT ((uint8_t)0x10) /*!< Regular channel Start flag */ + +/******************* Bit definition for ADC_CR1 register ********************/ +#define ADC_CR1_AWDCH ((uint32_t)0x0000001F) /*!< AWDCH[4:0] bits (Analog watchdog channel select bits) */ +#define ADC_CR1_AWDCH_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_CR1_AWDCH_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_CR1_AWDCH_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_CR1_AWDCH_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_CR1_AWDCH_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_CR1_EOCIE ((uint32_t)0x00000020) /*!< Interrupt enable for EOC */ +#define ADC_CR1_AWDIE ((uint32_t)0x00000040) /*!< Analog Watchdog interrupt enable */ +#define ADC_CR1_JEOCIE ((uint32_t)0x00000080) /*!< Interrupt enable for injected channels */ +#define ADC_CR1_SCAN ((uint32_t)0x00000100) /*!< Scan mode */ +#define ADC_CR1_AWDSGL ((uint32_t)0x00000200) /*!< Enable the watchdog on a single channel in scan mode */ +#define ADC_CR1_JAUTO ((uint32_t)0x00000400) /*!< Automatic injected group conversion */ +#define ADC_CR1_DISCEN ((uint32_t)0x00000800) /*!< Discontinuous mode on regular channels */ +#define ADC_CR1_JDISCEN ((uint32_t)0x00001000) /*!< Discontinuous mode on injected channels */ + +#define ADC_CR1_DISCNUM ((uint32_t)0x0000E000) /*!< DISCNUM[2:0] bits (Discontinuous mode channel count) */ +#define ADC_CR1_DISCNUM_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define ADC_CR1_DISCNUM_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define ADC_CR1_DISCNUM_2 ((uint32_t)0x00008000) /*!< Bit 2 */ + +#define ADC_CR1_DUALMOD ((uint32_t)0x000F0000) /*!< DUALMOD[3:0] bits (Dual mode selection) */ +#define ADC_CR1_DUALMOD_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define ADC_CR1_DUALMOD_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define ADC_CR1_DUALMOD_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define ADC_CR1_DUALMOD_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define ADC_CR1_JAWDEN ((uint32_t)0x00400000) /*!< Analog watchdog enable on injected channels */ +#define ADC_CR1_AWDEN ((uint32_t)0x00800000) /*!< Analog watchdog enable on regular channels */ + + +/******************* Bit definition for ADC_CR2 register ********************/ +#define ADC_CR2_ADON ((uint32_t)0x00000001) /*!< A/D Converter ON / OFF */ +#define ADC_CR2_CONT ((uint32_t)0x00000002) /*!< Continuous Conversion */ +#define ADC_CR2_CAL ((uint32_t)0x00000004) /*!< A/D Calibration */ +#define ADC_CR2_RSTCAL ((uint32_t)0x00000008) /*!< Reset Calibration */ +#define ADC_CR2_DMA ((uint32_t)0x00000100) /*!< Direct Memory access mode */ +#define ADC_CR2_ALIGN ((uint32_t)0x00000800) /*!< Data Alignment */ + +#define ADC_CR2_JEXTSEL ((uint32_t)0x00007000) /*!< JEXTSEL[2:0] bits (External event select for injected group) */ +#define ADC_CR2_JEXTSEL_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define ADC_CR2_JEXTSEL_1 ((uint32_t)0x00002000) /*!< Bit 1 */ +#define ADC_CR2_JEXTSEL_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + +#define ADC_CR2_JEXTTRIG ((uint32_t)0x00008000) /*!< External Trigger Conversion mode for injected channels */ + +#define ADC_CR2_EXTSEL ((uint32_t)0x000E0000) /*!< EXTSEL[2:0] bits (External Event Select for regular group) */ +#define ADC_CR2_EXTSEL_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define ADC_CR2_EXTSEL_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define ADC_CR2_EXTSEL_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +#define ADC_CR2_EXTTRIG ((uint32_t)0x00100000) /*!< External Trigger Conversion mode for regular channels */ +#define ADC_CR2_JSWSTART ((uint32_t)0x00200000) /*!< Start Conversion of injected channels */ +#define ADC_CR2_SWSTART ((uint32_t)0x00400000) /*!< Start Conversion of regular channels */ +#define ADC_CR2_TSVREFE ((uint32_t)0x00800000) /*!< Temperature Sensor and VREFINT Enable */ + +/****************** Bit definition for ADC_SMPR1 register *******************/ +#define ADC_SMPR1_SMP10 ((uint32_t)0x00000007) /*!< SMP10[2:0] bits (Channel 10 Sample time selection) */ +#define ADC_SMPR1_SMP10_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SMPR1_SMP10_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SMPR1_SMP10_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP11 ((uint32_t)0x00000038) /*!< SMP11[2:0] bits (Channel 11 Sample time selection) */ +#define ADC_SMPR1_SMP11_0 ((uint32_t)0x00000008) /*!< Bit 0 */ +#define ADC_SMPR1_SMP11_1 ((uint32_t)0x00000010) /*!< Bit 1 */ +#define ADC_SMPR1_SMP11_2 ((uint32_t)0x00000020) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP12 ((uint32_t)0x000001C0) /*!< SMP12[2:0] bits (Channel 12 Sample time selection) */ +#define ADC_SMPR1_SMP12_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define ADC_SMPR1_SMP12_1 ((uint32_t)0x00000080) /*!< Bit 1 */ +#define ADC_SMPR1_SMP12_2 ((uint32_t)0x00000100) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP13 ((uint32_t)0x00000E00) /*!< SMP13[2:0] bits (Channel 13 Sample time selection) */ +#define ADC_SMPR1_SMP13_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define ADC_SMPR1_SMP13_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define ADC_SMPR1_SMP13_2 ((uint32_t)0x00000800) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP14 ((uint32_t)0x00007000) /*!< SMP14[2:0] bits (Channel 14 Sample time selection) */ +#define ADC_SMPR1_SMP14_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP14_1 ((uint32_t)0x00002000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP14_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP15 ((uint32_t)0x00038000) /*!< SMP15[2:0] bits (Channel 15 Sample time selection) */ +#define ADC_SMPR1_SMP15_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP15_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP15_2 ((uint32_t)0x00020000) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP16 ((uint32_t)0x001C0000) /*!< SMP16[2:0] bits (Channel 16 Sample time selection) */ +#define ADC_SMPR1_SMP16_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP16_1 ((uint32_t)0x00080000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP16_2 ((uint32_t)0x00100000) /*!< Bit 2 */ + +#define ADC_SMPR1_SMP17 ((uint32_t)0x00E00000) /*!< SMP17[2:0] bits (Channel 17 Sample time selection) */ +#define ADC_SMPR1_SMP17_0 ((uint32_t)0x00200000) /*!< Bit 0 */ +#define ADC_SMPR1_SMP17_1 ((uint32_t)0x00400000) /*!< Bit 1 */ +#define ADC_SMPR1_SMP17_2 ((uint32_t)0x00800000) /*!< Bit 2 */ + +/****************** Bit definition for ADC_SMPR2 register *******************/ +#define ADC_SMPR2_SMP0 ((uint32_t)0x00000007) /*!< SMP0[2:0] bits (Channel 0 Sample time selection) */ +#define ADC_SMPR2_SMP0_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SMPR2_SMP0_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SMPR2_SMP0_2 ((uint32_t)0x00000004) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP1 ((uint32_t)0x00000038) /*!< SMP1[2:0] bits (Channel 1 Sample time selection) */ +#define ADC_SMPR2_SMP1_0 ((uint32_t)0x00000008) /*!< Bit 0 */ +#define ADC_SMPR2_SMP1_1 ((uint32_t)0x00000010) /*!< Bit 1 */ +#define ADC_SMPR2_SMP1_2 ((uint32_t)0x00000020) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP2 ((uint32_t)0x000001C0) /*!< SMP2[2:0] bits (Channel 2 Sample time selection) */ +#define ADC_SMPR2_SMP2_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define ADC_SMPR2_SMP2_1 ((uint32_t)0x00000080) /*!< Bit 1 */ +#define ADC_SMPR2_SMP2_2 ((uint32_t)0x00000100) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP3 ((uint32_t)0x00000E00) /*!< SMP3[2:0] bits (Channel 3 Sample time selection) */ +#define ADC_SMPR2_SMP3_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define ADC_SMPR2_SMP3_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define ADC_SMPR2_SMP3_2 ((uint32_t)0x00000800) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP4 ((uint32_t)0x00007000) /*!< SMP4[2:0] bits (Channel 4 Sample time selection) */ +#define ADC_SMPR2_SMP4_0 ((uint32_t)0x00001000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP4_1 ((uint32_t)0x00002000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP4_2 ((uint32_t)0x00004000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP5 ((uint32_t)0x00038000) /*!< SMP5[2:0] bits (Channel 5 Sample time selection) */ +#define ADC_SMPR2_SMP5_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP5_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP5_2 ((uint32_t)0x00020000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP6 ((uint32_t)0x001C0000) /*!< SMP6[2:0] bits (Channel 6 Sample time selection) */ +#define ADC_SMPR2_SMP6_0 ((uint32_t)0x00040000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP6_1 ((uint32_t)0x00080000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP6_2 ((uint32_t)0x00100000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP7 ((uint32_t)0x00E00000) /*!< SMP7[2:0] bits (Channel 7 Sample time selection) */ +#define ADC_SMPR2_SMP7_0 ((uint32_t)0x00200000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP7_1 ((uint32_t)0x00400000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP7_2 ((uint32_t)0x00800000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP8 ((uint32_t)0x07000000) /*!< SMP8[2:0] bits (Channel 8 Sample time selection) */ +#define ADC_SMPR2_SMP8_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP8_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP8_2 ((uint32_t)0x04000000) /*!< Bit 2 */ + +#define ADC_SMPR2_SMP9 ((uint32_t)0x38000000) /*!< SMP9[2:0] bits (Channel 9 Sample time selection) */ +#define ADC_SMPR2_SMP9_0 ((uint32_t)0x08000000) /*!< Bit 0 */ +#define ADC_SMPR2_SMP9_1 ((uint32_t)0x10000000) /*!< Bit 1 */ +#define ADC_SMPR2_SMP9_2 ((uint32_t)0x20000000) /*!< Bit 2 */ + +/****************** Bit definition for ADC_JOFR1 register *******************/ +#define ADC_JOFR1_JOFFSET1 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 1 */ + +/****************** Bit definition for ADC_JOFR2 register *******************/ +#define ADC_JOFR2_JOFFSET2 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 2 */ + +/****************** Bit definition for ADC_JOFR3 register *******************/ +#define ADC_JOFR3_JOFFSET3 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 3 */ + +/****************** Bit definition for ADC_JOFR4 register *******************/ +#define ADC_JOFR4_JOFFSET4 ((uint16_t)0x0FFF) /*!< Data offset for injected channel 4 */ + +/******************* Bit definition for ADC_HTR register ********************/ +#define ADC_HTR_HT ((uint16_t)0x0FFF) /*!< Analog watchdog high threshold */ + +/******************* Bit definition for ADC_LTR register ********************/ +#define ADC_LTR_LT ((uint16_t)0x0FFF) /*!< Analog watchdog low threshold */ + +/******************* Bit definition for ADC_SQR1 register *******************/ +#define ADC_SQR1_SQ13 ((uint32_t)0x0000001F) /*!< SQ13[4:0] bits (13th conversion in regular sequence) */ +#define ADC_SQR1_SQ13_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SQR1_SQ13_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SQR1_SQ13_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_SQR1_SQ13_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_SQR1_SQ13_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_SQR1_SQ14 ((uint32_t)0x000003E0) /*!< SQ14[4:0] bits (14th conversion in regular sequence) */ +#define ADC_SQR1_SQ14_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_SQR1_SQ14_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_SQR1_SQ14_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_SQR1_SQ14_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_SQR1_SQ14_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_SQR1_SQ15 ((uint32_t)0x00007C00) /*!< SQ15[4:0] bits (15th conversion in regular sequence) */ +#define ADC_SQR1_SQ15_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_SQR1_SQ15_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_SQR1_SQ15_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_SQR1_SQ15_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_SQR1_SQ15_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_SQR1_SQ16 ((uint32_t)0x000F8000) /*!< SQ16[4:0] bits (16th conversion in regular sequence) */ +#define ADC_SQR1_SQ16_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SQR1_SQ16_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SQR1_SQ16_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_SQR1_SQ16_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_SQR1_SQ16_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_SQR1_L ((uint32_t)0x00F00000) /*!< L[3:0] bits (Regular channel sequence length) */ +#define ADC_SQR1_L_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_SQR1_L_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define ADC_SQR1_L_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define ADC_SQR1_L_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +/******************* Bit definition for ADC_SQR2 register *******************/ +#define ADC_SQR2_SQ7 ((uint32_t)0x0000001F) /*!< SQ7[4:0] bits (7th conversion in regular sequence) */ +#define ADC_SQR2_SQ7_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SQR2_SQ7_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SQR2_SQ7_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_SQR2_SQ7_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_SQR2_SQ7_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_SQR2_SQ8 ((uint32_t)0x000003E0) /*!< SQ8[4:0] bits (8th conversion in regular sequence) */ +#define ADC_SQR2_SQ8_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_SQR2_SQ8_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_SQR2_SQ8_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_SQR2_SQ8_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_SQR2_SQ8_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_SQR2_SQ9 ((uint32_t)0x00007C00) /*!< SQ9[4:0] bits (9th conversion in regular sequence) */ +#define ADC_SQR2_SQ9_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_SQR2_SQ9_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_SQR2_SQ9_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_SQR2_SQ9_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_SQR2_SQ9_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_SQR2_SQ10 ((uint32_t)0x000F8000) /*!< SQ10[4:0] bits (10th conversion in regular sequence) */ +#define ADC_SQR2_SQ10_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SQR2_SQ10_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SQR2_SQ10_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_SQR2_SQ10_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_SQR2_SQ10_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_SQR2_SQ11 ((uint32_t)0x01F00000) /*!< SQ11[4:0] bits (11th conversion in regular sequence) */ +#define ADC_SQR2_SQ11_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_SQR2_SQ11_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define ADC_SQR2_SQ11_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define ADC_SQR2_SQ11_3 ((uint32_t)0x00800000) /*!< Bit 3 */ +#define ADC_SQR2_SQ11_4 ((uint32_t)0x01000000) /*!< Bit 4 */ + +#define ADC_SQR2_SQ12 ((uint32_t)0x3E000000) /*!< SQ12[4:0] bits (12th conversion in regular sequence) */ +#define ADC_SQR2_SQ12_0 ((uint32_t)0x02000000) /*!< Bit 0 */ +#define ADC_SQR2_SQ12_1 ((uint32_t)0x04000000) /*!< Bit 1 */ +#define ADC_SQR2_SQ12_2 ((uint32_t)0x08000000) /*!< Bit 2 */ +#define ADC_SQR2_SQ12_3 ((uint32_t)0x10000000) /*!< Bit 3 */ +#define ADC_SQR2_SQ12_4 ((uint32_t)0x20000000) /*!< Bit 4 */ + +/******************* Bit definition for ADC_SQR3 register *******************/ +#define ADC_SQR3_SQ1 ((uint32_t)0x0000001F) /*!< SQ1[4:0] bits (1st conversion in regular sequence) */ +#define ADC_SQR3_SQ1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_SQR3_SQ1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_SQR3_SQ1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_SQR3_SQ1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_SQR3_SQ1_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_SQR3_SQ2 ((uint32_t)0x000003E0) /*!< SQ2[4:0] bits (2nd conversion in regular sequence) */ +#define ADC_SQR3_SQ2_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_SQR3_SQ2_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_SQR3_SQ2_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_SQR3_SQ2_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_SQR3_SQ2_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_SQR3_SQ3 ((uint32_t)0x00007C00) /*!< SQ3[4:0] bits (3rd conversion in regular sequence) */ +#define ADC_SQR3_SQ3_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_SQR3_SQ3_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_SQR3_SQ3_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_SQR3_SQ3_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_SQR3_SQ3_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_SQR3_SQ4 ((uint32_t)0x000F8000) /*!< SQ4[4:0] bits (4th conversion in regular sequence) */ +#define ADC_SQR3_SQ4_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_SQR3_SQ4_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_SQR3_SQ4_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_SQR3_SQ4_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_SQR3_SQ4_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_SQR3_SQ5 ((uint32_t)0x01F00000) /*!< SQ5[4:0] bits (5th conversion in regular sequence) */ +#define ADC_SQR3_SQ5_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_SQR3_SQ5_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define ADC_SQR3_SQ5_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define ADC_SQR3_SQ5_3 ((uint32_t)0x00800000) /*!< Bit 3 */ +#define ADC_SQR3_SQ5_4 ((uint32_t)0x01000000) /*!< Bit 4 */ + +#define ADC_SQR3_SQ6 ((uint32_t)0x3E000000) /*!< SQ6[4:0] bits (6th conversion in regular sequence) */ +#define ADC_SQR3_SQ6_0 ((uint32_t)0x02000000) /*!< Bit 0 */ +#define ADC_SQR3_SQ6_1 ((uint32_t)0x04000000) /*!< Bit 1 */ +#define ADC_SQR3_SQ6_2 ((uint32_t)0x08000000) /*!< Bit 2 */ +#define ADC_SQR3_SQ6_3 ((uint32_t)0x10000000) /*!< Bit 3 */ +#define ADC_SQR3_SQ6_4 ((uint32_t)0x20000000) /*!< Bit 4 */ + +/******************* Bit definition for ADC_JSQR register *******************/ +#define ADC_JSQR_JSQ1 ((uint32_t)0x0000001F) /*!< JSQ1[4:0] bits (1st conversion in injected sequence) */ +#define ADC_JSQR_JSQ1_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define ADC_JSQR_JSQ1_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define ADC_JSQR_JSQ1_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define ADC_JSQR_JSQ1_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define ADC_JSQR_JSQ1_4 ((uint32_t)0x00000010) /*!< Bit 4 */ + +#define ADC_JSQR_JSQ2 ((uint32_t)0x000003E0) /*!< JSQ2[4:0] bits (2nd conversion in injected sequence) */ +#define ADC_JSQR_JSQ2_0 ((uint32_t)0x00000020) /*!< Bit 0 */ +#define ADC_JSQR_JSQ2_1 ((uint32_t)0x00000040) /*!< Bit 1 */ +#define ADC_JSQR_JSQ2_2 ((uint32_t)0x00000080) /*!< Bit 2 */ +#define ADC_JSQR_JSQ2_3 ((uint32_t)0x00000100) /*!< Bit 3 */ +#define ADC_JSQR_JSQ2_4 ((uint32_t)0x00000200) /*!< Bit 4 */ + +#define ADC_JSQR_JSQ3 ((uint32_t)0x00007C00) /*!< JSQ3[4:0] bits (3rd conversion in injected sequence) */ +#define ADC_JSQR_JSQ3_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define ADC_JSQR_JSQ3_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define ADC_JSQR_JSQ3_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define ADC_JSQR_JSQ3_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define ADC_JSQR_JSQ3_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define ADC_JSQR_JSQ4 ((uint32_t)0x000F8000) /*!< JSQ4[4:0] bits (4th conversion in injected sequence) */ +#define ADC_JSQR_JSQ4_0 ((uint32_t)0x00008000) /*!< Bit 0 */ +#define ADC_JSQR_JSQ4_1 ((uint32_t)0x00010000) /*!< Bit 1 */ +#define ADC_JSQR_JSQ4_2 ((uint32_t)0x00020000) /*!< Bit 2 */ +#define ADC_JSQR_JSQ4_3 ((uint32_t)0x00040000) /*!< Bit 3 */ +#define ADC_JSQR_JSQ4_4 ((uint32_t)0x00080000) /*!< Bit 4 */ + +#define ADC_JSQR_JL ((uint32_t)0x00300000) /*!< JL[1:0] bits (Injected Sequence length) */ +#define ADC_JSQR_JL_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define ADC_JSQR_JL_1 ((uint32_t)0x00200000) /*!< Bit 1 */ + +/******************* Bit definition for ADC_JDR1 register *******************/ +#define ADC_JDR1_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************* Bit definition for ADC_JDR2 register *******************/ +#define ADC_JDR2_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************* Bit definition for ADC_JDR3 register *******************/ +#define ADC_JDR3_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************* Bit definition for ADC_JDR4 register *******************/ +#define ADC_JDR4_JDATA ((uint16_t)0xFFFF) /*!< Injected data */ + +/******************** Bit definition for ADC_DR register ********************/ +#define ADC_DR_DATA ((uint32_t)0x0000FFFF) /*!< Regular data */ +#define ADC_DR_ADC2DATA ((uint32_t)0xFFFF0000) /*!< ADC2 data */ + +/******************************************************************************/ +/* */ +/* Digital to Analog Converter */ +/* */ +/******************************************************************************/ + +/******************** Bit definition for DAC_CR register ********************/ +#define DAC_CR_EN1 ((uint32_t)0x00000001) /*!< DAC channel1 enable */ +#define DAC_CR_BOFF1 ((uint32_t)0x00000002) /*!< DAC channel1 output buffer disable */ +#define DAC_CR_TEN1 ((uint32_t)0x00000004) /*!< DAC channel1 Trigger enable */ + +#define DAC_CR_TSEL1 ((uint32_t)0x00000038) /*!< TSEL1[2:0] (DAC channel1 Trigger selection) */ +#define DAC_CR_TSEL1_0 ((uint32_t)0x00000008) /*!< Bit 0 */ +#define DAC_CR_TSEL1_1 ((uint32_t)0x00000010) /*!< Bit 1 */ +#define DAC_CR_TSEL1_2 ((uint32_t)0x00000020) /*!< Bit 2 */ + +#define DAC_CR_WAVE1 ((uint32_t)0x000000C0) /*!< WAVE1[1:0] (DAC channel1 noise/triangle wave generation enable) */ +#define DAC_CR_WAVE1_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define DAC_CR_WAVE1_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define DAC_CR_MAMP1 ((uint32_t)0x00000F00) /*!< MAMP1[3:0] (DAC channel1 Mask/Amplitude selector) */ +#define DAC_CR_MAMP1_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define DAC_CR_MAMP1_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define DAC_CR_MAMP1_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define DAC_CR_MAMP1_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define DAC_CR_DMAEN1 ((uint32_t)0x00001000) /*!< DAC channel1 DMA enable */ +#define DAC_CR_EN2 ((uint32_t)0x00010000) /*!< DAC channel2 enable */ +#define DAC_CR_BOFF2 ((uint32_t)0x00020000) /*!< DAC channel2 output buffer disable */ +#define DAC_CR_TEN2 ((uint32_t)0x00040000) /*!< DAC channel2 Trigger enable */ + +#define DAC_CR_TSEL2 ((uint32_t)0x00380000) /*!< TSEL2[2:0] (DAC channel2 Trigger selection) */ +#define DAC_CR_TSEL2_0 ((uint32_t)0x00080000) /*!< Bit 0 */ +#define DAC_CR_TSEL2_1 ((uint32_t)0x00100000) /*!< Bit 1 */ +#define DAC_CR_TSEL2_2 ((uint32_t)0x00200000) /*!< Bit 2 */ + +#define DAC_CR_WAVE2 ((uint32_t)0x00C00000) /*!< WAVE2[1:0] (DAC channel2 noise/triangle wave generation enable) */ +#define DAC_CR_WAVE2_0 ((uint32_t)0x00400000) /*!< Bit 0 */ +#define DAC_CR_WAVE2_1 ((uint32_t)0x00800000) /*!< Bit 1 */ + +#define DAC_CR_MAMP2 ((uint32_t)0x0F000000) /*!< MAMP2[3:0] (DAC channel2 Mask/Amplitude selector) */ +#define DAC_CR_MAMP2_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define DAC_CR_MAMP2_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define DAC_CR_MAMP2_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define DAC_CR_MAMP2_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define DAC_CR_DMAEN2 ((uint32_t)0x10000000) /*!< DAC channel2 DMA enabled */ + +/***************** Bit definition for DAC_SWTRIGR register ******************/ +#define DAC_SWTRIGR_SWTRIG1 ((uint8_t)0x01) /*!< DAC channel1 software trigger */ +#define DAC_SWTRIGR_SWTRIG2 ((uint8_t)0x02) /*!< DAC channel2 software trigger */ + +/***************** Bit definition for DAC_DHR12R1 register ******************/ +#define DAC_DHR12R1_DACC1DHR ((uint16_t)0x0FFF) /*!< DAC channel1 12-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12L1 register ******************/ +#define DAC_DHR12L1_DACC1DHR ((uint16_t)0xFFF0) /*!< DAC channel1 12-bit Left aligned data */ + +/****************** Bit definition for DAC_DHR8R1 register ******************/ +#define DAC_DHR8R1_DACC1DHR ((uint8_t)0xFF) /*!< DAC channel1 8-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12R2 register ******************/ +#define DAC_DHR12R2_DACC2DHR ((uint16_t)0x0FFF) /*!< DAC channel2 12-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12L2 register ******************/ +#define DAC_DHR12L2_DACC2DHR ((uint16_t)0xFFF0) /*!< DAC channel2 12-bit Left aligned data */ + +/****************** Bit definition for DAC_DHR8R2 register ******************/ +#define DAC_DHR8R2_DACC2DHR ((uint8_t)0xFF) /*!< DAC channel2 8-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12RD register ******************/ +#define DAC_DHR12RD_DACC1DHR ((uint32_t)0x00000FFF) /*!< DAC channel1 12-bit Right aligned data */ +#define DAC_DHR12RD_DACC2DHR ((uint32_t)0x0FFF0000) /*!< DAC channel2 12-bit Right aligned data */ + +/***************** Bit definition for DAC_DHR12LD register ******************/ +#define DAC_DHR12LD_DACC1DHR ((uint32_t)0x0000FFF0) /*!< DAC channel1 12-bit Left aligned data */ +#define DAC_DHR12LD_DACC2DHR ((uint32_t)0xFFF00000) /*!< DAC channel2 12-bit Left aligned data */ + +/****************** Bit definition for DAC_DHR8RD register ******************/ +#define DAC_DHR8RD_DACC1DHR ((uint16_t)0x00FF) /*!< DAC channel1 8-bit Right aligned data */ +#define DAC_DHR8RD_DACC2DHR ((uint16_t)0xFF00) /*!< DAC channel2 8-bit Right aligned data */ + +/******************* Bit definition for DAC_DOR1 register *******************/ +#define DAC_DOR1_DACC1DOR ((uint16_t)0x0FFF) /*!< DAC channel1 data output */ + +/******************* Bit definition for DAC_DOR2 register *******************/ +#define DAC_DOR2_DACC2DOR ((uint16_t)0x0FFF) /*!< DAC channel2 data output */ + +/******************** Bit definition for DAC_SR register ********************/ +#define DAC_SR_DMAUDR1 ((uint32_t)0x00002000) /*!< DAC channel1 DMA underrun flag */ +#define DAC_SR_DMAUDR2 ((uint32_t)0x20000000) /*!< DAC channel2 DMA underrun flag */ + +/******************************************************************************/ +/* */ +/* CEC */ +/* */ +/******************************************************************************/ +/******************** Bit definition for CEC_CFGR register ******************/ +#define CEC_CFGR_PE ((uint16_t)0x0001) /*!< Peripheral Enable */ +#define CEC_CFGR_IE ((uint16_t)0x0002) /*!< Interrupt Enable */ +#define CEC_CFGR_BTEM ((uint16_t)0x0004) /*!< Bit Timing Error Mode */ +#define CEC_CFGR_BPEM ((uint16_t)0x0008) /*!< Bit Period Error Mode */ + +/******************** Bit definition for CEC_OAR register ******************/ +#define CEC_OAR_OA ((uint16_t)0x000F) /*!< OA[3:0]: Own Address */ +#define CEC_OAR_OA_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define CEC_OAR_OA_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define CEC_OAR_OA_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define CEC_OAR_OA_3 ((uint16_t)0x0008) /*!< Bit 3 */ + +/******************** Bit definition for CEC_PRES register ******************/ +#define CEC_PRES_PRES ((uint16_t)0x3FFF) /*!< Prescaler Counter Value */ + +/******************** Bit definition for CEC_ESR register ******************/ +#define CEC_ESR_BTE ((uint16_t)0x0001) /*!< Bit Timing Error */ +#define CEC_ESR_BPE ((uint16_t)0x0002) /*!< Bit Period Error */ +#define CEC_ESR_RBTFE ((uint16_t)0x0004) /*!< Rx Block Transfer Finished Error */ +#define CEC_ESR_SBE ((uint16_t)0x0008) /*!< Start Bit Error */ +#define CEC_ESR_ACKE ((uint16_t)0x0010) /*!< Block Acknowledge Error */ +#define CEC_ESR_LINE ((uint16_t)0x0020) /*!< Line Error */ +#define CEC_ESR_TBTFE ((uint16_t)0x0040) /*!< Tx Block Transfer Finished Error */ + +/******************** Bit definition for CEC_CSR register ******************/ +#define CEC_CSR_TSOM ((uint16_t)0x0001) /*!< Tx Start Of Message */ +#define CEC_CSR_TEOM ((uint16_t)0x0002) /*!< Tx End Of Message */ +#define CEC_CSR_TERR ((uint16_t)0x0004) /*!< Tx Error */ +#define CEC_CSR_TBTRF ((uint16_t)0x0008) /*!< Tx Byte Transfer Request or Block Transfer Finished */ +#define CEC_CSR_RSOM ((uint16_t)0x0010) /*!< Rx Start Of Message */ +#define CEC_CSR_REOM ((uint16_t)0x0020) /*!< Rx End Of Message */ +#define CEC_CSR_RERR ((uint16_t)0x0040) /*!< Rx Error */ +#define CEC_CSR_RBTF ((uint16_t)0x0080) /*!< Rx Block Transfer Finished */ + +/******************** Bit definition for CEC_TXD register ******************/ +#define CEC_TXD_TXD ((uint16_t)0x00FF) /*!< Tx Data register */ + +/******************** Bit definition for CEC_RXD register ******************/ +#define CEC_RXD_RXD ((uint16_t)0x00FF) /*!< Rx Data register */ + +/******************************************************************************/ +/* */ +/* TIM */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for TIM_CR1 register ********************/ +#define TIM_CR1_CEN ((uint16_t)0x0001) /*!< Counter enable */ +#define TIM_CR1_UDIS ((uint16_t)0x0002) /*!< Update disable */ +#define TIM_CR1_URS ((uint16_t)0x0004) /*!< Update request source */ +#define TIM_CR1_OPM ((uint16_t)0x0008) /*!< One pulse mode */ +#define TIM_CR1_DIR ((uint16_t)0x0010) /*!< Direction */ + +#define TIM_CR1_CMS ((uint16_t)0x0060) /*!< CMS[1:0] bits (Center-aligned mode selection) */ +#define TIM_CR1_CMS_0 ((uint16_t)0x0020) /*!< Bit 0 */ +#define TIM_CR1_CMS_1 ((uint16_t)0x0040) /*!< Bit 1 */ + +#define TIM_CR1_ARPE ((uint16_t)0x0080) /*!< Auto-reload preload enable */ + +#define TIM_CR1_CKD ((uint16_t)0x0300) /*!< CKD[1:0] bits (clock division) */ +#define TIM_CR1_CKD_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_CR1_CKD_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +/******************* Bit definition for TIM_CR2 register ********************/ +#define TIM_CR2_CCPC ((uint16_t)0x0001) /*!< Capture/Compare Preloaded Control */ +#define TIM_CR2_CCUS ((uint16_t)0x0004) /*!< Capture/Compare Control Update Selection */ +#define TIM_CR2_CCDS ((uint16_t)0x0008) /*!< Capture/Compare DMA Selection */ + +#define TIM_CR2_MMS ((uint16_t)0x0070) /*!< MMS[2:0] bits (Master Mode Selection) */ +#define TIM_CR2_MMS_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CR2_MMS_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CR2_MMS_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_CR2_TI1S ((uint16_t)0x0080) /*!< TI1 Selection */ +#define TIM_CR2_OIS1 ((uint16_t)0x0100) /*!< Output Idle state 1 (OC1 output) */ +#define TIM_CR2_OIS1N ((uint16_t)0x0200) /*!< Output Idle state 1 (OC1N output) */ +#define TIM_CR2_OIS2 ((uint16_t)0x0400) /*!< Output Idle state 2 (OC2 output) */ +#define TIM_CR2_OIS2N ((uint16_t)0x0800) /*!< Output Idle state 2 (OC2N output) */ +#define TIM_CR2_OIS3 ((uint16_t)0x1000) /*!< Output Idle state 3 (OC3 output) */ +#define TIM_CR2_OIS3N ((uint16_t)0x2000) /*!< Output Idle state 3 (OC3N output) */ +#define TIM_CR2_OIS4 ((uint16_t)0x4000) /*!< Output Idle state 4 (OC4 output) */ + +/******************* Bit definition for TIM_SMCR register *******************/ +#define TIM_SMCR_SMS ((uint16_t)0x0007) /*!< SMS[2:0] bits (Slave mode selection) */ +#define TIM_SMCR_SMS_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_SMCR_SMS_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define TIM_SMCR_SMS_2 ((uint16_t)0x0004) /*!< Bit 2 */ + +#define TIM_SMCR_TS ((uint16_t)0x0070) /*!< TS[2:0] bits (Trigger selection) */ +#define TIM_SMCR_TS_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_SMCR_TS_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_SMCR_TS_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_SMCR_MSM ((uint16_t)0x0080) /*!< Master/slave mode */ + +#define TIM_SMCR_ETF ((uint16_t)0x0F00) /*!< ETF[3:0] bits (External trigger filter) */ +#define TIM_SMCR_ETF_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_SMCR_ETF_1 ((uint16_t)0x0200) /*!< Bit 1 */ +#define TIM_SMCR_ETF_2 ((uint16_t)0x0400) /*!< Bit 2 */ +#define TIM_SMCR_ETF_3 ((uint16_t)0x0800) /*!< Bit 3 */ + +#define TIM_SMCR_ETPS ((uint16_t)0x3000) /*!< ETPS[1:0] bits (External trigger prescaler) */ +#define TIM_SMCR_ETPS_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_SMCR_ETPS_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define TIM_SMCR_ECE ((uint16_t)0x4000) /*!< External clock enable */ +#define TIM_SMCR_ETP ((uint16_t)0x8000) /*!< External trigger polarity */ + +/******************* Bit definition for TIM_DIER register *******************/ +#define TIM_DIER_UIE ((uint16_t)0x0001) /*!< Update interrupt enable */ +#define TIM_DIER_CC1IE ((uint16_t)0x0002) /*!< Capture/Compare 1 interrupt enable */ +#define TIM_DIER_CC2IE ((uint16_t)0x0004) /*!< Capture/Compare 2 interrupt enable */ +#define TIM_DIER_CC3IE ((uint16_t)0x0008) /*!< Capture/Compare 3 interrupt enable */ +#define TIM_DIER_CC4IE ((uint16_t)0x0010) /*!< Capture/Compare 4 interrupt enable */ +#define TIM_DIER_COMIE ((uint16_t)0x0020) /*!< COM interrupt enable */ +#define TIM_DIER_TIE ((uint16_t)0x0040) /*!< Trigger interrupt enable */ +#define TIM_DIER_BIE ((uint16_t)0x0080) /*!< Break interrupt enable */ +#define TIM_DIER_UDE ((uint16_t)0x0100) /*!< Update DMA request enable */ +#define TIM_DIER_CC1DE ((uint16_t)0x0200) /*!< Capture/Compare 1 DMA request enable */ +#define TIM_DIER_CC2DE ((uint16_t)0x0400) /*!< Capture/Compare 2 DMA request enable */ +#define TIM_DIER_CC3DE ((uint16_t)0x0800) /*!< Capture/Compare 3 DMA request enable */ +#define TIM_DIER_CC4DE ((uint16_t)0x1000) /*!< Capture/Compare 4 DMA request enable */ +#define TIM_DIER_COMDE ((uint16_t)0x2000) /*!< COM DMA request enable */ +#define TIM_DIER_TDE ((uint16_t)0x4000) /*!< Trigger DMA request enable */ + +/******************** Bit definition for TIM_SR register ********************/ +#define TIM_SR_UIF ((uint16_t)0x0001) /*!< Update interrupt Flag */ +#define TIM_SR_CC1IF ((uint16_t)0x0002) /*!< Capture/Compare 1 interrupt Flag */ +#define TIM_SR_CC2IF ((uint16_t)0x0004) /*!< Capture/Compare 2 interrupt Flag */ +#define TIM_SR_CC3IF ((uint16_t)0x0008) /*!< Capture/Compare 3 interrupt Flag */ +#define TIM_SR_CC4IF ((uint16_t)0x0010) /*!< Capture/Compare 4 interrupt Flag */ +#define TIM_SR_COMIF ((uint16_t)0x0020) /*!< COM interrupt Flag */ +#define TIM_SR_TIF ((uint16_t)0x0040) /*!< Trigger interrupt Flag */ +#define TIM_SR_BIF ((uint16_t)0x0080) /*!< Break interrupt Flag */ +#define TIM_SR_CC1OF ((uint16_t)0x0200) /*!< Capture/Compare 1 Overcapture Flag */ +#define TIM_SR_CC2OF ((uint16_t)0x0400) /*!< Capture/Compare 2 Overcapture Flag */ +#define TIM_SR_CC3OF ((uint16_t)0x0800) /*!< Capture/Compare 3 Overcapture Flag */ +#define TIM_SR_CC4OF ((uint16_t)0x1000) /*!< Capture/Compare 4 Overcapture Flag */ + +/******************* Bit definition for TIM_EGR register ********************/ +#define TIM_EGR_UG ((uint8_t)0x01) /*!< Update Generation */ +#define TIM_EGR_CC1G ((uint8_t)0x02) /*!< Capture/Compare 1 Generation */ +#define TIM_EGR_CC2G ((uint8_t)0x04) /*!< Capture/Compare 2 Generation */ +#define TIM_EGR_CC3G ((uint8_t)0x08) /*!< Capture/Compare 3 Generation */ +#define TIM_EGR_CC4G ((uint8_t)0x10) /*!< Capture/Compare 4 Generation */ +#define TIM_EGR_COMG ((uint8_t)0x20) /*!< Capture/Compare Control Update Generation */ +#define TIM_EGR_TG ((uint8_t)0x40) /*!< Trigger Generation */ +#define TIM_EGR_BG ((uint8_t)0x80) /*!< Break Generation */ + +/****************** Bit definition for TIM_CCMR1 register *******************/ +#define TIM_CCMR1_CC1S ((uint16_t)0x0003) /*!< CC1S[1:0] bits (Capture/Compare 1 Selection) */ +#define TIM_CCMR1_CC1S_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_CCMR1_CC1S_1 ((uint16_t)0x0002) /*!< Bit 1 */ + +#define TIM_CCMR1_OC1FE ((uint16_t)0x0004) /*!< Output Compare 1 Fast enable */ +#define TIM_CCMR1_OC1PE ((uint16_t)0x0008) /*!< Output Compare 1 Preload enable */ + +#define TIM_CCMR1_OC1M ((uint16_t)0x0070) /*!< OC1M[2:0] bits (Output Compare 1 Mode) */ +#define TIM_CCMR1_OC1M_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR1_OC1M_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR1_OC1M_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_CCMR1_OC1CE ((uint16_t)0x0080) /*!< Output Compare 1Clear Enable */ + +#define TIM_CCMR1_CC2S ((uint16_t)0x0300) /*!< CC2S[1:0] bits (Capture/Compare 2 Selection) */ +#define TIM_CCMR1_CC2S_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_CCMR1_CC2S_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define TIM_CCMR1_OC2FE ((uint16_t)0x0400) /*!< Output Compare 2 Fast enable */ +#define TIM_CCMR1_OC2PE ((uint16_t)0x0800) /*!< Output Compare 2 Preload enable */ + +#define TIM_CCMR1_OC2M ((uint16_t)0x7000) /*!< OC2M[2:0] bits (Output Compare 2 Mode) */ +#define TIM_CCMR1_OC2M_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR1_OC2M_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR1_OC2M_2 ((uint16_t)0x4000) /*!< Bit 2 */ + +#define TIM_CCMR1_OC2CE ((uint16_t)0x8000) /*!< Output Compare 2 Clear Enable */ + +/*----------------------------------------------------------------------------*/ + +#define TIM_CCMR1_IC1PSC ((uint16_t)0x000C) /*!< IC1PSC[1:0] bits (Input Capture 1 Prescaler) */ +#define TIM_CCMR1_IC1PSC_0 ((uint16_t)0x0004) /*!< Bit 0 */ +#define TIM_CCMR1_IC1PSC_1 ((uint16_t)0x0008) /*!< Bit 1 */ + +#define TIM_CCMR1_IC1F ((uint16_t)0x00F0) /*!< IC1F[3:0] bits (Input Capture 1 Filter) */ +#define TIM_CCMR1_IC1F_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR1_IC1F_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR1_IC1F_2 ((uint16_t)0x0040) /*!< Bit 2 */ +#define TIM_CCMR1_IC1F_3 ((uint16_t)0x0080) /*!< Bit 3 */ + +#define TIM_CCMR1_IC2PSC ((uint16_t)0x0C00) /*!< IC2PSC[1:0] bits (Input Capture 2 Prescaler) */ +#define TIM_CCMR1_IC2PSC_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define TIM_CCMR1_IC2PSC_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define TIM_CCMR1_IC2F ((uint16_t)0xF000) /*!< IC2F[3:0] bits (Input Capture 2 Filter) */ +#define TIM_CCMR1_IC2F_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR1_IC2F_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR1_IC2F_2 ((uint16_t)0x4000) /*!< Bit 2 */ +#define TIM_CCMR1_IC2F_3 ((uint16_t)0x8000) /*!< Bit 3 */ + +/****************** Bit definition for TIM_CCMR2 register *******************/ +#define TIM_CCMR2_CC3S ((uint16_t)0x0003) /*!< CC3S[1:0] bits (Capture/Compare 3 Selection) */ +#define TIM_CCMR2_CC3S_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_CCMR2_CC3S_1 ((uint16_t)0x0002) /*!< Bit 1 */ + +#define TIM_CCMR2_OC3FE ((uint16_t)0x0004) /*!< Output Compare 3 Fast enable */ +#define TIM_CCMR2_OC3PE ((uint16_t)0x0008) /*!< Output Compare 3 Preload enable */ + +#define TIM_CCMR2_OC3M ((uint16_t)0x0070) /*!< OC3M[2:0] bits (Output Compare 3 Mode) */ +#define TIM_CCMR2_OC3M_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR2_OC3M_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR2_OC3M_2 ((uint16_t)0x0040) /*!< Bit 2 */ + +#define TIM_CCMR2_OC3CE ((uint16_t)0x0080) /*!< Output Compare 3 Clear Enable */ + +#define TIM_CCMR2_CC4S ((uint16_t)0x0300) /*!< CC4S[1:0] bits (Capture/Compare 4 Selection) */ +#define TIM_CCMR2_CC4S_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_CCMR2_CC4S_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define TIM_CCMR2_OC4FE ((uint16_t)0x0400) /*!< Output Compare 4 Fast enable */ +#define TIM_CCMR2_OC4PE ((uint16_t)0x0800) /*!< Output Compare 4 Preload enable */ + +#define TIM_CCMR2_OC4M ((uint16_t)0x7000) /*!< OC4M[2:0] bits (Output Compare 4 Mode) */ +#define TIM_CCMR2_OC4M_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR2_OC4M_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR2_OC4M_2 ((uint16_t)0x4000) /*!< Bit 2 */ + +#define TIM_CCMR2_OC4CE ((uint16_t)0x8000) /*!< Output Compare 4 Clear Enable */ + +/*----------------------------------------------------------------------------*/ + +#define TIM_CCMR2_IC3PSC ((uint16_t)0x000C) /*!< IC3PSC[1:0] bits (Input Capture 3 Prescaler) */ +#define TIM_CCMR2_IC3PSC_0 ((uint16_t)0x0004) /*!< Bit 0 */ +#define TIM_CCMR2_IC3PSC_1 ((uint16_t)0x0008) /*!< Bit 1 */ + +#define TIM_CCMR2_IC3F ((uint16_t)0x00F0) /*!< IC3F[3:0] bits (Input Capture 3 Filter) */ +#define TIM_CCMR2_IC3F_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define TIM_CCMR2_IC3F_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define TIM_CCMR2_IC3F_2 ((uint16_t)0x0040) /*!< Bit 2 */ +#define TIM_CCMR2_IC3F_3 ((uint16_t)0x0080) /*!< Bit 3 */ + +#define TIM_CCMR2_IC4PSC ((uint16_t)0x0C00) /*!< IC4PSC[1:0] bits (Input Capture 4 Prescaler) */ +#define TIM_CCMR2_IC4PSC_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define TIM_CCMR2_IC4PSC_1 ((uint16_t)0x0800) /*!< Bit 1 */ + +#define TIM_CCMR2_IC4F ((uint16_t)0xF000) /*!< IC4F[3:0] bits (Input Capture 4 Filter) */ +#define TIM_CCMR2_IC4F_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define TIM_CCMR2_IC4F_1 ((uint16_t)0x2000) /*!< Bit 1 */ +#define TIM_CCMR2_IC4F_2 ((uint16_t)0x4000) /*!< Bit 2 */ +#define TIM_CCMR2_IC4F_3 ((uint16_t)0x8000) /*!< Bit 3 */ + +/******************* Bit definition for TIM_CCER register *******************/ +#define TIM_CCER_CC1E ((uint16_t)0x0001) /*!< Capture/Compare 1 output enable */ +#define TIM_CCER_CC1P ((uint16_t)0x0002) /*!< Capture/Compare 1 output Polarity */ +#define TIM_CCER_CC1NE ((uint16_t)0x0004) /*!< Capture/Compare 1 Complementary output enable */ +#define TIM_CCER_CC1NP ((uint16_t)0x0008) /*!< Capture/Compare 1 Complementary output Polarity */ +#define TIM_CCER_CC2E ((uint16_t)0x0010) /*!< Capture/Compare 2 output enable */ +#define TIM_CCER_CC2P ((uint16_t)0x0020) /*!< Capture/Compare 2 output Polarity */ +#define TIM_CCER_CC2NE ((uint16_t)0x0040) /*!< Capture/Compare 2 Complementary output enable */ +#define TIM_CCER_CC2NP ((uint16_t)0x0080) /*!< Capture/Compare 2 Complementary output Polarity */ +#define TIM_CCER_CC3E ((uint16_t)0x0100) /*!< Capture/Compare 3 output enable */ +#define TIM_CCER_CC3P ((uint16_t)0x0200) /*!< Capture/Compare 3 output Polarity */ +#define TIM_CCER_CC3NE ((uint16_t)0x0400) /*!< Capture/Compare 3 Complementary output enable */ +#define TIM_CCER_CC3NP ((uint16_t)0x0800) /*!< Capture/Compare 3 Complementary output Polarity */ +#define TIM_CCER_CC4E ((uint16_t)0x1000) /*!< Capture/Compare 4 output enable */ +#define TIM_CCER_CC4P ((uint16_t)0x2000) /*!< Capture/Compare 4 output Polarity */ +#define TIM_CCER_CC4NP ((uint16_t)0x8000) /*!< Capture/Compare 4 Complementary output Polarity */ + +/******************* Bit definition for TIM_CNT register ********************/ +#define TIM_CNT_CNT ((uint16_t)0xFFFF) /*!< Counter Value */ + +/******************* Bit definition for TIM_PSC register ********************/ +#define TIM_PSC_PSC ((uint16_t)0xFFFF) /*!< Prescaler Value */ + +/******************* Bit definition for TIM_ARR register ********************/ +#define TIM_ARR_ARR ((uint16_t)0xFFFF) /*!< actual auto-reload Value */ + +/******************* Bit definition for TIM_RCR register ********************/ +#define TIM_RCR_REP ((uint8_t)0xFF) /*!< Repetition Counter Value */ + +/******************* Bit definition for TIM_CCR1 register *******************/ +#define TIM_CCR1_CCR1 ((uint16_t)0xFFFF) /*!< Capture/Compare 1 Value */ + +/******************* Bit definition for TIM_CCR2 register *******************/ +#define TIM_CCR2_CCR2 ((uint16_t)0xFFFF) /*!< Capture/Compare 2 Value */ + +/******************* Bit definition for TIM_CCR3 register *******************/ +#define TIM_CCR3_CCR3 ((uint16_t)0xFFFF) /*!< Capture/Compare 3 Value */ + +/******************* Bit definition for TIM_CCR4 register *******************/ +#define TIM_CCR4_CCR4 ((uint16_t)0xFFFF) /*!< Capture/Compare 4 Value */ + +/******************* Bit definition for TIM_BDTR register *******************/ +#define TIM_BDTR_DTG ((uint16_t)0x00FF) /*!< DTG[0:7] bits (Dead-Time Generator set-up) */ +#define TIM_BDTR_DTG_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_BDTR_DTG_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define TIM_BDTR_DTG_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define TIM_BDTR_DTG_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define TIM_BDTR_DTG_4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define TIM_BDTR_DTG_5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define TIM_BDTR_DTG_6 ((uint16_t)0x0040) /*!< Bit 6 */ +#define TIM_BDTR_DTG_7 ((uint16_t)0x0080) /*!< Bit 7 */ + +#define TIM_BDTR_LOCK ((uint16_t)0x0300) /*!< LOCK[1:0] bits (Lock Configuration) */ +#define TIM_BDTR_LOCK_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_BDTR_LOCK_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define TIM_BDTR_OSSI ((uint16_t)0x0400) /*!< Off-State Selection for Idle mode */ +#define TIM_BDTR_OSSR ((uint16_t)0x0800) /*!< Off-State Selection for Run mode */ +#define TIM_BDTR_BKE ((uint16_t)0x1000) /*!< Break enable */ +#define TIM_BDTR_BKP ((uint16_t)0x2000) /*!< Break Polarity */ +#define TIM_BDTR_AOE ((uint16_t)0x4000) /*!< Automatic Output enable */ +#define TIM_BDTR_MOE ((uint16_t)0x8000) /*!< Main Output enable */ + +/******************* Bit definition for TIM_DCR register ********************/ +#define TIM_DCR_DBA ((uint16_t)0x001F) /*!< DBA[4:0] bits (DMA Base Address) */ +#define TIM_DCR_DBA_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define TIM_DCR_DBA_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define TIM_DCR_DBA_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define TIM_DCR_DBA_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define TIM_DCR_DBA_4 ((uint16_t)0x0010) /*!< Bit 4 */ + +#define TIM_DCR_DBL ((uint16_t)0x1F00) /*!< DBL[4:0] bits (DMA Burst Length) */ +#define TIM_DCR_DBL_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define TIM_DCR_DBL_1 ((uint16_t)0x0200) /*!< Bit 1 */ +#define TIM_DCR_DBL_2 ((uint16_t)0x0400) /*!< Bit 2 */ +#define TIM_DCR_DBL_3 ((uint16_t)0x0800) /*!< Bit 3 */ +#define TIM_DCR_DBL_4 ((uint16_t)0x1000) /*!< Bit 4 */ + +/******************* Bit definition for TIM_DMAR register *******************/ +#define TIM_DMAR_DMAB ((uint16_t)0xFFFF) /*!< DMA register for burst accesses */ + +/******************************************************************************/ +/* */ +/* Real-Time Clock */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for RTC_CRH register ********************/ +#define RTC_CRH_SECIE ((uint8_t)0x01) /*!< Second Interrupt Enable */ +#define RTC_CRH_ALRIE ((uint8_t)0x02) /*!< Alarm Interrupt Enable */ +#define RTC_CRH_OWIE ((uint8_t)0x04) /*!< OverfloW Interrupt Enable */ + +/******************* Bit definition for RTC_CRL register ********************/ +#define RTC_CRL_SECF ((uint8_t)0x01) /*!< Second Flag */ +#define RTC_CRL_ALRF ((uint8_t)0x02) /*!< Alarm Flag */ +#define RTC_CRL_OWF ((uint8_t)0x04) /*!< OverfloW Flag */ +#define RTC_CRL_RSF ((uint8_t)0x08) /*!< Registers Synchronized Flag */ +#define RTC_CRL_CNF ((uint8_t)0x10) /*!< Configuration Flag */ +#define RTC_CRL_RTOFF ((uint8_t)0x20) /*!< RTC operation OFF */ + +/******************* Bit definition for RTC_PRLH register *******************/ +#define RTC_PRLH_PRL ((uint16_t)0x000F) /*!< RTC Prescaler Reload Value High */ + +/******************* Bit definition for RTC_PRLL register *******************/ +#define RTC_PRLL_PRL ((uint16_t)0xFFFF) /*!< RTC Prescaler Reload Value Low */ + +/******************* Bit definition for RTC_DIVH register *******************/ +#define RTC_DIVH_RTC_DIV ((uint16_t)0x000F) /*!< RTC Clock Divider High */ + +/******************* Bit definition for RTC_DIVL register *******************/ +#define RTC_DIVL_RTC_DIV ((uint16_t)0xFFFF) /*!< RTC Clock Divider Low */ + +/******************* Bit definition for RTC_CNTH register *******************/ +#define RTC_CNTH_RTC_CNT ((uint16_t)0xFFFF) /*!< RTC Counter High */ + +/******************* Bit definition for RTC_CNTL register *******************/ +#define RTC_CNTL_RTC_CNT ((uint16_t)0xFFFF) /*!< RTC Counter Low */ + +/******************* Bit definition for RTC_ALRH register *******************/ +#define RTC_ALRH_RTC_ALR ((uint16_t)0xFFFF) /*!< RTC Alarm High */ + +/******************* Bit definition for RTC_ALRL register *******************/ +#define RTC_ALRL_RTC_ALR ((uint16_t)0xFFFF) /*!< RTC Alarm Low */ + +/******************************************************************************/ +/* */ +/* Independent WATCHDOG */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for IWDG_KR register ********************/ +#define IWDG_KR_KEY ((uint16_t)0xFFFF) /*!< Key value (write only, read 0000h) */ + +/******************* Bit definition for IWDG_PR register ********************/ +#define IWDG_PR_PR ((uint8_t)0x07) /*!< PR[2:0] (Prescaler divider) */ +#define IWDG_PR_PR_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define IWDG_PR_PR_1 ((uint8_t)0x02) /*!< Bit 1 */ +#define IWDG_PR_PR_2 ((uint8_t)0x04) /*!< Bit 2 */ + +/******************* Bit definition for IWDG_RLR register *******************/ +#define IWDG_RLR_RL ((uint16_t)0x0FFF) /*!< Watchdog counter reload value */ + +/******************* Bit definition for IWDG_SR register ********************/ +#define IWDG_SR_PVU ((uint8_t)0x01) /*!< Watchdog prescaler value update */ +#define IWDG_SR_RVU ((uint8_t)0x02) /*!< Watchdog counter reload value update */ + +/******************************************************************************/ +/* */ +/* Window WATCHDOG */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for WWDG_CR register ********************/ +#define WWDG_CR_T ((uint8_t)0x7F) /*!< T[6:0] bits (7-Bit counter (MSB to LSB)) */ +#define WWDG_CR_T0 ((uint8_t)0x01) /*!< Bit 0 */ +#define WWDG_CR_T1 ((uint8_t)0x02) /*!< Bit 1 */ +#define WWDG_CR_T2 ((uint8_t)0x04) /*!< Bit 2 */ +#define WWDG_CR_T3 ((uint8_t)0x08) /*!< Bit 3 */ +#define WWDG_CR_T4 ((uint8_t)0x10) /*!< Bit 4 */ +#define WWDG_CR_T5 ((uint8_t)0x20) /*!< Bit 5 */ +#define WWDG_CR_T6 ((uint8_t)0x40) /*!< Bit 6 */ + +#define WWDG_CR_WDGA ((uint8_t)0x80) /*!< Activation bit */ + +/******************* Bit definition for WWDG_CFR register *******************/ +#define WWDG_CFR_W ((uint16_t)0x007F) /*!< W[6:0] bits (7-bit window value) */ +#define WWDG_CFR_W0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define WWDG_CFR_W1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define WWDG_CFR_W2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define WWDG_CFR_W3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define WWDG_CFR_W4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define WWDG_CFR_W5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define WWDG_CFR_W6 ((uint16_t)0x0040) /*!< Bit 6 */ + +#define WWDG_CFR_WDGTB ((uint16_t)0x0180) /*!< WDGTB[1:0] bits (Timer Base) */ +#define WWDG_CFR_WDGTB0 ((uint16_t)0x0080) /*!< Bit 0 */ +#define WWDG_CFR_WDGTB1 ((uint16_t)0x0100) /*!< Bit 1 */ + +#define WWDG_CFR_EWI ((uint16_t)0x0200) /*!< Early Wakeup Interrupt */ + +/******************* Bit definition for WWDG_SR register ********************/ +#define WWDG_SR_EWIF ((uint8_t)0x01) /*!< Early Wakeup Interrupt Flag */ + +/******************************************************************************/ +/* */ +/* Flexible Static Memory Controller */ +/* */ +/******************************************************************************/ + +/****************** Bit definition for FSMC_BCR1 register *******************/ +#define FSMC_BCR1_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR1_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR1_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR1_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR1_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR1_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR1_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR1_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR1_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR1_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR1_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit */ +#define FSMC_BCR1_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR1_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR1_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR1_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR1_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR1_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR1_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BCR2 register *******************/ +#define FSMC_BCR2_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR2_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR2_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR2_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR2_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR2_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR2_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR2_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR2_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR2_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR2_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit */ +#define FSMC_BCR2_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR2_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR2_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR2_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR2_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR2_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR2_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BCR3 register *******************/ +#define FSMC_BCR3_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR3_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR3_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR3_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR3_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR3_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR3_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR3_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR3_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR3_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR3_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit. */ +#define FSMC_BCR3_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR3_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR3_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR3_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR3_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR3_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR3_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BCR4 register *******************/ +#define FSMC_BCR4_MBKEN ((uint32_t)0x00000001) /*!< Memory bank enable bit */ +#define FSMC_BCR4_MUXEN ((uint32_t)0x00000002) /*!< Address/data multiplexing enable bit */ + +#define FSMC_BCR4_MTYP ((uint32_t)0x0000000C) /*!< MTYP[1:0] bits (Memory type) */ +#define FSMC_BCR4_MTYP_0 ((uint32_t)0x00000004) /*!< Bit 0 */ +#define FSMC_BCR4_MTYP_1 ((uint32_t)0x00000008) /*!< Bit 1 */ + +#define FSMC_BCR4_MWID ((uint32_t)0x00000030) /*!< MWID[1:0] bits (Memory data bus width) */ +#define FSMC_BCR4_MWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BCR4_MWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_BCR4_FACCEN ((uint32_t)0x00000040) /*!< Flash access enable */ +#define FSMC_BCR4_BURSTEN ((uint32_t)0x00000100) /*!< Burst enable bit */ +#define FSMC_BCR4_WAITPOL ((uint32_t)0x00000200) /*!< Wait signal polarity bit */ +#define FSMC_BCR4_WRAPMOD ((uint32_t)0x00000400) /*!< Wrapped burst mode support */ +#define FSMC_BCR4_WAITCFG ((uint32_t)0x00000800) /*!< Wait timing configuration */ +#define FSMC_BCR4_WREN ((uint32_t)0x00001000) /*!< Write enable bit */ +#define FSMC_BCR4_WAITEN ((uint32_t)0x00002000) /*!< Wait enable bit */ +#define FSMC_BCR4_EXTMOD ((uint32_t)0x00004000) /*!< Extended mode enable */ +#define FSMC_BCR4_ASYNCWAIT ((uint32_t)0x00008000) /*!< Asynchronous wait */ +#define FSMC_BCR4_CBURSTRW ((uint32_t)0x00080000) /*!< Write burst enable */ + +/****************** Bit definition for FSMC_BTR1 register ******************/ +#define FSMC_BTR1_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR1_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR1_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR1_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR1_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR1_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR1_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR1_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR1_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR1_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR1_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR1_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR1_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR1_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR1_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR1_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR1_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR1_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR1_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR1_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR1_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR1_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR1_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR1_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR1_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR1_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR1_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR1_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR1_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR1_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR1_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR1_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR1_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BTR2 register *******************/ +#define FSMC_BTR2_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR2_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR2_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR2_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR2_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR2_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR2_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR2_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR2_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR2_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR2_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR2_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR2_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR2_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR2_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR2_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR2_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR2_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR2_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR2_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR2_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR2_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR2_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR2_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR2_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR2_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR2_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR2_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR2_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR2_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR2_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR2_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR2_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/******************* Bit definition for FSMC_BTR3 register *******************/ +#define FSMC_BTR3_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR3_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR3_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR3_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR3_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR3_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR3_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR3_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR3_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR3_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR3_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR3_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR3_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR3_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR3_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR3_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR3_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR3_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR3_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR3_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR3_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR3_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR3_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR3_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR3_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR3_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR3_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR3_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR3_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR3_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR3_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR3_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR3_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BTR4 register *******************/ +#define FSMC_BTR4_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BTR4_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BTR4_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BTR4_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BTR4_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BTR4_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BTR4_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BTR4_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BTR4_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BTR4_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BTR4_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BTR4_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BTR4_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BTR4_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BTR4_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BTR4_BUSTURN ((uint32_t)0x000F0000) /*!< BUSTURN[3:0] bits (Bus turnaround phase duration) */ +#define FSMC_BTR4_BUSTURN_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_BTR4_BUSTURN_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_BTR4_BUSTURN_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_BTR4_BUSTURN_3 ((uint32_t)0x00080000) /*!< Bit 3 */ + +#define FSMC_BTR4_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BTR4_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BTR4_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BTR4_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BTR4_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BTR4_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BTR4_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BTR4_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BTR4_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BTR4_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BTR4_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BTR4_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BTR4_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR1 register ******************/ +#define FSMC_BWTR1_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR1_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR1_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR1_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR1_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR1_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR1_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR1_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR1_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR1_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR1_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR1_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR1_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR1_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR1_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR1_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR1_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR1_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BWTR1_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR1_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR1_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR1_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR1_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR1_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR1_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR1_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR1_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR1_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR2 register ******************/ +#define FSMC_BWTR2_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR2_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR2_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR2_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR2_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR2_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR2_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR2_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR2_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR2_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR2_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR2_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR2_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR2_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR2_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR2_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR2_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR2_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1*/ +#define FSMC_BWTR2_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR2_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR2_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR2_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR2_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR2_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR2_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR2_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR2_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR2_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR3 register ******************/ +#define FSMC_BWTR3_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR3_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR3_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR3_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR3_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR3_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR3_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR3_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR3_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR3_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR3_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR3_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR3_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR3_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR3_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR3_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR3_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR3_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BWTR3_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR3_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR3_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR3_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR3_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR3_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR3_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR3_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR3_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR3_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_BWTR4 register ******************/ +#define FSMC_BWTR4_ADDSET ((uint32_t)0x0000000F) /*!< ADDSET[3:0] bits (Address setup phase duration) */ +#define FSMC_BWTR4_ADDSET_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_BWTR4_ADDSET_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_BWTR4_ADDSET_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_BWTR4_ADDSET_3 ((uint32_t)0x00000008) /*!< Bit 3 */ + +#define FSMC_BWTR4_ADDHLD ((uint32_t)0x000000F0) /*!< ADDHLD[3:0] bits (Address-hold phase duration) */ +#define FSMC_BWTR4_ADDHLD_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_BWTR4_ADDHLD_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define FSMC_BWTR4_ADDHLD_2 ((uint32_t)0x00000040) /*!< Bit 2 */ +#define FSMC_BWTR4_ADDHLD_3 ((uint32_t)0x00000080) /*!< Bit 3 */ + +#define FSMC_BWTR4_DATAST ((uint32_t)0x0000FF00) /*!< DATAST [3:0] bits (Data-phase duration) */ +#define FSMC_BWTR4_DATAST_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_BWTR4_DATAST_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_BWTR4_DATAST_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_BWTR4_DATAST_3 ((uint32_t)0x00000800) /*!< Bit 3 */ + +#define FSMC_BWTR4_CLKDIV ((uint32_t)0x00F00000) /*!< CLKDIV[3:0] bits (Clock divide ratio) */ +#define FSMC_BWTR4_CLKDIV_0 ((uint32_t)0x00100000) /*!< Bit 0 */ +#define FSMC_BWTR4_CLKDIV_1 ((uint32_t)0x00200000) /*!< Bit 1 */ +#define FSMC_BWTR4_CLKDIV_2 ((uint32_t)0x00400000) /*!< Bit 2 */ +#define FSMC_BWTR4_CLKDIV_3 ((uint32_t)0x00800000) /*!< Bit 3 */ + +#define FSMC_BWTR4_DATLAT ((uint32_t)0x0F000000) /*!< DATLA[3:0] bits (Data latency) */ +#define FSMC_BWTR4_DATLAT_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_BWTR4_DATLAT_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_BWTR4_DATLAT_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_BWTR4_DATLAT_3 ((uint32_t)0x08000000) /*!< Bit 3 */ + +#define FSMC_BWTR4_ACCMOD ((uint32_t)0x30000000) /*!< ACCMOD[1:0] bits (Access mode) */ +#define FSMC_BWTR4_ACCMOD_0 ((uint32_t)0x10000000) /*!< Bit 0 */ +#define FSMC_BWTR4_ACCMOD_1 ((uint32_t)0x20000000) /*!< Bit 1 */ + +/****************** Bit definition for FSMC_PCR2 register *******************/ +#define FSMC_PCR2_PWAITEN ((uint32_t)0x00000002) /*!< Wait feature enable bit */ +#define FSMC_PCR2_PBKEN ((uint32_t)0x00000004) /*!< PC Card/NAND Flash memory bank enable bit */ +#define FSMC_PCR2_PTYP ((uint32_t)0x00000008) /*!< Memory type */ + +#define FSMC_PCR2_PWID ((uint32_t)0x00000030) /*!< PWID[1:0] bits (NAND Flash databus width) */ +#define FSMC_PCR2_PWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_PCR2_PWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_PCR2_ECCEN ((uint32_t)0x00000040) /*!< ECC computation logic enable bit */ + +#define FSMC_PCR2_TCLR ((uint32_t)0x00001E00) /*!< TCLR[3:0] bits (CLE to RE delay) */ +#define FSMC_PCR2_TCLR_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define FSMC_PCR2_TCLR_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define FSMC_PCR2_TCLR_2 ((uint32_t)0x00000800) /*!< Bit 2 */ +#define FSMC_PCR2_TCLR_3 ((uint32_t)0x00001000) /*!< Bit 3 */ + +#define FSMC_PCR2_TAR ((uint32_t)0x0001E000) /*!< TAR[3:0] bits (ALE to RE delay) */ +#define FSMC_PCR2_TAR_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define FSMC_PCR2_TAR_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define FSMC_PCR2_TAR_2 ((uint32_t)0x00008000) /*!< Bit 2 */ +#define FSMC_PCR2_TAR_3 ((uint32_t)0x00010000) /*!< Bit 3 */ + +#define FSMC_PCR2_ECCPS ((uint32_t)0x000E0000) /*!< ECCPS[1:0] bits (ECC page size) */ +#define FSMC_PCR2_ECCPS_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define FSMC_PCR2_ECCPS_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define FSMC_PCR2_ECCPS_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +/****************** Bit definition for FSMC_PCR3 register *******************/ +#define FSMC_PCR3_PWAITEN ((uint32_t)0x00000002) /*!< Wait feature enable bit */ +#define FSMC_PCR3_PBKEN ((uint32_t)0x00000004) /*!< PC Card/NAND Flash memory bank enable bit */ +#define FSMC_PCR3_PTYP ((uint32_t)0x00000008) /*!< Memory type */ + +#define FSMC_PCR3_PWID ((uint32_t)0x00000030) /*!< PWID[1:0] bits (NAND Flash databus width) */ +#define FSMC_PCR3_PWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_PCR3_PWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_PCR3_ECCEN ((uint32_t)0x00000040) /*!< ECC computation logic enable bit */ + +#define FSMC_PCR3_TCLR ((uint32_t)0x00001E00) /*!< TCLR[3:0] bits (CLE to RE delay) */ +#define FSMC_PCR3_TCLR_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define FSMC_PCR3_TCLR_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define FSMC_PCR3_TCLR_2 ((uint32_t)0x00000800) /*!< Bit 2 */ +#define FSMC_PCR3_TCLR_3 ((uint32_t)0x00001000) /*!< Bit 3 */ + +#define FSMC_PCR3_TAR ((uint32_t)0x0001E000) /*!< TAR[3:0] bits (ALE to RE delay) */ +#define FSMC_PCR3_TAR_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define FSMC_PCR3_TAR_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define FSMC_PCR3_TAR_2 ((uint32_t)0x00008000) /*!< Bit 2 */ +#define FSMC_PCR3_TAR_3 ((uint32_t)0x00010000) /*!< Bit 3 */ + +#define FSMC_PCR3_ECCPS ((uint32_t)0x000E0000) /*!< ECCPS[2:0] bits (ECC page size) */ +#define FSMC_PCR3_ECCPS_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define FSMC_PCR3_ECCPS_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define FSMC_PCR3_ECCPS_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +/****************** Bit definition for FSMC_PCR4 register *******************/ +#define FSMC_PCR4_PWAITEN ((uint32_t)0x00000002) /*!< Wait feature enable bit */ +#define FSMC_PCR4_PBKEN ((uint32_t)0x00000004) /*!< PC Card/NAND Flash memory bank enable bit */ +#define FSMC_PCR4_PTYP ((uint32_t)0x00000008) /*!< Memory type */ + +#define FSMC_PCR4_PWID ((uint32_t)0x00000030) /*!< PWID[1:0] bits (NAND Flash databus width) */ +#define FSMC_PCR4_PWID_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define FSMC_PCR4_PWID_1 ((uint32_t)0x00000020) /*!< Bit 1 */ + +#define FSMC_PCR4_ECCEN ((uint32_t)0x00000040) /*!< ECC computation logic enable bit */ + +#define FSMC_PCR4_TCLR ((uint32_t)0x00001E00) /*!< TCLR[3:0] bits (CLE to RE delay) */ +#define FSMC_PCR4_TCLR_0 ((uint32_t)0x00000200) /*!< Bit 0 */ +#define FSMC_PCR4_TCLR_1 ((uint32_t)0x00000400) /*!< Bit 1 */ +#define FSMC_PCR4_TCLR_2 ((uint32_t)0x00000800) /*!< Bit 2 */ +#define FSMC_PCR4_TCLR_3 ((uint32_t)0x00001000) /*!< Bit 3 */ + +#define FSMC_PCR4_TAR ((uint32_t)0x0001E000) /*!< TAR[3:0] bits (ALE to RE delay) */ +#define FSMC_PCR4_TAR_0 ((uint32_t)0x00002000) /*!< Bit 0 */ +#define FSMC_PCR4_TAR_1 ((uint32_t)0x00004000) /*!< Bit 1 */ +#define FSMC_PCR4_TAR_2 ((uint32_t)0x00008000) /*!< Bit 2 */ +#define FSMC_PCR4_TAR_3 ((uint32_t)0x00010000) /*!< Bit 3 */ + +#define FSMC_PCR4_ECCPS ((uint32_t)0x000E0000) /*!< ECCPS[2:0] bits (ECC page size) */ +#define FSMC_PCR4_ECCPS_0 ((uint32_t)0x00020000) /*!< Bit 0 */ +#define FSMC_PCR4_ECCPS_1 ((uint32_t)0x00040000) /*!< Bit 1 */ +#define FSMC_PCR4_ECCPS_2 ((uint32_t)0x00080000) /*!< Bit 2 */ + +/******************* Bit definition for FSMC_SR2 register *******************/ +#define FSMC_SR2_IRS ((uint8_t)0x01) /*!< Interrupt Rising Edge status */ +#define FSMC_SR2_ILS ((uint8_t)0x02) /*!< Interrupt Level status */ +#define FSMC_SR2_IFS ((uint8_t)0x04) /*!< Interrupt Falling Edge status */ +#define FSMC_SR2_IREN ((uint8_t)0x08) /*!< Interrupt Rising Edge detection Enable bit */ +#define FSMC_SR2_ILEN ((uint8_t)0x10) /*!< Interrupt Level detection Enable bit */ +#define FSMC_SR2_IFEN ((uint8_t)0x20) /*!< Interrupt Falling Edge detection Enable bit */ +#define FSMC_SR2_FEMPT ((uint8_t)0x40) /*!< FIFO empty */ + +/******************* Bit definition for FSMC_SR3 register *******************/ +#define FSMC_SR3_IRS ((uint8_t)0x01) /*!< Interrupt Rising Edge status */ +#define FSMC_SR3_ILS ((uint8_t)0x02) /*!< Interrupt Level status */ +#define FSMC_SR3_IFS ((uint8_t)0x04) /*!< Interrupt Falling Edge status */ +#define FSMC_SR3_IREN ((uint8_t)0x08) /*!< Interrupt Rising Edge detection Enable bit */ +#define FSMC_SR3_ILEN ((uint8_t)0x10) /*!< Interrupt Level detection Enable bit */ +#define FSMC_SR3_IFEN ((uint8_t)0x20) /*!< Interrupt Falling Edge detection Enable bit */ +#define FSMC_SR3_FEMPT ((uint8_t)0x40) /*!< FIFO empty */ + +/******************* Bit definition for FSMC_SR4 register *******************/ +#define FSMC_SR4_IRS ((uint8_t)0x01) /*!< Interrupt Rising Edge status */ +#define FSMC_SR4_ILS ((uint8_t)0x02) /*!< Interrupt Level status */ +#define FSMC_SR4_IFS ((uint8_t)0x04) /*!< Interrupt Falling Edge status */ +#define FSMC_SR4_IREN ((uint8_t)0x08) /*!< Interrupt Rising Edge detection Enable bit */ +#define FSMC_SR4_ILEN ((uint8_t)0x10) /*!< Interrupt Level detection Enable bit */ +#define FSMC_SR4_IFEN ((uint8_t)0x20) /*!< Interrupt Falling Edge detection Enable bit */ +#define FSMC_SR4_FEMPT ((uint8_t)0x40) /*!< FIFO empty */ + +/****************** Bit definition for FSMC_PMEM2 register ******************/ +#define FSMC_PMEM2_MEMSET2 ((uint32_t)0x000000FF) /*!< MEMSET2[7:0] bits (Common memory 2 setup time) */ +#define FSMC_PMEM2_MEMSET2_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMSET2_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMSET2_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMSET2_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMSET2_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMSET2_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMSET2_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMSET2_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PMEM2_MEMWAIT2 ((uint32_t)0x0000FF00) /*!< MEMWAIT2[7:0] bits (Common memory 2 wait time) */ +#define FSMC_PMEM2_MEMWAIT2_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMWAIT2_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMWAIT2_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMWAIT2_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMWAIT2_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMWAIT2_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMWAIT2_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMWAIT2_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PMEM2_MEMHOLD2 ((uint32_t)0x00FF0000) /*!< MEMHOLD2[7:0] bits (Common memory 2 hold time) */ +#define FSMC_PMEM2_MEMHOLD2_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMHOLD2_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMHOLD2_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMHOLD2_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMHOLD2_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMHOLD2_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMHOLD2_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMHOLD2_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PMEM2_MEMHIZ2 ((uint32_t)0xFF000000) /*!< MEMHIZ2[7:0] bits (Common memory 2 databus HiZ time) */ +#define FSMC_PMEM2_MEMHIZ2_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PMEM2_MEMHIZ2_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PMEM2_MEMHIZ2_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PMEM2_MEMHIZ2_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PMEM2_MEMHIZ2_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PMEM2_MEMHIZ2_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PMEM2_MEMHIZ2_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PMEM2_MEMHIZ2_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PMEM3 register ******************/ +#define FSMC_PMEM3_MEMSET3 ((uint32_t)0x000000FF) /*!< MEMSET3[7:0] bits (Common memory 3 setup time) */ +#define FSMC_PMEM3_MEMSET3_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMSET3_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMSET3_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMSET3_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMSET3_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMSET3_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMSET3_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMSET3_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PMEM3_MEMWAIT3 ((uint32_t)0x0000FF00) /*!< MEMWAIT3[7:0] bits (Common memory 3 wait time) */ +#define FSMC_PMEM3_MEMWAIT3_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMWAIT3_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMWAIT3_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMWAIT3_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMWAIT3_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMWAIT3_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMWAIT3_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMWAIT3_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PMEM3_MEMHOLD3 ((uint32_t)0x00FF0000) /*!< MEMHOLD3[7:0] bits (Common memory 3 hold time) */ +#define FSMC_PMEM3_MEMHOLD3_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMHOLD3_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMHOLD3_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMHOLD3_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMHOLD3_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMHOLD3_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMHOLD3_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMHOLD3_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PMEM3_MEMHIZ3 ((uint32_t)0xFF000000) /*!< MEMHIZ3[7:0] bits (Common memory 3 databus HiZ time) */ +#define FSMC_PMEM3_MEMHIZ3_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PMEM3_MEMHIZ3_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PMEM3_MEMHIZ3_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PMEM3_MEMHIZ3_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PMEM3_MEMHIZ3_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PMEM3_MEMHIZ3_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PMEM3_MEMHIZ3_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PMEM3_MEMHIZ3_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PMEM4 register ******************/ +#define FSMC_PMEM4_MEMSET4 ((uint32_t)0x000000FF) /*!< MEMSET4[7:0] bits (Common memory 4 setup time) */ +#define FSMC_PMEM4_MEMSET4_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMSET4_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMSET4_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMSET4_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMSET4_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMSET4_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMSET4_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMSET4_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PMEM4_MEMWAIT4 ((uint32_t)0x0000FF00) /*!< MEMWAIT4[7:0] bits (Common memory 4 wait time) */ +#define FSMC_PMEM4_MEMWAIT4_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMWAIT4_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMWAIT4_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMWAIT4_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMWAIT4_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMWAIT4_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMWAIT4_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMWAIT4_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PMEM4_MEMHOLD4 ((uint32_t)0x00FF0000) /*!< MEMHOLD4[7:0] bits (Common memory 4 hold time) */ +#define FSMC_PMEM4_MEMHOLD4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMHOLD4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMHOLD4_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMHOLD4_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMHOLD4_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMHOLD4_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMHOLD4_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMHOLD4_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PMEM4_MEMHIZ4 ((uint32_t)0xFF000000) /*!< MEMHIZ4[7:0] bits (Common memory 4 databus HiZ time) */ +#define FSMC_PMEM4_MEMHIZ4_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PMEM4_MEMHIZ4_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PMEM4_MEMHIZ4_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PMEM4_MEMHIZ4_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PMEM4_MEMHIZ4_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PMEM4_MEMHIZ4_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PMEM4_MEMHIZ4_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PMEM4_MEMHIZ4_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PATT2 register ******************/ +#define FSMC_PATT2_ATTSET2 ((uint32_t)0x000000FF) /*!< ATTSET2[7:0] bits (Attribute memory 2 setup time) */ +#define FSMC_PATT2_ATTSET2_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PATT2_ATTSET2_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PATT2_ATTSET2_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PATT2_ATTSET2_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PATT2_ATTSET2_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PATT2_ATTSET2_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PATT2_ATTSET2_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PATT2_ATTSET2_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PATT2_ATTWAIT2 ((uint32_t)0x0000FF00) /*!< ATTWAIT2[7:0] bits (Attribute memory 2 wait time) */ +#define FSMC_PATT2_ATTWAIT2_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PATT2_ATTWAIT2_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PATT2_ATTWAIT2_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PATT2_ATTWAIT2_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PATT2_ATTWAIT2_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PATT2_ATTWAIT2_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PATT2_ATTWAIT2_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PATT2_ATTWAIT2_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PATT2_ATTHOLD2 ((uint32_t)0x00FF0000) /*!< ATTHOLD2[7:0] bits (Attribute memory 2 hold time) */ +#define FSMC_PATT2_ATTHOLD2_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PATT2_ATTHOLD2_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PATT2_ATTHOLD2_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PATT2_ATTHOLD2_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PATT2_ATTHOLD2_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PATT2_ATTHOLD2_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PATT2_ATTHOLD2_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PATT2_ATTHOLD2_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PATT2_ATTHIZ2 ((uint32_t)0xFF000000) /*!< ATTHIZ2[7:0] bits (Attribute memory 2 databus HiZ time) */ +#define FSMC_PATT2_ATTHIZ2_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PATT2_ATTHIZ2_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PATT2_ATTHIZ2_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PATT2_ATTHIZ2_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PATT2_ATTHIZ2_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PATT2_ATTHIZ2_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PATT2_ATTHIZ2_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PATT2_ATTHIZ2_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PATT3 register ******************/ +#define FSMC_PATT3_ATTSET3 ((uint32_t)0x000000FF) /*!< ATTSET3[7:0] bits (Attribute memory 3 setup time) */ +#define FSMC_PATT3_ATTSET3_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PATT3_ATTSET3_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PATT3_ATTSET3_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PATT3_ATTSET3_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PATT3_ATTSET3_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PATT3_ATTSET3_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PATT3_ATTSET3_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PATT3_ATTSET3_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PATT3_ATTWAIT3 ((uint32_t)0x0000FF00) /*!< ATTWAIT3[7:0] bits (Attribute memory 3 wait time) */ +#define FSMC_PATT3_ATTWAIT3_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PATT3_ATTWAIT3_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PATT3_ATTWAIT3_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PATT3_ATTWAIT3_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PATT3_ATTWAIT3_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PATT3_ATTWAIT3_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PATT3_ATTWAIT3_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PATT3_ATTWAIT3_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PATT3_ATTHOLD3 ((uint32_t)0x00FF0000) /*!< ATTHOLD3[7:0] bits (Attribute memory 3 hold time) */ +#define FSMC_PATT3_ATTHOLD3_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PATT3_ATTHOLD3_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PATT3_ATTHOLD3_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PATT3_ATTHOLD3_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PATT3_ATTHOLD3_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PATT3_ATTHOLD3_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PATT3_ATTHOLD3_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PATT3_ATTHOLD3_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PATT3_ATTHIZ3 ((uint32_t)0xFF000000) /*!< ATTHIZ3[7:0] bits (Attribute memory 3 databus HiZ time) */ +#define FSMC_PATT3_ATTHIZ3_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PATT3_ATTHIZ3_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PATT3_ATTHIZ3_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PATT3_ATTHIZ3_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PATT3_ATTHIZ3_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PATT3_ATTHIZ3_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PATT3_ATTHIZ3_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PATT3_ATTHIZ3_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PATT4 register ******************/ +#define FSMC_PATT4_ATTSET4 ((uint32_t)0x000000FF) /*!< ATTSET4[7:0] bits (Attribute memory 4 setup time) */ +#define FSMC_PATT4_ATTSET4_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PATT4_ATTSET4_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PATT4_ATTSET4_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PATT4_ATTSET4_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PATT4_ATTSET4_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PATT4_ATTSET4_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PATT4_ATTSET4_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PATT4_ATTSET4_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PATT4_ATTWAIT4 ((uint32_t)0x0000FF00) /*!< ATTWAIT4[7:0] bits (Attribute memory 4 wait time) */ +#define FSMC_PATT4_ATTWAIT4_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PATT4_ATTWAIT4_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PATT4_ATTWAIT4_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PATT4_ATTWAIT4_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PATT4_ATTWAIT4_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PATT4_ATTWAIT4_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PATT4_ATTWAIT4_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PATT4_ATTWAIT4_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PATT4_ATTHOLD4 ((uint32_t)0x00FF0000) /*!< ATTHOLD4[7:0] bits (Attribute memory 4 hold time) */ +#define FSMC_PATT4_ATTHOLD4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PATT4_ATTHOLD4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PATT4_ATTHOLD4_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PATT4_ATTHOLD4_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PATT4_ATTHOLD4_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PATT4_ATTHOLD4_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PATT4_ATTHOLD4_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PATT4_ATTHOLD4_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PATT4_ATTHIZ4 ((uint32_t)0xFF000000) /*!< ATTHIZ4[7:0] bits (Attribute memory 4 databus HiZ time) */ +#define FSMC_PATT4_ATTHIZ4_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PATT4_ATTHIZ4_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PATT4_ATTHIZ4_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PATT4_ATTHIZ4_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PATT4_ATTHIZ4_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PATT4_ATTHIZ4_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PATT4_ATTHIZ4_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PATT4_ATTHIZ4_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_PIO4 register *******************/ +#define FSMC_PIO4_IOSET4 ((uint32_t)0x000000FF) /*!< IOSET4[7:0] bits (I/O 4 setup time) */ +#define FSMC_PIO4_IOSET4_0 ((uint32_t)0x00000001) /*!< Bit 0 */ +#define FSMC_PIO4_IOSET4_1 ((uint32_t)0x00000002) /*!< Bit 1 */ +#define FSMC_PIO4_IOSET4_2 ((uint32_t)0x00000004) /*!< Bit 2 */ +#define FSMC_PIO4_IOSET4_3 ((uint32_t)0x00000008) /*!< Bit 3 */ +#define FSMC_PIO4_IOSET4_4 ((uint32_t)0x00000010) /*!< Bit 4 */ +#define FSMC_PIO4_IOSET4_5 ((uint32_t)0x00000020) /*!< Bit 5 */ +#define FSMC_PIO4_IOSET4_6 ((uint32_t)0x00000040) /*!< Bit 6 */ +#define FSMC_PIO4_IOSET4_7 ((uint32_t)0x00000080) /*!< Bit 7 */ + +#define FSMC_PIO4_IOWAIT4 ((uint32_t)0x0000FF00) /*!< IOWAIT4[7:0] bits (I/O 4 wait time) */ +#define FSMC_PIO4_IOWAIT4_0 ((uint32_t)0x00000100) /*!< Bit 0 */ +#define FSMC_PIO4_IOWAIT4_1 ((uint32_t)0x00000200) /*!< Bit 1 */ +#define FSMC_PIO4_IOWAIT4_2 ((uint32_t)0x00000400) /*!< Bit 2 */ +#define FSMC_PIO4_IOWAIT4_3 ((uint32_t)0x00000800) /*!< Bit 3 */ +#define FSMC_PIO4_IOWAIT4_4 ((uint32_t)0x00001000) /*!< Bit 4 */ +#define FSMC_PIO4_IOWAIT4_5 ((uint32_t)0x00002000) /*!< Bit 5 */ +#define FSMC_PIO4_IOWAIT4_6 ((uint32_t)0x00004000) /*!< Bit 6 */ +#define FSMC_PIO4_IOWAIT4_7 ((uint32_t)0x00008000) /*!< Bit 7 */ + +#define FSMC_PIO4_IOHOLD4 ((uint32_t)0x00FF0000) /*!< IOHOLD4[7:0] bits (I/O 4 hold time) */ +#define FSMC_PIO4_IOHOLD4_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define FSMC_PIO4_IOHOLD4_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define FSMC_PIO4_IOHOLD4_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define FSMC_PIO4_IOHOLD4_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define FSMC_PIO4_IOHOLD4_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define FSMC_PIO4_IOHOLD4_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define FSMC_PIO4_IOHOLD4_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define FSMC_PIO4_IOHOLD4_7 ((uint32_t)0x00800000) /*!< Bit 7 */ + +#define FSMC_PIO4_IOHIZ4 ((uint32_t)0xFF000000) /*!< IOHIZ4[7:0] bits (I/O 4 databus HiZ time) */ +#define FSMC_PIO4_IOHIZ4_0 ((uint32_t)0x01000000) /*!< Bit 0 */ +#define FSMC_PIO4_IOHIZ4_1 ((uint32_t)0x02000000) /*!< Bit 1 */ +#define FSMC_PIO4_IOHIZ4_2 ((uint32_t)0x04000000) /*!< Bit 2 */ +#define FSMC_PIO4_IOHIZ4_3 ((uint32_t)0x08000000) /*!< Bit 3 */ +#define FSMC_PIO4_IOHIZ4_4 ((uint32_t)0x10000000) /*!< Bit 4 */ +#define FSMC_PIO4_IOHIZ4_5 ((uint32_t)0x20000000) /*!< Bit 5 */ +#define FSMC_PIO4_IOHIZ4_6 ((uint32_t)0x40000000) /*!< Bit 6 */ +#define FSMC_PIO4_IOHIZ4_7 ((uint32_t)0x80000000) /*!< Bit 7 */ + +/****************** Bit definition for FSMC_ECCR2 register ******************/ +#define FSMC_ECCR2_ECC2 ((uint32_t)0xFFFFFFFF) /*!< ECC result */ + +/****************** Bit definition for FSMC_ECCR3 register ******************/ +#define FSMC_ECCR3_ECC3 ((uint32_t)0xFFFFFFFF) /*!< ECC result */ + +/******************************************************************************/ +/* */ +/* SD host Interface */ +/* */ +/******************************************************************************/ + +/****************** Bit definition for SDIO_POWER register ******************/ +#define SDIO_POWER_PWRCTRL ((uint8_t)0x03) /*!< PWRCTRL[1:0] bits (Power supply control bits) */ +#define SDIO_POWER_PWRCTRL_0 ((uint8_t)0x01) /*!< Bit 0 */ +#define SDIO_POWER_PWRCTRL_1 ((uint8_t)0x02) /*!< Bit 1 */ + +/****************** Bit definition for SDIO_CLKCR register ******************/ +#define SDIO_CLKCR_CLKDIV ((uint16_t)0x00FF) /*!< Clock divide factor */ +#define SDIO_CLKCR_CLKEN ((uint16_t)0x0100) /*!< Clock enable bit */ +#define SDIO_CLKCR_PWRSAV ((uint16_t)0x0200) /*!< Power saving configuration bit */ +#define SDIO_CLKCR_BYPASS ((uint16_t)0x0400) /*!< Clock divider bypass enable bit */ + +#define SDIO_CLKCR_WIDBUS ((uint16_t)0x1800) /*!< WIDBUS[1:0] bits (Wide bus mode enable bit) */ +#define SDIO_CLKCR_WIDBUS_0 ((uint16_t)0x0800) /*!< Bit 0 */ +#define SDIO_CLKCR_WIDBUS_1 ((uint16_t)0x1000) /*!< Bit 1 */ + +#define SDIO_CLKCR_NEGEDGE ((uint16_t)0x2000) /*!< SDIO_CK dephasing selection bit */ +#define SDIO_CLKCR_HWFC_EN ((uint16_t)0x4000) /*!< HW Flow Control enable */ + +/******************* Bit definition for SDIO_ARG register *******************/ +#define SDIO_ARG_CMDARG ((uint32_t)0xFFFFFFFF) /*!< Command argument */ + +/******************* Bit definition for SDIO_CMD register *******************/ +#define SDIO_CMD_CMDINDEX ((uint16_t)0x003F) /*!< Command Index */ + +#define SDIO_CMD_WAITRESP ((uint16_t)0x00C0) /*!< WAITRESP[1:0] bits (Wait for response bits) */ +#define SDIO_CMD_WAITRESP_0 ((uint16_t)0x0040) /*!< Bit 0 */ +#define SDIO_CMD_WAITRESP_1 ((uint16_t)0x0080) /*!< Bit 1 */ + +#define SDIO_CMD_WAITINT ((uint16_t)0x0100) /*!< CPSM Waits for Interrupt Request */ +#define SDIO_CMD_WAITPEND ((uint16_t)0x0200) /*!< CPSM Waits for ends of data transfer (CmdPend internal signal) */ +#define SDIO_CMD_CPSMEN ((uint16_t)0x0400) /*!< Command path state machine (CPSM) Enable bit */ +#define SDIO_CMD_SDIOSUSPEND ((uint16_t)0x0800) /*!< SD I/O suspend command */ +#define SDIO_CMD_ENCMDCOMPL ((uint16_t)0x1000) /*!< Enable CMD completion */ +#define SDIO_CMD_NIEN ((uint16_t)0x2000) /*!< Not Interrupt Enable */ +#define SDIO_CMD_CEATACMD ((uint16_t)0x4000) /*!< CE-ATA command */ + +/***************** Bit definition for SDIO_RESPCMD register *****************/ +#define SDIO_RESPCMD_RESPCMD ((uint8_t)0x3F) /*!< Response command index */ + +/****************** Bit definition for SDIO_RESP0 register ******************/ +#define SDIO_RESP0_CARDSTATUS0 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP1 register ******************/ +#define SDIO_RESP1_CARDSTATUS1 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP2 register ******************/ +#define SDIO_RESP2_CARDSTATUS2 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP3 register ******************/ +#define SDIO_RESP3_CARDSTATUS3 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_RESP4 register ******************/ +#define SDIO_RESP4_CARDSTATUS4 ((uint32_t)0xFFFFFFFF) /*!< Card Status */ + +/****************** Bit definition for SDIO_DTIMER register *****************/ +#define SDIO_DTIMER_DATATIME ((uint32_t)0xFFFFFFFF) /*!< Data timeout period. */ + +/****************** Bit definition for SDIO_DLEN register *******************/ +#define SDIO_DLEN_DATALENGTH ((uint32_t)0x01FFFFFF) /*!< Data length value */ + +/****************** Bit definition for SDIO_DCTRL register ******************/ +#define SDIO_DCTRL_DTEN ((uint16_t)0x0001) /*!< Data transfer enabled bit */ +#define SDIO_DCTRL_DTDIR ((uint16_t)0x0002) /*!< Data transfer direction selection */ +#define SDIO_DCTRL_DTMODE ((uint16_t)0x0004) /*!< Data transfer mode selection */ +#define SDIO_DCTRL_DMAEN ((uint16_t)0x0008) /*!< DMA enabled bit */ + +#define SDIO_DCTRL_DBLOCKSIZE ((uint16_t)0x00F0) /*!< DBLOCKSIZE[3:0] bits (Data block size) */ +#define SDIO_DCTRL_DBLOCKSIZE_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define SDIO_DCTRL_DBLOCKSIZE_1 ((uint16_t)0x0020) /*!< Bit 1 */ +#define SDIO_DCTRL_DBLOCKSIZE_2 ((uint16_t)0x0040) /*!< Bit 2 */ +#define SDIO_DCTRL_DBLOCKSIZE_3 ((uint16_t)0x0080) /*!< Bit 3 */ + +#define SDIO_DCTRL_RWSTART ((uint16_t)0x0100) /*!< Read wait start */ +#define SDIO_DCTRL_RWSTOP ((uint16_t)0x0200) /*!< Read wait stop */ +#define SDIO_DCTRL_RWMOD ((uint16_t)0x0400) /*!< Read wait mode */ +#define SDIO_DCTRL_SDIOEN ((uint16_t)0x0800) /*!< SD I/O enable functions */ + +/****************** Bit definition for SDIO_DCOUNT register *****************/ +#define SDIO_DCOUNT_DATACOUNT ((uint32_t)0x01FFFFFF) /*!< Data count value */ + +/****************** Bit definition for SDIO_STA register ********************/ +#define SDIO_STA_CCRCFAIL ((uint32_t)0x00000001) /*!< Command response received (CRC check failed) */ +#define SDIO_STA_DCRCFAIL ((uint32_t)0x00000002) /*!< Data block sent/received (CRC check failed) */ +#define SDIO_STA_CTIMEOUT ((uint32_t)0x00000004) /*!< Command response timeout */ +#define SDIO_STA_DTIMEOUT ((uint32_t)0x00000008) /*!< Data timeout */ +#define SDIO_STA_TXUNDERR ((uint32_t)0x00000010) /*!< Transmit FIFO underrun error */ +#define SDIO_STA_RXOVERR ((uint32_t)0x00000020) /*!< Received FIFO overrun error */ +#define SDIO_STA_CMDREND ((uint32_t)0x00000040) /*!< Command response received (CRC check passed) */ +#define SDIO_STA_CMDSENT ((uint32_t)0x00000080) /*!< Command sent (no response required) */ +#define SDIO_STA_DATAEND ((uint32_t)0x00000100) /*!< Data end (data counter, SDIDCOUNT, is zero) */ +#define SDIO_STA_STBITERR ((uint32_t)0x00000200) /*!< Start bit not detected on all data signals in wide bus mode */ +#define SDIO_STA_DBCKEND ((uint32_t)0x00000400) /*!< Data block sent/received (CRC check passed) */ +#define SDIO_STA_CMDACT ((uint32_t)0x00000800) /*!< Command transfer in progress */ +#define SDIO_STA_TXACT ((uint32_t)0x00001000) /*!< Data transmit in progress */ +#define SDIO_STA_RXACT ((uint32_t)0x00002000) /*!< Data receive in progress */ +#define SDIO_STA_TXFIFOHE ((uint32_t)0x00004000) /*!< Transmit FIFO Half Empty: at least 8 words can be written into the FIFO */ +#define SDIO_STA_RXFIFOHF ((uint32_t)0x00008000) /*!< Receive FIFO Half Full: there are at least 8 words in the FIFO */ +#define SDIO_STA_TXFIFOF ((uint32_t)0x00010000) /*!< Transmit FIFO full */ +#define SDIO_STA_RXFIFOF ((uint32_t)0x00020000) /*!< Receive FIFO full */ +#define SDIO_STA_TXFIFOE ((uint32_t)0x00040000) /*!< Transmit FIFO empty */ +#define SDIO_STA_RXFIFOE ((uint32_t)0x00080000) /*!< Receive FIFO empty */ +#define SDIO_STA_TXDAVL ((uint32_t)0x00100000) /*!< Data available in transmit FIFO */ +#define SDIO_STA_RXDAVL ((uint32_t)0x00200000) /*!< Data available in receive FIFO */ +#define SDIO_STA_SDIOIT ((uint32_t)0x00400000) /*!< SDIO interrupt received */ +#define SDIO_STA_CEATAEND ((uint32_t)0x00800000) /*!< CE-ATA command completion signal received for CMD61 */ + +/******************* Bit definition for SDIO_ICR register *******************/ +#define SDIO_ICR_CCRCFAILC ((uint32_t)0x00000001) /*!< CCRCFAIL flag clear bit */ +#define SDIO_ICR_DCRCFAILC ((uint32_t)0x00000002) /*!< DCRCFAIL flag clear bit */ +#define SDIO_ICR_CTIMEOUTC ((uint32_t)0x00000004) /*!< CTIMEOUT flag clear bit */ +#define SDIO_ICR_DTIMEOUTC ((uint32_t)0x00000008) /*!< DTIMEOUT flag clear bit */ +#define SDIO_ICR_TXUNDERRC ((uint32_t)0x00000010) /*!< TXUNDERR flag clear bit */ +#define SDIO_ICR_RXOVERRC ((uint32_t)0x00000020) /*!< RXOVERR flag clear bit */ +#define SDIO_ICR_CMDRENDC ((uint32_t)0x00000040) /*!< CMDREND flag clear bit */ +#define SDIO_ICR_CMDSENTC ((uint32_t)0x00000080) /*!< CMDSENT flag clear bit */ +#define SDIO_ICR_DATAENDC ((uint32_t)0x00000100) /*!< DATAEND flag clear bit */ +#define SDIO_ICR_STBITERRC ((uint32_t)0x00000200) /*!< STBITERR flag clear bit */ +#define SDIO_ICR_DBCKENDC ((uint32_t)0x00000400) /*!< DBCKEND flag clear bit */ +#define SDIO_ICR_SDIOITC ((uint32_t)0x00400000) /*!< SDIOIT flag clear bit */ +#define SDIO_ICR_CEATAENDC ((uint32_t)0x00800000) /*!< CEATAEND flag clear bit */ + +/****************** Bit definition for SDIO_MASK register *******************/ +#define SDIO_MASK_CCRCFAILIE ((uint32_t)0x00000001) /*!< Command CRC Fail Interrupt Enable */ +#define SDIO_MASK_DCRCFAILIE ((uint32_t)0x00000002) /*!< Data CRC Fail Interrupt Enable */ +#define SDIO_MASK_CTIMEOUTIE ((uint32_t)0x00000004) /*!< Command TimeOut Interrupt Enable */ +#define SDIO_MASK_DTIMEOUTIE ((uint32_t)0x00000008) /*!< Data TimeOut Interrupt Enable */ +#define SDIO_MASK_TXUNDERRIE ((uint32_t)0x00000010) /*!< Tx FIFO UnderRun Error Interrupt Enable */ +#define SDIO_MASK_RXOVERRIE ((uint32_t)0x00000020) /*!< Rx FIFO OverRun Error Interrupt Enable */ +#define SDIO_MASK_CMDRENDIE ((uint32_t)0x00000040) /*!< Command Response Received Interrupt Enable */ +#define SDIO_MASK_CMDSENTIE ((uint32_t)0x00000080) /*!< Command Sent Interrupt Enable */ +#define SDIO_MASK_DATAENDIE ((uint32_t)0x00000100) /*!< Data End Interrupt Enable */ +#define SDIO_MASK_STBITERRIE ((uint32_t)0x00000200) /*!< Start Bit Error Interrupt Enable */ +#define SDIO_MASK_DBCKENDIE ((uint32_t)0x00000400) /*!< Data Block End Interrupt Enable */ +#define SDIO_MASK_CMDACTIE ((uint32_t)0x00000800) /*!< Command Acting Interrupt Enable */ +#define SDIO_MASK_TXACTIE ((uint32_t)0x00001000) /*!< Data Transmit Acting Interrupt Enable */ +#define SDIO_MASK_RXACTIE ((uint32_t)0x00002000) /*!< Data receive acting interrupt enabled */ +#define SDIO_MASK_TXFIFOHEIE ((uint32_t)0x00004000) /*!< Tx FIFO Half Empty interrupt Enable */ +#define SDIO_MASK_RXFIFOHFIE ((uint32_t)0x00008000) /*!< Rx FIFO Half Full interrupt Enable */ +#define SDIO_MASK_TXFIFOFIE ((uint32_t)0x00010000) /*!< Tx FIFO Full interrupt Enable */ +#define SDIO_MASK_RXFIFOFIE ((uint32_t)0x00020000) /*!< Rx FIFO Full interrupt Enable */ +#define SDIO_MASK_TXFIFOEIE ((uint32_t)0x00040000) /*!< Tx FIFO Empty interrupt Enable */ +#define SDIO_MASK_RXFIFOEIE ((uint32_t)0x00080000) /*!< Rx FIFO Empty interrupt Enable */ +#define SDIO_MASK_TXDAVLIE ((uint32_t)0x00100000) /*!< Data available in Tx FIFO interrupt Enable */ +#define SDIO_MASK_RXDAVLIE ((uint32_t)0x00200000) /*!< Data available in Rx FIFO interrupt Enable */ +#define SDIO_MASK_SDIOITIE ((uint32_t)0x00400000) /*!< SDIO Mode Interrupt Received interrupt Enable */ +#define SDIO_MASK_CEATAENDIE ((uint32_t)0x00800000) /*!< CE-ATA command completion signal received Interrupt Enable */ + +/***************** Bit definition for SDIO_FIFOCNT register *****************/ +#define SDIO_FIFOCNT_FIFOCOUNT ((uint32_t)0x00FFFFFF) /*!< Remaining number of words to be written to or read from the FIFO */ + +/****************** Bit definition for SDIO_FIFO register *******************/ +#define SDIO_FIFO_FIFODATA ((uint32_t)0xFFFFFFFF) /*!< Receive and transmit FIFO data */ + +/******************************************************************************/ +/* */ +/* USB Device FS */ +/* */ +/******************************************************************************/ + +/*!< Endpoint-specific registers */ +/******************* Bit definition for USB_EP0R register *******************/ +#define USB_EP0R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP0R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP0R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP0R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP0R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP0R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP0R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP0R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP0R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP0R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP0R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP0R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP0R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP0R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP0R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP0R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP1R register *******************/ +#define USB_EP1R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP1R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP1R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP1R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP1R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP1R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP1R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP1R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP1R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP1R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP1R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP1R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP1R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP1R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP1R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP1R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP2R register *******************/ +#define USB_EP2R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP2R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP2R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP2R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP2R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP2R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP2R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP2R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP2R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP2R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP2R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP2R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP2R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP2R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP2R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP2R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP3R register *******************/ +#define USB_EP3R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP3R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP3R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP3R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP3R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP3R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP3R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP3R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP3R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP3R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP3R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP3R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP3R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP3R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP3R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP3R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP4R register *******************/ +#define USB_EP4R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP4R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP4R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP4R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP4R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP4R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP4R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP4R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP4R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP4R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP4R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP4R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP4R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP4R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP4R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP4R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP5R register *******************/ +#define USB_EP5R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP5R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP5R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP5R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP5R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP5R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP5R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP5R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP5R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP5R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP5R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP5R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP5R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP5R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP5R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP5R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP6R register *******************/ +#define USB_EP6R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP6R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP6R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP6R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP6R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP6R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP6R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP6R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP6R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP6R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP6R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP6R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP6R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP6R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP6R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP6R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/******************* Bit definition for USB_EP7R register *******************/ +#define USB_EP7R_EA ((uint16_t)0x000F) /*!< Endpoint Address */ + +#define USB_EP7R_STAT_TX ((uint16_t)0x0030) /*!< STAT_TX[1:0] bits (Status bits, for transmission transfers) */ +#define USB_EP7R_STAT_TX_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define USB_EP7R_STAT_TX_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define USB_EP7R_DTOG_TX ((uint16_t)0x0040) /*!< Data Toggle, for transmission transfers */ +#define USB_EP7R_CTR_TX ((uint16_t)0x0080) /*!< Correct Transfer for transmission */ +#define USB_EP7R_EP_KIND ((uint16_t)0x0100) /*!< Endpoint Kind */ + +#define USB_EP7R_EP_TYPE ((uint16_t)0x0600) /*!< EP_TYPE[1:0] bits (Endpoint type) */ +#define USB_EP7R_EP_TYPE_0 ((uint16_t)0x0200) /*!< Bit 0 */ +#define USB_EP7R_EP_TYPE_1 ((uint16_t)0x0400) /*!< Bit 1 */ + +#define USB_EP7R_SETUP ((uint16_t)0x0800) /*!< Setup transaction completed */ + +#define USB_EP7R_STAT_RX ((uint16_t)0x3000) /*!< STAT_RX[1:0] bits (Status bits, for reception transfers) */ +#define USB_EP7R_STAT_RX_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USB_EP7R_STAT_RX_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USB_EP7R_DTOG_RX ((uint16_t)0x4000) /*!< Data Toggle, for reception transfers */ +#define USB_EP7R_CTR_RX ((uint16_t)0x8000) /*!< Correct Transfer for reception */ + +/*!< Common registers */ +/******************* Bit definition for USB_CNTR register *******************/ +#define USB_CNTR_FRES ((uint16_t)0x0001) /*!< Force USB Reset */ +#define USB_CNTR_PDWN ((uint16_t)0x0002) /*!< Power down */ +#define USB_CNTR_LP_MODE ((uint16_t)0x0004) /*!< Low-power mode */ +#define USB_CNTR_FSUSP ((uint16_t)0x0008) /*!< Force suspend */ +#define USB_CNTR_RESUME ((uint16_t)0x0010) /*!< Resume request */ +#define USB_CNTR_ESOFM ((uint16_t)0x0100) /*!< Expected Start Of Frame Interrupt Mask */ +#define USB_CNTR_SOFM ((uint16_t)0x0200) /*!< Start Of Frame Interrupt Mask */ +#define USB_CNTR_RESETM ((uint16_t)0x0400) /*!< RESET Interrupt Mask */ +#define USB_CNTR_SUSPM ((uint16_t)0x0800) /*!< Suspend mode Interrupt Mask */ +#define USB_CNTR_WKUPM ((uint16_t)0x1000) /*!< Wakeup Interrupt Mask */ +#define USB_CNTR_ERRM ((uint16_t)0x2000) /*!< Error Interrupt Mask */ +#define USB_CNTR_PMAOVRM ((uint16_t)0x4000) /*!< Packet Memory Area Over / Underrun Interrupt Mask */ +#define USB_CNTR_CTRM ((uint16_t)0x8000) /*!< Correct Transfer Interrupt Mask */ + +/******************* Bit definition for USB_ISTR register *******************/ +#define USB_ISTR_EP_ID ((uint16_t)0x000F) /*!< Endpoint Identifier */ +#define USB_ISTR_DIR ((uint16_t)0x0010) /*!< Direction of transaction */ +#define USB_ISTR_ESOF ((uint16_t)0x0100) /*!< Expected Start Of Frame */ +#define USB_ISTR_SOF ((uint16_t)0x0200) /*!< Start Of Frame */ +#define USB_ISTR_RESET ((uint16_t)0x0400) /*!< USB RESET request */ +#define USB_ISTR_SUSP ((uint16_t)0x0800) /*!< Suspend mode request */ +#define USB_ISTR_WKUP ((uint16_t)0x1000) /*!< Wake up */ +#define USB_ISTR_ERR ((uint16_t)0x2000) /*!< Error */ +#define USB_ISTR_PMAOVR ((uint16_t)0x4000) /*!< Packet Memory Area Over / Underrun */ +#define USB_ISTR_CTR ((uint16_t)0x8000) /*!< Correct Transfer */ + +/******************* Bit definition for USB_FNR register ********************/ +#define USB_FNR_FN ((uint16_t)0x07FF) /*!< Frame Number */ +#define USB_FNR_LSOF ((uint16_t)0x1800) /*!< Lost SOF */ +#define USB_FNR_LCK ((uint16_t)0x2000) /*!< Locked */ +#define USB_FNR_RXDM ((uint16_t)0x4000) /*!< Receive Data - Line Status */ +#define USB_FNR_RXDP ((uint16_t)0x8000) /*!< Receive Data + Line Status */ + +/****************** Bit definition for USB_DADDR register *******************/ +#define USB_DADDR_ADD ((uint8_t)0x7F) /*!< ADD[6:0] bits (Device Address) */ +#define USB_DADDR_ADD0 ((uint8_t)0x01) /*!< Bit 0 */ +#define USB_DADDR_ADD1 ((uint8_t)0x02) /*!< Bit 1 */ +#define USB_DADDR_ADD2 ((uint8_t)0x04) /*!< Bit 2 */ +#define USB_DADDR_ADD3 ((uint8_t)0x08) /*!< Bit 3 */ +#define USB_DADDR_ADD4 ((uint8_t)0x10) /*!< Bit 4 */ +#define USB_DADDR_ADD5 ((uint8_t)0x20) /*!< Bit 5 */ +#define USB_DADDR_ADD6 ((uint8_t)0x40) /*!< Bit 6 */ + +#define USB_DADDR_EF ((uint8_t)0x80) /*!< Enable Function */ + +/****************** Bit definition for USB_BTABLE register ******************/ +#define USB_BTABLE_BTABLE ((uint16_t)0xFFF8) /*!< Buffer Table */ + +/*!< Buffer descriptor table */ +/***************** Bit definition for USB_ADDR0_TX register *****************/ +#define USB_ADDR0_TX_ADDR0_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 0 */ + +/***************** Bit definition for USB_ADDR1_TX register *****************/ +#define USB_ADDR1_TX_ADDR1_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 1 */ + +/***************** Bit definition for USB_ADDR2_TX register *****************/ +#define USB_ADDR2_TX_ADDR2_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 2 */ + +/***************** Bit definition for USB_ADDR3_TX register *****************/ +#define USB_ADDR3_TX_ADDR3_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 3 */ + +/***************** Bit definition for USB_ADDR4_TX register *****************/ +#define USB_ADDR4_TX_ADDR4_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 4 */ + +/***************** Bit definition for USB_ADDR5_TX register *****************/ +#define USB_ADDR5_TX_ADDR5_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 5 */ + +/***************** Bit definition for USB_ADDR6_TX register *****************/ +#define USB_ADDR6_TX_ADDR6_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 6 */ + +/***************** Bit definition for USB_ADDR7_TX register *****************/ +#define USB_ADDR7_TX_ADDR7_TX ((uint16_t)0xFFFE) /*!< Transmission Buffer Address 7 */ + +/*----------------------------------------------------------------------------*/ + +/***************** Bit definition for USB_COUNT0_TX register ****************/ +#define USB_COUNT0_TX_COUNT0_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 0 */ + +/***************** Bit definition for USB_COUNT1_TX register ****************/ +#define USB_COUNT1_TX_COUNT1_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 1 */ + +/***************** Bit definition for USB_COUNT2_TX register ****************/ +#define USB_COUNT2_TX_COUNT2_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 2 */ + +/***************** Bit definition for USB_COUNT3_TX register ****************/ +#define USB_COUNT3_TX_COUNT3_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 3 */ + +/***************** Bit definition for USB_COUNT4_TX register ****************/ +#define USB_COUNT4_TX_COUNT4_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 4 */ + +/***************** Bit definition for USB_COUNT5_TX register ****************/ +#define USB_COUNT5_TX_COUNT5_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 5 */ + +/***************** Bit definition for USB_COUNT6_TX register ****************/ +#define USB_COUNT6_TX_COUNT6_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 6 */ + +/***************** Bit definition for USB_COUNT7_TX register ****************/ +#define USB_COUNT7_TX_COUNT7_TX ((uint16_t)0x03FF) /*!< Transmission Byte Count 7 */ + +/*----------------------------------------------------------------------------*/ + +/**************** Bit definition for USB_COUNT0_TX_0 register ***************/ +#define USB_COUNT0_TX_0_COUNT0_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 0 (low) */ + +/**************** Bit definition for USB_COUNT0_TX_1 register ***************/ +#define USB_COUNT0_TX_1_COUNT0_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 0 (high) */ + +/**************** Bit definition for USB_COUNT1_TX_0 register ***************/ +#define USB_COUNT1_TX_0_COUNT1_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 1 (low) */ + +/**************** Bit definition for USB_COUNT1_TX_1 register ***************/ +#define USB_COUNT1_TX_1_COUNT1_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 1 (high) */ + +/**************** Bit definition for USB_COUNT2_TX_0 register ***************/ +#define USB_COUNT2_TX_0_COUNT2_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 2 (low) */ + +/**************** Bit definition for USB_COUNT2_TX_1 register ***************/ +#define USB_COUNT2_TX_1_COUNT2_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 2 (high) */ + +/**************** Bit definition for USB_COUNT3_TX_0 register ***************/ +#define USB_COUNT3_TX_0_COUNT3_TX_0 ((uint16_t)0x000003FF) /*!< Transmission Byte Count 3 (low) */ + +/**************** Bit definition for USB_COUNT3_TX_1 register ***************/ +#define USB_COUNT3_TX_1_COUNT3_TX_1 ((uint16_t)0x03FF0000) /*!< Transmission Byte Count 3 (high) */ + +/**************** Bit definition for USB_COUNT4_TX_0 register ***************/ +#define USB_COUNT4_TX_0_COUNT4_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 4 (low) */ + +/**************** Bit definition for USB_COUNT4_TX_1 register ***************/ +#define USB_COUNT4_TX_1_COUNT4_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 4 (high) */ + +/**************** Bit definition for USB_COUNT5_TX_0 register ***************/ +#define USB_COUNT5_TX_0_COUNT5_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 5 (low) */ + +/**************** Bit definition for USB_COUNT5_TX_1 register ***************/ +#define USB_COUNT5_TX_1_COUNT5_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 5 (high) */ + +/**************** Bit definition for USB_COUNT6_TX_0 register ***************/ +#define USB_COUNT6_TX_0_COUNT6_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 6 (low) */ + +/**************** Bit definition for USB_COUNT6_TX_1 register ***************/ +#define USB_COUNT6_TX_1_COUNT6_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 6 (high) */ + +/**************** Bit definition for USB_COUNT7_TX_0 register ***************/ +#define USB_COUNT7_TX_0_COUNT7_TX_0 ((uint32_t)0x000003FF) /*!< Transmission Byte Count 7 (low) */ + +/**************** Bit definition for USB_COUNT7_TX_1 register ***************/ +#define USB_COUNT7_TX_1_COUNT7_TX_1 ((uint32_t)0x03FF0000) /*!< Transmission Byte Count 7 (high) */ + +/*----------------------------------------------------------------------------*/ + +/***************** Bit definition for USB_ADDR0_RX register *****************/ +#define USB_ADDR0_RX_ADDR0_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 0 */ + +/***************** Bit definition for USB_ADDR1_RX register *****************/ +#define USB_ADDR1_RX_ADDR1_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 1 */ + +/***************** Bit definition for USB_ADDR2_RX register *****************/ +#define USB_ADDR2_RX_ADDR2_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 2 */ + +/***************** Bit definition for USB_ADDR3_RX register *****************/ +#define USB_ADDR3_RX_ADDR3_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 3 */ + +/***************** Bit definition for USB_ADDR4_RX register *****************/ +#define USB_ADDR4_RX_ADDR4_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 4 */ + +/***************** Bit definition for USB_ADDR5_RX register *****************/ +#define USB_ADDR5_RX_ADDR5_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 5 */ + +/***************** Bit definition for USB_ADDR6_RX register *****************/ +#define USB_ADDR6_RX_ADDR6_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 6 */ + +/***************** Bit definition for USB_ADDR7_RX register *****************/ +#define USB_ADDR7_RX_ADDR7_RX ((uint16_t)0xFFFE) /*!< Reception Buffer Address 7 */ + +/*----------------------------------------------------------------------------*/ + +/***************** Bit definition for USB_COUNT0_RX register ****************/ +#define USB_COUNT0_RX_COUNT0_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT0_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT0_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT0_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT0_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT0_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT0_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT0_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT1_RX register ****************/ +#define USB_COUNT1_RX_COUNT1_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT1_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT1_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT1_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT1_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT1_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT1_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT1_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT2_RX register ****************/ +#define USB_COUNT2_RX_COUNT2_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT2_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT2_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT2_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT2_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT2_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT2_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT2_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT3_RX register ****************/ +#define USB_COUNT3_RX_COUNT3_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT3_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT3_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT3_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT3_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT3_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT3_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT3_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT4_RX register ****************/ +#define USB_COUNT4_RX_COUNT4_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT4_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT4_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT4_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT4_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT4_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT4_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT4_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT5_RX register ****************/ +#define USB_COUNT5_RX_COUNT5_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT5_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT5_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT5_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT5_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT5_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT5_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT5_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT6_RX register ****************/ +#define USB_COUNT6_RX_COUNT6_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT6_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT6_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT6_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT6_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT6_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT6_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT6_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/***************** Bit definition for USB_COUNT7_RX register ****************/ +#define USB_COUNT7_RX_COUNT7_RX ((uint16_t)0x03FF) /*!< Reception Byte Count */ + +#define USB_COUNT7_RX_NUM_BLOCK ((uint16_t)0x7C00) /*!< NUM_BLOCK[4:0] bits (Number of blocks) */ +#define USB_COUNT7_RX_NUM_BLOCK_0 ((uint16_t)0x0400) /*!< Bit 0 */ +#define USB_COUNT7_RX_NUM_BLOCK_1 ((uint16_t)0x0800) /*!< Bit 1 */ +#define USB_COUNT7_RX_NUM_BLOCK_2 ((uint16_t)0x1000) /*!< Bit 2 */ +#define USB_COUNT7_RX_NUM_BLOCK_3 ((uint16_t)0x2000) /*!< Bit 3 */ +#define USB_COUNT7_RX_NUM_BLOCK_4 ((uint16_t)0x4000) /*!< Bit 4 */ + +#define USB_COUNT7_RX_BLSIZE ((uint16_t)0x8000) /*!< BLock SIZE */ + +/*----------------------------------------------------------------------------*/ + +/**************** Bit definition for USB_COUNT0_RX_0 register ***************/ +#define USB_COUNT0_RX_0_COUNT0_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT0_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT0_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT0_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT0_RX_1 register ***************/ +#define USB_COUNT0_RX_1_COUNT0_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT0_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 1 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT0_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT0_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT1_RX_0 register ***************/ +#define USB_COUNT1_RX_0_COUNT1_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT1_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT1_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT1_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT1_RX_1 register ***************/ +#define USB_COUNT1_RX_1_COUNT1_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT1_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT1_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT1_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT2_RX_0 register ***************/ +#define USB_COUNT2_RX_0_COUNT2_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT2_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT2_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT2_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT2_RX_1 register ***************/ +#define USB_COUNT2_RX_1_COUNT2_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT2_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT2_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT2_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT3_RX_0 register ***************/ +#define USB_COUNT3_RX_0_COUNT3_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT3_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT3_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT3_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT3_RX_1 register ***************/ +#define USB_COUNT3_RX_1_COUNT3_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT3_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT3_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT3_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT4_RX_0 register ***************/ +#define USB_COUNT4_RX_0_COUNT4_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT4_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT4_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT4_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT4_RX_1 register ***************/ +#define USB_COUNT4_RX_1_COUNT4_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT4_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT4_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT4_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/**************** Bit definition for USB_COUNT5_RX_0 register ***************/ +#define USB_COUNT5_RX_0_COUNT5_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT5_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT5_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT5_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT5_RX_1 register ***************/ +#define USB_COUNT5_RX_1_COUNT5_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT5_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT5_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT5_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/*************** Bit definition for USB_COUNT6_RX_0 register ***************/ +#define USB_COUNT6_RX_0_COUNT6_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT6_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT6_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT6_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/**************** Bit definition for USB_COUNT6_RX_1 register ***************/ +#define USB_COUNT6_RX_1_COUNT6_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT6_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT6_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT6_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/*************** Bit definition for USB_COUNT7_RX_0 register ****************/ +#define USB_COUNT7_RX_0_COUNT7_RX_0 ((uint32_t)0x000003FF) /*!< Reception Byte Count (low) */ + +#define USB_COUNT7_RX_0_NUM_BLOCK_0 ((uint32_t)0x00007C00) /*!< NUM_BLOCK_0[4:0] bits (Number of blocks) (low) */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_0 ((uint32_t)0x00000400) /*!< Bit 0 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_1 ((uint32_t)0x00000800) /*!< Bit 1 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_2 ((uint32_t)0x00001000) /*!< Bit 2 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_3 ((uint32_t)0x00002000) /*!< Bit 3 */ +#define USB_COUNT7_RX_0_NUM_BLOCK_0_4 ((uint32_t)0x00004000) /*!< Bit 4 */ + +#define USB_COUNT7_RX_0_BLSIZE_0 ((uint32_t)0x00008000) /*!< BLock SIZE (low) */ + +/*************** Bit definition for USB_COUNT7_RX_1 register ****************/ +#define USB_COUNT7_RX_1_COUNT7_RX_1 ((uint32_t)0x03FF0000) /*!< Reception Byte Count (high) */ + +#define USB_COUNT7_RX_1_NUM_BLOCK_1 ((uint32_t)0x7C000000) /*!< NUM_BLOCK_1[4:0] bits (Number of blocks) (high) */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_0 ((uint32_t)0x04000000) /*!< Bit 0 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_1 ((uint32_t)0x08000000) /*!< Bit 1 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_2 ((uint32_t)0x10000000) /*!< Bit 2 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_3 ((uint32_t)0x20000000) /*!< Bit 3 */ +#define USB_COUNT7_RX_1_NUM_BLOCK_1_4 ((uint32_t)0x40000000) /*!< Bit 4 */ + +#define USB_COUNT7_RX_1_BLSIZE_1 ((uint32_t)0x80000000) /*!< BLock SIZE (high) */ + +/******************************************************************************/ +/* */ +/* Controller Area Network */ +/* */ +/******************************************************************************/ + +/*!< CAN control and status registers */ +/******************* Bit definition for CAN_MCR register ********************/ +#define CAN_MCR_INRQ ((uint16_t)0x0001) /*!< Initialization Request */ +#define CAN_MCR_SLEEP ((uint16_t)0x0002) /*!< Sleep Mode Request */ +#define CAN_MCR_TXFP ((uint16_t)0x0004) /*!< Transmit FIFO Priority */ +#define CAN_MCR_RFLM ((uint16_t)0x0008) /*!< Receive FIFO Locked Mode */ +#define CAN_MCR_NART ((uint16_t)0x0010) /*!< No Automatic Retransmission */ +#define CAN_MCR_AWUM ((uint16_t)0x0020) /*!< Automatic Wakeup Mode */ +#define CAN_MCR_ABOM ((uint16_t)0x0040) /*!< Automatic Bus-Off Management */ +#define CAN_MCR_TTCM ((uint16_t)0x0080) /*!< Time Triggered Communication Mode */ +#define CAN_MCR_RESET ((uint16_t)0x8000) /*!< CAN software master reset */ + +/******************* Bit definition for CAN_MSR register ********************/ +#define CAN_MSR_INAK ((uint16_t)0x0001) /*!< Initialization Acknowledge */ +#define CAN_MSR_SLAK ((uint16_t)0x0002) /*!< Sleep Acknowledge */ +#define CAN_MSR_ERRI ((uint16_t)0x0004) /*!< Error Interrupt */ +#define CAN_MSR_WKUI ((uint16_t)0x0008) /*!< Wakeup Interrupt */ +#define CAN_MSR_SLAKI ((uint16_t)0x0010) /*!< Sleep Acknowledge Interrupt */ +#define CAN_MSR_TXM ((uint16_t)0x0100) /*!< Transmit Mode */ +#define CAN_MSR_RXM ((uint16_t)0x0200) /*!< Receive Mode */ +#define CAN_MSR_SAMP ((uint16_t)0x0400) /*!< Last Sample Point */ +#define CAN_MSR_RX ((uint16_t)0x0800) /*!< CAN Rx Signal */ + +/******************* Bit definition for CAN_TSR register ********************/ +#define CAN_TSR_RQCP0 ((uint32_t)0x00000001) /*!< Request Completed Mailbox0 */ +#define CAN_TSR_TXOK0 ((uint32_t)0x00000002) /*!< Transmission OK of Mailbox0 */ +#define CAN_TSR_ALST0 ((uint32_t)0x00000004) /*!< Arbitration Lost for Mailbox0 */ +#define CAN_TSR_TERR0 ((uint32_t)0x00000008) /*!< Transmission Error of Mailbox0 */ +#define CAN_TSR_ABRQ0 ((uint32_t)0x00000080) /*!< Abort Request for Mailbox0 */ +#define CAN_TSR_RQCP1 ((uint32_t)0x00000100) /*!< Request Completed Mailbox1 */ +#define CAN_TSR_TXOK1 ((uint32_t)0x00000200) /*!< Transmission OK of Mailbox1 */ +#define CAN_TSR_ALST1 ((uint32_t)0x00000400) /*!< Arbitration Lost for Mailbox1 */ +#define CAN_TSR_TERR1 ((uint32_t)0x00000800) /*!< Transmission Error of Mailbox1 */ +#define CAN_TSR_ABRQ1 ((uint32_t)0x00008000) /*!< Abort Request for Mailbox 1 */ +#define CAN_TSR_RQCP2 ((uint32_t)0x00010000) /*!< Request Completed Mailbox2 */ +#define CAN_TSR_TXOK2 ((uint32_t)0x00020000) /*!< Transmission OK of Mailbox 2 */ +#define CAN_TSR_ALST2 ((uint32_t)0x00040000) /*!< Arbitration Lost for mailbox 2 */ +#define CAN_TSR_TERR2 ((uint32_t)0x00080000) /*!< Transmission Error of Mailbox 2 */ +#define CAN_TSR_ABRQ2 ((uint32_t)0x00800000) /*!< Abort Request for Mailbox 2 */ +#define CAN_TSR_CODE ((uint32_t)0x03000000) /*!< Mailbox Code */ + +#define CAN_TSR_TME ((uint32_t)0x1C000000) /*!< TME[2:0] bits */ +#define CAN_TSR_TME0 ((uint32_t)0x04000000) /*!< Transmit Mailbox 0 Empty */ +#define CAN_TSR_TME1 ((uint32_t)0x08000000) /*!< Transmit Mailbox 1 Empty */ +#define CAN_TSR_TME2 ((uint32_t)0x10000000) /*!< Transmit Mailbox 2 Empty */ + +#define CAN_TSR_LOW ((uint32_t)0xE0000000) /*!< LOW[2:0] bits */ +#define CAN_TSR_LOW0 ((uint32_t)0x20000000) /*!< Lowest Priority Flag for Mailbox 0 */ +#define CAN_TSR_LOW1 ((uint32_t)0x40000000) /*!< Lowest Priority Flag for Mailbox 1 */ +#define CAN_TSR_LOW2 ((uint32_t)0x80000000) /*!< Lowest Priority Flag for Mailbox 2 */ + +/******************* Bit definition for CAN_RF0R register *******************/ +#define CAN_RF0R_FMP0 ((uint8_t)0x03) /*!< FIFO 0 Message Pending */ +#define CAN_RF0R_FULL0 ((uint8_t)0x08) /*!< FIFO 0 Full */ +#define CAN_RF0R_FOVR0 ((uint8_t)0x10) /*!< FIFO 0 Overrun */ +#define CAN_RF0R_RFOM0 ((uint8_t)0x20) /*!< Release FIFO 0 Output Mailbox */ + +/******************* Bit definition for CAN_RF1R register *******************/ +#define CAN_RF1R_FMP1 ((uint8_t)0x03) /*!< FIFO 1 Message Pending */ +#define CAN_RF1R_FULL1 ((uint8_t)0x08) /*!< FIFO 1 Full */ +#define CAN_RF1R_FOVR1 ((uint8_t)0x10) /*!< FIFO 1 Overrun */ +#define CAN_RF1R_RFOM1 ((uint8_t)0x20) /*!< Release FIFO 1 Output Mailbox */ + +/******************** Bit definition for CAN_IER register *******************/ +#define CAN_IER_TMEIE ((uint32_t)0x00000001) /*!< Transmit Mailbox Empty Interrupt Enable */ +#define CAN_IER_FMPIE0 ((uint32_t)0x00000002) /*!< FIFO Message Pending Interrupt Enable */ +#define CAN_IER_FFIE0 ((uint32_t)0x00000004) /*!< FIFO Full Interrupt Enable */ +#define CAN_IER_FOVIE0 ((uint32_t)0x00000008) /*!< FIFO Overrun Interrupt Enable */ +#define CAN_IER_FMPIE1 ((uint32_t)0x00000010) /*!< FIFO Message Pending Interrupt Enable */ +#define CAN_IER_FFIE1 ((uint32_t)0x00000020) /*!< FIFO Full Interrupt Enable */ +#define CAN_IER_FOVIE1 ((uint32_t)0x00000040) /*!< FIFO Overrun Interrupt Enable */ +#define CAN_IER_EWGIE ((uint32_t)0x00000100) /*!< Error Warning Interrupt Enable */ +#define CAN_IER_EPVIE ((uint32_t)0x00000200) /*!< Error Passive Interrupt Enable */ +#define CAN_IER_BOFIE ((uint32_t)0x00000400) /*!< Bus-Off Interrupt Enable */ +#define CAN_IER_LECIE ((uint32_t)0x00000800) /*!< Last Error Code Interrupt Enable */ +#define CAN_IER_ERRIE ((uint32_t)0x00008000) /*!< Error Interrupt Enable */ +#define CAN_IER_WKUIE ((uint32_t)0x00010000) /*!< Wakeup Interrupt Enable */ +#define CAN_IER_SLKIE ((uint32_t)0x00020000) /*!< Sleep Interrupt Enable */ + +/******************** Bit definition for CAN_ESR register *******************/ +#define CAN_ESR_EWGF ((uint32_t)0x00000001) /*!< Error Warning Flag */ +#define CAN_ESR_EPVF ((uint32_t)0x00000002) /*!< Error Passive Flag */ +#define CAN_ESR_BOFF ((uint32_t)0x00000004) /*!< Bus-Off Flag */ + +#define CAN_ESR_LEC ((uint32_t)0x00000070) /*!< LEC[2:0] bits (Last Error Code) */ +#define CAN_ESR_LEC_0 ((uint32_t)0x00000010) /*!< Bit 0 */ +#define CAN_ESR_LEC_1 ((uint32_t)0x00000020) /*!< Bit 1 */ +#define CAN_ESR_LEC_2 ((uint32_t)0x00000040) /*!< Bit 2 */ + +#define CAN_ESR_TEC ((uint32_t)0x00FF0000) /*!< Least significant byte of the 9-bit Transmit Error Counter */ +#define CAN_ESR_REC ((uint32_t)0xFF000000) /*!< Receive Error Counter */ + +/******************* Bit definition for CAN_BTR register ********************/ +#define CAN_BTR_BRP ((uint32_t)0x000003FF) /*!< Baud Rate Prescaler */ +#define CAN_BTR_TS1 ((uint32_t)0x000F0000) /*!< Time Segment 1 */ +#define CAN_BTR_TS2 ((uint32_t)0x00700000) /*!< Time Segment 2 */ +#define CAN_BTR_SJW ((uint32_t)0x03000000) /*!< Resynchronization Jump Width */ +#define CAN_BTR_LBKM ((uint32_t)0x40000000) /*!< Loop Back Mode (Debug) */ +#define CAN_BTR_SILM ((uint32_t)0x80000000) /*!< Silent Mode */ + +/*!< Mailbox registers */ +/****************** Bit definition for CAN_TI0R register ********************/ +#define CAN_TI0R_TXRQ ((uint32_t)0x00000001) /*!< Transmit Mailbox Request */ +#define CAN_TI0R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_TI0R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_TI0R_EXID ((uint32_t)0x001FFFF8) /*!< Extended Identifier */ +#define CAN_TI0R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/****************** Bit definition for CAN_TDT0R register *******************/ +#define CAN_TDT0R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_TDT0R_TGT ((uint32_t)0x00000100) /*!< Transmit Global Time */ +#define CAN_TDT0R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/****************** Bit definition for CAN_TDL0R register *******************/ +#define CAN_TDL0R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_TDL0R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_TDL0R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_TDL0R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/****************** Bit definition for CAN_TDH0R register *******************/ +#define CAN_TDH0R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_TDH0R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_TDH0R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_TDH0R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_TI1R register *******************/ +#define CAN_TI1R_TXRQ ((uint32_t)0x00000001) /*!< Transmit Mailbox Request */ +#define CAN_TI1R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_TI1R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_TI1R_EXID ((uint32_t)0x001FFFF8) /*!< Extended Identifier */ +#define CAN_TI1R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_TDT1R register ******************/ +#define CAN_TDT1R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_TDT1R_TGT ((uint32_t)0x00000100) /*!< Transmit Global Time */ +#define CAN_TDT1R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_TDL1R register ******************/ +#define CAN_TDL1R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_TDL1R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_TDL1R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_TDL1R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_TDH1R register ******************/ +#define CAN_TDH1R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_TDH1R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_TDH1R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_TDH1R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_TI2R register *******************/ +#define CAN_TI2R_TXRQ ((uint32_t)0x00000001) /*!< Transmit Mailbox Request */ +#define CAN_TI2R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_TI2R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_TI2R_EXID ((uint32_t)0x001FFFF8) /*!< Extended identifier */ +#define CAN_TI2R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_TDT2R register ******************/ +#define CAN_TDT2R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_TDT2R_TGT ((uint32_t)0x00000100) /*!< Transmit Global Time */ +#define CAN_TDT2R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_TDL2R register ******************/ +#define CAN_TDL2R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_TDL2R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_TDL2R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_TDL2R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_TDH2R register ******************/ +#define CAN_TDH2R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_TDH2R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_TDH2R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_TDH2R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_RI0R register *******************/ +#define CAN_RI0R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_RI0R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_RI0R_EXID ((uint32_t)0x001FFFF8) /*!< Extended Identifier */ +#define CAN_RI0R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_RDT0R register ******************/ +#define CAN_RDT0R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_RDT0R_FMI ((uint32_t)0x0000FF00) /*!< Filter Match Index */ +#define CAN_RDT0R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_RDL0R register ******************/ +#define CAN_RDL0R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_RDL0R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_RDL0R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_RDL0R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_RDH0R register ******************/ +#define CAN_RDH0R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_RDH0R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_RDH0R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_RDH0R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/******************* Bit definition for CAN_RI1R register *******************/ +#define CAN_RI1R_RTR ((uint32_t)0x00000002) /*!< Remote Transmission Request */ +#define CAN_RI1R_IDE ((uint32_t)0x00000004) /*!< Identifier Extension */ +#define CAN_RI1R_EXID ((uint32_t)0x001FFFF8) /*!< Extended identifier */ +#define CAN_RI1R_STID ((uint32_t)0xFFE00000) /*!< Standard Identifier or Extended Identifier */ + +/******************* Bit definition for CAN_RDT1R register ******************/ +#define CAN_RDT1R_DLC ((uint32_t)0x0000000F) /*!< Data Length Code */ +#define CAN_RDT1R_FMI ((uint32_t)0x0000FF00) /*!< Filter Match Index */ +#define CAN_RDT1R_TIME ((uint32_t)0xFFFF0000) /*!< Message Time Stamp */ + +/******************* Bit definition for CAN_RDL1R register ******************/ +#define CAN_RDL1R_DATA0 ((uint32_t)0x000000FF) /*!< Data byte 0 */ +#define CAN_RDL1R_DATA1 ((uint32_t)0x0000FF00) /*!< Data byte 1 */ +#define CAN_RDL1R_DATA2 ((uint32_t)0x00FF0000) /*!< Data byte 2 */ +#define CAN_RDL1R_DATA3 ((uint32_t)0xFF000000) /*!< Data byte 3 */ + +/******************* Bit definition for CAN_RDH1R register ******************/ +#define CAN_RDH1R_DATA4 ((uint32_t)0x000000FF) /*!< Data byte 4 */ +#define CAN_RDH1R_DATA5 ((uint32_t)0x0000FF00) /*!< Data byte 5 */ +#define CAN_RDH1R_DATA6 ((uint32_t)0x00FF0000) /*!< Data byte 6 */ +#define CAN_RDH1R_DATA7 ((uint32_t)0xFF000000) /*!< Data byte 7 */ + +/*!< CAN filter registers */ +/******************* Bit definition for CAN_FMR register ********************/ +#define CAN_FMR_FINIT ((uint8_t)0x01) /*!< Filter Init Mode */ + +/******************* Bit definition for CAN_FM1R register *******************/ +#define CAN_FM1R_FBM ((uint16_t)0x3FFF) /*!< Filter Mode */ +#define CAN_FM1R_FBM0 ((uint16_t)0x0001) /*!< Filter Init Mode bit 0 */ +#define CAN_FM1R_FBM1 ((uint16_t)0x0002) /*!< Filter Init Mode bit 1 */ +#define CAN_FM1R_FBM2 ((uint16_t)0x0004) /*!< Filter Init Mode bit 2 */ +#define CAN_FM1R_FBM3 ((uint16_t)0x0008) /*!< Filter Init Mode bit 3 */ +#define CAN_FM1R_FBM4 ((uint16_t)0x0010) /*!< Filter Init Mode bit 4 */ +#define CAN_FM1R_FBM5 ((uint16_t)0x0020) /*!< Filter Init Mode bit 5 */ +#define CAN_FM1R_FBM6 ((uint16_t)0x0040) /*!< Filter Init Mode bit 6 */ +#define CAN_FM1R_FBM7 ((uint16_t)0x0080) /*!< Filter Init Mode bit 7 */ +#define CAN_FM1R_FBM8 ((uint16_t)0x0100) /*!< Filter Init Mode bit 8 */ +#define CAN_FM1R_FBM9 ((uint16_t)0x0200) /*!< Filter Init Mode bit 9 */ +#define CAN_FM1R_FBM10 ((uint16_t)0x0400) /*!< Filter Init Mode bit 10 */ +#define CAN_FM1R_FBM11 ((uint16_t)0x0800) /*!< Filter Init Mode bit 11 */ +#define CAN_FM1R_FBM12 ((uint16_t)0x1000) /*!< Filter Init Mode bit 12 */ +#define CAN_FM1R_FBM13 ((uint16_t)0x2000) /*!< Filter Init Mode bit 13 */ + +/******************* Bit definition for CAN_FS1R register *******************/ +#define CAN_FS1R_FSC ((uint16_t)0x3FFF) /*!< Filter Scale Configuration */ +#define CAN_FS1R_FSC0 ((uint16_t)0x0001) /*!< Filter Scale Configuration bit 0 */ +#define CAN_FS1R_FSC1 ((uint16_t)0x0002) /*!< Filter Scale Configuration bit 1 */ +#define CAN_FS1R_FSC2 ((uint16_t)0x0004) /*!< Filter Scale Configuration bit 2 */ +#define CAN_FS1R_FSC3 ((uint16_t)0x0008) /*!< Filter Scale Configuration bit 3 */ +#define CAN_FS1R_FSC4 ((uint16_t)0x0010) /*!< Filter Scale Configuration bit 4 */ +#define CAN_FS1R_FSC5 ((uint16_t)0x0020) /*!< Filter Scale Configuration bit 5 */ +#define CAN_FS1R_FSC6 ((uint16_t)0x0040) /*!< Filter Scale Configuration bit 6 */ +#define CAN_FS1R_FSC7 ((uint16_t)0x0080) /*!< Filter Scale Configuration bit 7 */ +#define CAN_FS1R_FSC8 ((uint16_t)0x0100) /*!< Filter Scale Configuration bit 8 */ +#define CAN_FS1R_FSC9 ((uint16_t)0x0200) /*!< Filter Scale Configuration bit 9 */ +#define CAN_FS1R_FSC10 ((uint16_t)0x0400) /*!< Filter Scale Configuration bit 10 */ +#define CAN_FS1R_FSC11 ((uint16_t)0x0800) /*!< Filter Scale Configuration bit 11 */ +#define CAN_FS1R_FSC12 ((uint16_t)0x1000) /*!< Filter Scale Configuration bit 12 */ +#define CAN_FS1R_FSC13 ((uint16_t)0x2000) /*!< Filter Scale Configuration bit 13 */ + +/****************** Bit definition for CAN_FFA1R register *******************/ +#define CAN_FFA1R_FFA ((uint16_t)0x3FFF) /*!< Filter FIFO Assignment */ +#define CAN_FFA1R_FFA0 ((uint16_t)0x0001) /*!< Filter FIFO Assignment for Filter 0 */ +#define CAN_FFA1R_FFA1 ((uint16_t)0x0002) /*!< Filter FIFO Assignment for Filter 1 */ +#define CAN_FFA1R_FFA2 ((uint16_t)0x0004) /*!< Filter FIFO Assignment for Filter 2 */ +#define CAN_FFA1R_FFA3 ((uint16_t)0x0008) /*!< Filter FIFO Assignment for Filter 3 */ +#define CAN_FFA1R_FFA4 ((uint16_t)0x0010) /*!< Filter FIFO Assignment for Filter 4 */ +#define CAN_FFA1R_FFA5 ((uint16_t)0x0020) /*!< Filter FIFO Assignment for Filter 5 */ +#define CAN_FFA1R_FFA6 ((uint16_t)0x0040) /*!< Filter FIFO Assignment for Filter 6 */ +#define CAN_FFA1R_FFA7 ((uint16_t)0x0080) /*!< Filter FIFO Assignment for Filter 7 */ +#define CAN_FFA1R_FFA8 ((uint16_t)0x0100) /*!< Filter FIFO Assignment for Filter 8 */ +#define CAN_FFA1R_FFA9 ((uint16_t)0x0200) /*!< Filter FIFO Assignment for Filter 9 */ +#define CAN_FFA1R_FFA10 ((uint16_t)0x0400) /*!< Filter FIFO Assignment for Filter 10 */ +#define CAN_FFA1R_FFA11 ((uint16_t)0x0800) /*!< Filter FIFO Assignment for Filter 11 */ +#define CAN_FFA1R_FFA12 ((uint16_t)0x1000) /*!< Filter FIFO Assignment for Filter 12 */ +#define CAN_FFA1R_FFA13 ((uint16_t)0x2000) /*!< Filter FIFO Assignment for Filter 13 */ + +/******************* Bit definition for CAN_FA1R register *******************/ +#define CAN_FA1R_FACT ((uint16_t)0x3FFF) /*!< Filter Active */ +#define CAN_FA1R_FACT0 ((uint16_t)0x0001) /*!< Filter 0 Active */ +#define CAN_FA1R_FACT1 ((uint16_t)0x0002) /*!< Filter 1 Active */ +#define CAN_FA1R_FACT2 ((uint16_t)0x0004) /*!< Filter 2 Active */ +#define CAN_FA1R_FACT3 ((uint16_t)0x0008) /*!< Filter 3 Active */ +#define CAN_FA1R_FACT4 ((uint16_t)0x0010) /*!< Filter 4 Active */ +#define CAN_FA1R_FACT5 ((uint16_t)0x0020) /*!< Filter 5 Active */ +#define CAN_FA1R_FACT6 ((uint16_t)0x0040) /*!< Filter 6 Active */ +#define CAN_FA1R_FACT7 ((uint16_t)0x0080) /*!< Filter 7 Active */ +#define CAN_FA1R_FACT8 ((uint16_t)0x0100) /*!< Filter 8 Active */ +#define CAN_FA1R_FACT9 ((uint16_t)0x0200) /*!< Filter 9 Active */ +#define CAN_FA1R_FACT10 ((uint16_t)0x0400) /*!< Filter 10 Active */ +#define CAN_FA1R_FACT11 ((uint16_t)0x0800) /*!< Filter 11 Active */ +#define CAN_FA1R_FACT12 ((uint16_t)0x1000) /*!< Filter 12 Active */ +#define CAN_FA1R_FACT13 ((uint16_t)0x2000) /*!< Filter 13 Active */ + +/******************* Bit definition for CAN_F0R1 register *******************/ +#define CAN_F0R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F0R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F0R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F0R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F0R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F0R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F0R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F0R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F0R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F0R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F0R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F0R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F0R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F0R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F0R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F0R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F0R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F0R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F0R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F0R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F0R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F0R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F0R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F0R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F0R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F0R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F0R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F0R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F0R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F0R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F0R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F0R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F1R1 register *******************/ +#define CAN_F1R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F1R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F1R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F1R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F1R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F1R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F1R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F1R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F1R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F1R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F1R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F1R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F1R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F1R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F1R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F1R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F1R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F1R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F1R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F1R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F1R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F1R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F1R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F1R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F1R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F1R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F1R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F1R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F1R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F1R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F1R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F1R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F2R1 register *******************/ +#define CAN_F2R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F2R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F2R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F2R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F2R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F2R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F2R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F2R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F2R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F2R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F2R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F2R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F2R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F2R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F2R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F2R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F2R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F2R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F2R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F2R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F2R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F2R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F2R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F2R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F2R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F2R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F2R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F2R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F2R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F2R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F2R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F2R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F3R1 register *******************/ +#define CAN_F3R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F3R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F3R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F3R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F3R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F3R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F3R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F3R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F3R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F3R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F3R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F3R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F3R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F3R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F3R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F3R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F3R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F3R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F3R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F3R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F3R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F3R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F3R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F3R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F3R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F3R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F3R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F3R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F3R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F3R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F3R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F3R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F4R1 register *******************/ +#define CAN_F4R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F4R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F4R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F4R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F4R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F4R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F4R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F4R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F4R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F4R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F4R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F4R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F4R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F4R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F4R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F4R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F4R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F4R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F4R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F4R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F4R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F4R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F4R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F4R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F4R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F4R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F4R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F4R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F4R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F4R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F4R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F4R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F5R1 register *******************/ +#define CAN_F5R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F5R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F5R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F5R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F5R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F5R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F5R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F5R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F5R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F5R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F5R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F5R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F5R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F5R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F5R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F5R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F5R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F5R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F5R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F5R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F5R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F5R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F5R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F5R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F5R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F5R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F5R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F5R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F5R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F5R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F5R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F5R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F6R1 register *******************/ +#define CAN_F6R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F6R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F6R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F6R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F6R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F6R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F6R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F6R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F6R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F6R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F6R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F6R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F6R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F6R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F6R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F6R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F6R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F6R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F6R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F6R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F6R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F6R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F6R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F6R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F6R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F6R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F6R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F6R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F6R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F6R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F6R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F6R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F7R1 register *******************/ +#define CAN_F7R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F7R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F7R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F7R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F7R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F7R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F7R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F7R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F7R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F7R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F7R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F7R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F7R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F7R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F7R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F7R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F7R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F7R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F7R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F7R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F7R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F7R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F7R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F7R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F7R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F7R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F7R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F7R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F7R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F7R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F7R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F7R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F8R1 register *******************/ +#define CAN_F8R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F8R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F8R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F8R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F8R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F8R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F8R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F8R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F8R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F8R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F8R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F8R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F8R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F8R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F8R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F8R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F8R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F8R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F8R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F8R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F8R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F8R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F8R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F8R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F8R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F8R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F8R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F8R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F8R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F8R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F8R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F8R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F9R1 register *******************/ +#define CAN_F9R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F9R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F9R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F9R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F9R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F9R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F9R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F9R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F9R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F9R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F9R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F9R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F9R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F9R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F9R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F9R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F9R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F9R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F9R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F9R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F9R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F9R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F9R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F9R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F9R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F9R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F9R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F9R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F9R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F9R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F9R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F9R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F10R1 register ******************/ +#define CAN_F10R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F10R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F10R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F10R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F10R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F10R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F10R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F10R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F10R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F10R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F10R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F10R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F10R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F10R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F10R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F10R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F10R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F10R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F10R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F10R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F10R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F10R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F10R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F10R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F10R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F10R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F10R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F10R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F10R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F10R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F10R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F10R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F11R1 register ******************/ +#define CAN_F11R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F11R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F11R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F11R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F11R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F11R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F11R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F11R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F11R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F11R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F11R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F11R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F11R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F11R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F11R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F11R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F11R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F11R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F11R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F11R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F11R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F11R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F11R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F11R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F11R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F11R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F11R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F11R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F11R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F11R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F11R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F11R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F12R1 register ******************/ +#define CAN_F12R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F12R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F12R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F12R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F12R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F12R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F12R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F12R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F12R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F12R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F12R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F12R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F12R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F12R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F12R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F12R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F12R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F12R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F12R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F12R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F12R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F12R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F12R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F12R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F12R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F12R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F12R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F12R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F12R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F12R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F12R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F12R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F13R1 register ******************/ +#define CAN_F13R1_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F13R1_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F13R1_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F13R1_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F13R1_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F13R1_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F13R1_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F13R1_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F13R1_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F13R1_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F13R1_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F13R1_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F13R1_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F13R1_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F13R1_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F13R1_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F13R1_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F13R1_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F13R1_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F13R1_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F13R1_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F13R1_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F13R1_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F13R1_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F13R1_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F13R1_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F13R1_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F13R1_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F13R1_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F13R1_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F13R1_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F13R1_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F0R2 register *******************/ +#define CAN_F0R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F0R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F0R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F0R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F0R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F0R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F0R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F0R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F0R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F0R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F0R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F0R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F0R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F0R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F0R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F0R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F0R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F0R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F0R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F0R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F0R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F0R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F0R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F0R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F0R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F0R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F0R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F0R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F0R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F0R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F0R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F0R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F1R2 register *******************/ +#define CAN_F1R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F1R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F1R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F1R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F1R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F1R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F1R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F1R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F1R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F1R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F1R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F1R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F1R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F1R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F1R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F1R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F1R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F1R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F1R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F1R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F1R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F1R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F1R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F1R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F1R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F1R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F1R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F1R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F1R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F1R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F1R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F1R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F2R2 register *******************/ +#define CAN_F2R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F2R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F2R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F2R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F2R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F2R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F2R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F2R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F2R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F2R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F2R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F2R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F2R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F2R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F2R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F2R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F2R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F2R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F2R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F2R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F2R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F2R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F2R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F2R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F2R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F2R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F2R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F2R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F2R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F2R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F2R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F2R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F3R2 register *******************/ +#define CAN_F3R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F3R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F3R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F3R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F3R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F3R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F3R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F3R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F3R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F3R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F3R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F3R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F3R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F3R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F3R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F3R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F3R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F3R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F3R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F3R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F3R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F3R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F3R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F3R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F3R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F3R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F3R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F3R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F3R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F3R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F3R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F3R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F4R2 register *******************/ +#define CAN_F4R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F4R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F4R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F4R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F4R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F4R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F4R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F4R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F4R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F4R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F4R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F4R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F4R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F4R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F4R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F4R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F4R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F4R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F4R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F4R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F4R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F4R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F4R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F4R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F4R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F4R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F4R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F4R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F4R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F4R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F4R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F4R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F5R2 register *******************/ +#define CAN_F5R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F5R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F5R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F5R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F5R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F5R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F5R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F5R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F5R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F5R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F5R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F5R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F5R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F5R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F5R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F5R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F5R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F5R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F5R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F5R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F5R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F5R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F5R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F5R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F5R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F5R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F5R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F5R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F5R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F5R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F5R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F5R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F6R2 register *******************/ +#define CAN_F6R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F6R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F6R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F6R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F6R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F6R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F6R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F6R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F6R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F6R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F6R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F6R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F6R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F6R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F6R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F6R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F6R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F6R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F6R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F6R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F6R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F6R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F6R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F6R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F6R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F6R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F6R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F6R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F6R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F6R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F6R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F6R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F7R2 register *******************/ +#define CAN_F7R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F7R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F7R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F7R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F7R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F7R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F7R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F7R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F7R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F7R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F7R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F7R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F7R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F7R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F7R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F7R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F7R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F7R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F7R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F7R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F7R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F7R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F7R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F7R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F7R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F7R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F7R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F7R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F7R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F7R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F7R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F7R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F8R2 register *******************/ +#define CAN_F8R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F8R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F8R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F8R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F8R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F8R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F8R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F8R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F8R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F8R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F8R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F8R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F8R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F8R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F8R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F8R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F8R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F8R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F8R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F8R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F8R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F8R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F8R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F8R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F8R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F8R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F8R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F8R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F8R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F8R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F8R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F8R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F9R2 register *******************/ +#define CAN_F9R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F9R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F9R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F9R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F9R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F9R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F9R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F9R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F9R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F9R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F9R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F9R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F9R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F9R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F9R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F9R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F9R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F9R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F9R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F9R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F9R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F9R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F9R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F9R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F9R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F9R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F9R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F9R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F9R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F9R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F9R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F9R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F10R2 register ******************/ +#define CAN_F10R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F10R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F10R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F10R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F10R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F10R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F10R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F10R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F10R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F10R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F10R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F10R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F10R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F10R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F10R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F10R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F10R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F10R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F10R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F10R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F10R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F10R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F10R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F10R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F10R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F10R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F10R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F10R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F10R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F10R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F10R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F10R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F11R2 register ******************/ +#define CAN_F11R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F11R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F11R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F11R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F11R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F11R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F11R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F11R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F11R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F11R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F11R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F11R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F11R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F11R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F11R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F11R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F11R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F11R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F11R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F11R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F11R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F11R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F11R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F11R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F11R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F11R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F11R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F11R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F11R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F11R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F11R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F11R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F12R2 register ******************/ +#define CAN_F12R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F12R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F12R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F12R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F12R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F12R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F12R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F12R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F12R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F12R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F12R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F12R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F12R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F12R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F12R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F12R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F12R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F12R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F12R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F12R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F12R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F12R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F12R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F12R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F12R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F12R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F12R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F12R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F12R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F12R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F12R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F12R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************* Bit definition for CAN_F13R2 register ******************/ +#define CAN_F13R2_FB0 ((uint32_t)0x00000001) /*!< Filter bit 0 */ +#define CAN_F13R2_FB1 ((uint32_t)0x00000002) /*!< Filter bit 1 */ +#define CAN_F13R2_FB2 ((uint32_t)0x00000004) /*!< Filter bit 2 */ +#define CAN_F13R2_FB3 ((uint32_t)0x00000008) /*!< Filter bit 3 */ +#define CAN_F13R2_FB4 ((uint32_t)0x00000010) /*!< Filter bit 4 */ +#define CAN_F13R2_FB5 ((uint32_t)0x00000020) /*!< Filter bit 5 */ +#define CAN_F13R2_FB6 ((uint32_t)0x00000040) /*!< Filter bit 6 */ +#define CAN_F13R2_FB7 ((uint32_t)0x00000080) /*!< Filter bit 7 */ +#define CAN_F13R2_FB8 ((uint32_t)0x00000100) /*!< Filter bit 8 */ +#define CAN_F13R2_FB9 ((uint32_t)0x00000200) /*!< Filter bit 9 */ +#define CAN_F13R2_FB10 ((uint32_t)0x00000400) /*!< Filter bit 10 */ +#define CAN_F13R2_FB11 ((uint32_t)0x00000800) /*!< Filter bit 11 */ +#define CAN_F13R2_FB12 ((uint32_t)0x00001000) /*!< Filter bit 12 */ +#define CAN_F13R2_FB13 ((uint32_t)0x00002000) /*!< Filter bit 13 */ +#define CAN_F13R2_FB14 ((uint32_t)0x00004000) /*!< Filter bit 14 */ +#define CAN_F13R2_FB15 ((uint32_t)0x00008000) /*!< Filter bit 15 */ +#define CAN_F13R2_FB16 ((uint32_t)0x00010000) /*!< Filter bit 16 */ +#define CAN_F13R2_FB17 ((uint32_t)0x00020000) /*!< Filter bit 17 */ +#define CAN_F13R2_FB18 ((uint32_t)0x00040000) /*!< Filter bit 18 */ +#define CAN_F13R2_FB19 ((uint32_t)0x00080000) /*!< Filter bit 19 */ +#define CAN_F13R2_FB20 ((uint32_t)0x00100000) /*!< Filter bit 20 */ +#define CAN_F13R2_FB21 ((uint32_t)0x00200000) /*!< Filter bit 21 */ +#define CAN_F13R2_FB22 ((uint32_t)0x00400000) /*!< Filter bit 22 */ +#define CAN_F13R2_FB23 ((uint32_t)0x00800000) /*!< Filter bit 23 */ +#define CAN_F13R2_FB24 ((uint32_t)0x01000000) /*!< Filter bit 24 */ +#define CAN_F13R2_FB25 ((uint32_t)0x02000000) /*!< Filter bit 25 */ +#define CAN_F13R2_FB26 ((uint32_t)0x04000000) /*!< Filter bit 26 */ +#define CAN_F13R2_FB27 ((uint32_t)0x08000000) /*!< Filter bit 27 */ +#define CAN_F13R2_FB28 ((uint32_t)0x10000000) /*!< Filter bit 28 */ +#define CAN_F13R2_FB29 ((uint32_t)0x20000000) /*!< Filter bit 29 */ +#define CAN_F13R2_FB30 ((uint32_t)0x40000000) /*!< Filter bit 30 */ +#define CAN_F13R2_FB31 ((uint32_t)0x80000000) /*!< Filter bit 31 */ + +/******************************************************************************/ +/* */ +/* Serial Peripheral Interface */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for SPI_CR1 register ********************/ +#define SPI_CR1_CPHA ((uint16_t)0x0001) /*!< Clock Phase */ +#define SPI_CR1_CPOL ((uint16_t)0x0002) /*!< Clock Polarity */ +#define SPI_CR1_MSTR ((uint16_t)0x0004) /*!< Master Selection */ + +#define SPI_CR1_BR ((uint16_t)0x0038) /*!< BR[2:0] bits (Baud Rate Control) */ +#define SPI_CR1_BR_0 ((uint16_t)0x0008) /*!< Bit 0 */ +#define SPI_CR1_BR_1 ((uint16_t)0x0010) /*!< Bit 1 */ +#define SPI_CR1_BR_2 ((uint16_t)0x0020) /*!< Bit 2 */ + +#define SPI_CR1_SPE ((uint16_t)0x0040) /*!< SPI Enable */ +#define SPI_CR1_LSBFIRST ((uint16_t)0x0080) /*!< Frame Format */ +#define SPI_CR1_SSI ((uint16_t)0x0100) /*!< Internal slave select */ +#define SPI_CR1_SSM ((uint16_t)0x0200) /*!< Software slave management */ +#define SPI_CR1_RXONLY ((uint16_t)0x0400) /*!< Receive only */ +#define SPI_CR1_DFF ((uint16_t)0x0800) /*!< Data Frame Format */ +#define SPI_CR1_CRCNEXT ((uint16_t)0x1000) /*!< Transmit CRC next */ +#define SPI_CR1_CRCEN ((uint16_t)0x2000) /*!< Hardware CRC calculation enable */ +#define SPI_CR1_BIDIOE ((uint16_t)0x4000) /*!< Output enable in bidirectional mode */ +#define SPI_CR1_BIDIMODE ((uint16_t)0x8000) /*!< Bidirectional data mode enable */ + +/******************* Bit definition for SPI_CR2 register ********************/ +#define SPI_CR2_RXDMAEN ((uint8_t)0x01) /*!< Rx Buffer DMA Enable */ +#define SPI_CR2_TXDMAEN ((uint8_t)0x02) /*!< Tx Buffer DMA Enable */ +#define SPI_CR2_SSOE ((uint8_t)0x04) /*!< SS Output Enable */ +#define SPI_CR2_ERRIE ((uint8_t)0x20) /*!< Error Interrupt Enable */ +#define SPI_CR2_RXNEIE ((uint8_t)0x40) /*!< RX buffer Not Empty Interrupt Enable */ +#define SPI_CR2_TXEIE ((uint8_t)0x80) /*!< Tx buffer Empty Interrupt Enable */ + +/******************** Bit definition for SPI_SR register ********************/ +#define SPI_SR_RXNE ((uint8_t)0x01) /*!< Receive buffer Not Empty */ +#define SPI_SR_TXE ((uint8_t)0x02) /*!< Transmit buffer Empty */ +#define SPI_SR_CHSIDE ((uint8_t)0x04) /*!< Channel side */ +#define SPI_SR_UDR ((uint8_t)0x08) /*!< Underrun flag */ +#define SPI_SR_CRCERR ((uint8_t)0x10) /*!< CRC Error flag */ +#define SPI_SR_MODF ((uint8_t)0x20) /*!< Mode fault */ +#define SPI_SR_OVR ((uint8_t)0x40) /*!< Overrun flag */ +#define SPI_SR_BSY ((uint8_t)0x80) /*!< Busy flag */ + +/******************** Bit definition for SPI_DR register ********************/ +#define SPI_DR_DR ((uint16_t)0xFFFF) /*!< Data Register */ + +/******************* Bit definition for SPI_CRCPR register ******************/ +#define SPI_CRCPR_CRCPOLY ((uint16_t)0xFFFF) /*!< CRC polynomial register */ + +/****************** Bit definition for SPI_RXCRCR register ******************/ +#define SPI_RXCRCR_RXCRC ((uint16_t)0xFFFF) /*!< Rx CRC Register */ + +/****************** Bit definition for SPI_TXCRCR register ******************/ +#define SPI_TXCRCR_TXCRC ((uint16_t)0xFFFF) /*!< Tx CRC Register */ + +/****************** Bit definition for SPI_I2SCFGR register *****************/ +#define SPI_I2SCFGR_CHLEN ((uint16_t)0x0001) /*!< Channel length (number of bits per audio channel) */ + +#define SPI_I2SCFGR_DATLEN ((uint16_t)0x0006) /*!< DATLEN[1:0] bits (Data length to be transferred) */ +#define SPI_I2SCFGR_DATLEN_0 ((uint16_t)0x0002) /*!< Bit 0 */ +#define SPI_I2SCFGR_DATLEN_1 ((uint16_t)0x0004) /*!< Bit 1 */ + +#define SPI_I2SCFGR_CKPOL ((uint16_t)0x0008) /*!< steady state clock polarity */ + +#define SPI_I2SCFGR_I2SSTD ((uint16_t)0x0030) /*!< I2SSTD[1:0] bits (I2S standard selection) */ +#define SPI_I2SCFGR_I2SSTD_0 ((uint16_t)0x0010) /*!< Bit 0 */ +#define SPI_I2SCFGR_I2SSTD_1 ((uint16_t)0x0020) /*!< Bit 1 */ + +#define SPI_I2SCFGR_PCMSYNC ((uint16_t)0x0080) /*!< PCM frame synchronization */ + +#define SPI_I2SCFGR_I2SCFG ((uint16_t)0x0300) /*!< I2SCFG[1:0] bits (I2S configuration mode) */ +#define SPI_I2SCFGR_I2SCFG_0 ((uint16_t)0x0100) /*!< Bit 0 */ +#define SPI_I2SCFGR_I2SCFG_1 ((uint16_t)0x0200) /*!< Bit 1 */ + +#define SPI_I2SCFGR_I2SE ((uint16_t)0x0400) /*!< I2S Enable */ +#define SPI_I2SCFGR_I2SMOD ((uint16_t)0x0800) /*!< I2S mode selection */ + +/****************** Bit definition for SPI_I2SPR register *******************/ +#define SPI_I2SPR_I2SDIV ((uint16_t)0x00FF) /*!< I2S Linear prescaler */ +#define SPI_I2SPR_ODD ((uint16_t)0x0100) /*!< Odd factor for the prescaler */ +#define SPI_I2SPR_MCKOE ((uint16_t)0x0200) /*!< Master Clock Output Enable */ + +/******************************************************************************/ +/* */ +/* Inter-integrated Circuit Interface */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for I2C_CR1 register ********************/ +#define I2C_CR1_PE ((uint16_t)0x0001) /*!< Peripheral Enable */ +#define I2C_CR1_SMBUS ((uint16_t)0x0002) /*!< SMBus Mode */ +#define I2C_CR1_SMBTYPE ((uint16_t)0x0008) /*!< SMBus Type */ +#define I2C_CR1_ENARP ((uint16_t)0x0010) /*!< ARP Enable */ +#define I2C_CR1_ENPEC ((uint16_t)0x0020) /*!< PEC Enable */ +#define I2C_CR1_ENGC ((uint16_t)0x0040) /*!< General Call Enable */ +#define I2C_CR1_NOSTRETCH ((uint16_t)0x0080) /*!< Clock Stretching Disable (Slave mode) */ +#define I2C_CR1_START ((uint16_t)0x0100) /*!< Start Generation */ +#define I2C_CR1_STOP ((uint16_t)0x0200) /*!< Stop Generation */ +#define I2C_CR1_ACK ((uint16_t)0x0400) /*!< Acknowledge Enable */ +#define I2C_CR1_POS ((uint16_t)0x0800) /*!< Acknowledge/PEC Position (for data reception) */ +#define I2C_CR1_PEC ((uint16_t)0x1000) /*!< Packet Error Checking */ +#define I2C_CR1_ALERT ((uint16_t)0x2000) /*!< SMBus Alert */ +#define I2C_CR1_SWRST ((uint16_t)0x8000) /*!< Software Reset */ + +/******************* Bit definition for I2C_CR2 register ********************/ +#define I2C_CR2_FREQ ((uint16_t)0x003F) /*!< FREQ[5:0] bits (Peripheral Clock Frequency) */ +#define I2C_CR2_FREQ_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define I2C_CR2_FREQ_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define I2C_CR2_FREQ_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define I2C_CR2_FREQ_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define I2C_CR2_FREQ_4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define I2C_CR2_FREQ_5 ((uint16_t)0x0020) /*!< Bit 5 */ + +#define I2C_CR2_ITERREN ((uint16_t)0x0100) /*!< Error Interrupt Enable */ +#define I2C_CR2_ITEVTEN ((uint16_t)0x0200) /*!< Event Interrupt Enable */ +#define I2C_CR2_ITBUFEN ((uint16_t)0x0400) /*!< Buffer Interrupt Enable */ +#define I2C_CR2_DMAEN ((uint16_t)0x0800) /*!< DMA Requests Enable */ +#define I2C_CR2_LAST ((uint16_t)0x1000) /*!< DMA Last Transfer */ + +/******************* Bit definition for I2C_OAR1 register *******************/ +#define I2C_OAR1_ADD1_7 ((uint16_t)0x00FE) /*!< Interface Address */ +#define I2C_OAR1_ADD8_9 ((uint16_t)0x0300) /*!< Interface Address */ + +#define I2C_OAR1_ADD0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define I2C_OAR1_ADD1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define I2C_OAR1_ADD2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define I2C_OAR1_ADD3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define I2C_OAR1_ADD4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define I2C_OAR1_ADD5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define I2C_OAR1_ADD6 ((uint16_t)0x0040) /*!< Bit 6 */ +#define I2C_OAR1_ADD7 ((uint16_t)0x0080) /*!< Bit 7 */ +#define I2C_OAR1_ADD8 ((uint16_t)0x0100) /*!< Bit 8 */ +#define I2C_OAR1_ADD9 ((uint16_t)0x0200) /*!< Bit 9 */ + +#define I2C_OAR1_ADDMODE ((uint16_t)0x8000) /*!< Addressing Mode (Slave mode) */ + +/******************* Bit definition for I2C_OAR2 register *******************/ +#define I2C_OAR2_ENDUAL ((uint8_t)0x01) /*!< Dual addressing mode enable */ +#define I2C_OAR2_ADD2 ((uint8_t)0xFE) /*!< Interface address */ + +/******************** Bit definition for I2C_DR register ********************/ +#define I2C_DR_DR ((uint8_t)0xFF) /*!< 8-bit Data Register */ + +/******************* Bit definition for I2C_SR1 register ********************/ +#define I2C_SR1_SB ((uint16_t)0x0001) /*!< Start Bit (Master mode) */ +#define I2C_SR1_ADDR ((uint16_t)0x0002) /*!< Address sent (master mode)/matched (slave mode) */ +#define I2C_SR1_BTF ((uint16_t)0x0004) /*!< Byte Transfer Finished */ +#define I2C_SR1_ADD10 ((uint16_t)0x0008) /*!< 10-bit header sent (Master mode) */ +#define I2C_SR1_STOPF ((uint16_t)0x0010) /*!< Stop detection (Slave mode) */ +#define I2C_SR1_RXNE ((uint16_t)0x0040) /*!< Data Register not Empty (receivers) */ +#define I2C_SR1_TXE ((uint16_t)0x0080) /*!< Data Register Empty (transmitters) */ +#define I2C_SR1_BERR ((uint16_t)0x0100) /*!< Bus Error */ +#define I2C_SR1_ARLO ((uint16_t)0x0200) /*!< Arbitration Lost (master mode) */ +#define I2C_SR1_AF ((uint16_t)0x0400) /*!< Acknowledge Failure */ +#define I2C_SR1_OVR ((uint16_t)0x0800) /*!< Overrun/Underrun */ +#define I2C_SR1_PECERR ((uint16_t)0x1000) /*!< PEC Error in reception */ +#define I2C_SR1_TIMEOUT ((uint16_t)0x4000) /*!< Timeout or Tlow Error */ +#define I2C_SR1_SMBALERT ((uint16_t)0x8000) /*!< SMBus Alert */ + +/******************* Bit definition for I2C_SR2 register ********************/ +#define I2C_SR2_MSL ((uint16_t)0x0001) /*!< Master/Slave */ +#define I2C_SR2_BUSY ((uint16_t)0x0002) /*!< Bus Busy */ +#define I2C_SR2_TRA ((uint16_t)0x0004) /*!< Transmitter/Receiver */ +#define I2C_SR2_GENCALL ((uint16_t)0x0010) /*!< General Call Address (Slave mode) */ +#define I2C_SR2_SMBDEFAULT ((uint16_t)0x0020) /*!< SMBus Device Default Address (Slave mode) */ +#define I2C_SR2_SMBHOST ((uint16_t)0x0040) /*!< SMBus Host Header (Slave mode) */ +#define I2C_SR2_DUALF ((uint16_t)0x0080) /*!< Dual Flag (Slave mode) */ +#define I2C_SR2_PEC ((uint16_t)0xFF00) /*!< Packet Error Checking Register */ + +/******************* Bit definition for I2C_CCR register ********************/ +#define I2C_CCR_CCR ((uint16_t)0x0FFF) /*!< Clock Control Register in Fast/Standard mode (Master mode) */ +#define I2C_CCR_DUTY ((uint16_t)0x4000) /*!< Fast Mode Duty Cycle */ +#define I2C_CCR_FS ((uint16_t)0x8000) /*!< I2C Master Mode Selection */ + +/****************** Bit definition for I2C_TRISE register *******************/ +#define I2C_TRISE_TRISE ((uint8_t)0x3F) /*!< Maximum Rise Time in Fast/Standard mode (Master mode) */ + +/******************************************************************************/ +/* */ +/* Universal Synchronous Asynchronous Receiver Transmitter */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for USART_SR register *******************/ +#define USART_SR_PE ((uint16_t)0x0001) /*!< Parity Error */ +#define USART_SR_FE ((uint16_t)0x0002) /*!< Framing Error */ +#define USART_SR_NE ((uint16_t)0x0004) /*!< Noise Error Flag */ +#define USART_SR_ORE ((uint16_t)0x0008) /*!< OverRun Error */ +#define USART_SR_IDLE ((uint16_t)0x0010) /*!< IDLE line detected */ +#define USART_SR_RXNE ((uint16_t)0x0020) /*!< Read Data Register Not Empty */ +#define USART_SR_TC ((uint16_t)0x0040) /*!< Transmission Complete */ +#define USART_SR_TXE ((uint16_t)0x0080) /*!< Transmit Data Register Empty */ +#define USART_SR_LBD ((uint16_t)0x0100) /*!< LIN Break Detection Flag */ +#define USART_SR_CTS ((uint16_t)0x0200) /*!< CTS Flag */ + +/******************* Bit definition for USART_DR register *******************/ +#define USART_DR_DR ((uint16_t)0x01FF) /*!< Data value */ + +/****************** Bit definition for USART_BRR register *******************/ +#define USART_BRR_DIV_Fraction ((uint16_t)0x000F) /*!< Fraction of USARTDIV */ +#define USART_BRR_DIV_Mantissa ((uint16_t)0xFFF0) /*!< Mantissa of USARTDIV */ + +/****************** Bit definition for USART_CR1 register *******************/ +#define USART_CR1_SBK ((uint16_t)0x0001) /*!< Send Break */ +#define USART_CR1_RWU ((uint16_t)0x0002) /*!< Receiver wakeup */ +#define USART_CR1_RE ((uint16_t)0x0004) /*!< Receiver Enable */ +#define USART_CR1_TE ((uint16_t)0x0008) /*!< Transmitter Enable */ +#define USART_CR1_IDLEIE ((uint16_t)0x0010) /*!< IDLE Interrupt Enable */ +#define USART_CR1_RXNEIE ((uint16_t)0x0020) /*!< RXNE Interrupt Enable */ +#define USART_CR1_TCIE ((uint16_t)0x0040) /*!< Transmission Complete Interrupt Enable */ +#define USART_CR1_TXEIE ((uint16_t)0x0080) /*!< PE Interrupt Enable */ +#define USART_CR1_PEIE ((uint16_t)0x0100) /*!< PE Interrupt Enable */ +#define USART_CR1_PS ((uint16_t)0x0200) /*!< Parity Selection */ +#define USART_CR1_PCE ((uint16_t)0x0400) /*!< Parity Control Enable */ +#define USART_CR1_WAKE ((uint16_t)0x0800) /*!< Wakeup method */ +#define USART_CR1_M ((uint16_t)0x1000) /*!< Word length */ +#define USART_CR1_UE ((uint16_t)0x2000) /*!< USART Enable */ +#define USART_CR1_OVER8 ((uint16_t)0x8000) /*!< USART Oversmapling 8-bits */ + +/****************** Bit definition for USART_CR2 register *******************/ +#define USART_CR2_ADD ((uint16_t)0x000F) /*!< Address of the USART node */ +#define USART_CR2_LBDL ((uint16_t)0x0020) /*!< LIN Break Detection Length */ +#define USART_CR2_LBDIE ((uint16_t)0x0040) /*!< LIN Break Detection Interrupt Enable */ +#define USART_CR2_LBCL ((uint16_t)0x0100) /*!< Last Bit Clock pulse */ +#define USART_CR2_CPHA ((uint16_t)0x0200) /*!< Clock Phase */ +#define USART_CR2_CPOL ((uint16_t)0x0400) /*!< Clock Polarity */ +#define USART_CR2_CLKEN ((uint16_t)0x0800) /*!< Clock Enable */ + +#define USART_CR2_STOP ((uint16_t)0x3000) /*!< STOP[1:0] bits (STOP bits) */ +#define USART_CR2_STOP_0 ((uint16_t)0x1000) /*!< Bit 0 */ +#define USART_CR2_STOP_1 ((uint16_t)0x2000) /*!< Bit 1 */ + +#define USART_CR2_LINEN ((uint16_t)0x4000) /*!< LIN mode enable */ + +/****************** Bit definition for USART_CR3 register *******************/ +#define USART_CR3_EIE ((uint16_t)0x0001) /*!< Error Interrupt Enable */ +#define USART_CR3_IREN ((uint16_t)0x0002) /*!< IrDA mode Enable */ +#define USART_CR3_IRLP ((uint16_t)0x0004) /*!< IrDA Low-Power */ +#define USART_CR3_HDSEL ((uint16_t)0x0008) /*!< Half-Duplex Selection */ +#define USART_CR3_NACK ((uint16_t)0x0010) /*!< Smartcard NACK enable */ +#define USART_CR3_SCEN ((uint16_t)0x0020) /*!< Smartcard mode enable */ +#define USART_CR3_DMAR ((uint16_t)0x0040) /*!< DMA Enable Receiver */ +#define USART_CR3_DMAT ((uint16_t)0x0080) /*!< DMA Enable Transmitter */ +#define USART_CR3_RTSE ((uint16_t)0x0100) /*!< RTS Enable */ +#define USART_CR3_CTSE ((uint16_t)0x0200) /*!< CTS Enable */ +#define USART_CR3_CTSIE ((uint16_t)0x0400) /*!< CTS Interrupt Enable */ +#define USART_CR3_ONEBIT ((uint16_t)0x0800) /*!< One Bit method */ + +/****************** Bit definition for USART_GTPR register ******************/ +#define USART_GTPR_PSC ((uint16_t)0x00FF) /*!< PSC[7:0] bits (Prescaler value) */ +#define USART_GTPR_PSC_0 ((uint16_t)0x0001) /*!< Bit 0 */ +#define USART_GTPR_PSC_1 ((uint16_t)0x0002) /*!< Bit 1 */ +#define USART_GTPR_PSC_2 ((uint16_t)0x0004) /*!< Bit 2 */ +#define USART_GTPR_PSC_3 ((uint16_t)0x0008) /*!< Bit 3 */ +#define USART_GTPR_PSC_4 ((uint16_t)0x0010) /*!< Bit 4 */ +#define USART_GTPR_PSC_5 ((uint16_t)0x0020) /*!< Bit 5 */ +#define USART_GTPR_PSC_6 ((uint16_t)0x0040) /*!< Bit 6 */ +#define USART_GTPR_PSC_7 ((uint16_t)0x0080) /*!< Bit 7 */ + +#define USART_GTPR_GT ((uint16_t)0xFF00) /*!< Guard time value */ + +/******************************************************************************/ +/* */ +/* Debug MCU */ +/* */ +/******************************************************************************/ + +/**************** Bit definition for DBGMCU_IDCODE register *****************/ +#define DBGMCU_IDCODE_DEV_ID ((uint32_t)0x00000FFF) /*!< Device Identifier */ + +#define DBGMCU_IDCODE_REV_ID ((uint32_t)0xFFFF0000) /*!< REV_ID[15:0] bits (Revision Identifier) */ +#define DBGMCU_IDCODE_REV_ID_0 ((uint32_t)0x00010000) /*!< Bit 0 */ +#define DBGMCU_IDCODE_REV_ID_1 ((uint32_t)0x00020000) /*!< Bit 1 */ +#define DBGMCU_IDCODE_REV_ID_2 ((uint32_t)0x00040000) /*!< Bit 2 */ +#define DBGMCU_IDCODE_REV_ID_3 ((uint32_t)0x00080000) /*!< Bit 3 */ +#define DBGMCU_IDCODE_REV_ID_4 ((uint32_t)0x00100000) /*!< Bit 4 */ +#define DBGMCU_IDCODE_REV_ID_5 ((uint32_t)0x00200000) /*!< Bit 5 */ +#define DBGMCU_IDCODE_REV_ID_6 ((uint32_t)0x00400000) /*!< Bit 6 */ +#define DBGMCU_IDCODE_REV_ID_7 ((uint32_t)0x00800000) /*!< Bit 7 */ +#define DBGMCU_IDCODE_REV_ID_8 ((uint32_t)0x01000000) /*!< Bit 8 */ +#define DBGMCU_IDCODE_REV_ID_9 ((uint32_t)0x02000000) /*!< Bit 9 */ +#define DBGMCU_IDCODE_REV_ID_10 ((uint32_t)0x04000000) /*!< Bit 10 */ +#define DBGMCU_IDCODE_REV_ID_11 ((uint32_t)0x08000000) /*!< Bit 11 */ +#define DBGMCU_IDCODE_REV_ID_12 ((uint32_t)0x10000000) /*!< Bit 12 */ +#define DBGMCU_IDCODE_REV_ID_13 ((uint32_t)0x20000000) /*!< Bit 13 */ +#define DBGMCU_IDCODE_REV_ID_14 ((uint32_t)0x40000000) /*!< Bit 14 */ +#define DBGMCU_IDCODE_REV_ID_15 ((uint32_t)0x80000000) /*!< Bit 15 */ + +/****************** Bit definition for DBGMCU_CR register *******************/ +#define DBGMCU_CR_DBG_SLEEP ((uint32_t)0x00000001) /*!< Debug Sleep Mode */ +#define DBGMCU_CR_DBG_STOP ((uint32_t)0x00000002) /*!< Debug Stop Mode */ +#define DBGMCU_CR_DBG_STANDBY ((uint32_t)0x00000004) /*!< Debug Standby mode */ +#define DBGMCU_CR_TRACE_IOEN ((uint32_t)0x00000020) /*!< Trace Pin Assignment Control */ + +#define DBGMCU_CR_TRACE_MODE ((uint32_t)0x000000C0) /*!< TRACE_MODE[1:0] bits (Trace Pin Assignment Control) */ +#define DBGMCU_CR_TRACE_MODE_0 ((uint32_t)0x00000040) /*!< Bit 0 */ +#define DBGMCU_CR_TRACE_MODE_1 ((uint32_t)0x00000080) /*!< Bit 1 */ + +#define DBGMCU_CR_DBG_IWDG_STOP ((uint32_t)0x00000100) /*!< Debug Independent Watchdog stopped when Core is halted */ +#define DBGMCU_CR_DBG_WWDG_STOP ((uint32_t)0x00000200) /*!< Debug Window Watchdog stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM1_STOP ((uint32_t)0x00000400) /*!< TIM1 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM2_STOP ((uint32_t)0x00000800) /*!< TIM2 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM3_STOP ((uint32_t)0x00001000) /*!< TIM3 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM4_STOP ((uint32_t)0x00002000) /*!< TIM4 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_CAN1_STOP ((uint32_t)0x00004000) /*!< Debug CAN1 stopped when Core is halted */ +#define DBGMCU_CR_DBG_I2C1_SMBUS_TIMEOUT ((uint32_t)0x00008000) /*!< SMBUS timeout mode stopped when Core is halted */ +#define DBGMCU_CR_DBG_I2C2_SMBUS_TIMEOUT ((uint32_t)0x00010000) /*!< SMBUS timeout mode stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM8_STOP ((uint32_t)0x00020000) /*!< TIM8 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM5_STOP ((uint32_t)0x00040000) /*!< TIM5 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM6_STOP ((uint32_t)0x00080000) /*!< TIM6 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_TIM7_STOP ((uint32_t)0x00100000) /*!< TIM7 counter stopped when core is halted */ +#define DBGMCU_CR_DBG_CAN2_STOP ((uint32_t)0x00200000) /*!< Debug CAN2 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM15_STOP ((uint32_t)0x00400000) /*!< Debug TIM15 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM16_STOP ((uint32_t)0x00800000) /*!< Debug TIM16 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM17_STOP ((uint32_t)0x01000000) /*!< Debug TIM17 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM12_STOP ((uint32_t)0x02000000) /*!< Debug TIM12 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM13_STOP ((uint32_t)0x04000000) /*!< Debug TIM13 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM14_STOP ((uint32_t)0x08000000) /*!< Debug TIM14 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM9_STOP ((uint32_t)0x10000000) /*!< Debug TIM9 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM10_STOP ((uint32_t)0x20000000) /*!< Debug TIM10 stopped when Core is halted */ +#define DBGMCU_CR_DBG_TIM11_STOP ((uint32_t)0x40000000) /*!< Debug TIM11 stopped when Core is halted */ + +/******************************************************************************/ +/* */ +/* FLASH and Option Bytes Registers */ +/* */ +/******************************************************************************/ + +/******************* Bit definition for FLASH_ACR register ******************/ +#define FLASH_ACR_LATENCY ((uint8_t)0x03) /*!< LATENCY[2:0] bits (Latency) */ +#define FLASH_ACR_LATENCY_0 ((uint8_t)0x00) /*!< Bit 0 */ +#define FLASH_ACR_LATENCY_1 ((uint8_t)0x01) /*!< Bit 0 */ +#define FLASH_ACR_LATENCY_2 ((uint8_t)0x02) /*!< Bit 1 */ + +#define FLASH_ACR_HLFCYA ((uint8_t)0x08) /*!< Flash Half Cycle Access Enable */ +#define FLASH_ACR_PRFTBE ((uint8_t)0x10) /*!< Prefetch Buffer Enable */ +#define FLASH_ACR_PRFTBS ((uint8_t)0x20) /*!< Prefetch Buffer Status */ + +/****************** Bit definition for FLASH_KEYR register ******************/ +#define FLASH_KEYR_FKEYR ((uint32_t)0xFFFFFFFF) /*!< FPEC Key */ + +/***************** Bit definition for FLASH_OPTKEYR register ****************/ +#define FLASH_OPTKEYR_OPTKEYR ((uint32_t)0xFFFFFFFF) /*!< Option Byte Key */ + +/****************** Bit definition for FLASH_SR register *******************/ +#define FLASH_SR_BSY ((uint8_t)0x01) /*!< Busy */ +#define FLASH_SR_PGERR ((uint8_t)0x04) /*!< Programming Error */ +#define FLASH_SR_WRPRTERR ((uint8_t)0x10) /*!< Write Protection Error */ +#define FLASH_SR_EOP ((uint8_t)0x20) /*!< End of operation */ + +/******************* Bit definition for FLASH_CR register *******************/ +#define FLASH_CR_PG ((uint16_t)0x0001) /*!< Programming */ +#define FLASH_CR_PER ((uint16_t)0x0002) /*!< Page Erase */ +#define FLASH_CR_MER ((uint16_t)0x0004) /*!< Mass Erase */ +#define FLASH_CR_OPTPG ((uint16_t)0x0010) /*!< Option Byte Programming */ +#define FLASH_CR_OPTER ((uint16_t)0x0020) /*!< Option Byte Erase */ +#define FLASH_CR_STRT ((uint16_t)0x0040) /*!< Start */ +#define FLASH_CR_LOCK ((uint16_t)0x0080) /*!< Lock */ +#define FLASH_CR_OPTWRE ((uint16_t)0x0200) /*!< Option Bytes Write Enable */ +#define FLASH_CR_ERRIE ((uint16_t)0x0400) /*!< Error Interrupt Enable */ +#define FLASH_CR_EOPIE ((uint16_t)0x1000) /*!< End of operation interrupt enable */ + +/******************* Bit definition for FLASH_AR register *******************/ +#define FLASH_AR_FAR ((uint32_t)0xFFFFFFFF) /*!< Flash Address */ + +/****************** Bit definition for FLASH_OBR register *******************/ +#define FLASH_OBR_OPTERR ((uint16_t)0x0001) /*!< Option Byte Error */ +#define FLASH_OBR_RDPRT ((uint16_t)0x0002) /*!< Read protection */ + +#define FLASH_OBR_USER ((uint16_t)0x03FC) /*!< User Option Bytes */ +#define FLASH_OBR_WDG_SW ((uint16_t)0x0004) /*!< WDG_SW */ +#define FLASH_OBR_nRST_STOP ((uint16_t)0x0008) /*!< nRST_STOP */ +#define FLASH_OBR_nRST_STDBY ((uint16_t)0x0010) /*!< nRST_STDBY */ +#define FLASH_OBR_BFB2 ((uint16_t)0x0020) /*!< BFB2 */ + +/****************** Bit definition for FLASH_WRPR register ******************/ +#define FLASH_WRPR_WRP ((uint32_t)0xFFFFFFFF) /*!< Write Protect */ + +/*----------------------------------------------------------------------------*/ + +/****************** Bit definition for FLASH_RDP register *******************/ +#define FLASH_RDP_RDP ((uint32_t)0x000000FF) /*!< Read protection option byte */ +#define FLASH_RDP_nRDP ((uint32_t)0x0000FF00) /*!< Read protection complemented option byte */ + +/****************** Bit definition for FLASH_USER register ******************/ +#define FLASH_USER_USER ((uint32_t)0x00FF0000) /*!< User option byte */ +#define FLASH_USER_nUSER ((uint32_t)0xFF000000) /*!< User complemented option byte */ + +/****************** Bit definition for FLASH_Data0 register *****************/ +#define FLASH_Data0_Data0 ((uint32_t)0x000000FF) /*!< User data storage option byte */ +#define FLASH_Data0_nData0 ((uint32_t)0x0000FF00) /*!< User data storage complemented option byte */ + +/****************** Bit definition for FLASH_Data1 register *****************/ +#define FLASH_Data1_Data1 ((uint32_t)0x00FF0000) /*!< User data storage option byte */ +#define FLASH_Data1_nData1 ((uint32_t)0xFF000000) /*!< User data storage complemented option byte */ + +/****************** Bit definition for FLASH_WRP0 register ******************/ +#define FLASH_WRP0_WRP0 ((uint32_t)0x000000FF) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP0_nWRP0 ((uint32_t)0x0000FF00) /*!< Flash memory write protection complemented option bytes */ + +/****************** Bit definition for FLASH_WRP1 register ******************/ +#define FLASH_WRP1_WRP1 ((uint32_t)0x00FF0000) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP1_nWRP1 ((uint32_t)0xFF000000) /*!< Flash memory write protection complemented option bytes */ + +/****************** Bit definition for FLASH_WRP2 register ******************/ +#define FLASH_WRP2_WRP2 ((uint32_t)0x000000FF) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP2_nWRP2 ((uint32_t)0x0000FF00) /*!< Flash memory write protection complemented option bytes */ + +/****************** Bit definition for FLASH_WRP3 register ******************/ +#define FLASH_WRP3_WRP3 ((uint32_t)0x00FF0000) /*!< Flash memory write protection option bytes */ +#define FLASH_WRP3_nWRP3 ((uint32_t)0xFF000000) /*!< Flash memory write protection complemented option bytes */ + +#ifdef STM32F10X_CL +/******************************************************************************/ +/* Ethernet MAC Registers bits definitions */ +/******************************************************************************/ +/* Bit definition for Ethernet MAC Control Register register */ +#define ETH_MACCR_WD ((uint32_t)0x00800000) /* Watchdog disable */ +#define ETH_MACCR_JD ((uint32_t)0x00400000) /* Jabber disable */ +#define ETH_MACCR_IFG ((uint32_t)0x000E0000) /* Inter-frame gap */ + #define ETH_MACCR_IFG_96Bit ((uint32_t)0x00000000) /* Minimum IFG between frames during transmission is 96Bit */ + #define ETH_MACCR_IFG_88Bit ((uint32_t)0x00020000) /* Minimum IFG between frames during transmission is 88Bit */ + #define ETH_MACCR_IFG_80Bit ((uint32_t)0x00040000) /* Minimum IFG between frames during transmission is 80Bit */ + #define ETH_MACCR_IFG_72Bit ((uint32_t)0x00060000) /* Minimum IFG between frames during transmission is 72Bit */ + #define ETH_MACCR_IFG_64Bit ((uint32_t)0x00080000) /* Minimum IFG between frames during transmission is 64Bit */ + #define ETH_MACCR_IFG_56Bit ((uint32_t)0x000A0000) /* Minimum IFG between frames during transmission is 56Bit */ + #define ETH_MACCR_IFG_48Bit ((uint32_t)0x000C0000) /* Minimum IFG between frames during transmission is 48Bit */ + #define ETH_MACCR_IFG_40Bit ((uint32_t)0x000E0000) /* Minimum IFG between frames during transmission is 40Bit */ +#define ETH_MACCR_CSD ((uint32_t)0x00010000) /* Carrier sense disable (during transmission) */ +#define ETH_MACCR_FES ((uint32_t)0x00004000) /* Fast ethernet speed */ +#define ETH_MACCR_ROD ((uint32_t)0x00002000) /* Receive own disable */ +#define ETH_MACCR_LM ((uint32_t)0x00001000) /* loopback mode */ +#define ETH_MACCR_DM ((uint32_t)0x00000800) /* Duplex mode */ +#define ETH_MACCR_IPCO ((uint32_t)0x00000400) /* IP Checksum offload */ +#define ETH_MACCR_RD ((uint32_t)0x00000200) /* Retry disable */ +#define ETH_MACCR_APCS ((uint32_t)0x00000080) /* Automatic Pad/CRC stripping */ +#define ETH_MACCR_BL ((uint32_t)0x00000060) /* Back-off limit: random integer number (r) of slot time delays before rescheduling + a transmission attempt during retries after a collision: 0 =< r <2^k */ + #define ETH_MACCR_BL_10 ((uint32_t)0x00000000) /* k = min (n, 10) */ + #define ETH_MACCR_BL_8 ((uint32_t)0x00000020) /* k = min (n, 8) */ + #define ETH_MACCR_BL_4 ((uint32_t)0x00000040) /* k = min (n, 4) */ + #define ETH_MACCR_BL_1 ((uint32_t)0x00000060) /* k = min (n, 1) */ +#define ETH_MACCR_DC ((uint32_t)0x00000010) /* Defferal check */ +#define ETH_MACCR_TE ((uint32_t)0x00000008) /* Transmitter enable */ +#define ETH_MACCR_RE ((uint32_t)0x00000004) /* Receiver enable */ + +/* Bit definition for Ethernet MAC Frame Filter Register */ +#define ETH_MACFFR_RA ((uint32_t)0x80000000) /* Receive all */ +#define ETH_MACFFR_HPF ((uint32_t)0x00000400) /* Hash or perfect filter */ +#define ETH_MACFFR_SAF ((uint32_t)0x00000200) /* Source address filter enable */ +#define ETH_MACFFR_SAIF ((uint32_t)0x00000100) /* SA inverse filtering */ +#define ETH_MACFFR_PCF ((uint32_t)0x000000C0) /* Pass control frames: 3 cases */ + #define ETH_MACFFR_PCF_BlockAll ((uint32_t)0x00000040) /* MAC filters all control frames from reaching the application */ + #define ETH_MACFFR_PCF_ForwardAll ((uint32_t)0x00000080) /* MAC forwards all control frames to application even if they fail the Address Filter */ + #define ETH_MACFFR_PCF_ForwardPassedAddrFilter ((uint32_t)0x000000C0) /* MAC forwards control frames that pass the Address Filter. */ +#define ETH_MACFFR_BFD ((uint32_t)0x00000020) /* Broadcast frame disable */ +#define ETH_MACFFR_PAM ((uint32_t)0x00000010) /* Pass all mutlicast */ +#define ETH_MACFFR_DAIF ((uint32_t)0x00000008) /* DA Inverse filtering */ +#define ETH_MACFFR_HM ((uint32_t)0x00000004) /* Hash multicast */ +#define ETH_MACFFR_HU ((uint32_t)0x00000002) /* Hash unicast */ +#define ETH_MACFFR_PM ((uint32_t)0x00000001) /* Promiscuous mode */ + +/* Bit definition for Ethernet MAC Hash Table High Register */ +#define ETH_MACHTHR_HTH ((uint32_t)0xFFFFFFFF) /* Hash table high */ + +/* Bit definition for Ethernet MAC Hash Table Low Register */ +#define ETH_MACHTLR_HTL ((uint32_t)0xFFFFFFFF) /* Hash table low */ + +/* Bit definition for Ethernet MAC MII Address Register */ +#define ETH_MACMIIAR_PA ((uint32_t)0x0000F800) /* Physical layer address */ +#define ETH_MACMIIAR_MR ((uint32_t)0x000007C0) /* MII register in the selected PHY */ +#define ETH_MACMIIAR_CR ((uint32_t)0x0000001C) /* CR clock range: 6 cases */ + #define ETH_MACMIIAR_CR_Div42 ((uint32_t)0x00000000) /* HCLK:60-72 MHz; MDC clock= HCLK/42 */ + #define ETH_MACMIIAR_CR_Div16 ((uint32_t)0x00000008) /* HCLK:20-35 MHz; MDC clock= HCLK/16 */ + #define ETH_MACMIIAR_CR_Div26 ((uint32_t)0x0000000C) /* HCLK:35-60 MHz; MDC clock= HCLK/26 */ +#define ETH_MACMIIAR_MW ((uint32_t)0x00000002) /* MII write */ +#define ETH_MACMIIAR_MB ((uint32_t)0x00000001) /* MII busy */ + +/* Bit definition for Ethernet MAC MII Data Register */ +#define ETH_MACMIIDR_MD ((uint32_t)0x0000FFFF) /* MII data: read/write data from/to PHY */ + +/* Bit definition for Ethernet MAC Flow Control Register */ +#define ETH_MACFCR_PT ((uint32_t)0xFFFF0000) /* Pause time */ +#define ETH_MACFCR_ZQPD ((uint32_t)0x00000080) /* Zero-quanta pause disable */ +#define ETH_MACFCR_PLT ((uint32_t)0x00000030) /* Pause low threshold: 4 cases */ + #define ETH_MACFCR_PLT_Minus4 ((uint32_t)0x00000000) /* Pause time minus 4 slot times */ + #define ETH_MACFCR_PLT_Minus28 ((uint32_t)0x00000010) /* Pause time minus 28 slot times */ + #define ETH_MACFCR_PLT_Minus144 ((uint32_t)0x00000020) /* Pause time minus 144 slot times */ + #define ETH_MACFCR_PLT_Minus256 ((uint32_t)0x00000030) /* Pause time minus 256 slot times */ +#define ETH_MACFCR_UPFD ((uint32_t)0x00000008) /* Unicast pause frame detect */ +#define ETH_MACFCR_RFCE ((uint32_t)0x00000004) /* Receive flow control enable */ +#define ETH_MACFCR_TFCE ((uint32_t)0x00000002) /* Transmit flow control enable */ +#define ETH_MACFCR_FCBBPA ((uint32_t)0x00000001) /* Flow control busy/backpressure activate */ + +/* Bit definition for Ethernet MAC VLAN Tag Register */ +#define ETH_MACVLANTR_VLANTC ((uint32_t)0x00010000) /* 12-bit VLAN tag comparison */ +#define ETH_MACVLANTR_VLANTI ((uint32_t)0x0000FFFF) /* VLAN tag identifier (for receive frames) */ + +/* Bit definition for Ethernet MAC Remote Wake-UpFrame Filter Register */ +#define ETH_MACRWUFFR_D ((uint32_t)0xFFFFFFFF) /* Wake-up frame filter register data */ +/* Eight sequential Writes to this address (offset 0x28) will write all Wake-UpFrame Filter Registers. + Eight sequential Reads from this address (offset 0x28) will read all Wake-UpFrame Filter Registers. */ +/* Wake-UpFrame Filter Reg0 : Filter 0 Byte Mask + Wake-UpFrame Filter Reg1 : Filter 1 Byte Mask + Wake-UpFrame Filter Reg2 : Filter 2 Byte Mask + Wake-UpFrame Filter Reg3 : Filter 3 Byte Mask + Wake-UpFrame Filter Reg4 : RSVD - Filter3 Command - RSVD - Filter2 Command - + RSVD - Filter1 Command - RSVD - Filter0 Command + Wake-UpFrame Filter Re5 : Filter3 Offset - Filter2 Offset - Filter1 Offset - Filter0 Offset + Wake-UpFrame Filter Re6 : Filter1 CRC16 - Filter0 CRC16 + Wake-UpFrame Filter Re7 : Filter3 CRC16 - Filter2 CRC16 */ + +/* Bit definition for Ethernet MAC PMT Control and Status Register */ +#define ETH_MACPMTCSR_WFFRPR ((uint32_t)0x80000000) /* Wake-Up Frame Filter Register Pointer Reset */ +#define ETH_MACPMTCSR_GU ((uint32_t)0x00000200) /* Global Unicast */ +#define ETH_MACPMTCSR_WFR ((uint32_t)0x00000040) /* Wake-Up Frame Received */ +#define ETH_MACPMTCSR_MPR ((uint32_t)0x00000020) /* Magic Packet Received */ +#define ETH_MACPMTCSR_WFE ((uint32_t)0x00000004) /* Wake-Up Frame Enable */ +#define ETH_MACPMTCSR_MPE ((uint32_t)0x00000002) /* Magic Packet Enable */ +#define ETH_MACPMTCSR_PD ((uint32_t)0x00000001) /* Power Down */ + +/* Bit definition for Ethernet MAC Status Register */ +#define ETH_MACSR_TSTS ((uint32_t)0x00000200) /* Time stamp trigger status */ +#define ETH_MACSR_MMCTS ((uint32_t)0x00000040) /* MMC transmit status */ +#define ETH_MACSR_MMMCRS ((uint32_t)0x00000020) /* MMC receive status */ +#define ETH_MACSR_MMCS ((uint32_t)0x00000010) /* MMC status */ +#define ETH_MACSR_PMTS ((uint32_t)0x00000008) /* PMT status */ + +/* Bit definition for Ethernet MAC Interrupt Mask Register */ +#define ETH_MACIMR_TSTIM ((uint32_t)0x00000200) /* Time stamp trigger interrupt mask */ +#define ETH_MACIMR_PMTIM ((uint32_t)0x00000008) /* PMT interrupt mask */ + +/* Bit definition for Ethernet MAC Address0 High Register */ +#define ETH_MACA0HR_MACA0H ((uint32_t)0x0000FFFF) /* MAC address0 high */ + +/* Bit definition for Ethernet MAC Address0 Low Register */ +#define ETH_MACA0LR_MACA0L ((uint32_t)0xFFFFFFFF) /* MAC address0 low */ + +/* Bit definition for Ethernet MAC Address1 High Register */ +#define ETH_MACA1HR_AE ((uint32_t)0x80000000) /* Address enable */ +#define ETH_MACA1HR_SA ((uint32_t)0x40000000) /* Source address */ +#define ETH_MACA1HR_MBC ((uint32_t)0x3F000000) /* Mask byte control: bits to mask for comparison of the MAC Address bytes */ + #define ETH_MACA1HR_MBC_HBits15_8 ((uint32_t)0x20000000) /* Mask MAC Address high reg bits [15:8] */ + #define ETH_MACA1HR_MBC_HBits7_0 ((uint32_t)0x10000000) /* Mask MAC Address high reg bits [7:0] */ + #define ETH_MACA1HR_MBC_LBits31_24 ((uint32_t)0x08000000) /* Mask MAC Address low reg bits [31:24] */ + #define ETH_MACA1HR_MBC_LBits23_16 ((uint32_t)0x04000000) /* Mask MAC Address low reg bits [23:16] */ + #define ETH_MACA1HR_MBC_LBits15_8 ((uint32_t)0x02000000) /* Mask MAC Address low reg bits [15:8] */ + #define ETH_MACA1HR_MBC_LBits7_0 ((uint32_t)0x01000000) /* Mask MAC Address low reg bits [7:0] */ +#define ETH_MACA1HR_MACA1H ((uint32_t)0x0000FFFF) /* MAC address1 high */ + +/* Bit definition for Ethernet MAC Address1 Low Register */ +#define ETH_MACA1LR_MACA1L ((uint32_t)0xFFFFFFFF) /* MAC address1 low */ + +/* Bit definition for Ethernet MAC Address2 High Register */ +#define ETH_MACA2HR_AE ((uint32_t)0x80000000) /* Address enable */ +#define ETH_MACA2HR_SA ((uint32_t)0x40000000) /* Source address */ +#define ETH_MACA2HR_MBC ((uint32_t)0x3F000000) /* Mask byte control */ + #define ETH_MACA2HR_MBC_HBits15_8 ((uint32_t)0x20000000) /* Mask MAC Address high reg bits [15:8] */ + #define ETH_MACA2HR_MBC_HBits7_0 ((uint32_t)0x10000000) /* Mask MAC Address high reg bits [7:0] */ + #define ETH_MACA2HR_MBC_LBits31_24 ((uint32_t)0x08000000) /* Mask MAC Address low reg bits [31:24] */ + #define ETH_MACA2HR_MBC_LBits23_16 ((uint32_t)0x04000000) /* Mask MAC Address low reg bits [23:16] */ + #define ETH_MACA2HR_MBC_LBits15_8 ((uint32_t)0x02000000) /* Mask MAC Address low reg bits [15:8] */ + #define ETH_MACA2HR_MBC_LBits7_0 ((uint32_t)0x01000000) /* Mask MAC Address low reg bits [70] */ +#define ETH_MACA2HR_MACA2H ((uint32_t)0x0000FFFF) /* MAC address1 high */ + +/* Bit definition for Ethernet MAC Address2 Low Register */ +#define ETH_MACA2LR_MACA2L ((uint32_t)0xFFFFFFFF) /* MAC address2 low */ + +/* Bit definition for Ethernet MAC Address3 High Register */ +#define ETH_MACA3HR_AE ((uint32_t)0x80000000) /* Address enable */ +#define ETH_MACA3HR_SA ((uint32_t)0x40000000) /* Source address */ +#define ETH_MACA3HR_MBC ((uint32_t)0x3F000000) /* Mask byte control */ + #define ETH_MACA3HR_MBC_HBits15_8 ((uint32_t)0x20000000) /* Mask MAC Address high reg bits [15:8] */ + #define ETH_MACA3HR_MBC_HBits7_0 ((uint32_t)0x10000000) /* Mask MAC Address high reg bits [7:0] */ + #define ETH_MACA3HR_MBC_LBits31_24 ((uint32_t)0x08000000) /* Mask MAC Address low reg bits [31:24] */ + #define ETH_MACA3HR_MBC_LBits23_16 ((uint32_t)0x04000000) /* Mask MAC Address low reg bits [23:16] */ + #define ETH_MACA3HR_MBC_LBits15_8 ((uint32_t)0x02000000) /* Mask MAC Address low reg bits [15:8] */ + #define ETH_MACA3HR_MBC_LBits7_0 ((uint32_t)0x01000000) /* Mask MAC Address low reg bits [70] */ +#define ETH_MACA3HR_MACA3H ((uint32_t)0x0000FFFF) /* MAC address3 high */ + +/* Bit definition for Ethernet MAC Address3 Low Register */ +#define ETH_MACA3LR_MACA3L ((uint32_t)0xFFFFFFFF) /* MAC address3 low */ + +/******************************************************************************/ +/* Ethernet MMC Registers bits definition */ +/******************************************************************************/ + +/* Bit definition for Ethernet MMC Contol Register */ +#define ETH_MMCCR_MCF ((uint32_t)0x00000008) /* MMC Counter Freeze */ +#define ETH_MMCCR_ROR ((uint32_t)0x00000004) /* Reset on Read */ +#define ETH_MMCCR_CSR ((uint32_t)0x00000002) /* Counter Stop Rollover */ +#define ETH_MMCCR_CR ((uint32_t)0x00000001) /* Counters Reset */ + +/* Bit definition for Ethernet MMC Receive Interrupt Register */ +#define ETH_MMCRIR_RGUFS ((uint32_t)0x00020000) /* Set when Rx good unicast frames counter reaches half the maximum value */ +#define ETH_MMCRIR_RFAES ((uint32_t)0x00000040) /* Set when Rx alignment error counter reaches half the maximum value */ +#define ETH_MMCRIR_RFCES ((uint32_t)0x00000020) /* Set when Rx crc error counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Transmit Interrupt Register */ +#define ETH_MMCTIR_TGFS ((uint32_t)0x00200000) /* Set when Tx good frame count counter reaches half the maximum value */ +#define ETH_MMCTIR_TGFMSCS ((uint32_t)0x00008000) /* Set when Tx good multi col counter reaches half the maximum value */ +#define ETH_MMCTIR_TGFSCS ((uint32_t)0x00004000) /* Set when Tx good single col counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Receive Interrupt Mask Register */ +#define ETH_MMCRIMR_RGUFM ((uint32_t)0x00020000) /* Mask the interrupt when Rx good unicast frames counter reaches half the maximum value */ +#define ETH_MMCRIMR_RFAEM ((uint32_t)0x00000040) /* Mask the interrupt when when Rx alignment error counter reaches half the maximum value */ +#define ETH_MMCRIMR_RFCEM ((uint32_t)0x00000020) /* Mask the interrupt when Rx crc error counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Transmit Interrupt Mask Register */ +#define ETH_MMCTIMR_TGFM ((uint32_t)0x00200000) /* Mask the interrupt when Tx good frame count counter reaches half the maximum value */ +#define ETH_MMCTIMR_TGFMSCM ((uint32_t)0x00008000) /* Mask the interrupt when Tx good multi col counter reaches half the maximum value */ +#define ETH_MMCTIMR_TGFSCM ((uint32_t)0x00004000) /* Mask the interrupt when Tx good single col counter reaches half the maximum value */ + +/* Bit definition for Ethernet MMC Transmitted Good Frames after Single Collision Counter Register */ +#define ETH_MMCTGFSCCR_TGFSCC ((uint32_t)0xFFFFFFFF) /* Number of successfully transmitted frames after a single collision in Half-duplex mode. */ + +/* Bit definition for Ethernet MMC Transmitted Good Frames after More than a Single Collision Counter Register */ +#define ETH_MMCTGFMSCCR_TGFMSCC ((uint32_t)0xFFFFFFFF) /* Number of successfully transmitted frames after more than a single collision in Half-duplex mode. */ + +/* Bit definition for Ethernet MMC Transmitted Good Frames Counter Register */ +#define ETH_MMCTGFCR_TGFC ((uint32_t)0xFFFFFFFF) /* Number of good frames transmitted. */ + +/* Bit definition for Ethernet MMC Received Frames with CRC Error Counter Register */ +#define ETH_MMCRFCECR_RFCEC ((uint32_t)0xFFFFFFFF) /* Number of frames received with CRC error. */ + +/* Bit definition for Ethernet MMC Received Frames with Alignement Error Counter Register */ +#define ETH_MMCRFAECR_RFAEC ((uint32_t)0xFFFFFFFF) /* Number of frames received with alignment (dribble) error */ + +/* Bit definition for Ethernet MMC Received Good Unicast Frames Counter Register */ +#define ETH_MMCRGUFCR_RGUFC ((uint32_t)0xFFFFFFFF) /* Number of good unicast frames received. */ + +/******************************************************************************/ +/* Ethernet PTP Registers bits definition */ +/******************************************************************************/ + +/* Bit definition for Ethernet PTP Time Stamp Contol Register */ +#define ETH_PTPTSCR_TSARU ((uint32_t)0x00000020) /* Addend register update */ +#define ETH_PTPTSCR_TSITE ((uint32_t)0x00000010) /* Time stamp interrupt trigger enable */ +#define ETH_PTPTSCR_TSSTU ((uint32_t)0x00000008) /* Time stamp update */ +#define ETH_PTPTSCR_TSSTI ((uint32_t)0x00000004) /* Time stamp initialize */ +#define ETH_PTPTSCR_TSFCU ((uint32_t)0x00000002) /* Time stamp fine or coarse update */ +#define ETH_PTPTSCR_TSE ((uint32_t)0x00000001) /* Time stamp enable */ + +/* Bit definition for Ethernet PTP Sub-Second Increment Register */ +#define ETH_PTPSSIR_STSSI ((uint32_t)0x000000FF) /* System time Sub-second increment value */ + +/* Bit definition for Ethernet PTP Time Stamp High Register */ +#define ETH_PTPTSHR_STS ((uint32_t)0xFFFFFFFF) /* System Time second */ + +/* Bit definition for Ethernet PTP Time Stamp Low Register */ +#define ETH_PTPTSLR_STPNS ((uint32_t)0x80000000) /* System Time Positive or negative time */ +#define ETH_PTPTSLR_STSS ((uint32_t)0x7FFFFFFF) /* System Time sub-seconds */ + +/* Bit definition for Ethernet PTP Time Stamp High Update Register */ +#define ETH_PTPTSHUR_TSUS ((uint32_t)0xFFFFFFFF) /* Time stamp update seconds */ + +/* Bit definition for Ethernet PTP Time Stamp Low Update Register */ +#define ETH_PTPTSLUR_TSUPNS ((uint32_t)0x80000000) /* Time stamp update Positive or negative time */ +#define ETH_PTPTSLUR_TSUSS ((uint32_t)0x7FFFFFFF) /* Time stamp update sub-seconds */ + +/* Bit definition for Ethernet PTP Time Stamp Addend Register */ +#define ETH_PTPTSAR_TSA ((uint32_t)0xFFFFFFFF) /* Time stamp addend */ + +/* Bit definition for Ethernet PTP Target Time High Register */ +#define ETH_PTPTTHR_TTSH ((uint32_t)0xFFFFFFFF) /* Target time stamp high */ + +/* Bit definition for Ethernet PTP Target Time Low Register */ +#define ETH_PTPTTLR_TTSL ((uint32_t)0xFFFFFFFF) /* Target time stamp low */ + +/******************************************************************************/ +/* Ethernet DMA Registers bits definition */ +/******************************************************************************/ + +/* Bit definition for Ethernet DMA Bus Mode Register */ +#define ETH_DMABMR_AAB ((uint32_t)0x02000000) /* Address-Aligned beats */ +#define ETH_DMABMR_FPM ((uint32_t)0x01000000) /* 4xPBL mode */ +#define ETH_DMABMR_USP ((uint32_t)0x00800000) /* Use separate PBL */ +#define ETH_DMABMR_RDP ((uint32_t)0x007E0000) /* RxDMA PBL */ + #define ETH_DMABMR_RDP_1Beat ((uint32_t)0x00020000) /* maximum number of beats to be transferred in one RxDMA transaction is 1 */ + #define ETH_DMABMR_RDP_2Beat ((uint32_t)0x00040000) /* maximum number of beats to be transferred in one RxDMA transaction is 2 */ + #define ETH_DMABMR_RDP_4Beat ((uint32_t)0x00080000) /* maximum number of beats to be transferred in one RxDMA transaction is 4 */ + #define ETH_DMABMR_RDP_8Beat ((uint32_t)0x00100000) /* maximum number of beats to be transferred in one RxDMA transaction is 8 */ + #define ETH_DMABMR_RDP_16Beat ((uint32_t)0x00200000) /* maximum number of beats to be transferred in one RxDMA transaction is 16 */ + #define ETH_DMABMR_RDP_32Beat ((uint32_t)0x00400000) /* maximum number of beats to be transferred in one RxDMA transaction is 32 */ + #define ETH_DMABMR_RDP_4xPBL_4Beat ((uint32_t)0x01020000) /* maximum number of beats to be transferred in one RxDMA transaction is 4 */ + #define ETH_DMABMR_RDP_4xPBL_8Beat ((uint32_t)0x01040000) /* maximum number of beats to be transferred in one RxDMA transaction is 8 */ + #define ETH_DMABMR_RDP_4xPBL_16Beat ((uint32_t)0x01080000) /* maximum number of beats to be transferred in one RxDMA transaction is 16 */ + #define ETH_DMABMR_RDP_4xPBL_32Beat ((uint32_t)0x01100000) /* maximum number of beats to be transferred in one RxDMA transaction is 32 */ + #define ETH_DMABMR_RDP_4xPBL_64Beat ((uint32_t)0x01200000) /* maximum number of beats to be transferred in one RxDMA transaction is 64 */ + #define ETH_DMABMR_RDP_4xPBL_128Beat ((uint32_t)0x01400000) /* maximum number of beats to be transferred in one RxDMA transaction is 128 */ +#define ETH_DMABMR_FB ((uint32_t)0x00010000) /* Fixed Burst */ +#define ETH_DMABMR_RTPR ((uint32_t)0x0000C000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_1_1 ((uint32_t)0x00000000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_2_1 ((uint32_t)0x00004000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_3_1 ((uint32_t)0x00008000) /* Rx Tx priority ratio */ + #define ETH_DMABMR_RTPR_4_1 ((uint32_t)0x0000C000) /* Rx Tx priority ratio */ +#define ETH_DMABMR_PBL ((uint32_t)0x00003F00) /* Programmable burst length */ + #define ETH_DMABMR_PBL_1Beat ((uint32_t)0x00000100) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 1 */ + #define ETH_DMABMR_PBL_2Beat ((uint32_t)0x00000200) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 2 */ + #define ETH_DMABMR_PBL_4Beat ((uint32_t)0x00000400) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 4 */ + #define ETH_DMABMR_PBL_8Beat ((uint32_t)0x00000800) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 8 */ + #define ETH_DMABMR_PBL_16Beat ((uint32_t)0x00001000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 16 */ + #define ETH_DMABMR_PBL_32Beat ((uint32_t)0x00002000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 32 */ + #define ETH_DMABMR_PBL_4xPBL_4Beat ((uint32_t)0x01000100) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 4 */ + #define ETH_DMABMR_PBL_4xPBL_8Beat ((uint32_t)0x01000200) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 8 */ + #define ETH_DMABMR_PBL_4xPBL_16Beat ((uint32_t)0x01000400) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 16 */ + #define ETH_DMABMR_PBL_4xPBL_32Beat ((uint32_t)0x01000800) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 32 */ + #define ETH_DMABMR_PBL_4xPBL_64Beat ((uint32_t)0x01001000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 64 */ + #define ETH_DMABMR_PBL_4xPBL_128Beat ((uint32_t)0x01002000) /* maximum number of beats to be transferred in one TxDMA (or both) transaction is 128 */ +#define ETH_DMABMR_DSL ((uint32_t)0x0000007C) /* Descriptor Skip Length */ +#define ETH_DMABMR_DA ((uint32_t)0x00000002) /* DMA arbitration scheme */ +#define ETH_DMABMR_SR ((uint32_t)0x00000001) /* Software reset */ + +/* Bit definition for Ethernet DMA Transmit Poll Demand Register */ +#define ETH_DMATPDR_TPD ((uint32_t)0xFFFFFFFF) /* Transmit poll demand */ + +/* Bit definition for Ethernet DMA Receive Poll Demand Register */ +#define ETH_DMARPDR_RPD ((uint32_t)0xFFFFFFFF) /* Receive poll demand */ + +/* Bit definition for Ethernet DMA Receive Descriptor List Address Register */ +#define ETH_DMARDLAR_SRL ((uint32_t)0xFFFFFFFF) /* Start of receive list */ + +/* Bit definition for Ethernet DMA Transmit Descriptor List Address Register */ +#define ETH_DMATDLAR_STL ((uint32_t)0xFFFFFFFF) /* Start of transmit list */ + +/* Bit definition for Ethernet DMA Status Register */ +#define ETH_DMASR_TSTS ((uint32_t)0x20000000) /* Time-stamp trigger status */ +#define ETH_DMASR_PMTS ((uint32_t)0x10000000) /* PMT status */ +#define ETH_DMASR_MMCS ((uint32_t)0x08000000) /* MMC status */ +#define ETH_DMASR_EBS ((uint32_t)0x03800000) /* Error bits status */ + /* combination with EBS[2:0] for GetFlagStatus function */ + #define ETH_DMASR_EBS_DescAccess ((uint32_t)0x02000000) /* Error bits 0-data buffer, 1-desc. access */ + #define ETH_DMASR_EBS_ReadTransf ((uint32_t)0x01000000) /* Error bits 0-write trnsf, 1-read transfr */ + #define ETH_DMASR_EBS_DataTransfTx ((uint32_t)0x00800000) /* Error bits 0-Rx DMA, 1-Tx DMA */ +#define ETH_DMASR_TPS ((uint32_t)0x00700000) /* Transmit process state */ + #define ETH_DMASR_TPS_Stopped ((uint32_t)0x00000000) /* Stopped - Reset or Stop Tx Command issued */ + #define ETH_DMASR_TPS_Fetching ((uint32_t)0x00100000) /* Running - fetching the Tx descriptor */ + #define ETH_DMASR_TPS_Waiting ((uint32_t)0x00200000) /* Running - waiting for status */ + #define ETH_DMASR_TPS_Reading ((uint32_t)0x00300000) /* Running - reading the data from host memory */ + #define ETH_DMASR_TPS_Suspended ((uint32_t)0x00600000) /* Suspended - Tx Descriptor unavailabe */ + #define ETH_DMASR_TPS_Closing ((uint32_t)0x00700000) /* Running - closing Rx descriptor */ +#define ETH_DMASR_RPS ((uint32_t)0x000E0000) /* Receive process state */ + #define ETH_DMASR_RPS_Stopped ((uint32_t)0x00000000) /* Stopped - Reset or Stop Rx Command issued */ + #define ETH_DMASR_RPS_Fetching ((uint32_t)0x00020000) /* Running - fetching the Rx descriptor */ + #define ETH_DMASR_RPS_Waiting ((uint32_t)0x00060000) /* Running - waiting for packet */ + #define ETH_DMASR_RPS_Suspended ((uint32_t)0x00080000) /* Suspended - Rx Descriptor unavailable */ + #define ETH_DMASR_RPS_Closing ((uint32_t)0x000A0000) /* Running - closing descriptor */ + #define ETH_DMASR_RPS_Queuing ((uint32_t)0x000E0000) /* Running - queuing the recieve frame into host memory */ +#define ETH_DMASR_NIS ((uint32_t)0x00010000) /* Normal interrupt summary */ +#define ETH_DMASR_AIS ((uint32_t)0x00008000) /* Abnormal interrupt summary */ +#define ETH_DMASR_ERS ((uint32_t)0x00004000) /* Early receive status */ +#define ETH_DMASR_FBES ((uint32_t)0x00002000) /* Fatal bus error status */ +#define ETH_DMASR_ETS ((uint32_t)0x00000400) /* Early transmit status */ +#define ETH_DMASR_RWTS ((uint32_t)0x00000200) /* Receive watchdog timeout status */ +#define ETH_DMASR_RPSS ((uint32_t)0x00000100) /* Receive process stopped status */ +#define ETH_DMASR_RBUS ((uint32_t)0x00000080) /* Receive buffer unavailable status */ +#define ETH_DMASR_RS ((uint32_t)0x00000040) /* Receive status */ +#define ETH_DMASR_TUS ((uint32_t)0x00000020) /* Transmit underflow status */ +#define ETH_DMASR_ROS ((uint32_t)0x00000010) /* Receive overflow status */ +#define ETH_DMASR_TJTS ((uint32_t)0x00000008) /* Transmit jabber timeout status */ +#define ETH_DMASR_TBUS ((uint32_t)0x00000004) /* Transmit buffer unavailable status */ +#define ETH_DMASR_TPSS ((uint32_t)0x00000002) /* Transmit process stopped status */ +#define ETH_DMASR_TS ((uint32_t)0x00000001) /* Transmit status */ + +/* Bit definition for Ethernet DMA Operation Mode Register */ +#define ETH_DMAOMR_DTCEFD ((uint32_t)0x04000000) /* Disable Dropping of TCP/IP checksum error frames */ +#define ETH_DMAOMR_RSF ((uint32_t)0x02000000) /* Receive store and forward */ +#define ETH_DMAOMR_DFRF ((uint32_t)0x01000000) /* Disable flushing of received frames */ +#define ETH_DMAOMR_TSF ((uint32_t)0x00200000) /* Transmit store and forward */ +#define ETH_DMAOMR_FTF ((uint32_t)0x00100000) /* Flush transmit FIFO */ +#define ETH_DMAOMR_TTC ((uint32_t)0x0001C000) /* Transmit threshold control */ + #define ETH_DMAOMR_TTC_64Bytes ((uint32_t)0x00000000) /* threshold level of the MTL Transmit FIFO is 64 Bytes */ + #define ETH_DMAOMR_TTC_128Bytes ((uint32_t)0x00004000) /* threshold level of the MTL Transmit FIFO is 128 Bytes */ + #define ETH_DMAOMR_TTC_192Bytes ((uint32_t)0x00008000) /* threshold level of the MTL Transmit FIFO is 192 Bytes */ + #define ETH_DMAOMR_TTC_256Bytes ((uint32_t)0x0000C000) /* threshold level of the MTL Transmit FIFO is 256 Bytes */ + #define ETH_DMAOMR_TTC_40Bytes ((uint32_t)0x00010000) /* threshold level of the MTL Transmit FIFO is 40 Bytes */ + #define ETH_DMAOMR_TTC_32Bytes ((uint32_t)0x00014000) /* threshold level of the MTL Transmit FIFO is 32 Bytes */ + #define ETH_DMAOMR_TTC_24Bytes ((uint32_t)0x00018000) /* threshold level of the MTL Transmit FIFO is 24 Bytes */ + #define ETH_DMAOMR_TTC_16Bytes ((uint32_t)0x0001C000) /* threshold level of the MTL Transmit FIFO is 16 Bytes */ +#define ETH_DMAOMR_ST ((uint32_t)0x00002000) /* Start/stop transmission command */ +#define ETH_DMAOMR_FEF ((uint32_t)0x00000080) /* Forward error frames */ +#define ETH_DMAOMR_FUGF ((uint32_t)0x00000040) /* Forward undersized good frames */ +#define ETH_DMAOMR_RTC ((uint32_t)0x00000018) /* receive threshold control */ + #define ETH_DMAOMR_RTC_64Bytes ((uint32_t)0x00000000) /* threshold level of the MTL Receive FIFO is 64 Bytes */ + #define ETH_DMAOMR_RTC_32Bytes ((uint32_t)0x00000008) /* threshold level of the MTL Receive FIFO is 32 Bytes */ + #define ETH_DMAOMR_RTC_96Bytes ((uint32_t)0x00000010) /* threshold level of the MTL Receive FIFO is 96 Bytes */ + #define ETH_DMAOMR_RTC_128Bytes ((uint32_t)0x00000018) /* threshold level of the MTL Receive FIFO is 128 Bytes */ +#define ETH_DMAOMR_OSF ((uint32_t)0x00000004) /* operate on second frame */ +#define ETH_DMAOMR_SR ((uint32_t)0x00000002) /* Start/stop receive */ + +/* Bit definition for Ethernet DMA Interrupt Enable Register */ +#define ETH_DMAIER_NISE ((uint32_t)0x00010000) /* Normal interrupt summary enable */ +#define ETH_DMAIER_AISE ((uint32_t)0x00008000) /* Abnormal interrupt summary enable */ +#define ETH_DMAIER_ERIE ((uint32_t)0x00004000) /* Early receive interrupt enable */ +#define ETH_DMAIER_FBEIE ((uint32_t)0x00002000) /* Fatal bus error interrupt enable */ +#define ETH_DMAIER_ETIE ((uint32_t)0x00000400) /* Early transmit interrupt enable */ +#define ETH_DMAIER_RWTIE ((uint32_t)0x00000200) /* Receive watchdog timeout interrupt enable */ +#define ETH_DMAIER_RPSIE ((uint32_t)0x00000100) /* Receive process stopped interrupt enable */ +#define ETH_DMAIER_RBUIE ((uint32_t)0x00000080) /* Receive buffer unavailable interrupt enable */ +#define ETH_DMAIER_RIE ((uint32_t)0x00000040) /* Receive interrupt enable */ +#define ETH_DMAIER_TUIE ((uint32_t)0x00000020) /* Transmit Underflow interrupt enable */ +#define ETH_DMAIER_ROIE ((uint32_t)0x00000010) /* Receive Overflow interrupt enable */ +#define ETH_DMAIER_TJTIE ((uint32_t)0x00000008) /* Transmit jabber timeout interrupt enable */ +#define ETH_DMAIER_TBUIE ((uint32_t)0x00000004) /* Transmit buffer unavailable interrupt enable */ +#define ETH_DMAIER_TPSIE ((uint32_t)0x00000002) /* Transmit process stopped interrupt enable */ +#define ETH_DMAIER_TIE ((uint32_t)0x00000001) /* Transmit interrupt enable */ + +/* Bit definition for Ethernet DMA Missed Frame and Buffer Overflow Counter Register */ +#define ETH_DMAMFBOCR_OFOC ((uint32_t)0x10000000) /* Overflow bit for FIFO overflow counter */ +#define ETH_DMAMFBOCR_MFA ((uint32_t)0x0FFE0000) /* Number of frames missed by the application */ +#define ETH_DMAMFBOCR_OMFC ((uint32_t)0x00010000) /* Overflow bit for missed frame counter */ +#define ETH_DMAMFBOCR_MFC ((uint32_t)0x0000FFFF) /* Number of frames missed by the controller */ + +/* Bit definition for Ethernet DMA Current Host Transmit Descriptor Register */ +#define ETH_DMACHTDR_HTDAP ((uint32_t)0xFFFFFFFF) /* Host transmit descriptor address pointer */ + +/* Bit definition for Ethernet DMA Current Host Receive Descriptor Register */ +#define ETH_DMACHRDR_HRDAP ((uint32_t)0xFFFFFFFF) /* Host receive descriptor address pointer */ + +/* Bit definition for Ethernet DMA Current Host Transmit Buffer Address Register */ +#define ETH_DMACHTBAR_HTBAP ((uint32_t)0xFFFFFFFF) /* Host transmit buffer address pointer */ + +/* Bit definition for Ethernet DMA Current Host Receive Buffer Address Register */ +#define ETH_DMACHRBAR_HRBAP ((uint32_t)0xFFFFFFFF) /* Host receive buffer address pointer */ +#endif /* STM32F10X_CL */ + +/** + * @} + */ + + /** + * @} + */ + +#ifdef USE_STDPERIPH_DRIVER + #include "stm32f10x_conf.h" +#endif + +/** @addtogroup Exported_macro + * @{ + */ + +#define SET_BIT(REG, BIT) ((REG) |= (BIT)) + +#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT)) + +#define READ_BIT(REG, BIT) ((REG) & (BIT)) + +#define CLEAR_REG(REG) ((REG) = (0x0)) + +#define WRITE_REG(REG, VAL) ((REG) = (VAL)) + +#define READ_REG(REG) ((REG)) + +#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK))) + +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_H */ + +/** + * @} + */ + + /** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/system_stm32f10x.c b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/system_stm32f10x.c new file mode 100644 index 0000000..71efc85 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/system_stm32f10x.c @@ -0,0 +1,1094 @@ +/** + ****************************************************************************** + * @file system_stm32f10x.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Source File. + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * factors, AHB/APBx prescalers and Flash settings). + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f10x_xx.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (8 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f10x_xx.s" file, to + * configure the system clock before to branch to main program. + * + * 3. If the system clock source selected by user fails to startup, the SystemInit() + * function will do nothing and HSI still used as system clock source. User can + * add some code to deal with this issue inside the SetSysClock() function. + * + * 4. The default value of HSE crystal is set to 8 MHz (or 25 MHz, depedning on + * the product used), refer to "HSE_VALUE" define in "stm32f10x.h" file. + * When HSE is used as system clock source, directly or through PLL, and you + * are using different crystal you have to adapt the HSE value to your own + * configuration. + * + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f10x_system + * @{ + */ + +/** @addtogroup STM32F10x_System_Private_Includes + * @{ + */ + +#include "stm32f10x.h" + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Defines + * @{ + */ + +/*!< Uncomment the line corresponding to the desired System clock (SYSCLK) + frequency (after reset the HSI is used as SYSCLK source) + + IMPORTANT NOTE: + ============== + 1. After each device reset the HSI is used as System clock source. + + 2. Please make sure that the selected System clock doesn't exceed your device's + maximum frequency. + + 3. If none of the define below is enabled, the HSI is used as System clock + source. + + 4. The System clock configuration functions provided within this file assume that: + - For Low, Medium and High density Value line devices an external 8MHz + crystal is used to drive the System clock. + - For Low, Medium and High density devices an external 8MHz crystal is + used to drive the System clock. + - For Connectivity line devices an external 25MHz crystal is used to drive + the System clock. + If you are using different crystal you have to adapt those functions accordingly. + */ + +#if defined (STM32F10X_LD_VL) || (defined STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) +/* #define SYSCLK_FREQ_HSE HSE_VALUE */ + #define SYSCLK_FREQ_24MHz 24000000 +#else +/* #define SYSCLK_FREQ_HSE HSE_VALUE */ +/* #define SYSCLK_FREQ_24MHz 24000000 */ +/* #define SYSCLK_FREQ_36MHz 36000000 */ +/* #define SYSCLK_FREQ_48MHz 48000000 */ +/* #define SYSCLK_FREQ_56MHz 56000000 */ +#define SYSCLK_FREQ_72MHz 72000000 +#endif + +/*!< Uncomment the following line if you need to use external SRAM mounted + on STM3210E-EVAL board (STM32 High density and XL-density devices) or on + STM32100E-EVAL board (STM32 High-density value line devices) as data memory */ +#if defined (STM32F10X_HD) || (defined STM32F10X_XL) || (defined STM32F10X_HD_VL) +/* #define DATA_IN_ExtSRAM */ +#endif + +/*!< Uncomment the following line if you need to relocate your vector Table in + Internal SRAM. */ +/* #define VECT_TAB_SRAM */ +#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ + + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Variables + * @{ + */ + +/******************************************************************************* +* Clock Definitions +*******************************************************************************/ +#ifdef SYSCLK_FREQ_HSE + uint32_t SystemCoreClock = SYSCLK_FREQ_HSE; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_24MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_24MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_36MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_36MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_48MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_48MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_56MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_56MHz; /*!< System Clock Frequency (Core Clock) */ +#elif defined SYSCLK_FREQ_72MHz + uint32_t SystemCoreClock = SYSCLK_FREQ_72MHz; /*!< System Clock Frequency (Core Clock) */ +#else /*!< HSI Selected as System Clock source */ + uint32_t SystemCoreClock = HSI_VALUE; /*!< System Clock Frequency (Core Clock) */ +#endif + +__I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_FunctionPrototypes + * @{ + */ + +static void SetSysClock(void); + +#ifdef SYSCLK_FREQ_HSE + static void SetSysClockToHSE(void); +#elif defined SYSCLK_FREQ_24MHz + static void SetSysClockTo24(void); +#elif defined SYSCLK_FREQ_36MHz + static void SetSysClockTo36(void); +#elif defined SYSCLK_FREQ_48MHz + static void SetSysClockTo48(void); +#elif defined SYSCLK_FREQ_56MHz + static void SetSysClockTo56(void); +#elif defined SYSCLK_FREQ_72MHz + static void SetSysClockTo72(void); +#endif + +#ifdef DATA_IN_ExtSRAM + static void SystemInit_ExtMemCtl(void); +#endif /* DATA_IN_ExtSRAM */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemCoreClock variable. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +void SystemInit (void) +{ + /* Reset the RCC clock configuration to the default reset state(for debug purpose) */ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */ +#ifndef STM32F10X_CL + RCC->CFGR &= (uint32_t)0xF8FF0000; +#else + RCC->CFGR &= (uint32_t)0xF0FF0000; +#endif /* STM32F10X_CL */ + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */ + RCC->CFGR &= (uint32_t)0xFF80FFFF; + +#ifdef STM32F10X_CL + /* Reset PLL2ON and PLL3ON bits */ + RCC->CR &= (uint32_t)0xEBFFFFFF; + + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x00FF0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#else + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_HD) || (defined STM32F10X_XL) || (defined STM32F10X_HD_VL) + #ifdef DATA_IN_ExtSRAM + SystemInit_ExtMemCtl(); + #endif /* DATA_IN_ExtSRAM */ +#endif + + /* Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers */ + /* Configure the Flash Latency cycles and enable prefetch buffer */ + SetSysClock(); + +#ifdef VECT_TAB_SRAM + SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */ +#else + SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */ +#endif +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f1xx.h file (default value + * 8 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f1xx.h file (default value + * 8 MHz or 25 MHz, depedning on the product used), user has to ensure + * that HSE_VALUE is same as the real frequency of the crystal used. + * Otherwise, this function may have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * @param None + * @retval None + */ +void SystemCoreClockUpdate (void) +{ + uint32_t tmp = 0, pllmull = 0, pllsource = 0; + +#ifdef STM32F10X_CL + uint32_t prediv1source = 0, prediv1factor = 0, prediv2factor = 0, pll2mull = 0; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) + uint32_t prediv1factor = 0; +#endif /* STM32F10X_LD_VL or STM32F10X_MD_VL or STM32F10X_HD_VL */ + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock */ + + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & RCC_CFGR_PLLMULL; + pllsource = RCC->CFGR & RCC_CFGR_PLLSRC; + +#ifndef STM32F10X_CL + pllmull = ( pllmull >> 18) + 2; + + if (pllsource == 0x00) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1) * pllmull; + } + else + { + #if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || (defined STM32F10X_HD_VL) + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + #else + /* HSE selected as PLL clock entry */ + if ((RCC->CFGR & RCC_CFGR_PLLXTPRE) != (uint32_t)RESET) + {/* HSE oscillator clock divided by 2 */ + SystemCoreClock = (HSE_VALUE >> 1) * pllmull; + } + else + { + SystemCoreClock = HSE_VALUE * pllmull; + } + #endif + } +#else + pllmull = pllmull >> 18; + + if (pllmull != 0x0D) + { + pllmull += 2; + } + else + { /* PLL multiplication factor = PLL input clock * 6.5 */ + pllmull = 13 / 2; + } + + if (pllsource == 0x00) + { + /* HSI oscillator clock divided by 2 selected as PLL clock entry */ + SystemCoreClock = (HSI_VALUE >> 1) * pllmull; + } + else + {/* PREDIV1 selected as PLL clock entry */ + + /* Get PREDIV1 clock source and division factor */ + prediv1source = RCC->CFGR2 & RCC_CFGR2_PREDIV1SRC; + prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1; + + if (prediv1source == 0) + { + /* HSE oscillator clock selected as PREDIV1 clock entry */ + SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull; + } + else + {/* PLL2 clock selected as PREDIV1 clock entry */ + + /* Get PREDIV2 division factor and PLL2 multiplication factor */ + prediv2factor = ((RCC->CFGR2 & RCC_CFGR2_PREDIV2) >> 4) + 1; + pll2mull = ((RCC->CFGR2 & RCC_CFGR2_PLL2MUL) >> 8 ) + 2; + SystemCoreClock = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull; + } + } +#endif /* STM32F10X_CL */ + break; + + default: + SystemCoreClock = HSI_VALUE; + break; + } + + /* Compute HCLK clock frequency ----------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK clock frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @brief Configures the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers. + * @param None + * @retval None + */ +static void SetSysClock(void) +{ +#ifdef SYSCLK_FREQ_HSE + SetSysClockToHSE(); +#elif defined SYSCLK_FREQ_24MHz + SetSysClockTo24(); +#elif defined SYSCLK_FREQ_36MHz + SetSysClockTo36(); +#elif defined SYSCLK_FREQ_48MHz + SetSysClockTo48(); +#elif defined SYSCLK_FREQ_56MHz + SetSysClockTo56(); +#elif defined SYSCLK_FREQ_72MHz + SetSysClockTo72(); +#endif + + /* If none of the define above is enabled, the HSI is used as System clock + source (default after reset) */ +} + +/** + * @brief Setup the external memory controller. Called in startup_stm32f10x.s + * before jump to __main + * @param None + * @retval None + */ +#ifdef DATA_IN_ExtSRAM +/** + * @brief Setup the external memory controller. + * Called in startup_stm32f10x_xx.s/.c before jump to main. + * This function configures the external SRAM mounted on STM3210E-EVAL + * board (STM32 High density devices). This SRAM will be used as program + * data memory (including heap and stack). + * @param None + * @retval None + */ +void SystemInit_ExtMemCtl(void) +{ +/*!< FSMC Bank1 NOR/SRAM3 is used for the STM3210E-EVAL, if another Bank is + required, then adjust the Register Addresses */ + + /* Enable FSMC clock */ + RCC->AHBENR = 0x00000114; + + /* Enable GPIOD, GPIOE, GPIOF and GPIOG clocks */ + RCC->APB2ENR = 0x000001E0; + +/* --------------- SRAM Data lines, NOE and NWE configuration ---------------*/ +/*---------------- SRAM Address lines configuration -------------------------*/ +/*---------------- NOE and NWE configuration --------------------------------*/ +/*---------------- NE3 configuration ----------------------------------------*/ +/*---------------- NBL0, NBL1 configuration ---------------------------------*/ + + GPIOD->CRL = 0x44BB44BB; + GPIOD->CRH = 0xBBBBBBBB; + + GPIOE->CRL = 0xB44444BB; + GPIOE->CRH = 0xBBBBBBBB; + + GPIOF->CRL = 0x44BBBBBB; + GPIOF->CRH = 0xBBBB4444; + + GPIOG->CRL = 0x44BBBBBB; + GPIOG->CRH = 0x44444B44; + +/*---------------- FSMC Configuration ---------------------------------------*/ +/*---------------- Enable FSMC Bank1_SRAM Bank ------------------------------*/ + + FSMC_Bank1->BTCR[4] = 0x00001011; + FSMC_Bank1->BTCR[5] = 0x00000200; +} +#endif /* DATA_IN_ExtSRAM */ + +#ifdef SYSCLK_FREQ_HSE +/** + * @brief Selects HSE as System clock source and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockToHSE(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + +#if !defined STM32F10X_LD_VL && !defined STM32F10X_MD_VL && !defined STM32F10X_HD_VL + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 0 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + +#ifndef STM32F10X_CL + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_0; +#else + if (HSE_VALUE <= 24000000) + { + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_0; + } + else + { + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_1; + } +#endif /* STM32F10X_CL */ +#endif + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV1; + + /* Select HSE as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_HSE; + + /* Wait till HSE is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x04) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#elif defined SYSCLK_FREQ_24MHz +/** + * @brief Sets System clock frequency to 24MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo24(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { +#if !defined STM32F10X_LD_VL && !defined STM32F10X_MD_VL && !defined STM32F10X_HD_VL + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 0 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_0; +#endif + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV1; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL configuration: PLLCLK = PREDIV1 * 6 = 24 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL6); + + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 10 = 4 MHz */ + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV10); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + /* PLL configuration: = (HSE / 2) * 6 = 24 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1_Div2 | RCC_CFGR_PLLMULL6); +#else + /* PLL configuration: = (HSE / 2) * 6 = 24 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLXTPRE_HSE_Div2 | RCC_CFGR_PLLMULL6); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#elif defined SYSCLK_FREQ_36MHz +/** + * @brief Sets System clock frequency to 36MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo36(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 1 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_1; + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV1; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + + /* PLL configuration: PLLCLK = PREDIV1 * 9 = 36 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL9); + + /*!< PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 10 = 4 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV10); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + +#else + /* PLL configuration: PLLCLK = (HSE / 2) * 9 = 36 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLXTPRE_HSE_Div2 | RCC_CFGR_PLLMULL9); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#elif defined SYSCLK_FREQ_48MHz +/** + * @brief Sets System clock frequency to 48MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo48(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 1 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_1; + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 5 = 8 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV5); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + + + /* PLL configuration: PLLCLK = PREDIV1 * 6 = 48 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL6); +#else + /* PLL configuration: PLLCLK = HSE * 6 = 48 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLMULL6); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} + +#elif defined SYSCLK_FREQ_56MHz +/** + * @brief Sets System clock frequency to 56MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo56(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 2 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_2; + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 5 = 8 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV5); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + + + /* PLL configuration: PLLCLK = PREDIV1 * 7 = 56 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL7); +#else + /* PLL configuration: PLLCLK = HSE * 7 = 56 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLMULL7); + +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} + +#elif defined SYSCLK_FREQ_72MHz +/** + * @brief Sets System clock frequency to 72MHz and configure HCLK, PCLK2 + * and PCLK1 prescalers. + * @note This function should be used only after reset. + * @param None + * @retval None + */ +static void SetSysClockTo72(void) +{ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration ---------------------------*/ + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Enable Prefetch Buffer */ + FLASH->ACR |= FLASH_ACR_PRFTBE; + + /* Flash 2 wait state */ + FLASH->ACR &= (uint32_t)((uint32_t)~FLASH_ACR_LATENCY); + FLASH->ACR |= (uint32_t)FLASH_ACR_LATENCY_2; + + + /* HCLK = SYSCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1; + + /* PCLK1 = HCLK */ + RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2; + +#ifdef STM32F10X_CL + /* Configure PLLs ------------------------------------------------------*/ + /* PLL2 configuration: PLL2CLK = (HSE / 5) * 8 = 40 MHz */ + /* PREDIV1 configuration: PREDIV1CLK = PLL2 / 5 = 8 MHz */ + + RCC->CFGR2 &= (uint32_t)~(RCC_CFGR2_PREDIV2 | RCC_CFGR2_PLL2MUL | + RCC_CFGR2_PREDIV1 | RCC_CFGR2_PREDIV1SRC); + RCC->CFGR2 |= (uint32_t)(RCC_CFGR2_PREDIV2_DIV5 | RCC_CFGR2_PLL2MUL8 | + RCC_CFGR2_PREDIV1SRC_PLL2 | RCC_CFGR2_PREDIV1_DIV5); + + /* Enable PLL2 */ + RCC->CR |= RCC_CR_PLL2ON; + /* Wait till PLL2 is ready */ + while((RCC->CR & RCC_CR_PLL2RDY) == 0) + { + } + + + /* PLL configuration: PLLCLK = PREDIV1 * 9 = 72 MHz */ + RCC->CFGR &= (uint32_t)~(RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLSRC | RCC_CFGR_PLLMULL); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLSRC_PREDIV1 | + RCC_CFGR_PLLMULL9); +#else + /* PLL configuration: PLLCLK = HSE * 9 = 72 MHz */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | + RCC_CFGR_PLLMULL)); + RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_HSE | RCC_CFGR_PLLMULL9); +#endif /* STM32F10X_CL */ + + /* Enable PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Select PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL; + + /* Wait till PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)0x08) + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } +} +#endif + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/system_stm32f10x.h b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/system_stm32f10x.h new file mode 100644 index 0000000..54bc1ab --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/CMSIS/system_stm32f10x.h @@ -0,0 +1,98 @@ +/** + ****************************************************************************** + * @file system_stm32f10x.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief CMSIS Cortex-M3 Device Peripheral Access Layer System Header File. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f10x_system + * @{ + */ + +/** + * @brief Define to prevent recursive inclusion + */ +#ifndef __SYSTEM_STM32F10X_H +#define __SYSTEM_STM32F10X_H + +#ifdef __cplusplus + extern "C" { +#endif + +/** @addtogroup STM32F10x_System_Includes + * @{ + */ + +/** + * @} + */ + + +/** @addtogroup STM32F10x_System_Exported_types + * @{ + */ + +extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Exported_Constants + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F10x_System_Exported_Functions + * @{ + */ + +extern void SystemInit(void); +extern void SystemCoreClockUpdate(void); +/** + * @} + */ + +#ifdef __cplusplus +} +#endif + +#endif /*__SYSTEM_STM32F10X_H */ + +/** + * @} + */ + +/** + * @} + */ +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/misc.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/misc.h new file mode 100644 index 0000000..9a6bd07 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/misc.h @@ -0,0 +1,220 @@ +/** + ****************************************************************************** + * @file misc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the miscellaneous + * firmware library functions (add-on to CMSIS functions). + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __MISC_H +#define __MISC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup MISC + * @{ + */ + +/** @defgroup MISC_Exported_Types + * @{ + */ + +/** + * @brief NVIC Init Structure definition + */ + +typedef struct +{ + uint8_t NVIC_IRQChannel; /*!< Specifies the IRQ channel to be enabled or disabled. + This parameter can be a value of @ref IRQn_Type + (For the complete STM32 Devices IRQ Channels list, please + refer to stm32f10x.h file) */ + + uint8_t NVIC_IRQChannelPreemptionPriority; /*!< Specifies the pre-emption priority for the IRQ channel + specified in NVIC_IRQChannel. This parameter can be a value + between 0 and 15 as described in the table @ref NVIC_Priority_Table */ + + uint8_t NVIC_IRQChannelSubPriority; /*!< Specifies the subpriority level for the IRQ channel specified + in NVIC_IRQChannel. This parameter can be a value + between 0 and 15 as described in the table @ref NVIC_Priority_Table */ + + FunctionalState NVIC_IRQChannelCmd; /*!< Specifies whether the IRQ channel defined in NVIC_IRQChannel + will be enabled or disabled. + This parameter can be set either to ENABLE or DISABLE */ +} NVIC_InitTypeDef; + +/** + * @} + */ + +/** @defgroup NVIC_Priority_Table + * @{ + */ + +/** +@code + The table below gives the allowed values of the pre-emption priority and subpriority according + to the Priority Grouping configuration performed by NVIC_PriorityGroupConfig function + ============================================================================================================================ + NVIC_PriorityGroup | NVIC_IRQChannelPreemptionPriority | NVIC_IRQChannelSubPriority | Description + ============================================================================================================================ + NVIC_PriorityGroup_0 | 0 | 0-15 | 0 bits for pre-emption priority + | | | 4 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_1 | 0-1 | 0-7 | 1 bits for pre-emption priority + | | | 3 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_2 | 0-3 | 0-3 | 2 bits for pre-emption priority + | | | 2 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_3 | 0-7 | 0-1 | 3 bits for pre-emption priority + | | | 1 bits for subpriority + ---------------------------------------------------------------------------------------------------------------------------- + NVIC_PriorityGroup_4 | 0-15 | 0 | 4 bits for pre-emption priority + | | | 0 bits for subpriority + ============================================================================================================================ +@endcode +*/ + +/** + * @} + */ + +/** @defgroup MISC_Exported_Constants + * @{ + */ + +/** @defgroup Vector_Table_Base + * @{ + */ + +#define NVIC_VectTab_RAM ((uint32_t)0x20000000) +#define NVIC_VectTab_FLASH ((uint32_t)0x08000000) +#define IS_NVIC_VECTTAB(VECTTAB) (((VECTTAB) == NVIC_VectTab_RAM) || \ + ((VECTTAB) == NVIC_VectTab_FLASH)) +/** + * @} + */ + +/** @defgroup System_Low_Power + * @{ + */ + +#define NVIC_LP_SEVONPEND ((uint8_t)0x10) +#define NVIC_LP_SLEEPDEEP ((uint8_t)0x04) +#define NVIC_LP_SLEEPONEXIT ((uint8_t)0x02) +#define IS_NVIC_LP(LP) (((LP) == NVIC_LP_SEVONPEND) || \ + ((LP) == NVIC_LP_SLEEPDEEP) || \ + ((LP) == NVIC_LP_SLEEPONEXIT)) +/** + * @} + */ + +/** @defgroup Preemption_Priority_Group + * @{ + */ + +#define NVIC_PriorityGroup_0 ((uint32_t)0x700) /*!< 0 bits for pre-emption priority + 4 bits for subpriority */ +#define NVIC_PriorityGroup_1 ((uint32_t)0x600) /*!< 1 bits for pre-emption priority + 3 bits for subpriority */ +#define NVIC_PriorityGroup_2 ((uint32_t)0x500) /*!< 2 bits for pre-emption priority + 2 bits for subpriority */ +#define NVIC_PriorityGroup_3 ((uint32_t)0x400) /*!< 3 bits for pre-emption priority + 1 bits for subpriority */ +#define NVIC_PriorityGroup_4 ((uint32_t)0x300) /*!< 4 bits for pre-emption priority + 0 bits for subpriority */ + +#define IS_NVIC_PRIORITY_GROUP(GROUP) (((GROUP) == NVIC_PriorityGroup_0) || \ + ((GROUP) == NVIC_PriorityGroup_1) || \ + ((GROUP) == NVIC_PriorityGroup_2) || \ + ((GROUP) == NVIC_PriorityGroup_3) || \ + ((GROUP) == NVIC_PriorityGroup_4)) + +#define IS_NVIC_PREEMPTION_PRIORITY(PRIORITY) ((PRIORITY) < 0x10) + +#define IS_NVIC_SUB_PRIORITY(PRIORITY) ((PRIORITY) < 0x10) + +#define IS_NVIC_OFFSET(OFFSET) ((OFFSET) < 0x000FFFFF) + +/** + * @} + */ + +/** @defgroup SysTick_clock_source + * @{ + */ + +#define SysTick_CLKSource_HCLK_Div8 ((uint32_t)0xFFFFFFFB) +#define SysTick_CLKSource_HCLK ((uint32_t)0x00000004) +#define IS_SYSTICK_CLK_SOURCE(SOURCE) (((SOURCE) == SysTick_CLKSource_HCLK) || \ + ((SOURCE) == SysTick_CLKSource_HCLK_Div8)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup MISC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Exported_Functions + * @{ + */ + +void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup); +void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct); +void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset); +void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState); +void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource); + +#ifdef __cplusplus +} +#endif + +#endif /* __MISC_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_adc.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_adc.h new file mode 100644 index 0000000..769c6a8 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_adc.h @@ -0,0 +1,484 @@ +/** + ****************************************************************************** + * @file stm32f10x_adc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the ADC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_ADC_H +#define __STM32F10x_ADC_H + +#ifdef __cplusplus + extern "C" { +#endif + + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup ADC + * @{ + */ + +/** @defgroup ADC_Exported_Types + * @{ + */ + +/** + * @brief ADC Init structure definition + */ + +typedef struct +{ + uint32_t ADC_Mode; /*!< Configures the ADC to operate in independent or + dual mode. + This parameter can be a value of @ref ADC_mode */ + + FunctionalState ADC_ScanConvMode; /*!< Specifies whether the conversion is performed in + Scan (multichannels) or Single (one channel) mode. + This parameter can be set to ENABLE or DISABLE */ + + FunctionalState ADC_ContinuousConvMode; /*!< Specifies whether the conversion is performed in + Continuous or Single mode. + This parameter can be set to ENABLE or DISABLE. */ + + uint32_t ADC_ExternalTrigConv; /*!< Defines the external trigger used to start the analog + to digital conversion of regular channels. This parameter + can be a value of @ref ADC_external_trigger_sources_for_regular_channels_conversion */ + + uint32_t ADC_DataAlign; /*!< Specifies whether the ADC data alignment is left or right. + This parameter can be a value of @ref ADC_data_align */ + + uint8_t ADC_NbrOfChannel; /*!< Specifies the number of ADC channels that will be converted + using the sequencer for regular channel group. + This parameter must range from 1 to 16. */ +}ADC_InitTypeDef; +/** + * @} + */ + +/** @defgroup ADC_Exported_Constants + * @{ + */ + +#define IS_ADC_ALL_PERIPH(PERIPH) (((PERIPH) == ADC1) || \ + ((PERIPH) == ADC2) || \ + ((PERIPH) == ADC3)) + +#define IS_ADC_DMA_PERIPH(PERIPH) (((PERIPH) == ADC1) || \ + ((PERIPH) == ADC3)) + +/** @defgroup ADC_mode + * @{ + */ + +#define ADC_Mode_Independent ((uint32_t)0x00000000) +#define ADC_Mode_RegInjecSimult ((uint32_t)0x00010000) +#define ADC_Mode_RegSimult_AlterTrig ((uint32_t)0x00020000) +#define ADC_Mode_InjecSimult_FastInterl ((uint32_t)0x00030000) +#define ADC_Mode_InjecSimult_SlowInterl ((uint32_t)0x00040000) +#define ADC_Mode_InjecSimult ((uint32_t)0x00050000) +#define ADC_Mode_RegSimult ((uint32_t)0x00060000) +#define ADC_Mode_FastInterl ((uint32_t)0x00070000) +#define ADC_Mode_SlowInterl ((uint32_t)0x00080000) +#define ADC_Mode_AlterTrig ((uint32_t)0x00090000) + +#define IS_ADC_MODE(MODE) (((MODE) == ADC_Mode_Independent) || \ + ((MODE) == ADC_Mode_RegInjecSimult) || \ + ((MODE) == ADC_Mode_RegSimult_AlterTrig) || \ + ((MODE) == ADC_Mode_InjecSimult_FastInterl) || \ + ((MODE) == ADC_Mode_InjecSimult_SlowInterl) || \ + ((MODE) == ADC_Mode_InjecSimult) || \ + ((MODE) == ADC_Mode_RegSimult) || \ + ((MODE) == ADC_Mode_FastInterl) || \ + ((MODE) == ADC_Mode_SlowInterl) || \ + ((MODE) == ADC_Mode_AlterTrig)) +/** + * @} + */ + +/** @defgroup ADC_external_trigger_sources_for_regular_channels_conversion + * @{ + */ + +#define ADC_ExternalTrigConv_T1_CC1 ((uint32_t)0x00000000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T1_CC2 ((uint32_t)0x00020000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T2_CC2 ((uint32_t)0x00060000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T3_TRGO ((uint32_t)0x00080000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_T4_CC4 ((uint32_t)0x000A0000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigConv_Ext_IT11_TIM8_TRGO ((uint32_t)0x000C0000) /*!< For ADC1 and ADC2 */ + +#define ADC_ExternalTrigConv_T1_CC3 ((uint32_t)0x00040000) /*!< For ADC1, ADC2 and ADC3 */ +#define ADC_ExternalTrigConv_None ((uint32_t)0x000E0000) /*!< For ADC1, ADC2 and ADC3 */ + +#define ADC_ExternalTrigConv_T3_CC1 ((uint32_t)0x00000000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T2_CC3 ((uint32_t)0x00020000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T8_CC1 ((uint32_t)0x00060000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T8_TRGO ((uint32_t)0x00080000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T5_CC1 ((uint32_t)0x000A0000) /*!< For ADC3 only */ +#define ADC_ExternalTrigConv_T5_CC3 ((uint32_t)0x000C0000) /*!< For ADC3 only */ + +#define IS_ADC_EXT_TRIG(REGTRIG) (((REGTRIG) == ADC_ExternalTrigConv_T1_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T1_CC2) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T1_CC3) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T2_CC2) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T3_TRGO) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T4_CC4) || \ + ((REGTRIG) == ADC_ExternalTrigConv_Ext_IT11_TIM8_TRGO) || \ + ((REGTRIG) == ADC_ExternalTrigConv_None) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T3_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T2_CC3) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T8_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T8_TRGO) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T5_CC1) || \ + ((REGTRIG) == ADC_ExternalTrigConv_T5_CC3)) +/** + * @} + */ + +/** @defgroup ADC_data_align + * @{ + */ + +#define ADC_DataAlign_Right ((uint32_t)0x00000000) +#define ADC_DataAlign_Left ((uint32_t)0x00000800) +#define IS_ADC_DATA_ALIGN(ALIGN) (((ALIGN) == ADC_DataAlign_Right) || \ + ((ALIGN) == ADC_DataAlign_Left)) +/** + * @} + */ + +/** @defgroup ADC_channels + * @{ + */ + +#define ADC_Channel_0 ((uint8_t)0x00) +#define ADC_Channel_1 ((uint8_t)0x01) +#define ADC_Channel_2 ((uint8_t)0x02) +#define ADC_Channel_3 ((uint8_t)0x03) +#define ADC_Channel_4 ((uint8_t)0x04) +#define ADC_Channel_5 ((uint8_t)0x05) +#define ADC_Channel_6 ((uint8_t)0x06) +#define ADC_Channel_7 ((uint8_t)0x07) +#define ADC_Channel_8 ((uint8_t)0x08) +#define ADC_Channel_9 ((uint8_t)0x09) +#define ADC_Channel_10 ((uint8_t)0x0A) +#define ADC_Channel_11 ((uint8_t)0x0B) +#define ADC_Channel_12 ((uint8_t)0x0C) +#define ADC_Channel_13 ((uint8_t)0x0D) +#define ADC_Channel_14 ((uint8_t)0x0E) +#define ADC_Channel_15 ((uint8_t)0x0F) +#define ADC_Channel_16 ((uint8_t)0x10) +#define ADC_Channel_17 ((uint8_t)0x11) + +#define ADC_Channel_TempSensor ((uint8_t)ADC_Channel_16) +#define ADC_Channel_Vrefint ((uint8_t)ADC_Channel_17) + +#define IS_ADC_CHANNEL(CHANNEL) (((CHANNEL) == ADC_Channel_0) || ((CHANNEL) == ADC_Channel_1) || \ + ((CHANNEL) == ADC_Channel_2) || ((CHANNEL) == ADC_Channel_3) || \ + ((CHANNEL) == ADC_Channel_4) || ((CHANNEL) == ADC_Channel_5) || \ + ((CHANNEL) == ADC_Channel_6) || ((CHANNEL) == ADC_Channel_7) || \ + ((CHANNEL) == ADC_Channel_8) || ((CHANNEL) == ADC_Channel_9) || \ + ((CHANNEL) == ADC_Channel_10) || ((CHANNEL) == ADC_Channel_11) || \ + ((CHANNEL) == ADC_Channel_12) || ((CHANNEL) == ADC_Channel_13) || \ + ((CHANNEL) == ADC_Channel_14) || ((CHANNEL) == ADC_Channel_15) || \ + ((CHANNEL) == ADC_Channel_16) || ((CHANNEL) == ADC_Channel_17)) +/** + * @} + */ + +/** @defgroup ADC_sampling_time + * @{ + */ + +#define ADC_SampleTime_1Cycles5 ((uint8_t)0x00) +#define ADC_SampleTime_7Cycles5 ((uint8_t)0x01) +#define ADC_SampleTime_13Cycles5 ((uint8_t)0x02) +#define ADC_SampleTime_28Cycles5 ((uint8_t)0x03) +#define ADC_SampleTime_41Cycles5 ((uint8_t)0x04) +#define ADC_SampleTime_55Cycles5 ((uint8_t)0x05) +#define ADC_SampleTime_71Cycles5 ((uint8_t)0x06) +#define ADC_SampleTime_239Cycles5 ((uint8_t)0x07) +#define IS_ADC_SAMPLE_TIME(TIME) (((TIME) == ADC_SampleTime_1Cycles5) || \ + ((TIME) == ADC_SampleTime_7Cycles5) || \ + ((TIME) == ADC_SampleTime_13Cycles5) || \ + ((TIME) == ADC_SampleTime_28Cycles5) || \ + ((TIME) == ADC_SampleTime_41Cycles5) || \ + ((TIME) == ADC_SampleTime_55Cycles5) || \ + ((TIME) == ADC_SampleTime_71Cycles5) || \ + ((TIME) == ADC_SampleTime_239Cycles5)) +/** + * @} + */ + +/** @defgroup ADC_external_trigger_sources_for_injected_channels_conversion + * @{ + */ + +#define ADC_ExternalTrigInjecConv_T2_TRGO ((uint32_t)0x00002000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_T2_CC1 ((uint32_t)0x00003000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_T3_CC4 ((uint32_t)0x00004000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_T4_TRGO ((uint32_t)0x00005000) /*!< For ADC1 and ADC2 */ +#define ADC_ExternalTrigInjecConv_Ext_IT15_TIM8_CC4 ((uint32_t)0x00006000) /*!< For ADC1 and ADC2 */ + +#define ADC_ExternalTrigInjecConv_T1_TRGO ((uint32_t)0x00000000) /*!< For ADC1, ADC2 and ADC3 */ +#define ADC_ExternalTrigInjecConv_T1_CC4 ((uint32_t)0x00001000) /*!< For ADC1, ADC2 and ADC3 */ +#define ADC_ExternalTrigInjecConv_None ((uint32_t)0x00007000) /*!< For ADC1, ADC2 and ADC3 */ + +#define ADC_ExternalTrigInjecConv_T4_CC3 ((uint32_t)0x00002000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T8_CC2 ((uint32_t)0x00003000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T8_CC4 ((uint32_t)0x00004000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T5_TRGO ((uint32_t)0x00005000) /*!< For ADC3 only */ +#define ADC_ExternalTrigInjecConv_T5_CC4 ((uint32_t)0x00006000) /*!< For ADC3 only */ + +#define IS_ADC_EXT_INJEC_TRIG(INJTRIG) (((INJTRIG) == ADC_ExternalTrigInjecConv_T1_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T1_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T2_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T2_CC1) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T3_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_Ext_IT15_TIM8_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_None) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T4_CC3) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T8_CC2) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T8_CC4) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T5_TRGO) || \ + ((INJTRIG) == ADC_ExternalTrigInjecConv_T5_CC4)) +/** + * @} + */ + +/** @defgroup ADC_injected_channel_selection + * @{ + */ + +#define ADC_InjectedChannel_1 ((uint8_t)0x14) +#define ADC_InjectedChannel_2 ((uint8_t)0x18) +#define ADC_InjectedChannel_3 ((uint8_t)0x1C) +#define ADC_InjectedChannel_4 ((uint8_t)0x20) +#define IS_ADC_INJECTED_CHANNEL(CHANNEL) (((CHANNEL) == ADC_InjectedChannel_1) || \ + ((CHANNEL) == ADC_InjectedChannel_2) || \ + ((CHANNEL) == ADC_InjectedChannel_3) || \ + ((CHANNEL) == ADC_InjectedChannel_4)) +/** + * @} + */ + +/** @defgroup ADC_analog_watchdog_selection + * @{ + */ + +#define ADC_AnalogWatchdog_SingleRegEnable ((uint32_t)0x00800200) +#define ADC_AnalogWatchdog_SingleInjecEnable ((uint32_t)0x00400200) +#define ADC_AnalogWatchdog_SingleRegOrInjecEnable ((uint32_t)0x00C00200) +#define ADC_AnalogWatchdog_AllRegEnable ((uint32_t)0x00800000) +#define ADC_AnalogWatchdog_AllInjecEnable ((uint32_t)0x00400000) +#define ADC_AnalogWatchdog_AllRegAllInjecEnable ((uint32_t)0x00C00000) +#define ADC_AnalogWatchdog_None ((uint32_t)0x00000000) + +#define IS_ADC_ANALOG_WATCHDOG(WATCHDOG) (((WATCHDOG) == ADC_AnalogWatchdog_SingleRegEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_SingleInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_SingleRegOrInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_AllRegEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_AllInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_AllRegAllInjecEnable) || \ + ((WATCHDOG) == ADC_AnalogWatchdog_None)) +/** + * @} + */ + +/** @defgroup ADC_interrupts_definition + * @{ + */ + +#define ADC_IT_EOC ((uint16_t)0x0220) +#define ADC_IT_AWD ((uint16_t)0x0140) +#define ADC_IT_JEOC ((uint16_t)0x0480) + +#define IS_ADC_IT(IT) ((((IT) & (uint16_t)0xF81F) == 0x00) && ((IT) != 0x00)) + +#define IS_ADC_GET_IT(IT) (((IT) == ADC_IT_EOC) || ((IT) == ADC_IT_AWD) || \ + ((IT) == ADC_IT_JEOC)) +/** + * @} + */ + +/** @defgroup ADC_flags_definition + * @{ + */ + +#define ADC_FLAG_AWD ((uint8_t)0x01) +#define ADC_FLAG_EOC ((uint8_t)0x02) +#define ADC_FLAG_JEOC ((uint8_t)0x04) +#define ADC_FLAG_JSTRT ((uint8_t)0x08) +#define ADC_FLAG_STRT ((uint8_t)0x10) +#define IS_ADC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint8_t)0xE0) == 0x00) && ((FLAG) != 0x00)) +#define IS_ADC_GET_FLAG(FLAG) (((FLAG) == ADC_FLAG_AWD) || ((FLAG) == ADC_FLAG_EOC) || \ + ((FLAG) == ADC_FLAG_JEOC) || ((FLAG)== ADC_FLAG_JSTRT) || \ + ((FLAG) == ADC_FLAG_STRT)) +/** + * @} + */ + +/** @defgroup ADC_thresholds + * @{ + */ + +#define IS_ADC_THRESHOLD(THRESHOLD) ((THRESHOLD) <= 0xFFF) + +/** + * @} + */ + +/** @defgroup ADC_injected_offset + * @{ + */ + +#define IS_ADC_OFFSET(OFFSET) ((OFFSET) <= 0xFFF) + +/** + * @} + */ + +/** @defgroup ADC_injected_length + * @{ + */ + +#define IS_ADC_INJECTED_LENGTH(LENGTH) (((LENGTH) >= 0x1) && ((LENGTH) <= 0x4)) + +/** + * @} + */ + +/** @defgroup ADC_injected_rank + * @{ + */ + +#define IS_ADC_INJECTED_RANK(RANK) (((RANK) >= 0x1) && ((RANK) <= 0x4)) + +/** + * @} + */ + + +/** @defgroup ADC_regular_length + * @{ + */ + +#define IS_ADC_REGULAR_LENGTH(LENGTH) (((LENGTH) >= 0x1) && ((LENGTH) <= 0x10)) +/** + * @} + */ + +/** @defgroup ADC_regular_rank + * @{ + */ + +#define IS_ADC_REGULAR_RANK(RANK) (((RANK) >= 0x1) && ((RANK) <= 0x10)) + +/** + * @} + */ + +/** @defgroup ADC_regular_discontinuous_mode_number + * @{ + */ + +#define IS_ADC_REGULAR_DISC_NUMBER(NUMBER) (((NUMBER) >= 0x1) && ((NUMBER) <= 0x8)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup ADC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Exported_Functions + * @{ + */ + +void ADC_DeInit(ADC_TypeDef* ADCx); +void ADC_Init(ADC_TypeDef* ADCx, ADC_InitTypeDef* ADC_InitStruct); +void ADC_StructInit(ADC_InitTypeDef* ADC_InitStruct); +void ADC_Cmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_DMACmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_ITConfig(ADC_TypeDef* ADCx, uint16_t ADC_IT, FunctionalState NewState); +void ADC_ResetCalibration(ADC_TypeDef* ADCx); +FlagStatus ADC_GetResetCalibrationStatus(ADC_TypeDef* ADCx); +void ADC_StartCalibration(ADC_TypeDef* ADCx); +FlagStatus ADC_GetCalibrationStatus(ADC_TypeDef* ADCx); +void ADC_SoftwareStartConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +FlagStatus ADC_GetSoftwareStartConvStatus(ADC_TypeDef* ADCx); +void ADC_DiscModeChannelCountConfig(ADC_TypeDef* ADCx, uint8_t Number); +void ADC_DiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_RegularChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime); +void ADC_ExternalTrigConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +uint16_t ADC_GetConversionValue(ADC_TypeDef* ADCx); +uint32_t ADC_GetDualModeConversionValue(void); +void ADC_AutoInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_InjectedDiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_ExternalTrigInjectedConvConfig(ADC_TypeDef* ADCx, uint32_t ADC_ExternalTrigInjecConv); +void ADC_ExternalTrigInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +void ADC_SoftwareStartInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState); +FlagStatus ADC_GetSoftwareStartInjectedConvCmdStatus(ADC_TypeDef* ADCx); +void ADC_InjectedChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime); +void ADC_InjectedSequencerLengthConfig(ADC_TypeDef* ADCx, uint8_t Length); +void ADC_SetInjectedOffset(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel, uint16_t Offset); +uint16_t ADC_GetInjectedConversionValue(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel); +void ADC_AnalogWatchdogCmd(ADC_TypeDef* ADCx, uint32_t ADC_AnalogWatchdog); +void ADC_AnalogWatchdogThresholdsConfig(ADC_TypeDef* ADCx, uint16_t HighThreshold, uint16_t LowThreshold); +void ADC_AnalogWatchdogSingleChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel); +void ADC_TempSensorVrefintCmd(FunctionalState NewState); +FlagStatus ADC_GetFlagStatus(ADC_TypeDef* ADCx, uint8_t ADC_FLAG); +void ADC_ClearFlag(ADC_TypeDef* ADCx, uint8_t ADC_FLAG); +ITStatus ADC_GetITStatus(ADC_TypeDef* ADCx, uint16_t ADC_IT); +void ADC_ClearITPendingBit(ADC_TypeDef* ADCx, uint16_t ADC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_ADC_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_bkp.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_bkp.h new file mode 100644 index 0000000..275c5e1 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_bkp.h @@ -0,0 +1,195 @@ +/** + ****************************************************************************** + * @file stm32f10x_bkp.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the BKP firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_BKP_H +#define __STM32F10x_BKP_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup BKP + * @{ + */ + +/** @defgroup BKP_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Exported_Constants + * @{ + */ + +/** @defgroup Tamper_Pin_active_level + * @{ + */ + +#define BKP_TamperPinLevel_High ((uint16_t)0x0000) +#define BKP_TamperPinLevel_Low ((uint16_t)0x0001) +#define IS_BKP_TAMPER_PIN_LEVEL(LEVEL) (((LEVEL) == BKP_TamperPinLevel_High) || \ + ((LEVEL) == BKP_TamperPinLevel_Low)) +/** + * @} + */ + +/** @defgroup RTC_output_source_to_output_on_the_Tamper_pin + * @{ + */ + +#define BKP_RTCOutputSource_None ((uint16_t)0x0000) +#define BKP_RTCOutputSource_CalibClock ((uint16_t)0x0080) +#define BKP_RTCOutputSource_Alarm ((uint16_t)0x0100) +#define BKP_RTCOutputSource_Second ((uint16_t)0x0300) +#define IS_BKP_RTC_OUTPUT_SOURCE(SOURCE) (((SOURCE) == BKP_RTCOutputSource_None) || \ + ((SOURCE) == BKP_RTCOutputSource_CalibClock) || \ + ((SOURCE) == BKP_RTCOutputSource_Alarm) || \ + ((SOURCE) == BKP_RTCOutputSource_Second)) +/** + * @} + */ + +/** @defgroup Data_Backup_Register + * @{ + */ + +#define BKP_DR1 ((uint16_t)0x0004) +#define BKP_DR2 ((uint16_t)0x0008) +#define BKP_DR3 ((uint16_t)0x000C) +#define BKP_DR4 ((uint16_t)0x0010) +#define BKP_DR5 ((uint16_t)0x0014) +#define BKP_DR6 ((uint16_t)0x0018) +#define BKP_DR7 ((uint16_t)0x001C) +#define BKP_DR8 ((uint16_t)0x0020) +#define BKP_DR9 ((uint16_t)0x0024) +#define BKP_DR10 ((uint16_t)0x0028) +#define BKP_DR11 ((uint16_t)0x0040) +#define BKP_DR12 ((uint16_t)0x0044) +#define BKP_DR13 ((uint16_t)0x0048) +#define BKP_DR14 ((uint16_t)0x004C) +#define BKP_DR15 ((uint16_t)0x0050) +#define BKP_DR16 ((uint16_t)0x0054) +#define BKP_DR17 ((uint16_t)0x0058) +#define BKP_DR18 ((uint16_t)0x005C) +#define BKP_DR19 ((uint16_t)0x0060) +#define BKP_DR20 ((uint16_t)0x0064) +#define BKP_DR21 ((uint16_t)0x0068) +#define BKP_DR22 ((uint16_t)0x006C) +#define BKP_DR23 ((uint16_t)0x0070) +#define BKP_DR24 ((uint16_t)0x0074) +#define BKP_DR25 ((uint16_t)0x0078) +#define BKP_DR26 ((uint16_t)0x007C) +#define BKP_DR27 ((uint16_t)0x0080) +#define BKP_DR28 ((uint16_t)0x0084) +#define BKP_DR29 ((uint16_t)0x0088) +#define BKP_DR30 ((uint16_t)0x008C) +#define BKP_DR31 ((uint16_t)0x0090) +#define BKP_DR32 ((uint16_t)0x0094) +#define BKP_DR33 ((uint16_t)0x0098) +#define BKP_DR34 ((uint16_t)0x009C) +#define BKP_DR35 ((uint16_t)0x00A0) +#define BKP_DR36 ((uint16_t)0x00A4) +#define BKP_DR37 ((uint16_t)0x00A8) +#define BKP_DR38 ((uint16_t)0x00AC) +#define BKP_DR39 ((uint16_t)0x00B0) +#define BKP_DR40 ((uint16_t)0x00B4) +#define BKP_DR41 ((uint16_t)0x00B8) +#define BKP_DR42 ((uint16_t)0x00BC) + +#define IS_BKP_DR(DR) (((DR) == BKP_DR1) || ((DR) == BKP_DR2) || ((DR) == BKP_DR3) || \ + ((DR) == BKP_DR4) || ((DR) == BKP_DR5) || ((DR) == BKP_DR6) || \ + ((DR) == BKP_DR7) || ((DR) == BKP_DR8) || ((DR) == BKP_DR9) || \ + ((DR) == BKP_DR10) || ((DR) == BKP_DR11) || ((DR) == BKP_DR12) || \ + ((DR) == BKP_DR13) || ((DR) == BKP_DR14) || ((DR) == BKP_DR15) || \ + ((DR) == BKP_DR16) || ((DR) == BKP_DR17) || ((DR) == BKP_DR18) || \ + ((DR) == BKP_DR19) || ((DR) == BKP_DR20) || ((DR) == BKP_DR21) || \ + ((DR) == BKP_DR22) || ((DR) == BKP_DR23) || ((DR) == BKP_DR24) || \ + ((DR) == BKP_DR25) || ((DR) == BKP_DR26) || ((DR) == BKP_DR27) || \ + ((DR) == BKP_DR28) || ((DR) == BKP_DR29) || ((DR) == BKP_DR30) || \ + ((DR) == BKP_DR31) || ((DR) == BKP_DR32) || ((DR) == BKP_DR33) || \ + ((DR) == BKP_DR34) || ((DR) == BKP_DR35) || ((DR) == BKP_DR36) || \ + ((DR) == BKP_DR37) || ((DR) == BKP_DR38) || ((DR) == BKP_DR39) || \ + ((DR) == BKP_DR40) || ((DR) == BKP_DR41) || ((DR) == BKP_DR42)) + +#define IS_BKP_CALIBRATION_VALUE(VALUE) ((VALUE) <= 0x7F) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup BKP_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Exported_Functions + * @{ + */ + +void BKP_DeInit(void); +void BKP_TamperPinLevelConfig(uint16_t BKP_TamperPinLevel); +void BKP_TamperPinCmd(FunctionalState NewState); +void BKP_ITConfig(FunctionalState NewState); +void BKP_RTCOutputConfig(uint16_t BKP_RTCOutputSource); +void BKP_SetRTCCalibrationValue(uint8_t CalibrationValue); +void BKP_WriteBackupRegister(uint16_t BKP_DR, uint16_t Data); +uint16_t BKP_ReadBackupRegister(uint16_t BKP_DR); +FlagStatus BKP_GetFlagStatus(void); +void BKP_ClearFlag(void); +ITStatus BKP_GetITStatus(void); +void BKP_ClearITPendingBit(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_BKP_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_can.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_can.h new file mode 100644 index 0000000..d185aa2 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_can.h @@ -0,0 +1,697 @@ +/** + ****************************************************************************** + * @file stm32f10x_can.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the CAN firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_CAN_H +#define __STM32F10x_CAN_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup CAN + * @{ + */ + +/** @defgroup CAN_Exported_Types + * @{ + */ + +#define IS_CAN_ALL_PERIPH(PERIPH) (((PERIPH) == CAN1) || \ + ((PERIPH) == CAN2)) + +/** + * @brief CAN init structure definition + */ + +typedef struct +{ + uint16_t CAN_Prescaler; /*!< Specifies the length of a time quantum. + It ranges from 1 to 1024. */ + + uint8_t CAN_Mode; /*!< Specifies the CAN operating mode. + This parameter can be a value of + @ref CAN_operating_mode */ + + uint8_t CAN_SJW; /*!< Specifies the maximum number of time quanta + the CAN hardware is allowed to lengthen or + shorten a bit to perform resynchronization. + This parameter can be a value of + @ref CAN_synchronisation_jump_width */ + + uint8_t CAN_BS1; /*!< Specifies the number of time quanta in Bit + Segment 1. This parameter can be a value of + @ref CAN_time_quantum_in_bit_segment_1 */ + + uint8_t CAN_BS2; /*!< Specifies the number of time quanta in Bit + Segment 2. + This parameter can be a value of + @ref CAN_time_quantum_in_bit_segment_2 */ + + FunctionalState CAN_TTCM; /*!< Enable or disable the time triggered + communication mode. This parameter can be set + either to ENABLE or DISABLE. */ + + FunctionalState CAN_ABOM; /*!< Enable or disable the automatic bus-off + management. This parameter can be set either + to ENABLE or DISABLE. */ + + FunctionalState CAN_AWUM; /*!< Enable or disable the automatic wake-up mode. + This parameter can be set either to ENABLE or + DISABLE. */ + + FunctionalState CAN_NART; /*!< Enable or disable the no-automatic + retransmission mode. This parameter can be + set either to ENABLE or DISABLE. */ + + FunctionalState CAN_RFLM; /*!< Enable or disable the Receive FIFO Locked mode. + This parameter can be set either to ENABLE + or DISABLE. */ + + FunctionalState CAN_TXFP; /*!< Enable or disable the transmit FIFO priority. + This parameter can be set either to ENABLE + or DISABLE. */ +} CAN_InitTypeDef; + +/** + * @brief CAN filter init structure definition + */ + +typedef struct +{ + uint16_t CAN_FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit + configuration, first one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit + configuration, second one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number, + according to the mode (MSBs for a 32-bit configuration, + first one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterMaskIdLow; /*!< Specifies the filter mask number or identification number, + according to the mode (LSBs for a 32-bit configuration, + second one for a 16-bit configuration). + This parameter can be a value between 0x0000 and 0xFFFF */ + + uint16_t CAN_FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter. + This parameter can be a value of @ref CAN_filter_FIFO */ + + uint8_t CAN_FilterNumber; /*!< Specifies the filter which will be initialized. It ranges from 0 to 13. */ + + uint8_t CAN_FilterMode; /*!< Specifies the filter mode to be initialized. + This parameter can be a value of @ref CAN_filter_mode */ + + uint8_t CAN_FilterScale; /*!< Specifies the filter scale. + This parameter can be a value of @ref CAN_filter_scale */ + + FunctionalState CAN_FilterActivation; /*!< Enable or disable the filter. + This parameter can be set either to ENABLE or DISABLE. */ +} CAN_FilterInitTypeDef; + +/** + * @brief CAN Tx message structure definition + */ + +typedef struct +{ + uint32_t StdId; /*!< Specifies the standard identifier. + This parameter can be a value between 0 to 0x7FF. */ + + uint32_t ExtId; /*!< Specifies the extended identifier. + This parameter can be a value between 0 to 0x1FFFFFFF. */ + + uint8_t IDE; /*!< Specifies the type of identifier for the message that + will be transmitted. This parameter can be a value + of @ref CAN_identifier_type */ + + uint8_t RTR; /*!< Specifies the type of frame for the message that will + be transmitted. This parameter can be a value of + @ref CAN_remote_transmission_request */ + + uint8_t DLC; /*!< Specifies the length of the frame that will be + transmitted. This parameter can be a value between + 0 to 8 */ + + uint8_t Data[8]; /*!< Contains the data to be transmitted. It ranges from 0 + to 0xFF. */ +} CanTxMsg; + +/** + * @brief CAN Rx message structure definition + */ + +typedef struct +{ + uint32_t StdId; /*!< Specifies the standard identifier. + This parameter can be a value between 0 to 0x7FF. */ + + uint32_t ExtId; /*!< Specifies the extended identifier. + This parameter can be a value between 0 to 0x1FFFFFFF. */ + + uint8_t IDE; /*!< Specifies the type of identifier for the message that + will be received. This parameter can be a value of + @ref CAN_identifier_type */ + + uint8_t RTR; /*!< Specifies the type of frame for the received message. + This parameter can be a value of + @ref CAN_remote_transmission_request */ + + uint8_t DLC; /*!< Specifies the length of the frame that will be received. + This parameter can be a value between 0 to 8 */ + + uint8_t Data[8]; /*!< Contains the data to be received. It ranges from 0 to + 0xFF. */ + + uint8_t FMI; /*!< Specifies the index of the filter the message stored in + the mailbox passes through. This parameter can be a + value between 0 to 0xFF */ +} CanRxMsg; + +/** + * @} + */ + +/** @defgroup CAN_Exported_Constants + * @{ + */ + +/** @defgroup CAN_sleep_constants + * @{ + */ + +#define CAN_InitStatus_Failed ((uint8_t)0x00) /*!< CAN initialization failed */ +#define CAN_InitStatus_Success ((uint8_t)0x01) /*!< CAN initialization OK */ + +/** + * @} + */ + +/** @defgroup CAN_Mode + * @{ + */ + +#define CAN_Mode_Normal ((uint8_t)0x00) /*!< normal mode */ +#define CAN_Mode_LoopBack ((uint8_t)0x01) /*!< loopback mode */ +#define CAN_Mode_Silent ((uint8_t)0x02) /*!< silent mode */ +#define CAN_Mode_Silent_LoopBack ((uint8_t)0x03) /*!< loopback combined with silent mode */ + +#define IS_CAN_MODE(MODE) (((MODE) == CAN_Mode_Normal) || \ + ((MODE) == CAN_Mode_LoopBack)|| \ + ((MODE) == CAN_Mode_Silent) || \ + ((MODE) == CAN_Mode_Silent_LoopBack)) +/** + * @} + */ + + +/** + * @defgroup CAN_Operating_Mode + * @{ + */ +#define CAN_OperatingMode_Initialization ((uint8_t)0x00) /*!< Initialization mode */ +#define CAN_OperatingMode_Normal ((uint8_t)0x01) /*!< Normal mode */ +#define CAN_OperatingMode_Sleep ((uint8_t)0x02) /*!< sleep mode */ + + +#define IS_CAN_OPERATING_MODE(MODE) (((MODE) == CAN_OperatingMode_Initialization) ||\ + ((MODE) == CAN_OperatingMode_Normal)|| \ + ((MODE) == CAN_OperatingMode_Sleep)) +/** + * @} + */ + +/** + * @defgroup CAN_Mode_Status + * @{ + */ + +#define CAN_ModeStatus_Failed ((uint8_t)0x00) /*!< CAN entering the specific mode failed */ +#define CAN_ModeStatus_Success ((uint8_t)!CAN_ModeStatus_Failed) /*!< CAN entering the specific mode Succeed */ + + +/** + * @} + */ + +/** @defgroup CAN_synchronisation_jump_width + * @{ + */ + +#define CAN_SJW_1tq ((uint8_t)0x00) /*!< 1 time quantum */ +#define CAN_SJW_2tq ((uint8_t)0x01) /*!< 2 time quantum */ +#define CAN_SJW_3tq ((uint8_t)0x02) /*!< 3 time quantum */ +#define CAN_SJW_4tq ((uint8_t)0x03) /*!< 4 time quantum */ + +#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1tq) || ((SJW) == CAN_SJW_2tq)|| \ + ((SJW) == CAN_SJW_3tq) || ((SJW) == CAN_SJW_4tq)) +/** + * @} + */ + +/** @defgroup CAN_time_quantum_in_bit_segment_1 + * @{ + */ + +#define CAN_BS1_1tq ((uint8_t)0x00) /*!< 1 time quantum */ +#define CAN_BS1_2tq ((uint8_t)0x01) /*!< 2 time quantum */ +#define CAN_BS1_3tq ((uint8_t)0x02) /*!< 3 time quantum */ +#define CAN_BS1_4tq ((uint8_t)0x03) /*!< 4 time quantum */ +#define CAN_BS1_5tq ((uint8_t)0x04) /*!< 5 time quantum */ +#define CAN_BS1_6tq ((uint8_t)0x05) /*!< 6 time quantum */ +#define CAN_BS1_7tq ((uint8_t)0x06) /*!< 7 time quantum */ +#define CAN_BS1_8tq ((uint8_t)0x07) /*!< 8 time quantum */ +#define CAN_BS1_9tq ((uint8_t)0x08) /*!< 9 time quantum */ +#define CAN_BS1_10tq ((uint8_t)0x09) /*!< 10 time quantum */ +#define CAN_BS1_11tq ((uint8_t)0x0A) /*!< 11 time quantum */ +#define CAN_BS1_12tq ((uint8_t)0x0B) /*!< 12 time quantum */ +#define CAN_BS1_13tq ((uint8_t)0x0C) /*!< 13 time quantum */ +#define CAN_BS1_14tq ((uint8_t)0x0D) /*!< 14 time quantum */ +#define CAN_BS1_15tq ((uint8_t)0x0E) /*!< 15 time quantum */ +#define CAN_BS1_16tq ((uint8_t)0x0F) /*!< 16 time quantum */ + +#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16tq) +/** + * @} + */ + +/** @defgroup CAN_time_quantum_in_bit_segment_2 + * @{ + */ + +#define CAN_BS2_1tq ((uint8_t)0x00) /*!< 1 time quantum */ +#define CAN_BS2_2tq ((uint8_t)0x01) /*!< 2 time quantum */ +#define CAN_BS2_3tq ((uint8_t)0x02) /*!< 3 time quantum */ +#define CAN_BS2_4tq ((uint8_t)0x03) /*!< 4 time quantum */ +#define CAN_BS2_5tq ((uint8_t)0x04) /*!< 5 time quantum */ +#define CAN_BS2_6tq ((uint8_t)0x05) /*!< 6 time quantum */ +#define CAN_BS2_7tq ((uint8_t)0x06) /*!< 7 time quantum */ +#define CAN_BS2_8tq ((uint8_t)0x07) /*!< 8 time quantum */ + +#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8tq) + +/** + * @} + */ + +/** @defgroup CAN_clock_prescaler + * @{ + */ + +#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1) && ((PRESCALER) <= 1024)) + +/** + * @} + */ + +/** @defgroup CAN_filter_number + * @{ + */ +#ifndef STM32F10X_CL + #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 13) +#else + #define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27) +#endif /* STM32F10X_CL */ +/** + * @} + */ + +/** @defgroup CAN_filter_mode + * @{ + */ + +#define CAN_FilterMode_IdMask ((uint8_t)0x00) /*!< identifier/mask mode */ +#define CAN_FilterMode_IdList ((uint8_t)0x01) /*!< identifier list mode */ + +#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FilterMode_IdMask) || \ + ((MODE) == CAN_FilterMode_IdList)) +/** + * @} + */ + +/** @defgroup CAN_filter_scale + * @{ + */ + +#define CAN_FilterScale_16bit ((uint8_t)0x00) /*!< Two 16-bit filters */ +#define CAN_FilterScale_32bit ((uint8_t)0x01) /*!< One 32-bit filter */ + +#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FilterScale_16bit) || \ + ((SCALE) == CAN_FilterScale_32bit)) + +/** + * @} + */ + +/** @defgroup CAN_filter_FIFO + * @{ + */ + +#define CAN_Filter_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */ +#define CAN_Filter_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */ +#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FilterFIFO0) || \ + ((FIFO) == CAN_FilterFIFO1)) +/** + * @} + */ + +/** @defgroup Start_bank_filter_for_slave_CAN + * @{ + */ +#define IS_CAN_BANKNUMBER(BANKNUMBER) (((BANKNUMBER) >= 1) && ((BANKNUMBER) <= 27)) +/** + * @} + */ + +/** @defgroup CAN_Tx + * @{ + */ + +#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02)) +#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FF)) +#define IS_CAN_EXTID(EXTID) ((EXTID) <= ((uint32_t)0x1FFFFFFF)) +#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08)) + +/** + * @} + */ + +/** @defgroup CAN_identifier_type + * @{ + */ + +#define CAN_Id_Standard ((uint32_t)0x00000000) /*!< Standard Id */ +#define CAN_Id_Extended ((uint32_t)0x00000004) /*!< Extended Id */ +#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_Id_Standard) || \ + ((IDTYPE) == CAN_Id_Extended)) +/** + * @} + */ + +/** @defgroup CAN_remote_transmission_request + * @{ + */ + +#define CAN_RTR_Data ((uint32_t)0x00000000) /*!< Data frame */ +#define CAN_RTR_Remote ((uint32_t)0x00000002) /*!< Remote frame */ +#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_Data) || ((RTR) == CAN_RTR_Remote)) + +/** + * @} + */ + +/** @defgroup CAN_transmit_constants + * @{ + */ + +#define CAN_TxStatus_Failed ((uint8_t)0x00)/*!< CAN transmission failed */ +#define CAN_TxStatus_Ok ((uint8_t)0x01) /*!< CAN transmission succeeded */ +#define CAN_TxStatus_Pending ((uint8_t)0x02) /*!< CAN transmission pending */ +#define CAN_TxStatus_NoMailBox ((uint8_t)0x04) /*!< CAN cell did not provide an empty mailbox */ + +/** + * @} + */ + +/** @defgroup CAN_receive_FIFO_number_constants + * @{ + */ + +#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */ +#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */ + +#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1)) + +/** + * @} + */ + +/** @defgroup CAN_sleep_constants + * @{ + */ + +#define CAN_Sleep_Failed ((uint8_t)0x00) /*!< CAN did not enter the sleep mode */ +#define CAN_Sleep_Ok ((uint8_t)0x01) /*!< CAN entered the sleep mode */ + +/** + * @} + */ + +/** @defgroup CAN_wake_up_constants + * @{ + */ + +#define CAN_WakeUp_Failed ((uint8_t)0x00) /*!< CAN did not leave the sleep mode */ +#define CAN_WakeUp_Ok ((uint8_t)0x01) /*!< CAN leaved the sleep mode */ + +/** + * @} + */ + +/** + * @defgroup CAN_Error_Code_constants + * @{ + */ + +#define CAN_ErrorCode_NoErr ((uint8_t)0x00) /*!< No Error */ +#define CAN_ErrorCode_StuffErr ((uint8_t)0x10) /*!< Stuff Error */ +#define CAN_ErrorCode_FormErr ((uint8_t)0x20) /*!< Form Error */ +#define CAN_ErrorCode_ACKErr ((uint8_t)0x30) /*!< Acknowledgment Error */ +#define CAN_ErrorCode_BitRecessiveErr ((uint8_t)0x40) /*!< Bit Recessive Error */ +#define CAN_ErrorCode_BitDominantErr ((uint8_t)0x50) /*!< Bit Dominant Error */ +#define CAN_ErrorCode_CRCErr ((uint8_t)0x60) /*!< CRC Error */ +#define CAN_ErrorCode_SoftwareSetErr ((uint8_t)0x70) /*!< Software Set Error */ + + +/** + * @} + */ + +/** @defgroup CAN_flags + * @{ + */ +/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus() + and CAN_ClearFlag() functions. */ +/* If the flag is 0x1XXXXXXX, it means that it can only be used with CAN_GetFlagStatus() function. */ + +/* Transmit Flags */ +#define CAN_FLAG_RQCP0 ((uint32_t)0x38000001) /*!< Request MailBox0 Flag */ +#define CAN_FLAG_RQCP1 ((uint32_t)0x38000100) /*!< Request MailBox1 Flag */ +#define CAN_FLAG_RQCP2 ((uint32_t)0x38010000) /*!< Request MailBox2 Flag */ + +/* Receive Flags */ +#define CAN_FLAG_FMP0 ((uint32_t)0x12000003) /*!< FIFO 0 Message Pending Flag */ +#define CAN_FLAG_FF0 ((uint32_t)0x32000008) /*!< FIFO 0 Full Flag */ +#define CAN_FLAG_FOV0 ((uint32_t)0x32000010) /*!< FIFO 0 Overrun Flag */ +#define CAN_FLAG_FMP1 ((uint32_t)0x14000003) /*!< FIFO 1 Message Pending Flag */ +#define CAN_FLAG_FF1 ((uint32_t)0x34000008) /*!< FIFO 1 Full Flag */ +#define CAN_FLAG_FOV1 ((uint32_t)0x34000010) /*!< FIFO 1 Overrun Flag */ + +/* Operating Mode Flags */ +#define CAN_FLAG_WKU ((uint32_t)0x31000008) /*!< Wake up Flag */ +#define CAN_FLAG_SLAK ((uint32_t)0x31000012) /*!< Sleep acknowledge Flag */ +/* Note: When SLAK intterupt is disabled (SLKIE=0), no polling on SLAKI is possible. + In this case the SLAK bit can be polled.*/ + +/* Error Flags */ +#define CAN_FLAG_EWG ((uint32_t)0x10F00001) /*!< Error Warning Flag */ +#define CAN_FLAG_EPV ((uint32_t)0x10F00002) /*!< Error Passive Flag */ +#define CAN_FLAG_BOF ((uint32_t)0x10F00004) /*!< Bus-Off Flag */ +#define CAN_FLAG_LEC ((uint32_t)0x30F00070) /*!< Last error code Flag */ + +#define IS_CAN_GET_FLAG(FLAG) (((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_BOF) || \ + ((FLAG) == CAN_FLAG_EPV) || ((FLAG) == CAN_FLAG_EWG) || \ + ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_FOV0) || \ + ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FMP0) || \ + ((FLAG) == CAN_FLAG_FOV1) || ((FLAG) == CAN_FLAG_FF1) || \ + ((FLAG) == CAN_FLAG_FMP1) || ((FLAG) == CAN_FLAG_RQCP2) || \ + ((FLAG) == CAN_FLAG_RQCP1)|| ((FLAG) == CAN_FLAG_RQCP0) || \ + ((FLAG) == CAN_FLAG_SLAK )) + +#define IS_CAN_CLEAR_FLAG(FLAG)(((FLAG) == CAN_FLAG_LEC) || ((FLAG) == CAN_FLAG_RQCP2) || \ + ((FLAG) == CAN_FLAG_RQCP1) || ((FLAG) == CAN_FLAG_RQCP0) || \ + ((FLAG) == CAN_FLAG_FF0) || ((FLAG) == CAN_FLAG_FOV0) ||\ + ((FLAG) == CAN_FLAG_FF1) || ((FLAG) == CAN_FLAG_FOV1) || \ + ((FLAG) == CAN_FLAG_WKU) || ((FLAG) == CAN_FLAG_SLAK)) +/** + * @} + */ + + +/** @defgroup CAN_interrupts + * @{ + */ + + + +#define CAN_IT_TME ((uint32_t)0x00000001) /*!< Transmit mailbox empty Interrupt*/ + +/* Receive Interrupts */ +#define CAN_IT_FMP0 ((uint32_t)0x00000002) /*!< FIFO 0 message pending Interrupt*/ +#define CAN_IT_FF0 ((uint32_t)0x00000004) /*!< FIFO 0 full Interrupt*/ +#define CAN_IT_FOV0 ((uint32_t)0x00000008) /*!< FIFO 0 overrun Interrupt*/ +#define CAN_IT_FMP1 ((uint32_t)0x00000010) /*!< FIFO 1 message pending Interrupt*/ +#define CAN_IT_FF1 ((uint32_t)0x00000020) /*!< FIFO 1 full Interrupt*/ +#define CAN_IT_FOV1 ((uint32_t)0x00000040) /*!< FIFO 1 overrun Interrupt*/ + +/* Operating Mode Interrupts */ +#define CAN_IT_WKU ((uint32_t)0x00010000) /*!< Wake-up Interrupt*/ +#define CAN_IT_SLK ((uint32_t)0x00020000) /*!< Sleep acknowledge Interrupt*/ + +/* Error Interrupts */ +#define CAN_IT_EWG ((uint32_t)0x00000100) /*!< Error warning Interrupt*/ +#define CAN_IT_EPV ((uint32_t)0x00000200) /*!< Error passive Interrupt*/ +#define CAN_IT_BOF ((uint32_t)0x00000400) /*!< Bus-off Interrupt*/ +#define CAN_IT_LEC ((uint32_t)0x00000800) /*!< Last error code Interrupt*/ +#define CAN_IT_ERR ((uint32_t)0x00008000) /*!< Error Interrupt*/ + +/* Flags named as Interrupts : kept only for FW compatibility */ +#define CAN_IT_RQCP0 CAN_IT_TME +#define CAN_IT_RQCP1 CAN_IT_TME +#define CAN_IT_RQCP2 CAN_IT_TME + + +#define IS_CAN_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FMP0) ||\ + ((IT) == CAN_IT_FF0) || ((IT) == CAN_IT_FOV0) ||\ + ((IT) == CAN_IT_FMP1) || ((IT) == CAN_IT_FF1) ||\ + ((IT) == CAN_IT_FOV1) || ((IT) == CAN_IT_EWG) ||\ + ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\ + ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\ + ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK)) + +#define IS_CAN_CLEAR_IT(IT) (((IT) == CAN_IT_TME) || ((IT) == CAN_IT_FF0) ||\ + ((IT) == CAN_IT_FOV0)|| ((IT) == CAN_IT_FF1) ||\ + ((IT) == CAN_IT_FOV1)|| ((IT) == CAN_IT_EWG) ||\ + ((IT) == CAN_IT_EPV) || ((IT) == CAN_IT_BOF) ||\ + ((IT) == CAN_IT_LEC) || ((IT) == CAN_IT_ERR) ||\ + ((IT) == CAN_IT_WKU) || ((IT) == CAN_IT_SLK)) + +/** + * @} + */ + +/** @defgroup CAN_Legacy + * @{ + */ +#define CANINITFAILED CAN_InitStatus_Failed +#define CANINITOK CAN_InitStatus_Success +#define CAN_FilterFIFO0 CAN_Filter_FIFO0 +#define CAN_FilterFIFO1 CAN_Filter_FIFO1 +#define CAN_ID_STD CAN_Id_Standard +#define CAN_ID_EXT CAN_Id_Extended +#define CAN_RTR_DATA CAN_RTR_Data +#define CAN_RTR_REMOTE CAN_RTR_Remote +#define CANTXFAILE CAN_TxStatus_Failed +#define CANTXOK CAN_TxStatus_Ok +#define CANTXPENDING CAN_TxStatus_Pending +#define CAN_NO_MB CAN_TxStatus_NoMailBox +#define CANSLEEPFAILED CAN_Sleep_Failed +#define CANSLEEPOK CAN_Sleep_Ok +#define CANWAKEUPFAILED CAN_WakeUp_Failed +#define CANWAKEUPOK CAN_WakeUp_Ok + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup CAN_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Exported_Functions + * @{ + */ +/* Function used to set the CAN configuration to the default reset state *****/ +void CAN_DeInit(CAN_TypeDef* CANx); + +/* Initialization and Configuration functions *********************************/ +uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct); +void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct); +void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct); +void CAN_SlaveStartBank(uint8_t CAN_BankNumber); +void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState); +void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState); + +/* Transmit functions *********************************************************/ +uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage); +uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox); +void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox); + +/* Receive functions **********************************************************/ +void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage); +void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber); +uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber); + + +/* Operation modes functions **************************************************/ +uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode); +uint8_t CAN_Sleep(CAN_TypeDef* CANx); +uint8_t CAN_WakeUp(CAN_TypeDef* CANx); + +/* Error management functions *************************************************/ +uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx); +uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx); +uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx); + +/* Interrupts and flags management functions **********************************/ +void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState); +FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG); +void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG); +ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT); +void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_CAN_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_cec.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_cec.h new file mode 100644 index 0000000..7ce6896 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_cec.h @@ -0,0 +1,210 @@ +/** + ****************************************************************************** + * @file stm32f10x_cec.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the CEC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_CEC_H +#define __STM32F10x_CEC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup CEC + * @{ + */ + + +/** @defgroup CEC_Exported_Types + * @{ + */ + +/** + * @brief CEC Init structure definition + */ +typedef struct +{ + uint16_t CEC_BitTimingMode; /*!< Configures the CEC Bit Timing Error Mode. + This parameter can be a value of @ref CEC_BitTiming_Mode */ + uint16_t CEC_BitPeriodMode; /*!< Configures the CEC Bit Period Error Mode. + This parameter can be a value of @ref CEC_BitPeriod_Mode */ +}CEC_InitTypeDef; + +/** + * @} + */ + +/** @defgroup CEC_Exported_Constants + * @{ + */ + +/** @defgroup CEC_BitTiming_Mode + * @{ + */ +#define CEC_BitTimingStdMode ((uint16_t)0x00) /*!< Bit timing error Standard Mode */ +#define CEC_BitTimingErrFreeMode CEC_CFGR_BTEM /*!< Bit timing error Free Mode */ + +#define IS_CEC_BIT_TIMING_ERROR_MODE(MODE) (((MODE) == CEC_BitTimingStdMode) || \ + ((MODE) == CEC_BitTimingErrFreeMode)) +/** + * @} + */ + +/** @defgroup CEC_BitPeriod_Mode + * @{ + */ +#define CEC_BitPeriodStdMode ((uint16_t)0x00) /*!< Bit period error Standard Mode */ +#define CEC_BitPeriodFlexibleMode CEC_CFGR_BPEM /*!< Bit period error Flexible Mode */ + +#define IS_CEC_BIT_PERIOD_ERROR_MODE(MODE) (((MODE) == CEC_BitPeriodStdMode) || \ + ((MODE) == CEC_BitPeriodFlexibleMode)) +/** + * @} + */ + + +/** @defgroup CEC_interrupts_definition + * @{ + */ +#define CEC_IT_TERR CEC_CSR_TERR +#define CEC_IT_TBTRF CEC_CSR_TBTRF +#define CEC_IT_RERR CEC_CSR_RERR +#define CEC_IT_RBTF CEC_CSR_RBTF +#define IS_CEC_GET_IT(IT) (((IT) == CEC_IT_TERR) || ((IT) == CEC_IT_TBTRF) || \ + ((IT) == CEC_IT_RERR) || ((IT) == CEC_IT_RBTF)) +/** + * @} + */ + + +/** @defgroup CEC_Own_Address + * @{ + */ +#define IS_CEC_ADDRESS(ADDRESS) ((ADDRESS) < 0x10) +/** + * @} + */ + +/** @defgroup CEC_Prescaler + * @{ + */ +#define IS_CEC_PRESCALER(PRESCALER) ((PRESCALER) <= 0x3FFF) + +/** + * @} + */ + +/** @defgroup CEC_flags_definition + * @{ + */ + +/** + * @brief ESR register flags + */ +#define CEC_FLAG_BTE ((uint32_t)0x10010000) +#define CEC_FLAG_BPE ((uint32_t)0x10020000) +#define CEC_FLAG_RBTFE ((uint32_t)0x10040000) +#define CEC_FLAG_SBE ((uint32_t)0x10080000) +#define CEC_FLAG_ACKE ((uint32_t)0x10100000) +#define CEC_FLAG_LINE ((uint32_t)0x10200000) +#define CEC_FLAG_TBTFE ((uint32_t)0x10400000) + +/** + * @brief CSR register flags + */ +#define CEC_FLAG_TEOM ((uint32_t)0x00000002) +#define CEC_FLAG_TERR ((uint32_t)0x00000004) +#define CEC_FLAG_TBTRF ((uint32_t)0x00000008) +#define CEC_FLAG_RSOM ((uint32_t)0x00000010) +#define CEC_FLAG_REOM ((uint32_t)0x00000020) +#define CEC_FLAG_RERR ((uint32_t)0x00000040) +#define CEC_FLAG_RBTF ((uint32_t)0x00000080) + +#define IS_CEC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFF03) == 0x00) && ((FLAG) != 0x00)) + +#define IS_CEC_GET_FLAG(FLAG) (((FLAG) == CEC_FLAG_BTE) || ((FLAG) == CEC_FLAG_BPE) || \ + ((FLAG) == CEC_FLAG_RBTFE) || ((FLAG)== CEC_FLAG_SBE) || \ + ((FLAG) == CEC_FLAG_ACKE) || ((FLAG) == CEC_FLAG_LINE) || \ + ((FLAG) == CEC_FLAG_TBTFE) || ((FLAG) == CEC_FLAG_TEOM) || \ + ((FLAG) == CEC_FLAG_TERR) || ((FLAG) == CEC_FLAG_TBTRF) || \ + ((FLAG) == CEC_FLAG_RSOM) || ((FLAG) == CEC_FLAG_REOM) || \ + ((FLAG) == CEC_FLAG_RERR) || ((FLAG) == CEC_FLAG_RBTF)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup CEC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CEC_Exported_Functions + * @{ + */ +void CEC_DeInit(void); +void CEC_Init(CEC_InitTypeDef* CEC_InitStruct); +void CEC_Cmd(FunctionalState NewState); +void CEC_ITConfig(FunctionalState NewState); +void CEC_OwnAddressConfig(uint8_t CEC_OwnAddress); +void CEC_SetPrescaler(uint16_t CEC_Prescaler); +void CEC_SendDataByte(uint8_t Data); +uint8_t CEC_ReceiveDataByte(void); +void CEC_StartOfMessage(void); +void CEC_EndOfMessageCmd(FunctionalState NewState); +FlagStatus CEC_GetFlagStatus(uint32_t CEC_FLAG); +void CEC_ClearFlag(uint32_t CEC_FLAG); +ITStatus CEC_GetITStatus(uint8_t CEC_IT); +void CEC_ClearITPendingBit(uint16_t CEC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_CEC_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_crc.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_crc.h new file mode 100644 index 0000000..3362fca --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_crc.h @@ -0,0 +1,94 @@ +/** + ****************************************************************************** + * @file stm32f10x_crc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the CRC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_CRC_H +#define __STM32F10x_CRC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup CRC + * @{ + */ + +/** @defgroup CRC_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Exported_Constants + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Exported_Functions + * @{ + */ + +void CRC_ResetDR(void); +uint32_t CRC_CalcCRC(uint32_t Data); +uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength); +uint32_t CRC_GetCRC(void); +void CRC_SetIDRegister(uint8_t IDValue); +uint8_t CRC_GetIDRegister(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_CRC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dac.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dac.h new file mode 100644 index 0000000..174773c --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dac.h @@ -0,0 +1,317 @@ +/** + ****************************************************************************** + * @file stm32f10x_dac.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the DAC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_DAC_H +#define __STM32F10x_DAC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup DAC + * @{ + */ + +/** @defgroup DAC_Exported_Types + * @{ + */ + +/** + * @brief DAC Init structure definition + */ + +typedef struct +{ + uint32_t DAC_Trigger; /*!< Specifies the external trigger for the selected DAC channel. + This parameter can be a value of @ref DAC_trigger_selection */ + + uint32_t DAC_WaveGeneration; /*!< Specifies whether DAC channel noise waves or triangle waves + are generated, or whether no wave is generated. + This parameter can be a value of @ref DAC_wave_generation */ + + uint32_t DAC_LFSRUnmask_TriangleAmplitude; /*!< Specifies the LFSR mask for noise wave generation or + the maximum amplitude triangle generation for the DAC channel. + This parameter can be a value of @ref DAC_lfsrunmask_triangleamplitude */ + + uint32_t DAC_OutputBuffer; /*!< Specifies whether the DAC channel output buffer is enabled or disabled. + This parameter can be a value of @ref DAC_output_buffer */ +}DAC_InitTypeDef; + +/** + * @} + */ + +/** @defgroup DAC_Exported_Constants + * @{ + */ + +/** @defgroup DAC_trigger_selection + * @{ + */ + +#define DAC_Trigger_None ((uint32_t)0x00000000) /*!< Conversion is automatic once the DAC1_DHRxxxx register + has been loaded, and not by external trigger */ +#define DAC_Trigger_T6_TRGO ((uint32_t)0x00000004) /*!< TIM6 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T8_TRGO ((uint32_t)0x0000000C) /*!< TIM8 TRGO selected as external conversion trigger for DAC channel + only in High-density devices*/ +#define DAC_Trigger_T3_TRGO ((uint32_t)0x0000000C) /*!< TIM8 TRGO selected as external conversion trigger for DAC channel + only in Connectivity line, Medium-density and Low-density Value Line devices */ +#define DAC_Trigger_T7_TRGO ((uint32_t)0x00000014) /*!< TIM7 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T5_TRGO ((uint32_t)0x0000001C) /*!< TIM5 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T15_TRGO ((uint32_t)0x0000001C) /*!< TIM15 TRGO selected as external conversion trigger for DAC channel + only in Medium-density and Low-density Value Line devices*/ +#define DAC_Trigger_T2_TRGO ((uint32_t)0x00000024) /*!< TIM2 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_T4_TRGO ((uint32_t)0x0000002C) /*!< TIM4 TRGO selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_Ext_IT9 ((uint32_t)0x00000034) /*!< EXTI Line9 event selected as external conversion trigger for DAC channel */ +#define DAC_Trigger_Software ((uint32_t)0x0000003C) /*!< Conversion started by software trigger for DAC channel */ + +#define IS_DAC_TRIGGER(TRIGGER) (((TRIGGER) == DAC_Trigger_None) || \ + ((TRIGGER) == DAC_Trigger_T6_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T8_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T7_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T5_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T2_TRGO) || \ + ((TRIGGER) == DAC_Trigger_T4_TRGO) || \ + ((TRIGGER) == DAC_Trigger_Ext_IT9) || \ + ((TRIGGER) == DAC_Trigger_Software)) + +/** + * @} + */ + +/** @defgroup DAC_wave_generation + * @{ + */ + +#define DAC_WaveGeneration_None ((uint32_t)0x00000000) +#define DAC_WaveGeneration_Noise ((uint32_t)0x00000040) +#define DAC_WaveGeneration_Triangle ((uint32_t)0x00000080) +#define IS_DAC_GENERATE_WAVE(WAVE) (((WAVE) == DAC_WaveGeneration_None) || \ + ((WAVE) == DAC_WaveGeneration_Noise) || \ + ((WAVE) == DAC_WaveGeneration_Triangle)) +/** + * @} + */ + +/** @defgroup DAC_lfsrunmask_triangleamplitude + * @{ + */ + +#define DAC_LFSRUnmask_Bit0 ((uint32_t)0x00000000) /*!< Unmask DAC channel LFSR bit0 for noise wave generation */ +#define DAC_LFSRUnmask_Bits1_0 ((uint32_t)0x00000100) /*!< Unmask DAC channel LFSR bit[1:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits2_0 ((uint32_t)0x00000200) /*!< Unmask DAC channel LFSR bit[2:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits3_0 ((uint32_t)0x00000300) /*!< Unmask DAC channel LFSR bit[3:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits4_0 ((uint32_t)0x00000400) /*!< Unmask DAC channel LFSR bit[4:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits5_0 ((uint32_t)0x00000500) /*!< Unmask DAC channel LFSR bit[5:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits6_0 ((uint32_t)0x00000600) /*!< Unmask DAC channel LFSR bit[6:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits7_0 ((uint32_t)0x00000700) /*!< Unmask DAC channel LFSR bit[7:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits8_0 ((uint32_t)0x00000800) /*!< Unmask DAC channel LFSR bit[8:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits9_0 ((uint32_t)0x00000900) /*!< Unmask DAC channel LFSR bit[9:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits10_0 ((uint32_t)0x00000A00) /*!< Unmask DAC channel LFSR bit[10:0] for noise wave generation */ +#define DAC_LFSRUnmask_Bits11_0 ((uint32_t)0x00000B00) /*!< Unmask DAC channel LFSR bit[11:0] for noise wave generation */ +#define DAC_TriangleAmplitude_1 ((uint32_t)0x00000000) /*!< Select max triangle amplitude of 1 */ +#define DAC_TriangleAmplitude_3 ((uint32_t)0x00000100) /*!< Select max triangle amplitude of 3 */ +#define DAC_TriangleAmplitude_7 ((uint32_t)0x00000200) /*!< Select max triangle amplitude of 7 */ +#define DAC_TriangleAmplitude_15 ((uint32_t)0x00000300) /*!< Select max triangle amplitude of 15 */ +#define DAC_TriangleAmplitude_31 ((uint32_t)0x00000400) /*!< Select max triangle amplitude of 31 */ +#define DAC_TriangleAmplitude_63 ((uint32_t)0x00000500) /*!< Select max triangle amplitude of 63 */ +#define DAC_TriangleAmplitude_127 ((uint32_t)0x00000600) /*!< Select max triangle amplitude of 127 */ +#define DAC_TriangleAmplitude_255 ((uint32_t)0x00000700) /*!< Select max triangle amplitude of 255 */ +#define DAC_TriangleAmplitude_511 ((uint32_t)0x00000800) /*!< Select max triangle amplitude of 511 */ +#define DAC_TriangleAmplitude_1023 ((uint32_t)0x00000900) /*!< Select max triangle amplitude of 1023 */ +#define DAC_TriangleAmplitude_2047 ((uint32_t)0x00000A00) /*!< Select max triangle amplitude of 2047 */ +#define DAC_TriangleAmplitude_4095 ((uint32_t)0x00000B00) /*!< Select max triangle amplitude of 4095 */ + +#define IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(VALUE) (((VALUE) == DAC_LFSRUnmask_Bit0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits1_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits2_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits3_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits4_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits5_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits6_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits7_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits8_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits9_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits10_0) || \ + ((VALUE) == DAC_LFSRUnmask_Bits11_0) || \ + ((VALUE) == DAC_TriangleAmplitude_1) || \ + ((VALUE) == DAC_TriangleAmplitude_3) || \ + ((VALUE) == DAC_TriangleAmplitude_7) || \ + ((VALUE) == DAC_TriangleAmplitude_15) || \ + ((VALUE) == DAC_TriangleAmplitude_31) || \ + ((VALUE) == DAC_TriangleAmplitude_63) || \ + ((VALUE) == DAC_TriangleAmplitude_127) || \ + ((VALUE) == DAC_TriangleAmplitude_255) || \ + ((VALUE) == DAC_TriangleAmplitude_511) || \ + ((VALUE) == DAC_TriangleAmplitude_1023) || \ + ((VALUE) == DAC_TriangleAmplitude_2047) || \ + ((VALUE) == DAC_TriangleAmplitude_4095)) +/** + * @} + */ + +/** @defgroup DAC_output_buffer + * @{ + */ + +#define DAC_OutputBuffer_Enable ((uint32_t)0x00000000) +#define DAC_OutputBuffer_Disable ((uint32_t)0x00000002) +#define IS_DAC_OUTPUT_BUFFER_STATE(STATE) (((STATE) == DAC_OutputBuffer_Enable) || \ + ((STATE) == DAC_OutputBuffer_Disable)) +/** + * @} + */ + +/** @defgroup DAC_Channel_selection + * @{ + */ + +#define DAC_Channel_1 ((uint32_t)0x00000000) +#define DAC_Channel_2 ((uint32_t)0x00000010) +#define IS_DAC_CHANNEL(CHANNEL) (((CHANNEL) == DAC_Channel_1) || \ + ((CHANNEL) == DAC_Channel_2)) +/** + * @} + */ + +/** @defgroup DAC_data_alignment + * @{ + */ + +#define DAC_Align_12b_R ((uint32_t)0x00000000) +#define DAC_Align_12b_L ((uint32_t)0x00000004) +#define DAC_Align_8b_R ((uint32_t)0x00000008) +#define IS_DAC_ALIGN(ALIGN) (((ALIGN) == DAC_Align_12b_R) || \ + ((ALIGN) == DAC_Align_12b_L) || \ + ((ALIGN) == DAC_Align_8b_R)) +/** + * @} + */ + +/** @defgroup DAC_wave_generation + * @{ + */ + +#define DAC_Wave_Noise ((uint32_t)0x00000040) +#define DAC_Wave_Triangle ((uint32_t)0x00000080) +#define IS_DAC_WAVE(WAVE) (((WAVE) == DAC_Wave_Noise) || \ + ((WAVE) == DAC_Wave_Triangle)) +/** + * @} + */ + +/** @defgroup DAC_data + * @{ + */ + +#define IS_DAC_DATA(DATA) ((DATA) <= 0xFFF0) +/** + * @} + */ +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/** @defgroup DAC_interrupts_definition + * @{ + */ + +#define DAC_IT_DMAUDR ((uint32_t)0x00002000) +#define IS_DAC_IT(IT) (((IT) == DAC_IT_DMAUDR)) + +/** + * @} + */ + +/** @defgroup DAC_flags_definition + * @{ + */ + +#define DAC_FLAG_DMAUDR ((uint32_t)0x00002000) +#define IS_DAC_FLAG(FLAG) (((FLAG) == DAC_FLAG_DMAUDR)) + +/** + * @} + */ +#endif + +/** + * @} + */ + +/** @defgroup DAC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Exported_Functions + * @{ + */ + +void DAC_DeInit(void); +void DAC_Init(uint32_t DAC_Channel, DAC_InitTypeDef* DAC_InitStruct); +void DAC_StructInit(DAC_InitTypeDef* DAC_InitStruct); +void DAC_Cmd(uint32_t DAC_Channel, FunctionalState NewState); +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +void DAC_ITConfig(uint32_t DAC_Channel, uint32_t DAC_IT, FunctionalState NewState); +#endif +void DAC_DMACmd(uint32_t DAC_Channel, FunctionalState NewState); +void DAC_SoftwareTriggerCmd(uint32_t DAC_Channel, FunctionalState NewState); +void DAC_DualSoftwareTriggerCmd(FunctionalState NewState); +void DAC_WaveGenerationCmd(uint32_t DAC_Channel, uint32_t DAC_Wave, FunctionalState NewState); +void DAC_SetChannel1Data(uint32_t DAC_Align, uint16_t Data); +void DAC_SetChannel2Data(uint32_t DAC_Align, uint16_t Data); +void DAC_SetDualChannelData(uint32_t DAC_Align, uint16_t Data2, uint16_t Data1); +uint16_t DAC_GetDataOutputValue(uint32_t DAC_Channel); +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +FlagStatus DAC_GetFlagStatus(uint32_t DAC_Channel, uint32_t DAC_FLAG); +void DAC_ClearFlag(uint32_t DAC_Channel, uint32_t DAC_FLAG); +ITStatus DAC_GetITStatus(uint32_t DAC_Channel, uint32_t DAC_IT); +void DAC_ClearITPendingBit(uint32_t DAC_Channel, uint32_t DAC_IT); +#endif + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_DAC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dbgmcu.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dbgmcu.h new file mode 100644 index 0000000..89ceb9a --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dbgmcu.h @@ -0,0 +1,119 @@ +/** + ****************************************************************************** + * @file stm32f10x_dbgmcu.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the DBGMCU + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_DBGMCU_H +#define __STM32F10x_DBGMCU_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup DBGMCU + * @{ + */ + +/** @defgroup DBGMCU_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Exported_Constants + * @{ + */ + +#define DBGMCU_SLEEP ((uint32_t)0x00000001) +#define DBGMCU_STOP ((uint32_t)0x00000002) +#define DBGMCU_STANDBY ((uint32_t)0x00000004) +#define DBGMCU_IWDG_STOP ((uint32_t)0x00000100) +#define DBGMCU_WWDG_STOP ((uint32_t)0x00000200) +#define DBGMCU_TIM1_STOP ((uint32_t)0x00000400) +#define DBGMCU_TIM2_STOP ((uint32_t)0x00000800) +#define DBGMCU_TIM3_STOP ((uint32_t)0x00001000) +#define DBGMCU_TIM4_STOP ((uint32_t)0x00002000) +#define DBGMCU_CAN1_STOP ((uint32_t)0x00004000) +#define DBGMCU_I2C1_SMBUS_TIMEOUT ((uint32_t)0x00008000) +#define DBGMCU_I2C2_SMBUS_TIMEOUT ((uint32_t)0x00010000) +#define DBGMCU_TIM8_STOP ((uint32_t)0x00020000) +#define DBGMCU_TIM5_STOP ((uint32_t)0x00040000) +#define DBGMCU_TIM6_STOP ((uint32_t)0x00080000) +#define DBGMCU_TIM7_STOP ((uint32_t)0x00100000) +#define DBGMCU_CAN2_STOP ((uint32_t)0x00200000) +#define DBGMCU_TIM15_STOP ((uint32_t)0x00400000) +#define DBGMCU_TIM16_STOP ((uint32_t)0x00800000) +#define DBGMCU_TIM17_STOP ((uint32_t)0x01000000) +#define DBGMCU_TIM12_STOP ((uint32_t)0x02000000) +#define DBGMCU_TIM13_STOP ((uint32_t)0x04000000) +#define DBGMCU_TIM14_STOP ((uint32_t)0x08000000) +#define DBGMCU_TIM9_STOP ((uint32_t)0x10000000) +#define DBGMCU_TIM10_STOP ((uint32_t)0x20000000) +#define DBGMCU_TIM11_STOP ((uint32_t)0x40000000) + +#define IS_DBGMCU_PERIPH(PERIPH) ((((PERIPH) & 0x800000F8) == 0x00) && ((PERIPH) != 0x00)) +/** + * @} + */ + +/** @defgroup DBGMCU_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Exported_Functions + * @{ + */ + +uint32_t DBGMCU_GetREVID(void); +uint32_t DBGMCU_GetDEVID(void); +void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_DBGMCU_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dma.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dma.h new file mode 100644 index 0000000..14275fe --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_dma.h @@ -0,0 +1,439 @@ +/** + ****************************************************************************** + * @file stm32f10x_dma.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the DMA firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_DMA_H +#define __STM32F10x_DMA_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup DMA + * @{ + */ + +/** @defgroup DMA_Exported_Types + * @{ + */ + +/** + * @brief DMA Init structure definition + */ + +typedef struct +{ + uint32_t DMA_PeripheralBaseAddr; /*!< Specifies the peripheral base address for DMAy Channelx. */ + + uint32_t DMA_MemoryBaseAddr; /*!< Specifies the memory base address for DMAy Channelx. */ + + uint32_t DMA_DIR; /*!< Specifies if the peripheral is the source or destination. + This parameter can be a value of @ref DMA_data_transfer_direction */ + + uint32_t DMA_BufferSize; /*!< Specifies the buffer size, in data unit, of the specified Channel. + The data unit is equal to the configuration set in DMA_PeripheralDataSize + or DMA_MemoryDataSize members depending in the transfer direction. */ + + uint32_t DMA_PeripheralInc; /*!< Specifies whether the Peripheral address register is incremented or not. + This parameter can be a value of @ref DMA_peripheral_incremented_mode */ + + uint32_t DMA_MemoryInc; /*!< Specifies whether the memory address register is incremented or not. + This parameter can be a value of @ref DMA_memory_incremented_mode */ + + uint32_t DMA_PeripheralDataSize; /*!< Specifies the Peripheral data width. + This parameter can be a value of @ref DMA_peripheral_data_size */ + + uint32_t DMA_MemoryDataSize; /*!< Specifies the Memory data width. + This parameter can be a value of @ref DMA_memory_data_size */ + + uint32_t DMA_Mode; /*!< Specifies the operation mode of the DMAy Channelx. + This parameter can be a value of @ref DMA_circular_normal_mode. + @note: The circular buffer mode cannot be used if the memory-to-memory + data transfer is configured on the selected Channel */ + + uint32_t DMA_Priority; /*!< Specifies the software priority for the DMAy Channelx. + This parameter can be a value of @ref DMA_priority_level */ + + uint32_t DMA_M2M; /*!< Specifies if the DMAy Channelx will be used in memory-to-memory transfer. + This parameter can be a value of @ref DMA_memory_to_memory */ +}DMA_InitTypeDef; + +/** + * @} + */ + +/** @defgroup DMA_Exported_Constants + * @{ + */ + +#define IS_DMA_ALL_PERIPH(PERIPH) (((PERIPH) == DMA1_Channel1) || \ + ((PERIPH) == DMA1_Channel2) || \ + ((PERIPH) == DMA1_Channel3) || \ + ((PERIPH) == DMA1_Channel4) || \ + ((PERIPH) == DMA1_Channel5) || \ + ((PERIPH) == DMA1_Channel6) || \ + ((PERIPH) == DMA1_Channel7) || \ + ((PERIPH) == DMA2_Channel1) || \ + ((PERIPH) == DMA2_Channel2) || \ + ((PERIPH) == DMA2_Channel3) || \ + ((PERIPH) == DMA2_Channel4) || \ + ((PERIPH) == DMA2_Channel5)) + +/** @defgroup DMA_data_transfer_direction + * @{ + */ + +#define DMA_DIR_PeripheralDST ((uint32_t)0x00000010) +#define DMA_DIR_PeripheralSRC ((uint32_t)0x00000000) +#define IS_DMA_DIR(DIR) (((DIR) == DMA_DIR_PeripheralDST) || \ + ((DIR) == DMA_DIR_PeripheralSRC)) +/** + * @} + */ + +/** @defgroup DMA_peripheral_incremented_mode + * @{ + */ + +#define DMA_PeripheralInc_Enable ((uint32_t)0x00000040) +#define DMA_PeripheralInc_Disable ((uint32_t)0x00000000) +#define IS_DMA_PERIPHERAL_INC_STATE(STATE) (((STATE) == DMA_PeripheralInc_Enable) || \ + ((STATE) == DMA_PeripheralInc_Disable)) +/** + * @} + */ + +/** @defgroup DMA_memory_incremented_mode + * @{ + */ + +#define DMA_MemoryInc_Enable ((uint32_t)0x00000080) +#define DMA_MemoryInc_Disable ((uint32_t)0x00000000) +#define IS_DMA_MEMORY_INC_STATE(STATE) (((STATE) == DMA_MemoryInc_Enable) || \ + ((STATE) == DMA_MemoryInc_Disable)) +/** + * @} + */ + +/** @defgroup DMA_peripheral_data_size + * @{ + */ + +#define DMA_PeripheralDataSize_Byte ((uint32_t)0x00000000) +#define DMA_PeripheralDataSize_HalfWord ((uint32_t)0x00000100) +#define DMA_PeripheralDataSize_Word ((uint32_t)0x00000200) +#define IS_DMA_PERIPHERAL_DATA_SIZE(SIZE) (((SIZE) == DMA_PeripheralDataSize_Byte) || \ + ((SIZE) == DMA_PeripheralDataSize_HalfWord) || \ + ((SIZE) == DMA_PeripheralDataSize_Word)) +/** + * @} + */ + +/** @defgroup DMA_memory_data_size + * @{ + */ + +#define DMA_MemoryDataSize_Byte ((uint32_t)0x00000000) +#define DMA_MemoryDataSize_HalfWord ((uint32_t)0x00000400) +#define DMA_MemoryDataSize_Word ((uint32_t)0x00000800) +#define IS_DMA_MEMORY_DATA_SIZE(SIZE) (((SIZE) == DMA_MemoryDataSize_Byte) || \ + ((SIZE) == DMA_MemoryDataSize_HalfWord) || \ + ((SIZE) == DMA_MemoryDataSize_Word)) +/** + * @} + */ + +/** @defgroup DMA_circular_normal_mode + * @{ + */ + +#define DMA_Mode_Circular ((uint32_t)0x00000020) +#define DMA_Mode_Normal ((uint32_t)0x00000000) +#define IS_DMA_MODE(MODE) (((MODE) == DMA_Mode_Circular) || ((MODE) == DMA_Mode_Normal)) +/** + * @} + */ + +/** @defgroup DMA_priority_level + * @{ + */ + +#define DMA_Priority_VeryHigh ((uint32_t)0x00003000) +#define DMA_Priority_High ((uint32_t)0x00002000) +#define DMA_Priority_Medium ((uint32_t)0x00001000) +#define DMA_Priority_Low ((uint32_t)0x00000000) +#define IS_DMA_PRIORITY(PRIORITY) (((PRIORITY) == DMA_Priority_VeryHigh) || \ + ((PRIORITY) == DMA_Priority_High) || \ + ((PRIORITY) == DMA_Priority_Medium) || \ + ((PRIORITY) == DMA_Priority_Low)) +/** + * @} + */ + +/** @defgroup DMA_memory_to_memory + * @{ + */ + +#define DMA_M2M_Enable ((uint32_t)0x00004000) +#define DMA_M2M_Disable ((uint32_t)0x00000000) +#define IS_DMA_M2M_STATE(STATE) (((STATE) == DMA_M2M_Enable) || ((STATE) == DMA_M2M_Disable)) + +/** + * @} + */ + +/** @defgroup DMA_interrupts_definition + * @{ + */ + +#define DMA_IT_TC ((uint32_t)0x00000002) +#define DMA_IT_HT ((uint32_t)0x00000004) +#define DMA_IT_TE ((uint32_t)0x00000008) +#define IS_DMA_CONFIG_IT(IT) ((((IT) & 0xFFFFFFF1) == 0x00) && ((IT) != 0x00)) + +#define DMA1_IT_GL1 ((uint32_t)0x00000001) +#define DMA1_IT_TC1 ((uint32_t)0x00000002) +#define DMA1_IT_HT1 ((uint32_t)0x00000004) +#define DMA1_IT_TE1 ((uint32_t)0x00000008) +#define DMA1_IT_GL2 ((uint32_t)0x00000010) +#define DMA1_IT_TC2 ((uint32_t)0x00000020) +#define DMA1_IT_HT2 ((uint32_t)0x00000040) +#define DMA1_IT_TE2 ((uint32_t)0x00000080) +#define DMA1_IT_GL3 ((uint32_t)0x00000100) +#define DMA1_IT_TC3 ((uint32_t)0x00000200) +#define DMA1_IT_HT3 ((uint32_t)0x00000400) +#define DMA1_IT_TE3 ((uint32_t)0x00000800) +#define DMA1_IT_GL4 ((uint32_t)0x00001000) +#define DMA1_IT_TC4 ((uint32_t)0x00002000) +#define DMA1_IT_HT4 ((uint32_t)0x00004000) +#define DMA1_IT_TE4 ((uint32_t)0x00008000) +#define DMA1_IT_GL5 ((uint32_t)0x00010000) +#define DMA1_IT_TC5 ((uint32_t)0x00020000) +#define DMA1_IT_HT5 ((uint32_t)0x00040000) +#define DMA1_IT_TE5 ((uint32_t)0x00080000) +#define DMA1_IT_GL6 ((uint32_t)0x00100000) +#define DMA1_IT_TC6 ((uint32_t)0x00200000) +#define DMA1_IT_HT6 ((uint32_t)0x00400000) +#define DMA1_IT_TE6 ((uint32_t)0x00800000) +#define DMA1_IT_GL7 ((uint32_t)0x01000000) +#define DMA1_IT_TC7 ((uint32_t)0x02000000) +#define DMA1_IT_HT7 ((uint32_t)0x04000000) +#define DMA1_IT_TE7 ((uint32_t)0x08000000) + +#define DMA2_IT_GL1 ((uint32_t)0x10000001) +#define DMA2_IT_TC1 ((uint32_t)0x10000002) +#define DMA2_IT_HT1 ((uint32_t)0x10000004) +#define DMA2_IT_TE1 ((uint32_t)0x10000008) +#define DMA2_IT_GL2 ((uint32_t)0x10000010) +#define DMA2_IT_TC2 ((uint32_t)0x10000020) +#define DMA2_IT_HT2 ((uint32_t)0x10000040) +#define DMA2_IT_TE2 ((uint32_t)0x10000080) +#define DMA2_IT_GL3 ((uint32_t)0x10000100) +#define DMA2_IT_TC3 ((uint32_t)0x10000200) +#define DMA2_IT_HT3 ((uint32_t)0x10000400) +#define DMA2_IT_TE3 ((uint32_t)0x10000800) +#define DMA2_IT_GL4 ((uint32_t)0x10001000) +#define DMA2_IT_TC4 ((uint32_t)0x10002000) +#define DMA2_IT_HT4 ((uint32_t)0x10004000) +#define DMA2_IT_TE4 ((uint32_t)0x10008000) +#define DMA2_IT_GL5 ((uint32_t)0x10010000) +#define DMA2_IT_TC5 ((uint32_t)0x10020000) +#define DMA2_IT_HT5 ((uint32_t)0x10040000) +#define DMA2_IT_TE5 ((uint32_t)0x10080000) + +#define IS_DMA_CLEAR_IT(IT) (((((IT) & 0xF0000000) == 0x00) || (((IT) & 0xEFF00000) == 0x00)) && ((IT) != 0x00)) + +#define IS_DMA_GET_IT(IT) (((IT) == DMA1_IT_GL1) || ((IT) == DMA1_IT_TC1) || \ + ((IT) == DMA1_IT_HT1) || ((IT) == DMA1_IT_TE1) || \ + ((IT) == DMA1_IT_GL2) || ((IT) == DMA1_IT_TC2) || \ + ((IT) == DMA1_IT_HT2) || ((IT) == DMA1_IT_TE2) || \ + ((IT) == DMA1_IT_GL3) || ((IT) == DMA1_IT_TC3) || \ + ((IT) == DMA1_IT_HT3) || ((IT) == DMA1_IT_TE3) || \ + ((IT) == DMA1_IT_GL4) || ((IT) == DMA1_IT_TC4) || \ + ((IT) == DMA1_IT_HT4) || ((IT) == DMA1_IT_TE4) || \ + ((IT) == DMA1_IT_GL5) || ((IT) == DMA1_IT_TC5) || \ + ((IT) == DMA1_IT_HT5) || ((IT) == DMA1_IT_TE5) || \ + ((IT) == DMA1_IT_GL6) || ((IT) == DMA1_IT_TC6) || \ + ((IT) == DMA1_IT_HT6) || ((IT) == DMA1_IT_TE6) || \ + ((IT) == DMA1_IT_GL7) || ((IT) == DMA1_IT_TC7) || \ + ((IT) == DMA1_IT_HT7) || ((IT) == DMA1_IT_TE7) || \ + ((IT) == DMA2_IT_GL1) || ((IT) == DMA2_IT_TC1) || \ + ((IT) == DMA2_IT_HT1) || ((IT) == DMA2_IT_TE1) || \ + ((IT) == DMA2_IT_GL2) || ((IT) == DMA2_IT_TC2) || \ + ((IT) == DMA2_IT_HT2) || ((IT) == DMA2_IT_TE2) || \ + ((IT) == DMA2_IT_GL3) || ((IT) == DMA2_IT_TC3) || \ + ((IT) == DMA2_IT_HT3) || ((IT) == DMA2_IT_TE3) || \ + ((IT) == DMA2_IT_GL4) || ((IT) == DMA2_IT_TC4) || \ + ((IT) == DMA2_IT_HT4) || ((IT) == DMA2_IT_TE4) || \ + ((IT) == DMA2_IT_GL5) || ((IT) == DMA2_IT_TC5) || \ + ((IT) == DMA2_IT_HT5) || ((IT) == DMA2_IT_TE5)) + +/** + * @} + */ + +/** @defgroup DMA_flags_definition + * @{ + */ +#define DMA1_FLAG_GL1 ((uint32_t)0x00000001) +#define DMA1_FLAG_TC1 ((uint32_t)0x00000002) +#define DMA1_FLAG_HT1 ((uint32_t)0x00000004) +#define DMA1_FLAG_TE1 ((uint32_t)0x00000008) +#define DMA1_FLAG_GL2 ((uint32_t)0x00000010) +#define DMA1_FLAG_TC2 ((uint32_t)0x00000020) +#define DMA1_FLAG_HT2 ((uint32_t)0x00000040) +#define DMA1_FLAG_TE2 ((uint32_t)0x00000080) +#define DMA1_FLAG_GL3 ((uint32_t)0x00000100) +#define DMA1_FLAG_TC3 ((uint32_t)0x00000200) +#define DMA1_FLAG_HT3 ((uint32_t)0x00000400) +#define DMA1_FLAG_TE3 ((uint32_t)0x00000800) +#define DMA1_FLAG_GL4 ((uint32_t)0x00001000) +#define DMA1_FLAG_TC4 ((uint32_t)0x00002000) +#define DMA1_FLAG_HT4 ((uint32_t)0x00004000) +#define DMA1_FLAG_TE4 ((uint32_t)0x00008000) +#define DMA1_FLAG_GL5 ((uint32_t)0x00010000) +#define DMA1_FLAG_TC5 ((uint32_t)0x00020000) +#define DMA1_FLAG_HT5 ((uint32_t)0x00040000) +#define DMA1_FLAG_TE5 ((uint32_t)0x00080000) +#define DMA1_FLAG_GL6 ((uint32_t)0x00100000) +#define DMA1_FLAG_TC6 ((uint32_t)0x00200000) +#define DMA1_FLAG_HT6 ((uint32_t)0x00400000) +#define DMA1_FLAG_TE6 ((uint32_t)0x00800000) +#define DMA1_FLAG_GL7 ((uint32_t)0x01000000) +#define DMA1_FLAG_TC7 ((uint32_t)0x02000000) +#define DMA1_FLAG_HT7 ((uint32_t)0x04000000) +#define DMA1_FLAG_TE7 ((uint32_t)0x08000000) + +#define DMA2_FLAG_GL1 ((uint32_t)0x10000001) +#define DMA2_FLAG_TC1 ((uint32_t)0x10000002) +#define DMA2_FLAG_HT1 ((uint32_t)0x10000004) +#define DMA2_FLAG_TE1 ((uint32_t)0x10000008) +#define DMA2_FLAG_GL2 ((uint32_t)0x10000010) +#define DMA2_FLAG_TC2 ((uint32_t)0x10000020) +#define DMA2_FLAG_HT2 ((uint32_t)0x10000040) +#define DMA2_FLAG_TE2 ((uint32_t)0x10000080) +#define DMA2_FLAG_GL3 ((uint32_t)0x10000100) +#define DMA2_FLAG_TC3 ((uint32_t)0x10000200) +#define DMA2_FLAG_HT3 ((uint32_t)0x10000400) +#define DMA2_FLAG_TE3 ((uint32_t)0x10000800) +#define DMA2_FLAG_GL4 ((uint32_t)0x10001000) +#define DMA2_FLAG_TC4 ((uint32_t)0x10002000) +#define DMA2_FLAG_HT4 ((uint32_t)0x10004000) +#define DMA2_FLAG_TE4 ((uint32_t)0x10008000) +#define DMA2_FLAG_GL5 ((uint32_t)0x10010000) +#define DMA2_FLAG_TC5 ((uint32_t)0x10020000) +#define DMA2_FLAG_HT5 ((uint32_t)0x10040000) +#define DMA2_FLAG_TE5 ((uint32_t)0x10080000) + +#define IS_DMA_CLEAR_FLAG(FLAG) (((((FLAG) & 0xF0000000) == 0x00) || (((FLAG) & 0xEFF00000) == 0x00)) && ((FLAG) != 0x00)) + +#define IS_DMA_GET_FLAG(FLAG) (((FLAG) == DMA1_FLAG_GL1) || ((FLAG) == DMA1_FLAG_TC1) || \ + ((FLAG) == DMA1_FLAG_HT1) || ((FLAG) == DMA1_FLAG_TE1) || \ + ((FLAG) == DMA1_FLAG_GL2) || ((FLAG) == DMA1_FLAG_TC2) || \ + ((FLAG) == DMA1_FLAG_HT2) || ((FLAG) == DMA1_FLAG_TE2) || \ + ((FLAG) == DMA1_FLAG_GL3) || ((FLAG) == DMA1_FLAG_TC3) || \ + ((FLAG) == DMA1_FLAG_HT3) || ((FLAG) == DMA1_FLAG_TE3) || \ + ((FLAG) == DMA1_FLAG_GL4) || ((FLAG) == DMA1_FLAG_TC4) || \ + ((FLAG) == DMA1_FLAG_HT4) || ((FLAG) == DMA1_FLAG_TE4) || \ + ((FLAG) == DMA1_FLAG_GL5) || ((FLAG) == DMA1_FLAG_TC5) || \ + ((FLAG) == DMA1_FLAG_HT5) || ((FLAG) == DMA1_FLAG_TE5) || \ + ((FLAG) == DMA1_FLAG_GL6) || ((FLAG) == DMA1_FLAG_TC6) || \ + ((FLAG) == DMA1_FLAG_HT6) || ((FLAG) == DMA1_FLAG_TE6) || \ + ((FLAG) == DMA1_FLAG_GL7) || ((FLAG) == DMA1_FLAG_TC7) || \ + ((FLAG) == DMA1_FLAG_HT7) || ((FLAG) == DMA1_FLAG_TE7) || \ + ((FLAG) == DMA2_FLAG_GL1) || ((FLAG) == DMA2_FLAG_TC1) || \ + ((FLAG) == DMA2_FLAG_HT1) || ((FLAG) == DMA2_FLAG_TE1) || \ + ((FLAG) == DMA2_FLAG_GL2) || ((FLAG) == DMA2_FLAG_TC2) || \ + ((FLAG) == DMA2_FLAG_HT2) || ((FLAG) == DMA2_FLAG_TE2) || \ + ((FLAG) == DMA2_FLAG_GL3) || ((FLAG) == DMA2_FLAG_TC3) || \ + ((FLAG) == DMA2_FLAG_HT3) || ((FLAG) == DMA2_FLAG_TE3) || \ + ((FLAG) == DMA2_FLAG_GL4) || ((FLAG) == DMA2_FLAG_TC4) || \ + ((FLAG) == DMA2_FLAG_HT4) || ((FLAG) == DMA2_FLAG_TE4) || \ + ((FLAG) == DMA2_FLAG_GL5) || ((FLAG) == DMA2_FLAG_TC5) || \ + ((FLAG) == DMA2_FLAG_HT5) || ((FLAG) == DMA2_FLAG_TE5)) +/** + * @} + */ + +/** @defgroup DMA_Buffer_Size + * @{ + */ + +#define IS_DMA_BUFFER_SIZE(SIZE) (((SIZE) >= 0x1) && ((SIZE) < 0x10000)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup DMA_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Exported_Functions + * @{ + */ + +void DMA_DeInit(DMA_Channel_TypeDef* DMAy_Channelx); +void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, DMA_InitTypeDef* DMA_InitStruct); +void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct); +void DMA_Cmd(DMA_Channel_TypeDef* DMAy_Channelx, FunctionalState NewState); +void DMA_ITConfig(DMA_Channel_TypeDef* DMAy_Channelx, uint32_t DMA_IT, FunctionalState NewState); +void DMA_SetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx, uint16_t DataNumber); +uint16_t DMA_GetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx); +FlagStatus DMA_GetFlagStatus(uint32_t DMAy_FLAG); +void DMA_ClearFlag(uint32_t DMAy_FLAG); +ITStatus DMA_GetITStatus(uint32_t DMAy_IT); +void DMA_ClearITPendingBit(uint32_t DMAy_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_DMA_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_exti.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_exti.h new file mode 100644 index 0000000..bb9d7f6 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_exti.h @@ -0,0 +1,184 @@ +/** + ****************************************************************************** + * @file stm32f10x_exti.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the EXTI firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_EXTI_H +#define __STM32F10x_EXTI_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup EXTI + * @{ + */ + +/** @defgroup EXTI_Exported_Types + * @{ + */ + +/** + * @brief EXTI mode enumeration + */ + +typedef enum +{ + EXTI_Mode_Interrupt = 0x00, + EXTI_Mode_Event = 0x04 +}EXTIMode_TypeDef; + +#define IS_EXTI_MODE(MODE) (((MODE) == EXTI_Mode_Interrupt) || ((MODE) == EXTI_Mode_Event)) + +/** + * @brief EXTI Trigger enumeration + */ + +typedef enum +{ + EXTI_Trigger_Rising = 0x08, + EXTI_Trigger_Falling = 0x0C, + EXTI_Trigger_Rising_Falling = 0x10 +}EXTITrigger_TypeDef; + +#define IS_EXTI_TRIGGER(TRIGGER) (((TRIGGER) == EXTI_Trigger_Rising) || \ + ((TRIGGER) == EXTI_Trigger_Falling) || \ + ((TRIGGER) == EXTI_Trigger_Rising_Falling)) +/** + * @brief EXTI Init Structure definition + */ + +typedef struct +{ + uint32_t EXTI_Line; /*!< Specifies the EXTI lines to be enabled or disabled. + This parameter can be any combination of @ref EXTI_Lines */ + + EXTIMode_TypeDef EXTI_Mode; /*!< Specifies the mode for the EXTI lines. + This parameter can be a value of @ref EXTIMode_TypeDef */ + + EXTITrigger_TypeDef EXTI_Trigger; /*!< Specifies the trigger signal active edge for the EXTI lines. + This parameter can be a value of @ref EXTIMode_TypeDef */ + + FunctionalState EXTI_LineCmd; /*!< Specifies the new state of the selected EXTI lines. + This parameter can be set either to ENABLE or DISABLE */ +}EXTI_InitTypeDef; + +/** + * @} + */ + +/** @defgroup EXTI_Exported_Constants + * @{ + */ + +/** @defgroup EXTI_Lines + * @{ + */ + +#define EXTI_Line0 ((uint32_t)0x00001) /*!< External interrupt line 0 */ +#define EXTI_Line1 ((uint32_t)0x00002) /*!< External interrupt line 1 */ +#define EXTI_Line2 ((uint32_t)0x00004) /*!< External interrupt line 2 */ +#define EXTI_Line3 ((uint32_t)0x00008) /*!< External interrupt line 3 */ +#define EXTI_Line4 ((uint32_t)0x00010) /*!< External interrupt line 4 */ +#define EXTI_Line5 ((uint32_t)0x00020) /*!< External interrupt line 5 */ +#define EXTI_Line6 ((uint32_t)0x00040) /*!< External interrupt line 6 */ +#define EXTI_Line7 ((uint32_t)0x00080) /*!< External interrupt line 7 */ +#define EXTI_Line8 ((uint32_t)0x00100) /*!< External interrupt line 8 */ +#define EXTI_Line9 ((uint32_t)0x00200) /*!< External interrupt line 9 */ +#define EXTI_Line10 ((uint32_t)0x00400) /*!< External interrupt line 10 */ +#define EXTI_Line11 ((uint32_t)0x00800) /*!< External interrupt line 11 */ +#define EXTI_Line12 ((uint32_t)0x01000) /*!< External interrupt line 12 */ +#define EXTI_Line13 ((uint32_t)0x02000) /*!< External interrupt line 13 */ +#define EXTI_Line14 ((uint32_t)0x04000) /*!< External interrupt line 14 */ +#define EXTI_Line15 ((uint32_t)0x08000) /*!< External interrupt line 15 */ +#define EXTI_Line16 ((uint32_t)0x10000) /*!< External interrupt line 16 Connected to the PVD Output */ +#define EXTI_Line17 ((uint32_t)0x20000) /*!< External interrupt line 17 Connected to the RTC Alarm event */ +#define EXTI_Line18 ((uint32_t)0x40000) /*!< External interrupt line 18 Connected to the USB Device/USB OTG FS + Wakeup from suspend event */ +#define EXTI_Line19 ((uint32_t)0x80000) /*!< External interrupt line 19 Connected to the Ethernet Wakeup event */ + +#define IS_EXTI_LINE(LINE) ((((LINE) & (uint32_t)0xFFF00000) == 0x00) && ((LINE) != (uint16_t)0x00)) +#define IS_GET_EXTI_LINE(LINE) (((LINE) == EXTI_Line0) || ((LINE) == EXTI_Line1) || \ + ((LINE) == EXTI_Line2) || ((LINE) == EXTI_Line3) || \ + ((LINE) == EXTI_Line4) || ((LINE) == EXTI_Line5) || \ + ((LINE) == EXTI_Line6) || ((LINE) == EXTI_Line7) || \ + ((LINE) == EXTI_Line8) || ((LINE) == EXTI_Line9) || \ + ((LINE) == EXTI_Line10) || ((LINE) == EXTI_Line11) || \ + ((LINE) == EXTI_Line12) || ((LINE) == EXTI_Line13) || \ + ((LINE) == EXTI_Line14) || ((LINE) == EXTI_Line15) || \ + ((LINE) == EXTI_Line16) || ((LINE) == EXTI_Line17) || \ + ((LINE) == EXTI_Line18) || ((LINE) == EXTI_Line19)) + + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup EXTI_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Exported_Functions + * @{ + */ + +void EXTI_DeInit(void); +void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct); +void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct); +void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line); +FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line); +void EXTI_ClearFlag(uint32_t EXTI_Line); +ITStatus EXTI_GetITStatus(uint32_t EXTI_Line); +void EXTI_ClearITPendingBit(uint32_t EXTI_Line); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_EXTI_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_flash.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_flash.h new file mode 100644 index 0000000..63720de --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_flash.h @@ -0,0 +1,426 @@ +/** + ****************************************************************************** + * @file stm32f10x_flash.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the FLASH + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_FLASH_H +#define __STM32F10x_FLASH_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup FLASH + * @{ + */ + +/** @defgroup FLASH_Exported_Types + * @{ + */ + +/** + * @brief FLASH Status + */ + +typedef enum +{ + FLASH_BUSY = 1, + FLASH_ERROR_PG, + FLASH_ERROR_WRP, + FLASH_COMPLETE, + FLASH_TIMEOUT +}FLASH_Status; + +/** + * @} + */ + +/** @defgroup FLASH_Exported_Constants + * @{ + */ + +/** @defgroup Flash_Latency + * @{ + */ + +#define FLASH_Latency_0 ((uint32_t)0x00000000) /*!< FLASH Zero Latency cycle */ +#define FLASH_Latency_1 ((uint32_t)0x00000001) /*!< FLASH One Latency cycle */ +#define FLASH_Latency_2 ((uint32_t)0x00000002) /*!< FLASH Two Latency cycles */ +#define IS_FLASH_LATENCY(LATENCY) (((LATENCY) == FLASH_Latency_0) || \ + ((LATENCY) == FLASH_Latency_1) || \ + ((LATENCY) == FLASH_Latency_2)) +/** + * @} + */ + +/** @defgroup Half_Cycle_Enable_Disable + * @{ + */ + +#define FLASH_HalfCycleAccess_Enable ((uint32_t)0x00000008) /*!< FLASH Half Cycle Enable */ +#define FLASH_HalfCycleAccess_Disable ((uint32_t)0x00000000) /*!< FLASH Half Cycle Disable */ +#define IS_FLASH_HALFCYCLEACCESS_STATE(STATE) (((STATE) == FLASH_HalfCycleAccess_Enable) || \ + ((STATE) == FLASH_HalfCycleAccess_Disable)) +/** + * @} + */ + +/** @defgroup Prefetch_Buffer_Enable_Disable + * @{ + */ + +#define FLASH_PrefetchBuffer_Enable ((uint32_t)0x00000010) /*!< FLASH Prefetch Buffer Enable */ +#define FLASH_PrefetchBuffer_Disable ((uint32_t)0x00000000) /*!< FLASH Prefetch Buffer Disable */ +#define IS_FLASH_PREFETCHBUFFER_STATE(STATE) (((STATE) == FLASH_PrefetchBuffer_Enable) || \ + ((STATE) == FLASH_PrefetchBuffer_Disable)) +/** + * @} + */ + +/** @defgroup Option_Bytes_Write_Protection + * @{ + */ + +/* Values to be used with STM32 Low and Medium density devices */ +#define FLASH_WRProt_Pages0to3 ((uint32_t)0x00000001) /*!< STM32 Low and Medium density devices: Write protection of page 0 to 3 */ +#define FLASH_WRProt_Pages4to7 ((uint32_t)0x00000002) /*!< STM32 Low and Medium density devices: Write protection of page 4 to 7 */ +#define FLASH_WRProt_Pages8to11 ((uint32_t)0x00000004) /*!< STM32 Low and Medium density devices: Write protection of page 8 to 11 */ +#define FLASH_WRProt_Pages12to15 ((uint32_t)0x00000008) /*!< STM32 Low and Medium density devices: Write protection of page 12 to 15 */ +#define FLASH_WRProt_Pages16to19 ((uint32_t)0x00000010) /*!< STM32 Low and Medium density devices: Write protection of page 16 to 19 */ +#define FLASH_WRProt_Pages20to23 ((uint32_t)0x00000020) /*!< STM32 Low and Medium density devices: Write protection of page 20 to 23 */ +#define FLASH_WRProt_Pages24to27 ((uint32_t)0x00000040) /*!< STM32 Low and Medium density devices: Write protection of page 24 to 27 */ +#define FLASH_WRProt_Pages28to31 ((uint32_t)0x00000080) /*!< STM32 Low and Medium density devices: Write protection of page 28 to 31 */ + +/* Values to be used with STM32 Medium-density devices */ +#define FLASH_WRProt_Pages32to35 ((uint32_t)0x00000100) /*!< STM32 Medium-density devices: Write protection of page 32 to 35 */ +#define FLASH_WRProt_Pages36to39 ((uint32_t)0x00000200) /*!< STM32 Medium-density devices: Write protection of page 36 to 39 */ +#define FLASH_WRProt_Pages40to43 ((uint32_t)0x00000400) /*!< STM32 Medium-density devices: Write protection of page 40 to 43 */ +#define FLASH_WRProt_Pages44to47 ((uint32_t)0x00000800) /*!< STM32 Medium-density devices: Write protection of page 44 to 47 */ +#define FLASH_WRProt_Pages48to51 ((uint32_t)0x00001000) /*!< STM32 Medium-density devices: Write protection of page 48 to 51 */ +#define FLASH_WRProt_Pages52to55 ((uint32_t)0x00002000) /*!< STM32 Medium-density devices: Write protection of page 52 to 55 */ +#define FLASH_WRProt_Pages56to59 ((uint32_t)0x00004000) /*!< STM32 Medium-density devices: Write protection of page 56 to 59 */ +#define FLASH_WRProt_Pages60to63 ((uint32_t)0x00008000) /*!< STM32 Medium-density devices: Write protection of page 60 to 63 */ +#define FLASH_WRProt_Pages64to67 ((uint32_t)0x00010000) /*!< STM32 Medium-density devices: Write protection of page 64 to 67 */ +#define FLASH_WRProt_Pages68to71 ((uint32_t)0x00020000) /*!< STM32 Medium-density devices: Write protection of page 68 to 71 */ +#define FLASH_WRProt_Pages72to75 ((uint32_t)0x00040000) /*!< STM32 Medium-density devices: Write protection of page 72 to 75 */ +#define FLASH_WRProt_Pages76to79 ((uint32_t)0x00080000) /*!< STM32 Medium-density devices: Write protection of page 76 to 79 */ +#define FLASH_WRProt_Pages80to83 ((uint32_t)0x00100000) /*!< STM32 Medium-density devices: Write protection of page 80 to 83 */ +#define FLASH_WRProt_Pages84to87 ((uint32_t)0x00200000) /*!< STM32 Medium-density devices: Write protection of page 84 to 87 */ +#define FLASH_WRProt_Pages88to91 ((uint32_t)0x00400000) /*!< STM32 Medium-density devices: Write protection of page 88 to 91 */ +#define FLASH_WRProt_Pages92to95 ((uint32_t)0x00800000) /*!< STM32 Medium-density devices: Write protection of page 92 to 95 */ +#define FLASH_WRProt_Pages96to99 ((uint32_t)0x01000000) /*!< STM32 Medium-density devices: Write protection of page 96 to 99 */ +#define FLASH_WRProt_Pages100to103 ((uint32_t)0x02000000) /*!< STM32 Medium-density devices: Write protection of page 100 to 103 */ +#define FLASH_WRProt_Pages104to107 ((uint32_t)0x04000000) /*!< STM32 Medium-density devices: Write protection of page 104 to 107 */ +#define FLASH_WRProt_Pages108to111 ((uint32_t)0x08000000) /*!< STM32 Medium-density devices: Write protection of page 108 to 111 */ +#define FLASH_WRProt_Pages112to115 ((uint32_t)0x10000000) /*!< STM32 Medium-density devices: Write protection of page 112 to 115 */ +#define FLASH_WRProt_Pages116to119 ((uint32_t)0x20000000) /*!< STM32 Medium-density devices: Write protection of page 115 to 119 */ +#define FLASH_WRProt_Pages120to123 ((uint32_t)0x40000000) /*!< STM32 Medium-density devices: Write protection of page 120 to 123 */ +#define FLASH_WRProt_Pages124to127 ((uint32_t)0x80000000) /*!< STM32 Medium-density devices: Write protection of page 124 to 127 */ + +/* Values to be used with STM32 High-density and STM32F10X Connectivity line devices */ +#define FLASH_WRProt_Pages0to1 ((uint32_t)0x00000001) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 0 to 1 */ +#define FLASH_WRProt_Pages2to3 ((uint32_t)0x00000002) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 2 to 3 */ +#define FLASH_WRProt_Pages4to5 ((uint32_t)0x00000004) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 4 to 5 */ +#define FLASH_WRProt_Pages6to7 ((uint32_t)0x00000008) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 6 to 7 */ +#define FLASH_WRProt_Pages8to9 ((uint32_t)0x00000010) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 8 to 9 */ +#define FLASH_WRProt_Pages10to11 ((uint32_t)0x00000020) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 10 to 11 */ +#define FLASH_WRProt_Pages12to13 ((uint32_t)0x00000040) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 12 to 13 */ +#define FLASH_WRProt_Pages14to15 ((uint32_t)0x00000080) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 14 to 15 */ +#define FLASH_WRProt_Pages16to17 ((uint32_t)0x00000100) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 16 to 17 */ +#define FLASH_WRProt_Pages18to19 ((uint32_t)0x00000200) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 18 to 19 */ +#define FLASH_WRProt_Pages20to21 ((uint32_t)0x00000400) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 20 to 21 */ +#define FLASH_WRProt_Pages22to23 ((uint32_t)0x00000800) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 22 to 23 */ +#define FLASH_WRProt_Pages24to25 ((uint32_t)0x00001000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 24 to 25 */ +#define FLASH_WRProt_Pages26to27 ((uint32_t)0x00002000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 26 to 27 */ +#define FLASH_WRProt_Pages28to29 ((uint32_t)0x00004000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 28 to 29 */ +#define FLASH_WRProt_Pages30to31 ((uint32_t)0x00008000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 30 to 31 */ +#define FLASH_WRProt_Pages32to33 ((uint32_t)0x00010000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 32 to 33 */ +#define FLASH_WRProt_Pages34to35 ((uint32_t)0x00020000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 34 to 35 */ +#define FLASH_WRProt_Pages36to37 ((uint32_t)0x00040000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 36 to 37 */ +#define FLASH_WRProt_Pages38to39 ((uint32_t)0x00080000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 38 to 39 */ +#define FLASH_WRProt_Pages40to41 ((uint32_t)0x00100000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 40 to 41 */ +#define FLASH_WRProt_Pages42to43 ((uint32_t)0x00200000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 42 to 43 */ +#define FLASH_WRProt_Pages44to45 ((uint32_t)0x00400000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 44 to 45 */ +#define FLASH_WRProt_Pages46to47 ((uint32_t)0x00800000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 46 to 47 */ +#define FLASH_WRProt_Pages48to49 ((uint32_t)0x01000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 48 to 49 */ +#define FLASH_WRProt_Pages50to51 ((uint32_t)0x02000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 50 to 51 */ +#define FLASH_WRProt_Pages52to53 ((uint32_t)0x04000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 52 to 53 */ +#define FLASH_WRProt_Pages54to55 ((uint32_t)0x08000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 54 to 55 */ +#define FLASH_WRProt_Pages56to57 ((uint32_t)0x10000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 56 to 57 */ +#define FLASH_WRProt_Pages58to59 ((uint32_t)0x20000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 58 to 59 */ +#define FLASH_WRProt_Pages60to61 ((uint32_t)0x40000000) /*!< STM32 High-density, XL-density and Connectivity line devices: + Write protection of page 60 to 61 */ +#define FLASH_WRProt_Pages62to127 ((uint32_t)0x80000000) /*!< STM32 Connectivity line devices: Write protection of page 62 to 127 */ +#define FLASH_WRProt_Pages62to255 ((uint32_t)0x80000000) /*!< STM32 Medium-density devices: Write protection of page 62 to 255 */ +#define FLASH_WRProt_Pages62to511 ((uint32_t)0x80000000) /*!< STM32 XL-density devices: Write protection of page 62 to 511 */ + +#define FLASH_WRProt_AllPages ((uint32_t)0xFFFFFFFF) /*!< Write protection of all Pages */ + +#define IS_FLASH_WRPROT_PAGE(PAGE) (((PAGE) != 0x00000000)) + +#define IS_FLASH_ADDRESS(ADDRESS) (((ADDRESS) >= 0x08000000) && ((ADDRESS) < 0x080FFFFF)) + +#define IS_OB_DATA_ADDRESS(ADDRESS) (((ADDRESS) == 0x1FFFF804) || ((ADDRESS) == 0x1FFFF806)) + +/** + * @} + */ + +/** @defgroup Option_Bytes_IWatchdog + * @{ + */ + +#define OB_IWDG_SW ((uint16_t)0x0001) /*!< Software IWDG selected */ +#define OB_IWDG_HW ((uint16_t)0x0000) /*!< Hardware IWDG selected */ +#define IS_OB_IWDG_SOURCE(SOURCE) (((SOURCE) == OB_IWDG_SW) || ((SOURCE) == OB_IWDG_HW)) + +/** + * @} + */ + +/** @defgroup Option_Bytes_nRST_STOP + * @{ + */ + +#define OB_STOP_NoRST ((uint16_t)0x0002) /*!< No reset generated when entering in STOP */ +#define OB_STOP_RST ((uint16_t)0x0000) /*!< Reset generated when entering in STOP */ +#define IS_OB_STOP_SOURCE(SOURCE) (((SOURCE) == OB_STOP_NoRST) || ((SOURCE) == OB_STOP_RST)) + +/** + * @} + */ + +/** @defgroup Option_Bytes_nRST_STDBY + * @{ + */ + +#define OB_STDBY_NoRST ((uint16_t)0x0004) /*!< No reset generated when entering in STANDBY */ +#define OB_STDBY_RST ((uint16_t)0x0000) /*!< Reset generated when entering in STANDBY */ +#define IS_OB_STDBY_SOURCE(SOURCE) (((SOURCE) == OB_STDBY_NoRST) || ((SOURCE) == OB_STDBY_RST)) + +#ifdef STM32F10X_XL +/** + * @} + */ +/** @defgroup FLASH_Boot + * @{ + */ +#define FLASH_BOOT_Bank1 ((uint16_t)0x0000) /*!< At startup, if boot pins are set in boot from user Flash position + and this parameter is selected the device will boot from Bank1(Default) */ +#define FLASH_BOOT_Bank2 ((uint16_t)0x0001) /*!< At startup, if boot pins are set in boot from user Flash position + and this parameter is selected the device will boot from Bank 2 or Bank 1, + depending on the activation of the bank */ +#define IS_FLASH_BOOT(BOOT) (((BOOT) == FLASH_BOOT_Bank1) || ((BOOT) == FLASH_BOOT_Bank2)) +#endif +/** + * @} + */ +/** @defgroup FLASH_Interrupts + * @{ + */ +#ifdef STM32F10X_XL +#define FLASH_IT_BANK2_ERROR ((uint32_t)0x80000400) /*!< FPEC BANK2 error interrupt source */ +#define FLASH_IT_BANK2_EOP ((uint32_t)0x80001000) /*!< End of FLASH BANK2 Operation Interrupt source */ + +#define FLASH_IT_BANK1_ERROR FLASH_IT_ERROR /*!< FPEC BANK1 error interrupt source */ +#define FLASH_IT_BANK1_EOP FLASH_IT_EOP /*!< End of FLASH BANK1 Operation Interrupt source */ + +#define FLASH_IT_ERROR ((uint32_t)0x00000400) /*!< FPEC BANK1 error interrupt source */ +#define FLASH_IT_EOP ((uint32_t)0x00001000) /*!< End of FLASH BANK1 Operation Interrupt source */ +#define IS_FLASH_IT(IT) ((((IT) & (uint32_t)0x7FFFEBFF) == 0x00000000) && (((IT) != 0x00000000))) +#else +#define FLASH_IT_ERROR ((uint32_t)0x00000400) /*!< FPEC error interrupt source */ +#define FLASH_IT_EOP ((uint32_t)0x00001000) /*!< End of FLASH Operation Interrupt source */ +#define FLASH_IT_BANK1_ERROR FLASH_IT_ERROR /*!< FPEC BANK1 error interrupt source */ +#define FLASH_IT_BANK1_EOP FLASH_IT_EOP /*!< End of FLASH BANK1 Operation Interrupt source */ + +#define IS_FLASH_IT(IT) ((((IT) & (uint32_t)0xFFFFEBFF) == 0x00000000) && (((IT) != 0x00000000))) +#endif + +/** + * @} + */ + +/** @defgroup FLASH_Flags + * @{ + */ +#ifdef STM32F10X_XL +#define FLASH_FLAG_BANK2_BSY ((uint32_t)0x80000001) /*!< FLASH BANK2 Busy flag */ +#define FLASH_FLAG_BANK2_EOP ((uint32_t)0x80000020) /*!< FLASH BANK2 End of Operation flag */ +#define FLASH_FLAG_BANK2_PGERR ((uint32_t)0x80000004) /*!< FLASH BANK2 Program error flag */ +#define FLASH_FLAG_BANK2_WRPRTERR ((uint32_t)0x80000010) /*!< FLASH BANK2 Write protected error flag */ + +#define FLASH_FLAG_BANK1_BSY FLASH_FLAG_BSY /*!< FLASH BANK1 Busy flag*/ +#define FLASH_FLAG_BANK1_EOP FLASH_FLAG_EOP /*!< FLASH BANK1 End of Operation flag */ +#define FLASH_FLAG_BANK1_PGERR FLASH_FLAG_PGERR /*!< FLASH BANK1 Program error flag */ +#define FLASH_FLAG_BANK1_WRPRTERR FLASH_FLAG_WRPRTERR /*!< FLASH BANK1 Write protected error flag */ + +#define FLASH_FLAG_BSY ((uint32_t)0x00000001) /*!< FLASH Busy flag */ +#define FLASH_FLAG_EOP ((uint32_t)0x00000020) /*!< FLASH End of Operation flag */ +#define FLASH_FLAG_PGERR ((uint32_t)0x00000004) /*!< FLASH Program error flag */ +#define FLASH_FLAG_WRPRTERR ((uint32_t)0x00000010) /*!< FLASH Write protected error flag */ +#define FLASH_FLAG_OPTERR ((uint32_t)0x00000001) /*!< FLASH Option Byte error flag */ + +#define IS_FLASH_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0x7FFFFFCA) == 0x00000000) && ((FLAG) != 0x00000000)) +#define IS_FLASH_GET_FLAG(FLAG) (((FLAG) == FLASH_FLAG_BSY) || ((FLAG) == FLASH_FLAG_EOP) || \ + ((FLAG) == FLASH_FLAG_PGERR) || ((FLAG) == FLASH_FLAG_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_OPTERR)|| \ + ((FLAG) == FLASH_FLAG_BANK1_BSY) || ((FLAG) == FLASH_FLAG_BANK1_EOP) || \ + ((FLAG) == FLASH_FLAG_BANK1_PGERR) || ((FLAG) == FLASH_FLAG_BANK1_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_BANK2_BSY) || ((FLAG) == FLASH_FLAG_BANK2_EOP) || \ + ((FLAG) == FLASH_FLAG_BANK2_PGERR) || ((FLAG) == FLASH_FLAG_BANK2_WRPRTERR)) +#else +#define FLASH_FLAG_BSY ((uint32_t)0x00000001) /*!< FLASH Busy flag */ +#define FLASH_FLAG_EOP ((uint32_t)0x00000020) /*!< FLASH End of Operation flag */ +#define FLASH_FLAG_PGERR ((uint32_t)0x00000004) /*!< FLASH Program error flag */ +#define FLASH_FLAG_WRPRTERR ((uint32_t)0x00000010) /*!< FLASH Write protected error flag */ +#define FLASH_FLAG_OPTERR ((uint32_t)0x00000001) /*!< FLASH Option Byte error flag */ + +#define FLASH_FLAG_BANK1_BSY FLASH_FLAG_BSY /*!< FLASH BANK1 Busy flag*/ +#define FLASH_FLAG_BANK1_EOP FLASH_FLAG_EOP /*!< FLASH BANK1 End of Operation flag */ +#define FLASH_FLAG_BANK1_PGERR FLASH_FLAG_PGERR /*!< FLASH BANK1 Program error flag */ +#define FLASH_FLAG_BANK1_WRPRTERR FLASH_FLAG_WRPRTERR /*!< FLASH BANK1 Write protected error flag */ + +#define IS_FLASH_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFFCA) == 0x00000000) && ((FLAG) != 0x00000000)) +#define IS_FLASH_GET_FLAG(FLAG) (((FLAG) == FLASH_FLAG_BSY) || ((FLAG) == FLASH_FLAG_EOP) || \ + ((FLAG) == FLASH_FLAG_PGERR) || ((FLAG) == FLASH_FLAG_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_BANK1_BSY) || ((FLAG) == FLASH_FLAG_BANK1_EOP) || \ + ((FLAG) == FLASH_FLAG_BANK1_PGERR) || ((FLAG) == FLASH_FLAG_BANK1_WRPRTERR) || \ + ((FLAG) == FLASH_FLAG_OPTERR)) +#endif + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup FLASH_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Exported_Functions + * @{ + */ + +/*------------ Functions used for all STM32F10x devices -----*/ +void FLASH_SetLatency(uint32_t FLASH_Latency); +void FLASH_HalfCycleAccessCmd(uint32_t FLASH_HalfCycleAccess); +void FLASH_PrefetchBufferCmd(uint32_t FLASH_PrefetchBuffer); +void FLASH_Unlock(void); +void FLASH_Lock(void); +FLASH_Status FLASH_ErasePage(uint32_t Page_Address); +FLASH_Status FLASH_EraseAllPages(void); +FLASH_Status FLASH_EraseOptionBytes(void); +FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data); +FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data); +FLASH_Status FLASH_ProgramOptionByteData(uint32_t Address, uint8_t Data); +FLASH_Status FLASH_EnableWriteProtection(uint32_t FLASH_Pages); +FLASH_Status FLASH_ReadOutProtection(FunctionalState NewState); +FLASH_Status FLASH_UserOptionByteConfig(uint16_t OB_IWDG, uint16_t OB_STOP, uint16_t OB_STDBY); +uint32_t FLASH_GetUserOptionByte(void); +uint32_t FLASH_GetWriteProtectionOptionByte(void); +FlagStatus FLASH_GetReadOutProtectionStatus(void); +FlagStatus FLASH_GetPrefetchBufferStatus(void); +void FLASH_ITConfig(uint32_t FLASH_IT, FunctionalState NewState); +FlagStatus FLASH_GetFlagStatus(uint32_t FLASH_FLAG); +void FLASH_ClearFlag(uint32_t FLASH_FLAG); +FLASH_Status FLASH_GetStatus(void); +FLASH_Status FLASH_WaitForLastOperation(uint32_t Timeout); + +/*------------ New function used for all STM32F10x devices -----*/ +void FLASH_UnlockBank1(void); +void FLASH_LockBank1(void); +FLASH_Status FLASH_EraseAllBank1Pages(void); +FLASH_Status FLASH_GetBank1Status(void); +FLASH_Status FLASH_WaitForLastBank1Operation(uint32_t Timeout); + +#ifdef STM32F10X_XL +/*---- New Functions used only with STM32F10x_XL density devices -----*/ +void FLASH_UnlockBank2(void); +void FLASH_LockBank2(void); +FLASH_Status FLASH_EraseAllBank2Pages(void); +FLASH_Status FLASH_GetBank2Status(void); +FLASH_Status FLASH_WaitForLastBank2Operation(uint32_t Timeout); +FLASH_Status FLASH_BootConfig(uint16_t FLASH_BOOT); +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_FLASH_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_fsmc.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_fsmc.h new file mode 100644 index 0000000..6e1769d --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_fsmc.h @@ -0,0 +1,733 @@ +/** + ****************************************************************************** + * @file stm32f10x_fsmc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the FSMC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_FSMC_H +#define __STM32F10x_FSMC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup FSMC + * @{ + */ + +/** @defgroup FSMC_Exported_Types + * @{ + */ + +/** + * @brief Timing parameters For NOR/SRAM Banks + */ + +typedef struct +{ + uint32_t FSMC_AddressSetupTime; /*!< Defines the number of HCLK cycles to configure + the duration of the address setup time. + This parameter can be a value between 0 and 0xF. + @note: It is not used with synchronous NOR Flash memories. */ + + uint32_t FSMC_AddressHoldTime; /*!< Defines the number of HCLK cycles to configure + the duration of the address hold time. + This parameter can be a value between 0 and 0xF. + @note: It is not used with synchronous NOR Flash memories.*/ + + uint32_t FSMC_DataSetupTime; /*!< Defines the number of HCLK cycles to configure + the duration of the data setup time. + This parameter can be a value between 0 and 0xFF. + @note: It is used for SRAMs, ROMs and asynchronous multiplexed NOR Flash memories. */ + + uint32_t FSMC_BusTurnAroundDuration; /*!< Defines the number of HCLK cycles to configure + the duration of the bus turnaround. + This parameter can be a value between 0 and 0xF. + @note: It is only used for multiplexed NOR Flash memories. */ + + uint32_t FSMC_CLKDivision; /*!< Defines the period of CLK clock output signal, expressed in number of HCLK cycles. + This parameter can be a value between 1 and 0xF. + @note: This parameter is not used for asynchronous NOR Flash, SRAM or ROM accesses. */ + + uint32_t FSMC_DataLatency; /*!< Defines the number of memory clock cycles to issue + to the memory before getting the first data. + The value of this parameter depends on the memory type as shown below: + - It must be set to 0 in case of a CRAM + - It is don't care in asynchronous NOR, SRAM or ROM accesses + - It may assume a value between 0 and 0xF in NOR Flash memories + with synchronous burst mode enable */ + + uint32_t FSMC_AccessMode; /*!< Specifies the asynchronous access mode. + This parameter can be a value of @ref FSMC_Access_Mode */ +}FSMC_NORSRAMTimingInitTypeDef; + +/** + * @brief FSMC NOR/SRAM Init structure definition + */ + +typedef struct +{ + uint32_t FSMC_Bank; /*!< Specifies the NOR/SRAM memory bank that will be used. + This parameter can be a value of @ref FSMC_NORSRAM_Bank */ + + uint32_t FSMC_DataAddressMux; /*!< Specifies whether the address and data values are + multiplexed on the databus or not. + This parameter can be a value of @ref FSMC_Data_Address_Bus_Multiplexing */ + + uint32_t FSMC_MemoryType; /*!< Specifies the type of external memory attached to + the corresponding memory bank. + This parameter can be a value of @ref FSMC_Memory_Type */ + + uint32_t FSMC_MemoryDataWidth; /*!< Specifies the external memory device width. + This parameter can be a value of @ref FSMC_Data_Width */ + + uint32_t FSMC_BurstAccessMode; /*!< Enables or disables the burst access mode for Flash memory, + valid only with synchronous burst Flash memories. + This parameter can be a value of @ref FSMC_Burst_Access_Mode */ + + uint32_t FSMC_AsynchronousWait; /*!< Enables or disables wait signal during asynchronous transfers, + valid only with asynchronous Flash memories. + This parameter can be a value of @ref FSMC_AsynchronousWait */ + + uint32_t FSMC_WaitSignalPolarity; /*!< Specifies the wait signal polarity, valid only when accessing + the Flash memory in burst mode. + This parameter can be a value of @ref FSMC_Wait_Signal_Polarity */ + + uint32_t FSMC_WrapMode; /*!< Enables or disables the Wrapped burst access mode for Flash + memory, valid only when accessing Flash memories in burst mode. + This parameter can be a value of @ref FSMC_Wrap_Mode */ + + uint32_t FSMC_WaitSignalActive; /*!< Specifies if the wait signal is asserted by the memory one + clock cycle before the wait state or during the wait state, + valid only when accessing memories in burst mode. + This parameter can be a value of @ref FSMC_Wait_Timing */ + + uint32_t FSMC_WriteOperation; /*!< Enables or disables the write operation in the selected bank by the FSMC. + This parameter can be a value of @ref FSMC_Write_Operation */ + + uint32_t FSMC_WaitSignal; /*!< Enables or disables the wait-state insertion via wait + signal, valid for Flash memory access in burst mode. + This parameter can be a value of @ref FSMC_Wait_Signal */ + + uint32_t FSMC_ExtendedMode; /*!< Enables or disables the extended mode. + This parameter can be a value of @ref FSMC_Extended_Mode */ + + uint32_t FSMC_WriteBurst; /*!< Enables or disables the write burst operation. + This parameter can be a value of @ref FSMC_Write_Burst */ + + FSMC_NORSRAMTimingInitTypeDef* FSMC_ReadWriteTimingStruct; /*!< Timing Parameters for write and read access if the ExtendedMode is not used*/ + + FSMC_NORSRAMTimingInitTypeDef* FSMC_WriteTimingStruct; /*!< Timing Parameters for write access if the ExtendedMode is used*/ +}FSMC_NORSRAMInitTypeDef; + +/** + * @brief Timing parameters For FSMC NAND and PCCARD Banks + */ + +typedef struct +{ + uint32_t FSMC_SetupTime; /*!< Defines the number of HCLK cycles to setup address before + the command assertion for NAND-Flash read or write access + to common/Attribute or I/O memory space (depending on + the memory space timing to be configured). + This parameter can be a value between 0 and 0xFF.*/ + + uint32_t FSMC_WaitSetupTime; /*!< Defines the minimum number of HCLK cycles to assert the + command for NAND-Flash read or write access to + common/Attribute or I/O memory space (depending on the + memory space timing to be configured). + This parameter can be a number between 0x00 and 0xFF */ + + uint32_t FSMC_HoldSetupTime; /*!< Defines the number of HCLK clock cycles to hold address + (and data for write access) after the command deassertion + for NAND-Flash read or write access to common/Attribute + or I/O memory space (depending on the memory space timing + to be configured). + This parameter can be a number between 0x00 and 0xFF */ + + uint32_t FSMC_HiZSetupTime; /*!< Defines the number of HCLK clock cycles during which the + databus is kept in HiZ after the start of a NAND-Flash + write access to common/Attribute or I/O memory space (depending + on the memory space timing to be configured). + This parameter can be a number between 0x00 and 0xFF */ +}FSMC_NAND_PCCARDTimingInitTypeDef; + +/** + * @brief FSMC NAND Init structure definition + */ + +typedef struct +{ + uint32_t FSMC_Bank; /*!< Specifies the NAND memory bank that will be used. + This parameter can be a value of @ref FSMC_NAND_Bank */ + + uint32_t FSMC_Waitfeature; /*!< Enables or disables the Wait feature for the NAND Memory Bank. + This parameter can be any value of @ref FSMC_Wait_feature */ + + uint32_t FSMC_MemoryDataWidth; /*!< Specifies the external memory device width. + This parameter can be any value of @ref FSMC_Data_Width */ + + uint32_t FSMC_ECC; /*!< Enables or disables the ECC computation. + This parameter can be any value of @ref FSMC_ECC */ + + uint32_t FSMC_ECCPageSize; /*!< Defines the page size for the extended ECC. + This parameter can be any value of @ref FSMC_ECC_Page_Size */ + + uint32_t FSMC_TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between CLE low and RE low. + This parameter can be a value between 0 and 0xFF. */ + + uint32_t FSMC_TARSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between ALE low and RE low. + This parameter can be a number between 0x0 and 0xFF */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_CommonSpaceTimingStruct; /*!< FSMC Common Space Timing */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_AttributeSpaceTimingStruct; /*!< FSMC Attribute Space Timing */ +}FSMC_NANDInitTypeDef; + +/** + * @brief FSMC PCCARD Init structure definition + */ + +typedef struct +{ + uint32_t FSMC_Waitfeature; /*!< Enables or disables the Wait feature for the Memory Bank. + This parameter can be any value of @ref FSMC_Wait_feature */ + + uint32_t FSMC_TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between CLE low and RE low. + This parameter can be a value between 0 and 0xFF. */ + + uint32_t FSMC_TARSetupTime; /*!< Defines the number of HCLK cycles to configure the + delay between ALE low and RE low. + This parameter can be a number between 0x0 and 0xFF */ + + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_CommonSpaceTimingStruct; /*!< FSMC Common Space Timing */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_AttributeSpaceTimingStruct; /*!< FSMC Attribute Space Timing */ + + FSMC_NAND_PCCARDTimingInitTypeDef* FSMC_IOSpaceTimingStruct; /*!< FSMC IO Space Timing */ +}FSMC_PCCARDInitTypeDef; + +/** + * @} + */ + +/** @defgroup FSMC_Exported_Constants + * @{ + */ + +/** @defgroup FSMC_NORSRAM_Bank + * @{ + */ +#define FSMC_Bank1_NORSRAM1 ((uint32_t)0x00000000) +#define FSMC_Bank1_NORSRAM2 ((uint32_t)0x00000002) +#define FSMC_Bank1_NORSRAM3 ((uint32_t)0x00000004) +#define FSMC_Bank1_NORSRAM4 ((uint32_t)0x00000006) +/** + * @} + */ + +/** @defgroup FSMC_NAND_Bank + * @{ + */ +#define FSMC_Bank2_NAND ((uint32_t)0x00000010) +#define FSMC_Bank3_NAND ((uint32_t)0x00000100) +/** + * @} + */ + +/** @defgroup FSMC_PCCARD_Bank + * @{ + */ +#define FSMC_Bank4_PCCARD ((uint32_t)0x00001000) +/** + * @} + */ + +#define IS_FSMC_NORSRAM_BANK(BANK) (((BANK) == FSMC_Bank1_NORSRAM1) || \ + ((BANK) == FSMC_Bank1_NORSRAM2) || \ + ((BANK) == FSMC_Bank1_NORSRAM3) || \ + ((BANK) == FSMC_Bank1_NORSRAM4)) + +#define IS_FSMC_NAND_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \ + ((BANK) == FSMC_Bank3_NAND)) + +#define IS_FSMC_GETFLAG_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \ + ((BANK) == FSMC_Bank3_NAND) || \ + ((BANK) == FSMC_Bank4_PCCARD)) + +#define IS_FSMC_IT_BANK(BANK) (((BANK) == FSMC_Bank2_NAND) || \ + ((BANK) == FSMC_Bank3_NAND) || \ + ((BANK) == FSMC_Bank4_PCCARD)) + +/** @defgroup NOR_SRAM_Controller + * @{ + */ + +/** @defgroup FSMC_Data_Address_Bus_Multiplexing + * @{ + */ + +#define FSMC_DataAddressMux_Disable ((uint32_t)0x00000000) +#define FSMC_DataAddressMux_Enable ((uint32_t)0x00000002) +#define IS_FSMC_MUX(MUX) (((MUX) == FSMC_DataAddressMux_Disable) || \ + ((MUX) == FSMC_DataAddressMux_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Memory_Type + * @{ + */ + +#define FSMC_MemoryType_SRAM ((uint32_t)0x00000000) +#define FSMC_MemoryType_PSRAM ((uint32_t)0x00000004) +#define FSMC_MemoryType_NOR ((uint32_t)0x00000008) +#define IS_FSMC_MEMORY(MEMORY) (((MEMORY) == FSMC_MemoryType_SRAM) || \ + ((MEMORY) == FSMC_MemoryType_PSRAM)|| \ + ((MEMORY) == FSMC_MemoryType_NOR)) + +/** + * @} + */ + +/** @defgroup FSMC_Data_Width + * @{ + */ + +#define FSMC_MemoryDataWidth_8b ((uint32_t)0x00000000) +#define FSMC_MemoryDataWidth_16b ((uint32_t)0x00000010) +#define IS_FSMC_MEMORY_WIDTH(WIDTH) (((WIDTH) == FSMC_MemoryDataWidth_8b) || \ + ((WIDTH) == FSMC_MemoryDataWidth_16b)) + +/** + * @} + */ + +/** @defgroup FSMC_Burst_Access_Mode + * @{ + */ + +#define FSMC_BurstAccessMode_Disable ((uint32_t)0x00000000) +#define FSMC_BurstAccessMode_Enable ((uint32_t)0x00000100) +#define IS_FSMC_BURSTMODE(STATE) (((STATE) == FSMC_BurstAccessMode_Disable) || \ + ((STATE) == FSMC_BurstAccessMode_Enable)) +/** + * @} + */ + +/** @defgroup FSMC_AsynchronousWait + * @{ + */ +#define FSMC_AsynchronousWait_Disable ((uint32_t)0x00000000) +#define FSMC_AsynchronousWait_Enable ((uint32_t)0x00008000) +#define IS_FSMC_ASYNWAIT(STATE) (((STATE) == FSMC_AsynchronousWait_Disable) || \ + ((STATE) == FSMC_AsynchronousWait_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Signal_Polarity + * @{ + */ + +#define FSMC_WaitSignalPolarity_Low ((uint32_t)0x00000000) +#define FSMC_WaitSignalPolarity_High ((uint32_t)0x00000200) +#define IS_FSMC_WAIT_POLARITY(POLARITY) (((POLARITY) == FSMC_WaitSignalPolarity_Low) || \ + ((POLARITY) == FSMC_WaitSignalPolarity_High)) + +/** + * @} + */ + +/** @defgroup FSMC_Wrap_Mode + * @{ + */ + +#define FSMC_WrapMode_Disable ((uint32_t)0x00000000) +#define FSMC_WrapMode_Enable ((uint32_t)0x00000400) +#define IS_FSMC_WRAP_MODE(MODE) (((MODE) == FSMC_WrapMode_Disable) || \ + ((MODE) == FSMC_WrapMode_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Timing + * @{ + */ + +#define FSMC_WaitSignalActive_BeforeWaitState ((uint32_t)0x00000000) +#define FSMC_WaitSignalActive_DuringWaitState ((uint32_t)0x00000800) +#define IS_FSMC_WAIT_SIGNAL_ACTIVE(ACTIVE) (((ACTIVE) == FSMC_WaitSignalActive_BeforeWaitState) || \ + ((ACTIVE) == FSMC_WaitSignalActive_DuringWaitState)) + +/** + * @} + */ + +/** @defgroup FSMC_Write_Operation + * @{ + */ + +#define FSMC_WriteOperation_Disable ((uint32_t)0x00000000) +#define FSMC_WriteOperation_Enable ((uint32_t)0x00001000) +#define IS_FSMC_WRITE_OPERATION(OPERATION) (((OPERATION) == FSMC_WriteOperation_Disable) || \ + ((OPERATION) == FSMC_WriteOperation_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Signal + * @{ + */ + +#define FSMC_WaitSignal_Disable ((uint32_t)0x00000000) +#define FSMC_WaitSignal_Enable ((uint32_t)0x00002000) +#define IS_FSMC_WAITE_SIGNAL(SIGNAL) (((SIGNAL) == FSMC_WaitSignal_Disable) || \ + ((SIGNAL) == FSMC_WaitSignal_Enable)) +/** + * @} + */ + +/** @defgroup FSMC_Extended_Mode + * @{ + */ + +#define FSMC_ExtendedMode_Disable ((uint32_t)0x00000000) +#define FSMC_ExtendedMode_Enable ((uint32_t)0x00004000) + +#define IS_FSMC_EXTENDED_MODE(MODE) (((MODE) == FSMC_ExtendedMode_Disable) || \ + ((MODE) == FSMC_ExtendedMode_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_Write_Burst + * @{ + */ + +#define FSMC_WriteBurst_Disable ((uint32_t)0x00000000) +#define FSMC_WriteBurst_Enable ((uint32_t)0x00080000) +#define IS_FSMC_WRITE_BURST(BURST) (((BURST) == FSMC_WriteBurst_Disable) || \ + ((BURST) == FSMC_WriteBurst_Enable)) +/** + * @} + */ + +/** @defgroup FSMC_Address_Setup_Time + * @{ + */ + +#define IS_FSMC_ADDRESS_SETUP_TIME(TIME) ((TIME) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Address_Hold_Time + * @{ + */ + +#define IS_FSMC_ADDRESS_HOLD_TIME(TIME) ((TIME) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Data_Setup_Time + * @{ + */ + +#define IS_FSMC_DATASETUP_TIME(TIME) (((TIME) > 0) && ((TIME) <= 0xFF)) + +/** + * @} + */ + +/** @defgroup FSMC_Bus_Turn_around_Duration + * @{ + */ + +#define IS_FSMC_TURNAROUND_TIME(TIME) ((TIME) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_CLK_Division + * @{ + */ + +#define IS_FSMC_CLK_DIV(DIV) ((DIV) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Data_Latency + * @{ + */ + +#define IS_FSMC_DATA_LATENCY(LATENCY) ((LATENCY) <= 0xF) + +/** + * @} + */ + +/** @defgroup FSMC_Access_Mode + * @{ + */ + +#define FSMC_AccessMode_A ((uint32_t)0x00000000) +#define FSMC_AccessMode_B ((uint32_t)0x10000000) +#define FSMC_AccessMode_C ((uint32_t)0x20000000) +#define FSMC_AccessMode_D ((uint32_t)0x30000000) +#define IS_FSMC_ACCESS_MODE(MODE) (((MODE) == FSMC_AccessMode_A) || \ + ((MODE) == FSMC_AccessMode_B) || \ + ((MODE) == FSMC_AccessMode_C) || \ + ((MODE) == FSMC_AccessMode_D)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup NAND_PCCARD_Controller + * @{ + */ + +/** @defgroup FSMC_Wait_feature + * @{ + */ + +#define FSMC_Waitfeature_Disable ((uint32_t)0x00000000) +#define FSMC_Waitfeature_Enable ((uint32_t)0x00000002) +#define IS_FSMC_WAIT_FEATURE(FEATURE) (((FEATURE) == FSMC_Waitfeature_Disable) || \ + ((FEATURE) == FSMC_Waitfeature_Enable)) + +/** + * @} + */ + + +/** @defgroup FSMC_ECC + * @{ + */ + +#define FSMC_ECC_Disable ((uint32_t)0x00000000) +#define FSMC_ECC_Enable ((uint32_t)0x00000040) +#define IS_FSMC_ECC_STATE(STATE) (((STATE) == FSMC_ECC_Disable) || \ + ((STATE) == FSMC_ECC_Enable)) + +/** + * @} + */ + +/** @defgroup FSMC_ECC_Page_Size + * @{ + */ + +#define FSMC_ECCPageSize_256Bytes ((uint32_t)0x00000000) +#define FSMC_ECCPageSize_512Bytes ((uint32_t)0x00020000) +#define FSMC_ECCPageSize_1024Bytes ((uint32_t)0x00040000) +#define FSMC_ECCPageSize_2048Bytes ((uint32_t)0x00060000) +#define FSMC_ECCPageSize_4096Bytes ((uint32_t)0x00080000) +#define FSMC_ECCPageSize_8192Bytes ((uint32_t)0x000A0000) +#define IS_FSMC_ECCPAGE_SIZE(SIZE) (((SIZE) == FSMC_ECCPageSize_256Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_512Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_1024Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_2048Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_4096Bytes) || \ + ((SIZE) == FSMC_ECCPageSize_8192Bytes)) + +/** + * @} + */ + +/** @defgroup FSMC_TCLR_Setup_Time + * @{ + */ + +#define IS_FSMC_TCLR_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_TAR_Setup_Time + * @{ + */ + +#define IS_FSMC_TAR_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Setup_Time + * @{ + */ + +#define IS_FSMC_SETUP_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Wait_Setup_Time + * @{ + */ + +#define IS_FSMC_WAIT_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Hold_Setup_Time + * @{ + */ + +#define IS_FSMC_HOLD_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_HiZ_Setup_Time + * @{ + */ + +#define IS_FSMC_HIZ_TIME(TIME) ((TIME) <= 0xFF) + +/** + * @} + */ + +/** @defgroup FSMC_Interrupt_sources + * @{ + */ + +#define FSMC_IT_RisingEdge ((uint32_t)0x00000008) +#define FSMC_IT_Level ((uint32_t)0x00000010) +#define FSMC_IT_FallingEdge ((uint32_t)0x00000020) +#define IS_FSMC_IT(IT) ((((IT) & (uint32_t)0xFFFFFFC7) == 0x00000000) && ((IT) != 0x00000000)) +#define IS_FSMC_GET_IT(IT) (((IT) == FSMC_IT_RisingEdge) || \ + ((IT) == FSMC_IT_Level) || \ + ((IT) == FSMC_IT_FallingEdge)) +/** + * @} + */ + +/** @defgroup FSMC_Flags + * @{ + */ + +#define FSMC_FLAG_RisingEdge ((uint32_t)0x00000001) +#define FSMC_FLAG_Level ((uint32_t)0x00000002) +#define FSMC_FLAG_FallingEdge ((uint32_t)0x00000004) +#define FSMC_FLAG_FEMPT ((uint32_t)0x00000040) +#define IS_FSMC_GET_FLAG(FLAG) (((FLAG) == FSMC_FLAG_RisingEdge) || \ + ((FLAG) == FSMC_FLAG_Level) || \ + ((FLAG) == FSMC_FLAG_FallingEdge) || \ + ((FLAG) == FSMC_FLAG_FEMPT)) + +#define IS_FSMC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFFF8) == 0x00000000) && ((FLAG) != 0x00000000)) + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup FSMC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Exported_Functions + * @{ + */ + +void FSMC_NORSRAMDeInit(uint32_t FSMC_Bank); +void FSMC_NANDDeInit(uint32_t FSMC_Bank); +void FSMC_PCCARDDeInit(void); +void FSMC_NORSRAMInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct); +void FSMC_NANDInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct); +void FSMC_PCCARDInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct); +void FSMC_NORSRAMStructInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct); +void FSMC_NANDStructInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct); +void FSMC_PCCARDStructInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct); +void FSMC_NORSRAMCmd(uint32_t FSMC_Bank, FunctionalState NewState); +void FSMC_NANDCmd(uint32_t FSMC_Bank, FunctionalState NewState); +void FSMC_PCCARDCmd(FunctionalState NewState); +void FSMC_NANDECCCmd(uint32_t FSMC_Bank, FunctionalState NewState); +uint32_t FSMC_GetECC(uint32_t FSMC_Bank); +void FSMC_ITConfig(uint32_t FSMC_Bank, uint32_t FSMC_IT, FunctionalState NewState); +FlagStatus FSMC_GetFlagStatus(uint32_t FSMC_Bank, uint32_t FSMC_FLAG); +void FSMC_ClearFlag(uint32_t FSMC_Bank, uint32_t FSMC_FLAG); +ITStatus FSMC_GetITStatus(uint32_t FSMC_Bank, uint32_t FSMC_IT); +void FSMC_ClearITPendingBit(uint32_t FSMC_Bank, uint32_t FSMC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_FSMC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_gpio.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_gpio.h new file mode 100644 index 0000000..dd28da8 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_gpio.h @@ -0,0 +1,385 @@ +/** + ****************************************************************************** + * @file stm32f10x_gpio.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the GPIO + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_GPIO_H +#define __STM32F10x_GPIO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup GPIO + * @{ + */ + +/** @defgroup GPIO_Exported_Types + * @{ + */ + +#define IS_GPIO_ALL_PERIPH(PERIPH) (((PERIPH) == GPIOA) || \ + ((PERIPH) == GPIOB) || \ + ((PERIPH) == GPIOC) || \ + ((PERIPH) == GPIOD) || \ + ((PERIPH) == GPIOE) || \ + ((PERIPH) == GPIOF) || \ + ((PERIPH) == GPIOG)) + +/** + * @brief Output Maximum frequency selection + */ + +typedef enum +{ + GPIO_Speed_10MHz = 1, + GPIO_Speed_2MHz, + GPIO_Speed_50MHz +}GPIOSpeed_TypeDef; +#define IS_GPIO_SPEED(SPEED) (((SPEED) == GPIO_Speed_10MHz) || ((SPEED) == GPIO_Speed_2MHz) || \ + ((SPEED) == GPIO_Speed_50MHz)) + +/** + * @brief Configuration Mode enumeration + */ + +typedef enum +{ GPIO_Mode_AIN = 0x0, + GPIO_Mode_IN_FLOATING = 0x04, + GPIO_Mode_IPD = 0x28, + GPIO_Mode_IPU = 0x48, + GPIO_Mode_Out_OD = 0x14, + GPIO_Mode_Out_PP = 0x10, + GPIO_Mode_AF_OD = 0x1C, + GPIO_Mode_AF_PP = 0x18 +}GPIOMode_TypeDef; + +#define IS_GPIO_MODE(MODE) (((MODE) == GPIO_Mode_AIN) || ((MODE) == GPIO_Mode_IN_FLOATING) || \ + ((MODE) == GPIO_Mode_IPD) || ((MODE) == GPIO_Mode_IPU) || \ + ((MODE) == GPIO_Mode_Out_OD) || ((MODE) == GPIO_Mode_Out_PP) || \ + ((MODE) == GPIO_Mode_AF_OD) || ((MODE) == GPIO_Mode_AF_PP)) + +/** + * @brief GPIO Init structure definition + */ + +typedef struct +{ + uint16_t GPIO_Pin; /*!< Specifies the GPIO pins to be configured. + This parameter can be any value of @ref GPIO_pins_define */ + + GPIOSpeed_TypeDef GPIO_Speed; /*!< Specifies the speed for the selected pins. + This parameter can be a value of @ref GPIOSpeed_TypeDef */ + + GPIOMode_TypeDef GPIO_Mode; /*!< Specifies the operating mode for the selected pins. + This parameter can be a value of @ref GPIOMode_TypeDef */ +}GPIO_InitTypeDef; + + +/** + * @brief Bit_SET and Bit_RESET enumeration + */ + +typedef enum +{ Bit_RESET = 0, + Bit_SET +}BitAction; + +#define IS_GPIO_BIT_ACTION(ACTION) (((ACTION) == Bit_RESET) || ((ACTION) == Bit_SET)) + +/** + * @} + */ + +/** @defgroup GPIO_Exported_Constants + * @{ + */ + +/** @defgroup GPIO_pins_define + * @{ + */ + +#define GPIO_Pin_0 ((uint16_t)0x0001) /*!< Pin 0 selected */ +#define GPIO_Pin_1 ((uint16_t)0x0002) /*!< Pin 1 selected */ +#define GPIO_Pin_2 ((uint16_t)0x0004) /*!< Pin 2 selected */ +#define GPIO_Pin_3 ((uint16_t)0x0008) /*!< Pin 3 selected */ +#define GPIO_Pin_4 ((uint16_t)0x0010) /*!< Pin 4 selected */ +#define GPIO_Pin_5 ((uint16_t)0x0020) /*!< Pin 5 selected */ +#define GPIO_Pin_6 ((uint16_t)0x0040) /*!< Pin 6 selected */ +#define GPIO_Pin_7 ((uint16_t)0x0080) /*!< Pin 7 selected */ +#define GPIO_Pin_8 ((uint16_t)0x0100) /*!< Pin 8 selected */ +#define GPIO_Pin_9 ((uint16_t)0x0200) /*!< Pin 9 selected */ +#define GPIO_Pin_10 ((uint16_t)0x0400) /*!< Pin 10 selected */ +#define GPIO_Pin_11 ((uint16_t)0x0800) /*!< Pin 11 selected */ +#define GPIO_Pin_12 ((uint16_t)0x1000) /*!< Pin 12 selected */ +#define GPIO_Pin_13 ((uint16_t)0x2000) /*!< Pin 13 selected */ +#define GPIO_Pin_14 ((uint16_t)0x4000) /*!< Pin 14 selected */ +#define GPIO_Pin_15 ((uint16_t)0x8000) /*!< Pin 15 selected */ +#define GPIO_Pin_All ((uint16_t)0xFFFF) /*!< All pins selected */ + +#define IS_GPIO_PIN(PIN) ((((PIN) & (uint16_t)0x00) == 0x00) && ((PIN) != (uint16_t)0x00)) + +#define IS_GET_GPIO_PIN(PIN) (((PIN) == GPIO_Pin_0) || \ + ((PIN) == GPIO_Pin_1) || \ + ((PIN) == GPIO_Pin_2) || \ + ((PIN) == GPIO_Pin_3) || \ + ((PIN) == GPIO_Pin_4) || \ + ((PIN) == GPIO_Pin_5) || \ + ((PIN) == GPIO_Pin_6) || \ + ((PIN) == GPIO_Pin_7) || \ + ((PIN) == GPIO_Pin_8) || \ + ((PIN) == GPIO_Pin_9) || \ + ((PIN) == GPIO_Pin_10) || \ + ((PIN) == GPIO_Pin_11) || \ + ((PIN) == GPIO_Pin_12) || \ + ((PIN) == GPIO_Pin_13) || \ + ((PIN) == GPIO_Pin_14) || \ + ((PIN) == GPIO_Pin_15)) + +/** + * @} + */ + +/** @defgroup GPIO_Remap_define + * @{ + */ + +#define GPIO_Remap_SPI1 ((uint32_t)0x00000001) /*!< SPI1 Alternate Function mapping */ +#define GPIO_Remap_I2C1 ((uint32_t)0x00000002) /*!< I2C1 Alternate Function mapping */ +#define GPIO_Remap_USART1 ((uint32_t)0x00000004) /*!< USART1 Alternate Function mapping */ +#define GPIO_Remap_USART2 ((uint32_t)0x00000008) /*!< USART2 Alternate Function mapping */ +#define GPIO_PartialRemap_USART3 ((uint32_t)0x00140010) /*!< USART3 Partial Alternate Function mapping */ +#define GPIO_FullRemap_USART3 ((uint32_t)0x00140030) /*!< USART3 Full Alternate Function mapping */ +#define GPIO_PartialRemap_TIM1 ((uint32_t)0x00160040) /*!< TIM1 Partial Alternate Function mapping */ +#define GPIO_FullRemap_TIM1 ((uint32_t)0x001600C0) /*!< TIM1 Full Alternate Function mapping */ +#define GPIO_PartialRemap1_TIM2 ((uint32_t)0x00180100) /*!< TIM2 Partial1 Alternate Function mapping */ +#define GPIO_PartialRemap2_TIM2 ((uint32_t)0x00180200) /*!< TIM2 Partial2 Alternate Function mapping */ +#define GPIO_FullRemap_TIM2 ((uint32_t)0x00180300) /*!< TIM2 Full Alternate Function mapping */ +#define GPIO_PartialRemap_TIM3 ((uint32_t)0x001A0800) /*!< TIM3 Partial Alternate Function mapping */ +#define GPIO_FullRemap_TIM3 ((uint32_t)0x001A0C00) /*!< TIM3 Full Alternate Function mapping */ +#define GPIO_Remap_TIM4 ((uint32_t)0x00001000) /*!< TIM4 Alternate Function mapping */ +#define GPIO_Remap1_CAN1 ((uint32_t)0x001D4000) /*!< CAN1 Alternate Function mapping */ +#define GPIO_Remap2_CAN1 ((uint32_t)0x001D6000) /*!< CAN1 Alternate Function mapping */ +#define GPIO_Remap_PD01 ((uint32_t)0x00008000) /*!< PD01 Alternate Function mapping */ +#define GPIO_Remap_TIM5CH4_LSI ((uint32_t)0x00200001) /*!< LSI connected to TIM5 Channel4 input capture for calibration */ +#define GPIO_Remap_ADC1_ETRGINJ ((uint32_t)0x00200002) /*!< ADC1 External Trigger Injected Conversion remapping */ +#define GPIO_Remap_ADC1_ETRGREG ((uint32_t)0x00200004) /*!< ADC1 External Trigger Regular Conversion remapping */ +#define GPIO_Remap_ADC2_ETRGINJ ((uint32_t)0x00200008) /*!< ADC2 External Trigger Injected Conversion remapping */ +#define GPIO_Remap_ADC2_ETRGREG ((uint32_t)0x00200010) /*!< ADC2 External Trigger Regular Conversion remapping */ +#define GPIO_Remap_ETH ((uint32_t)0x00200020) /*!< Ethernet remapping (only for Connectivity line devices) */ +#define GPIO_Remap_CAN2 ((uint32_t)0x00200040) /*!< CAN2 remapping (only for Connectivity line devices) */ +#define GPIO_Remap_SWJ_NoJTRST ((uint32_t)0x00300100) /*!< Full SWJ Enabled (JTAG-DP + SW-DP) but without JTRST */ +#define GPIO_Remap_SWJ_JTAGDisable ((uint32_t)0x00300200) /*!< JTAG-DP Disabled and SW-DP Enabled */ +#define GPIO_Remap_SWJ_Disable ((uint32_t)0x00300400) /*!< Full SWJ Disabled (JTAG-DP + SW-DP) */ +#define GPIO_Remap_SPI3 ((uint32_t)0x00201100) /*!< SPI3/I2S3 Alternate Function mapping (only for Connectivity line devices) */ +#define GPIO_Remap_TIM2ITR1_PTP_SOF ((uint32_t)0x00202000) /*!< Ethernet PTP output or USB OTG SOF (Start of Frame) connected + to TIM2 Internal Trigger 1 for calibration + (only for Connectivity line devices) */ +#define GPIO_Remap_PTP_PPS ((uint32_t)0x00204000) /*!< Ethernet MAC PPS_PTS output on PB05 (only for Connectivity line devices) */ + +#define GPIO_Remap_TIM15 ((uint32_t)0x80000001) /*!< TIM15 Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_TIM16 ((uint32_t)0x80000002) /*!< TIM16 Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_TIM17 ((uint32_t)0x80000004) /*!< TIM17 Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_CEC ((uint32_t)0x80000008) /*!< CEC Alternate Function mapping (only for Value line devices) */ +#define GPIO_Remap_TIM1_DMA ((uint32_t)0x80000010) /*!< TIM1 DMA requests mapping (only for Value line devices) */ + +#define GPIO_Remap_TIM9 ((uint32_t)0x80000020) /*!< TIM9 Alternate Function mapping (only for XL-density devices) */ +#define GPIO_Remap_TIM10 ((uint32_t)0x80000040) /*!< TIM10 Alternate Function mapping (only for XL-density devices) */ +#define GPIO_Remap_TIM11 ((uint32_t)0x80000080) /*!< TIM11 Alternate Function mapping (only for XL-density devices) */ +#define GPIO_Remap_TIM13 ((uint32_t)0x80000100) /*!< TIM13 Alternate Function mapping (only for High density Value line and XL-density devices) */ +#define GPIO_Remap_TIM14 ((uint32_t)0x80000200) /*!< TIM14 Alternate Function mapping (only for High density Value line and XL-density devices) */ +#define GPIO_Remap_FSMC_NADV ((uint32_t)0x80000400) /*!< FSMC_NADV Alternate Function mapping (only for High density Value line and XL-density devices) */ + +#define GPIO_Remap_TIM67_DAC_DMA ((uint32_t)0x80000800) /*!< TIM6/TIM7 and DAC DMA requests remapping (only for High density Value line devices) */ +#define GPIO_Remap_TIM12 ((uint32_t)0x80001000) /*!< TIM12 Alternate Function mapping (only for High density Value line devices) */ +#define GPIO_Remap_MISC ((uint32_t)0x80002000) /*!< Miscellaneous Remap (DMA2 Channel5 Position and DAC Trigger remapping, + only for High density Value line devices) */ + +#define IS_GPIO_REMAP(REMAP) (((REMAP) == GPIO_Remap_SPI1) || ((REMAP) == GPIO_Remap_I2C1) || \ + ((REMAP) == GPIO_Remap_USART1) || ((REMAP) == GPIO_Remap_USART2) || \ + ((REMAP) == GPIO_PartialRemap_USART3) || ((REMAP) == GPIO_FullRemap_USART3) || \ + ((REMAP) == GPIO_PartialRemap_TIM1) || ((REMAP) == GPIO_FullRemap_TIM1) || \ + ((REMAP) == GPIO_PartialRemap1_TIM2) || ((REMAP) == GPIO_PartialRemap2_TIM2) || \ + ((REMAP) == GPIO_FullRemap_TIM2) || ((REMAP) == GPIO_PartialRemap_TIM3) || \ + ((REMAP) == GPIO_FullRemap_TIM3) || ((REMAP) == GPIO_Remap_TIM4) || \ + ((REMAP) == GPIO_Remap1_CAN1) || ((REMAP) == GPIO_Remap2_CAN1) || \ + ((REMAP) == GPIO_Remap_PD01) || ((REMAP) == GPIO_Remap_TIM5CH4_LSI) || \ + ((REMAP) == GPIO_Remap_ADC1_ETRGINJ) ||((REMAP) == GPIO_Remap_ADC1_ETRGREG) || \ + ((REMAP) == GPIO_Remap_ADC2_ETRGINJ) ||((REMAP) == GPIO_Remap_ADC2_ETRGREG) || \ + ((REMAP) == GPIO_Remap_ETH) ||((REMAP) == GPIO_Remap_CAN2) || \ + ((REMAP) == GPIO_Remap_SWJ_NoJTRST) || ((REMAP) == GPIO_Remap_SWJ_JTAGDisable) || \ + ((REMAP) == GPIO_Remap_SWJ_Disable)|| ((REMAP) == GPIO_Remap_SPI3) || \ + ((REMAP) == GPIO_Remap_TIM2ITR1_PTP_SOF) || ((REMAP) == GPIO_Remap_PTP_PPS) || \ + ((REMAP) == GPIO_Remap_TIM15) || ((REMAP) == GPIO_Remap_TIM16) || \ + ((REMAP) == GPIO_Remap_TIM17) || ((REMAP) == GPIO_Remap_CEC) || \ + ((REMAP) == GPIO_Remap_TIM1_DMA) || ((REMAP) == GPIO_Remap_TIM9) || \ + ((REMAP) == GPIO_Remap_TIM10) || ((REMAP) == GPIO_Remap_TIM11) || \ + ((REMAP) == GPIO_Remap_TIM13) || ((REMAP) == GPIO_Remap_TIM14) || \ + ((REMAP) == GPIO_Remap_FSMC_NADV) || ((REMAP) == GPIO_Remap_TIM67_DAC_DMA) || \ + ((REMAP) == GPIO_Remap_TIM12) || ((REMAP) == GPIO_Remap_MISC)) + +/** + * @} + */ + +/** @defgroup GPIO_Port_Sources + * @{ + */ + +#define GPIO_PortSourceGPIOA ((uint8_t)0x00) +#define GPIO_PortSourceGPIOB ((uint8_t)0x01) +#define GPIO_PortSourceGPIOC ((uint8_t)0x02) +#define GPIO_PortSourceGPIOD ((uint8_t)0x03) +#define GPIO_PortSourceGPIOE ((uint8_t)0x04) +#define GPIO_PortSourceGPIOF ((uint8_t)0x05) +#define GPIO_PortSourceGPIOG ((uint8_t)0x06) +#define IS_GPIO_EVENTOUT_PORT_SOURCE(PORTSOURCE) (((PORTSOURCE) == GPIO_PortSourceGPIOA) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOB) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOC) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOD) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOE)) + +#define IS_GPIO_EXTI_PORT_SOURCE(PORTSOURCE) (((PORTSOURCE) == GPIO_PortSourceGPIOA) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOB) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOC) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOD) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOE) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOF) || \ + ((PORTSOURCE) == GPIO_PortSourceGPIOG)) + +/** + * @} + */ + +/** @defgroup GPIO_Pin_sources + * @{ + */ + +#define GPIO_PinSource0 ((uint8_t)0x00) +#define GPIO_PinSource1 ((uint8_t)0x01) +#define GPIO_PinSource2 ((uint8_t)0x02) +#define GPIO_PinSource3 ((uint8_t)0x03) +#define GPIO_PinSource4 ((uint8_t)0x04) +#define GPIO_PinSource5 ((uint8_t)0x05) +#define GPIO_PinSource6 ((uint8_t)0x06) +#define GPIO_PinSource7 ((uint8_t)0x07) +#define GPIO_PinSource8 ((uint8_t)0x08) +#define GPIO_PinSource9 ((uint8_t)0x09) +#define GPIO_PinSource10 ((uint8_t)0x0A) +#define GPIO_PinSource11 ((uint8_t)0x0B) +#define GPIO_PinSource12 ((uint8_t)0x0C) +#define GPIO_PinSource13 ((uint8_t)0x0D) +#define GPIO_PinSource14 ((uint8_t)0x0E) +#define GPIO_PinSource15 ((uint8_t)0x0F) + +#define IS_GPIO_PIN_SOURCE(PINSOURCE) (((PINSOURCE) == GPIO_PinSource0) || \ + ((PINSOURCE) == GPIO_PinSource1) || \ + ((PINSOURCE) == GPIO_PinSource2) || \ + ((PINSOURCE) == GPIO_PinSource3) || \ + ((PINSOURCE) == GPIO_PinSource4) || \ + ((PINSOURCE) == GPIO_PinSource5) || \ + ((PINSOURCE) == GPIO_PinSource6) || \ + ((PINSOURCE) == GPIO_PinSource7) || \ + ((PINSOURCE) == GPIO_PinSource8) || \ + ((PINSOURCE) == GPIO_PinSource9) || \ + ((PINSOURCE) == GPIO_PinSource10) || \ + ((PINSOURCE) == GPIO_PinSource11) || \ + ((PINSOURCE) == GPIO_PinSource12) || \ + ((PINSOURCE) == GPIO_PinSource13) || \ + ((PINSOURCE) == GPIO_PinSource14) || \ + ((PINSOURCE) == GPIO_PinSource15)) + +/** + * @} + */ + +/** @defgroup Ethernet_Media_Interface + * @{ + */ +#define GPIO_ETH_MediaInterface_MII ((u32)0x00000000) +#define GPIO_ETH_MediaInterface_RMII ((u32)0x00000001) + +#define IS_GPIO_ETH_MEDIA_INTERFACE(INTERFACE) (((INTERFACE) == GPIO_ETH_MediaInterface_MII) || \ + ((INTERFACE) == GPIO_ETH_MediaInterface_RMII)) + +/** + * @} + */ +/** + * @} + */ + +/** @defgroup GPIO_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Exported_Functions + * @{ + */ + +void GPIO_DeInit(GPIO_TypeDef* GPIOx); +void GPIO_AFIODeInit(void); +void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct); +void GPIO_StructInit(GPIO_InitTypeDef* GPIO_InitStruct); +uint8_t GPIO_ReadInputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +uint16_t GPIO_ReadInputData(GPIO_TypeDef* GPIOx); +uint8_t GPIO_ReadOutputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +uint16_t GPIO_ReadOutputData(GPIO_TypeDef* GPIOx); +void GPIO_SetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +void GPIO_ResetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +void GPIO_WriteBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, BitAction BitVal); +void GPIO_Write(GPIO_TypeDef* GPIOx, uint16_t PortVal); +void GPIO_PinLockConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); +void GPIO_EventOutputConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource); +void GPIO_EventOutputCmd(FunctionalState NewState); +void GPIO_PinRemapConfig(uint32_t GPIO_Remap, FunctionalState NewState); +void GPIO_EXTILineConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource); +void GPIO_ETH_MediaInterfaceConfig(uint32_t GPIO_ETH_MediaInterface); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_GPIO_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_i2c.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_i2c.h new file mode 100644 index 0000000..60e4b14 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_i2c.h @@ -0,0 +1,684 @@ +/** + ****************************************************************************** + * @file stm32f10x_i2c.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the I2C firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_I2C_H +#define __STM32F10x_I2C_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup I2C + * @{ + */ + +/** @defgroup I2C_Exported_Types + * @{ + */ + +/** + * @brief I2C Init structure definition + */ + +typedef struct +{ + uint32_t I2C_ClockSpeed; /*!< Specifies the clock frequency. + This parameter must be set to a value lower than 400kHz */ + + uint16_t I2C_Mode; /*!< Specifies the I2C mode. + This parameter can be a value of @ref I2C_mode */ + + uint16_t I2C_DutyCycle; /*!< Specifies the I2C fast mode duty cycle. + This parameter can be a value of @ref I2C_duty_cycle_in_fast_mode */ + + uint16_t I2C_OwnAddress1; /*!< Specifies the first device own address. + This parameter can be a 7-bit or 10-bit address. */ + + uint16_t I2C_Ack; /*!< Enables or disables the acknowledgement. + This parameter can be a value of @ref I2C_acknowledgement */ + + uint16_t I2C_AcknowledgedAddress; /*!< Specifies if 7-bit or 10-bit address is acknowledged. + This parameter can be a value of @ref I2C_acknowledged_address */ +}I2C_InitTypeDef; + +/** + * @} + */ + + +/** @defgroup I2C_Exported_Constants + * @{ + */ + +#define IS_I2C_ALL_PERIPH(PERIPH) (((PERIPH) == I2C1) || \ + ((PERIPH) == I2C2)) +/** @defgroup I2C_mode + * @{ + */ + +#define I2C_Mode_I2C ((uint16_t)0x0000) +#define I2C_Mode_SMBusDevice ((uint16_t)0x0002) +#define I2C_Mode_SMBusHost ((uint16_t)0x000A) +#define IS_I2C_MODE(MODE) (((MODE) == I2C_Mode_I2C) || \ + ((MODE) == I2C_Mode_SMBusDevice) || \ + ((MODE) == I2C_Mode_SMBusHost)) +/** + * @} + */ + +/** @defgroup I2C_duty_cycle_in_fast_mode + * @{ + */ + +#define I2C_DutyCycle_16_9 ((uint16_t)0x4000) /*!< I2C fast mode Tlow/Thigh = 16/9 */ +#define I2C_DutyCycle_2 ((uint16_t)0xBFFF) /*!< I2C fast mode Tlow/Thigh = 2 */ +#define IS_I2C_DUTY_CYCLE(CYCLE) (((CYCLE) == I2C_DutyCycle_16_9) || \ + ((CYCLE) == I2C_DutyCycle_2)) +/** + * @} + */ + +/** @defgroup I2C_acknowledgement + * @{ + */ + +#define I2C_Ack_Enable ((uint16_t)0x0400) +#define I2C_Ack_Disable ((uint16_t)0x0000) +#define IS_I2C_ACK_STATE(STATE) (((STATE) == I2C_Ack_Enable) || \ + ((STATE) == I2C_Ack_Disable)) +/** + * @} + */ + +/** @defgroup I2C_transfer_direction + * @{ + */ + +#define I2C_Direction_Transmitter ((uint8_t)0x00) +#define I2C_Direction_Receiver ((uint8_t)0x01) +#define IS_I2C_DIRECTION(DIRECTION) (((DIRECTION) == I2C_Direction_Transmitter) || \ + ((DIRECTION) == I2C_Direction_Receiver)) +/** + * @} + */ + +/** @defgroup I2C_acknowledged_address + * @{ + */ + +#define I2C_AcknowledgedAddress_7bit ((uint16_t)0x4000) +#define I2C_AcknowledgedAddress_10bit ((uint16_t)0xC000) +#define IS_I2C_ACKNOWLEDGE_ADDRESS(ADDRESS) (((ADDRESS) == I2C_AcknowledgedAddress_7bit) || \ + ((ADDRESS) == I2C_AcknowledgedAddress_10bit)) +/** + * @} + */ + +/** @defgroup I2C_registers + * @{ + */ + +#define I2C_Register_CR1 ((uint8_t)0x00) +#define I2C_Register_CR2 ((uint8_t)0x04) +#define I2C_Register_OAR1 ((uint8_t)0x08) +#define I2C_Register_OAR2 ((uint8_t)0x0C) +#define I2C_Register_DR ((uint8_t)0x10) +#define I2C_Register_SR1 ((uint8_t)0x14) +#define I2C_Register_SR2 ((uint8_t)0x18) +#define I2C_Register_CCR ((uint8_t)0x1C) +#define I2C_Register_TRISE ((uint8_t)0x20) +#define IS_I2C_REGISTER(REGISTER) (((REGISTER) == I2C_Register_CR1) || \ + ((REGISTER) == I2C_Register_CR2) || \ + ((REGISTER) == I2C_Register_OAR1) || \ + ((REGISTER) == I2C_Register_OAR2) || \ + ((REGISTER) == I2C_Register_DR) || \ + ((REGISTER) == I2C_Register_SR1) || \ + ((REGISTER) == I2C_Register_SR2) || \ + ((REGISTER) == I2C_Register_CCR) || \ + ((REGISTER) == I2C_Register_TRISE)) +/** + * @} + */ + +/** @defgroup I2C_SMBus_alert_pin_level + * @{ + */ + +#define I2C_SMBusAlert_Low ((uint16_t)0x2000) +#define I2C_SMBusAlert_High ((uint16_t)0xDFFF) +#define IS_I2C_SMBUS_ALERT(ALERT) (((ALERT) == I2C_SMBusAlert_Low) || \ + ((ALERT) == I2C_SMBusAlert_High)) +/** + * @} + */ + +/** @defgroup I2C_PEC_position + * @{ + */ + +#define I2C_PECPosition_Next ((uint16_t)0x0800) +#define I2C_PECPosition_Current ((uint16_t)0xF7FF) +#define IS_I2C_PEC_POSITION(POSITION) (((POSITION) == I2C_PECPosition_Next) || \ + ((POSITION) == I2C_PECPosition_Current)) +/** + * @} + */ + +/** @defgroup I2C_NCAK_position + * @{ + */ + +#define I2C_NACKPosition_Next ((uint16_t)0x0800) +#define I2C_NACKPosition_Current ((uint16_t)0xF7FF) +#define IS_I2C_NACK_POSITION(POSITION) (((POSITION) == I2C_NACKPosition_Next) || \ + ((POSITION) == I2C_NACKPosition_Current)) +/** + * @} + */ + +/** @defgroup I2C_interrupts_definition + * @{ + */ + +#define I2C_IT_BUF ((uint16_t)0x0400) +#define I2C_IT_EVT ((uint16_t)0x0200) +#define I2C_IT_ERR ((uint16_t)0x0100) +#define IS_I2C_CONFIG_IT(IT) ((((IT) & (uint16_t)0xF8FF) == 0x00) && ((IT) != 0x00)) +/** + * @} + */ + +/** @defgroup I2C_interrupts_definition + * @{ + */ + +#define I2C_IT_SMBALERT ((uint32_t)0x01008000) +#define I2C_IT_TIMEOUT ((uint32_t)0x01004000) +#define I2C_IT_PECERR ((uint32_t)0x01001000) +#define I2C_IT_OVR ((uint32_t)0x01000800) +#define I2C_IT_AF ((uint32_t)0x01000400) +#define I2C_IT_ARLO ((uint32_t)0x01000200) +#define I2C_IT_BERR ((uint32_t)0x01000100) +#define I2C_IT_TXE ((uint32_t)0x06000080) +#define I2C_IT_RXNE ((uint32_t)0x06000040) +#define I2C_IT_STOPF ((uint32_t)0x02000010) +#define I2C_IT_ADD10 ((uint32_t)0x02000008) +#define I2C_IT_BTF ((uint32_t)0x02000004) +#define I2C_IT_ADDR ((uint32_t)0x02000002) +#define I2C_IT_SB ((uint32_t)0x02000001) + +#define IS_I2C_CLEAR_IT(IT) ((((IT) & (uint16_t)0x20FF) == 0x00) && ((IT) != (uint16_t)0x00)) + +#define IS_I2C_GET_IT(IT) (((IT) == I2C_IT_SMBALERT) || ((IT) == I2C_IT_TIMEOUT) || \ + ((IT) == I2C_IT_PECERR) || ((IT) == I2C_IT_OVR) || \ + ((IT) == I2C_IT_AF) || ((IT) == I2C_IT_ARLO) || \ + ((IT) == I2C_IT_BERR) || ((IT) == I2C_IT_TXE) || \ + ((IT) == I2C_IT_RXNE) || ((IT) == I2C_IT_STOPF) || \ + ((IT) == I2C_IT_ADD10) || ((IT) == I2C_IT_BTF) || \ + ((IT) == I2C_IT_ADDR) || ((IT) == I2C_IT_SB)) +/** + * @} + */ + +/** @defgroup I2C_flags_definition + * @{ + */ + +/** + * @brief SR2 register flags + */ + +#define I2C_FLAG_DUALF ((uint32_t)0x00800000) +#define I2C_FLAG_SMBHOST ((uint32_t)0x00400000) +#define I2C_FLAG_SMBDEFAULT ((uint32_t)0x00200000) +#define I2C_FLAG_GENCALL ((uint32_t)0x00100000) +#define I2C_FLAG_TRA ((uint32_t)0x00040000) +#define I2C_FLAG_BUSY ((uint32_t)0x00020000) +#define I2C_FLAG_MSL ((uint32_t)0x00010000) + +/** + * @brief SR1 register flags + */ + +#define I2C_FLAG_SMBALERT ((uint32_t)0x10008000) +#define I2C_FLAG_TIMEOUT ((uint32_t)0x10004000) +#define I2C_FLAG_PECERR ((uint32_t)0x10001000) +#define I2C_FLAG_OVR ((uint32_t)0x10000800) +#define I2C_FLAG_AF ((uint32_t)0x10000400) +#define I2C_FLAG_ARLO ((uint32_t)0x10000200) +#define I2C_FLAG_BERR ((uint32_t)0x10000100) +#define I2C_FLAG_TXE ((uint32_t)0x10000080) +#define I2C_FLAG_RXNE ((uint32_t)0x10000040) +#define I2C_FLAG_STOPF ((uint32_t)0x10000010) +#define I2C_FLAG_ADD10 ((uint32_t)0x10000008) +#define I2C_FLAG_BTF ((uint32_t)0x10000004) +#define I2C_FLAG_ADDR ((uint32_t)0x10000002) +#define I2C_FLAG_SB ((uint32_t)0x10000001) + +#define IS_I2C_CLEAR_FLAG(FLAG) ((((FLAG) & (uint16_t)0x20FF) == 0x00) && ((FLAG) != (uint16_t)0x00)) + +#define IS_I2C_GET_FLAG(FLAG) (((FLAG) == I2C_FLAG_DUALF) || ((FLAG) == I2C_FLAG_SMBHOST) || \ + ((FLAG) == I2C_FLAG_SMBDEFAULT) || ((FLAG) == I2C_FLAG_GENCALL) || \ + ((FLAG) == I2C_FLAG_TRA) || ((FLAG) == I2C_FLAG_BUSY) || \ + ((FLAG) == I2C_FLAG_MSL) || ((FLAG) == I2C_FLAG_SMBALERT) || \ + ((FLAG) == I2C_FLAG_TIMEOUT) || ((FLAG) == I2C_FLAG_PECERR) || \ + ((FLAG) == I2C_FLAG_OVR) || ((FLAG) == I2C_FLAG_AF) || \ + ((FLAG) == I2C_FLAG_ARLO) || ((FLAG) == I2C_FLAG_BERR) || \ + ((FLAG) == I2C_FLAG_TXE) || ((FLAG) == I2C_FLAG_RXNE) || \ + ((FLAG) == I2C_FLAG_STOPF) || ((FLAG) == I2C_FLAG_ADD10) || \ + ((FLAG) == I2C_FLAG_BTF) || ((FLAG) == I2C_FLAG_ADDR) || \ + ((FLAG) == I2C_FLAG_SB)) +/** + * @} + */ + +/** @defgroup I2C_Events + * @{ + */ + +/*======================================== + + I2C Master Events (Events grouped in order of communication) + ==========================================*/ +/** + * @brief Communication start + * + * After sending the START condition (I2C_GenerateSTART() function) the master + * has to wait for this event. It means that the Start condition has been correctly + * released on the I2C bus (the bus is free, no other devices is communicating). + * + */ +/* --EV5 */ +#define I2C_EVENT_MASTER_MODE_SELECT ((uint32_t)0x00030001) /* BUSY, MSL and SB flag */ + +/** + * @brief Address Acknowledge + * + * After checking on EV5 (start condition correctly released on the bus), the + * master sends the address of the slave(s) with which it will communicate + * (I2C_Send7bitAddress() function, it also determines the direction of the communication: + * Master transmitter or Receiver). Then the master has to wait that a slave acknowledges + * his address. If an acknowledge is sent on the bus, one of the following events will + * be set: + * + * 1) In case of Master Receiver (7-bit addressing): the I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED + * event is set. + * + * 2) In case of Master Transmitter (7-bit addressing): the I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED + * is set + * + * 3) In case of 10-Bit addressing mode, the master (just after generating the START + * and checking on EV5) has to send the header of 10-bit addressing mode (I2C_SendData() + * function). Then master should wait on EV9. It means that the 10-bit addressing + * header has been correctly sent on the bus. Then master should send the second part of + * the 10-bit address (LSB) using the function I2C_Send7bitAddress(). Then master + * should wait for event EV6. + * + */ + +/* --EV6 */ +#define I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ((uint32_t)0x00070082) /* BUSY, MSL, ADDR, TXE and TRA flags */ +#define I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED ((uint32_t)0x00030002) /* BUSY, MSL and ADDR flags */ +/* --EV9 */ +#define I2C_EVENT_MASTER_MODE_ADDRESS10 ((uint32_t)0x00030008) /* BUSY, MSL and ADD10 flags */ + +/** + * @brief Communication events + * + * If a communication is established (START condition generated and slave address + * acknowledged) then the master has to check on one of the following events for + * communication procedures: + * + * 1) Master Receiver mode: The master has to wait on the event EV7 then to read + * the data received from the slave (I2C_ReceiveData() function). + * + * 2) Master Transmitter mode: The master has to send data (I2C_SendData() + * function) then to wait on event EV8 or EV8_2. + * These two events are similar: + * - EV8 means that the data has been written in the data register and is + * being shifted out. + * - EV8_2 means that the data has been physically shifted out and output + * on the bus. + * In most cases, using EV8 is sufficient for the application. + * Using EV8_2 leads to a slower communication but ensure more reliable test. + * EV8_2 is also more suitable than EV8 for testing on the last data transmission + * (before Stop condition generation). + * + * @note In case the user software does not guarantee that this event EV7 is + * managed before the current byte end of transfer, then user may check on EV7 + * and BTF flag at the same time (ie. (I2C_EVENT_MASTER_BYTE_RECEIVED | I2C_FLAG_BTF)). + * In this case the communication may be slower. + * + */ + +/* Master RECEIVER mode -----------------------------*/ +/* --EV7 */ +#define I2C_EVENT_MASTER_BYTE_RECEIVED ((uint32_t)0x00030040) /* BUSY, MSL and RXNE flags */ + +/* Master TRANSMITTER mode --------------------------*/ +/* --EV8 */ +#define I2C_EVENT_MASTER_BYTE_TRANSMITTING ((uint32_t)0x00070080) /* TRA, BUSY, MSL, TXE flags */ +/* --EV8_2 */ +#define I2C_EVENT_MASTER_BYTE_TRANSMITTED ((uint32_t)0x00070084) /* TRA, BUSY, MSL, TXE and BTF flags */ + + +/*======================================== + + I2C Slave Events (Events grouped in order of communication) + ==========================================*/ + +/** + * @brief Communication start events + * + * Wait on one of these events at the start of the communication. It means that + * the I2C peripheral detected a Start condition on the bus (generated by master + * device) followed by the peripheral address. The peripheral generates an ACK + * condition on the bus (if the acknowledge feature is enabled through function + * I2C_AcknowledgeConfig()) and the events listed above are set : + * + * 1) In normal case (only one address managed by the slave), when the address + * sent by the master matches the own address of the peripheral (configured by + * I2C_OwnAddress1 field) the I2C_EVENT_SLAVE_XXX_ADDRESS_MATCHED event is set + * (where XXX could be TRANSMITTER or RECEIVER). + * + * 2) In case the address sent by the master matches the second address of the + * peripheral (configured by the function I2C_OwnAddress2Config() and enabled + * by the function I2C_DualAddressCmd()) the events I2C_EVENT_SLAVE_XXX_SECONDADDRESS_MATCHED + * (where XXX could be TRANSMITTER or RECEIVER) are set. + * + * 3) In case the address sent by the master is General Call (address 0x00) and + * if the General Call is enabled for the peripheral (using function I2C_GeneralCallCmd()) + * the following event is set I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED. + * + */ + +/* --EV1 (all the events below are variants of EV1) */ +/* 1) Case of One Single Address managed by the slave */ +#define I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED ((uint32_t)0x00020002) /* BUSY and ADDR flags */ +#define I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED ((uint32_t)0x00060082) /* TRA, BUSY, TXE and ADDR flags */ + +/* 2) Case of Dual address managed by the slave */ +#define I2C_EVENT_SLAVE_RECEIVER_SECONDADDRESS_MATCHED ((uint32_t)0x00820000) /* DUALF and BUSY flags */ +#define I2C_EVENT_SLAVE_TRANSMITTER_SECONDADDRESS_MATCHED ((uint32_t)0x00860080) /* DUALF, TRA, BUSY and TXE flags */ + +/* 3) Case of General Call enabled for the slave */ +#define I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED ((uint32_t)0x00120000) /* GENCALL and BUSY flags */ + +/** + * @brief Communication events + * + * Wait on one of these events when EV1 has already been checked and: + * + * - Slave RECEIVER mode: + * - EV2: When the application is expecting a data byte to be received. + * - EV4: When the application is expecting the end of the communication: master + * sends a stop condition and data transmission is stopped. + * + * - Slave Transmitter mode: + * - EV3: When a byte has been transmitted by the slave and the application is expecting + * the end of the byte transmission. The two events I2C_EVENT_SLAVE_BYTE_TRANSMITTED and + * I2C_EVENT_SLAVE_BYTE_TRANSMITTING are similar. The second one can optionally be + * used when the user software doesn't guarantee the EV3 is managed before the + * current byte end of transfer. + * - EV3_2: When the master sends a NACK in order to tell slave that data transmission + * shall end (before sending the STOP condition). In this case slave has to stop sending + * data bytes and expect a Stop condition on the bus. + * + * @note In case the user software does not guarantee that the event EV2 is + * managed before the current byte end of transfer, then user may check on EV2 + * and BTF flag at the same time (ie. (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_BTF)). + * In this case the communication may be slower. + * + */ + +/* Slave RECEIVER mode --------------------------*/ +/* --EV2 */ +#define I2C_EVENT_SLAVE_BYTE_RECEIVED ((uint32_t)0x00020040) /* BUSY and RXNE flags */ +/* --EV4 */ +#define I2C_EVENT_SLAVE_STOP_DETECTED ((uint32_t)0x00000010) /* STOPF flag */ + +/* Slave TRANSMITTER mode -----------------------*/ +/* --EV3 */ +#define I2C_EVENT_SLAVE_BYTE_TRANSMITTED ((uint32_t)0x00060084) /* TRA, BUSY, TXE and BTF flags */ +#define I2C_EVENT_SLAVE_BYTE_TRANSMITTING ((uint32_t)0x00060080) /* TRA, BUSY and TXE flags */ +/* --EV3_2 */ +#define I2C_EVENT_SLAVE_ACK_FAILURE ((uint32_t)0x00000400) /* AF flag */ + +/*=========================== End of Events Description ==========================================*/ + +#define IS_I2C_EVENT(EVENT) (((EVENT) == I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_TRANSMITTER_SECONDADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_RECEIVER_SECONDADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED) || \ + ((EVENT) == I2C_EVENT_SLAVE_BYTE_RECEIVED) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_DUALF)) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_GENCALL)) || \ + ((EVENT) == I2C_EVENT_SLAVE_BYTE_TRANSMITTED) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_DUALF)) || \ + ((EVENT) == (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_GENCALL)) || \ + ((EVENT) == I2C_EVENT_SLAVE_STOP_DETECTED) || \ + ((EVENT) == I2C_EVENT_MASTER_MODE_SELECT) || \ + ((EVENT) == I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED) || \ + ((EVENT) == I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED) || \ + ((EVENT) == I2C_EVENT_MASTER_BYTE_RECEIVED) || \ + ((EVENT) == I2C_EVENT_MASTER_BYTE_TRANSMITTED) || \ + ((EVENT) == I2C_EVENT_MASTER_BYTE_TRANSMITTING) || \ + ((EVENT) == I2C_EVENT_MASTER_MODE_ADDRESS10) || \ + ((EVENT) == I2C_EVENT_SLAVE_ACK_FAILURE)) +/** + * @} + */ + +/** @defgroup I2C_own_address1 + * @{ + */ + +#define IS_I2C_OWN_ADDRESS1(ADDRESS1) ((ADDRESS1) <= 0x3FF) +/** + * @} + */ + +/** @defgroup I2C_clock_speed + * @{ + */ + +#define IS_I2C_CLOCK_SPEED(SPEED) (((SPEED) >= 0x1) && ((SPEED) <= 400000)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup I2C_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Exported_Functions + * @{ + */ + +void I2C_DeInit(I2C_TypeDef* I2Cx); +void I2C_Init(I2C_TypeDef* I2Cx, I2C_InitTypeDef* I2C_InitStruct); +void I2C_StructInit(I2C_InitTypeDef* I2C_InitStruct); +void I2C_Cmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_DMACmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_DMALastTransferCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_GenerateSTART(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_GenerateSTOP(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_AcknowledgeConfig(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_OwnAddress2Config(I2C_TypeDef* I2Cx, uint8_t Address); +void I2C_DualAddressCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_GeneralCallCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_ITConfig(I2C_TypeDef* I2Cx, uint16_t I2C_IT, FunctionalState NewState); +void I2C_SendData(I2C_TypeDef* I2Cx, uint8_t Data); +uint8_t I2C_ReceiveData(I2C_TypeDef* I2Cx); +void I2C_Send7bitAddress(I2C_TypeDef* I2Cx, uint8_t Address, uint8_t I2C_Direction); +uint16_t I2C_ReadRegister(I2C_TypeDef* I2Cx, uint8_t I2C_Register); +void I2C_SoftwareResetCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_NACKPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_NACKPosition); +void I2C_SMBusAlertConfig(I2C_TypeDef* I2Cx, uint16_t I2C_SMBusAlert); +void I2C_TransmitPEC(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_PECPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_PECPosition); +void I2C_CalculatePEC(I2C_TypeDef* I2Cx, FunctionalState NewState); +uint8_t I2C_GetPEC(I2C_TypeDef* I2Cx); +void I2C_ARPCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_StretchClockCmd(I2C_TypeDef* I2Cx, FunctionalState NewState); +void I2C_FastModeDutyCycleConfig(I2C_TypeDef* I2Cx, uint16_t I2C_DutyCycle); + +/** + * @brief + **************************************************************************************** + * + * I2C State Monitoring Functions + * + **************************************************************************************** + * This I2C driver provides three different ways for I2C state monitoring + * depending on the application requirements and constraints: + * + * + * 1) Basic state monitoring: + * Using I2C_CheckEvent() function: + * It compares the status registers (SR1 and SR2) content to a given event + * (can be the combination of one or more flags). + * It returns SUCCESS if the current status includes the given flags + * and returns ERROR if one or more flags are missing in the current status. + * - When to use: + * - This function is suitable for most applications as well as for startup + * activity since the events are fully described in the product reference manual + * (RM0008). + * - It is also suitable for users who need to define their own events. + * - Limitations: + * - If an error occurs (ie. error flags are set besides to the monitored flags), + * the I2C_CheckEvent() function may return SUCCESS despite the communication + * hold or corrupted real state. + * In this case, it is advised to use error interrupts to monitor the error + * events and handle them in the interrupt IRQ handler. + * + * @note + * For error management, it is advised to use the following functions: + * - I2C_ITConfig() to configure and enable the error interrupts (I2C_IT_ERR). + * - I2Cx_ER_IRQHandler() which is called when the error interrupt occurs. + * Where x is the peripheral instance (I2C1, I2C2 ...) + * - I2C_GetFlagStatus() or I2C_GetITStatus() to be called into I2Cx_ER_IRQHandler() + * in order to determine which error occurred. + * - I2C_ClearFlag() or I2C_ClearITPendingBit() and/or I2C_SoftwareResetCmd() + * and/or I2C_GenerateStop() in order to clear the error flag and source, + * and return to correct communication status. + * + * + * 2) Advanced state monitoring: + * Using the function I2C_GetLastEvent() which returns the image of both status + * registers in a single word (uint32_t) (Status Register 2 value is shifted left + * by 16 bits and concatenated to Status Register 1). + * - When to use: + * - This function is suitable for the same applications above but it allows to + * overcome the limitations of I2C_GetFlagStatus() function (see below). + * The returned value could be compared to events already defined in the + * library (stm32f10x_i2c.h) or to custom values defined by user. + * - This function is suitable when multiple flags are monitored at the same time. + * - At the opposite of I2C_CheckEvent() function, this function allows user to + * choose when an event is accepted (when all events flags are set and no + * other flags are set or just when the needed flags are set like + * I2C_CheckEvent() function). + * - Limitations: + * - User may need to define his own events. + * - Same remark concerning the error management is applicable for this + * function if user decides to check only regular communication flags (and + * ignores error flags). + * + * + * 3) Flag-based state monitoring: + * Using the function I2C_GetFlagStatus() which simply returns the status of + * one single flag (ie. I2C_FLAG_RXNE ...). + * - When to use: + * - This function could be used for specific applications or in debug phase. + * - It is suitable when only one flag checking is needed (most I2C events + * are monitored through multiple flags). + * - Limitations: + * - When calling this function, the Status register is accessed. Some flags are + * cleared when the status register is accessed. So checking the status + * of one Flag, may clear other ones. + * - Function may need to be called twice or more in order to monitor one + * single event. + * + */ + +/** + * + * 1) Basic state monitoring + ******************************************************************************* + */ +ErrorStatus I2C_CheckEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT); +/** + * + * 2) Advanced state monitoring + ******************************************************************************* + */ +uint32_t I2C_GetLastEvent(I2C_TypeDef* I2Cx); +/** + * + * 3) Flag-based state monitoring + ******************************************************************************* + */ +FlagStatus I2C_GetFlagStatus(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG); +/** + * + ******************************************************************************* + */ + +void I2C_ClearFlag(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG); +ITStatus I2C_GetITStatus(I2C_TypeDef* I2Cx, uint32_t I2C_IT); +void I2C_ClearITPendingBit(I2C_TypeDef* I2Cx, uint32_t I2C_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_I2C_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_iwdg.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_iwdg.h new file mode 100644 index 0000000..25b0bb5 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_iwdg.h @@ -0,0 +1,140 @@ +/** + ****************************************************************************** + * @file stm32f10x_iwdg.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the IWDG + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_IWDG_H +#define __STM32F10x_IWDG_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup IWDG + * @{ + */ + +/** @defgroup IWDG_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Exported_Constants + * @{ + */ + +/** @defgroup IWDG_WriteAccess + * @{ + */ + +#define IWDG_WriteAccess_Enable ((uint16_t)0x5555) +#define IWDG_WriteAccess_Disable ((uint16_t)0x0000) +#define IS_IWDG_WRITE_ACCESS(ACCESS) (((ACCESS) == IWDG_WriteAccess_Enable) || \ + ((ACCESS) == IWDG_WriteAccess_Disable)) +/** + * @} + */ + +/** @defgroup IWDG_prescaler + * @{ + */ + +#define IWDG_Prescaler_4 ((uint8_t)0x00) +#define IWDG_Prescaler_8 ((uint8_t)0x01) +#define IWDG_Prescaler_16 ((uint8_t)0x02) +#define IWDG_Prescaler_32 ((uint8_t)0x03) +#define IWDG_Prescaler_64 ((uint8_t)0x04) +#define IWDG_Prescaler_128 ((uint8_t)0x05) +#define IWDG_Prescaler_256 ((uint8_t)0x06) +#define IS_IWDG_PRESCALER(PRESCALER) (((PRESCALER) == IWDG_Prescaler_4) || \ + ((PRESCALER) == IWDG_Prescaler_8) || \ + ((PRESCALER) == IWDG_Prescaler_16) || \ + ((PRESCALER) == IWDG_Prescaler_32) || \ + ((PRESCALER) == IWDG_Prescaler_64) || \ + ((PRESCALER) == IWDG_Prescaler_128)|| \ + ((PRESCALER) == IWDG_Prescaler_256)) +/** + * @} + */ + +/** @defgroup IWDG_Flag + * @{ + */ + +#define IWDG_FLAG_PVU ((uint16_t)0x0001) +#define IWDG_FLAG_RVU ((uint16_t)0x0002) +#define IS_IWDG_FLAG(FLAG) (((FLAG) == IWDG_FLAG_PVU) || ((FLAG) == IWDG_FLAG_RVU)) +#define IS_IWDG_RELOAD(RELOAD) ((RELOAD) <= 0xFFF) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup IWDG_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Exported_Functions + * @{ + */ + +void IWDG_WriteAccessCmd(uint16_t IWDG_WriteAccess); +void IWDG_SetPrescaler(uint8_t IWDG_Prescaler); +void IWDG_SetReload(uint16_t Reload); +void IWDG_ReloadCounter(void); +void IWDG_Enable(void); +FlagStatus IWDG_GetFlagStatus(uint16_t IWDG_FLAG); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_IWDG_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_pwr.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_pwr.h new file mode 100644 index 0000000..1c025e2 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_pwr.h @@ -0,0 +1,156 @@ +/** + ****************************************************************************** + * @file stm32f10x_pwr.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the PWR firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_PWR_H +#define __STM32F10x_PWR_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup PWR + * @{ + */ + +/** @defgroup PWR_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Exported_Constants + * @{ + */ + +/** @defgroup PVD_detection_level + * @{ + */ + +#define PWR_PVDLevel_2V2 ((uint32_t)0x00000000) +#define PWR_PVDLevel_2V3 ((uint32_t)0x00000020) +#define PWR_PVDLevel_2V4 ((uint32_t)0x00000040) +#define PWR_PVDLevel_2V5 ((uint32_t)0x00000060) +#define PWR_PVDLevel_2V6 ((uint32_t)0x00000080) +#define PWR_PVDLevel_2V7 ((uint32_t)0x000000A0) +#define PWR_PVDLevel_2V8 ((uint32_t)0x000000C0) +#define PWR_PVDLevel_2V9 ((uint32_t)0x000000E0) +#define IS_PWR_PVD_LEVEL(LEVEL) (((LEVEL) == PWR_PVDLevel_2V2) || ((LEVEL) == PWR_PVDLevel_2V3)|| \ + ((LEVEL) == PWR_PVDLevel_2V4) || ((LEVEL) == PWR_PVDLevel_2V5)|| \ + ((LEVEL) == PWR_PVDLevel_2V6) || ((LEVEL) == PWR_PVDLevel_2V7)|| \ + ((LEVEL) == PWR_PVDLevel_2V8) || ((LEVEL) == PWR_PVDLevel_2V9)) +/** + * @} + */ + +/** @defgroup Regulator_state_is_STOP_mode + * @{ + */ + +#define PWR_Regulator_ON ((uint32_t)0x00000000) +#define PWR_Regulator_LowPower ((uint32_t)0x00000001) +#define IS_PWR_REGULATOR(REGULATOR) (((REGULATOR) == PWR_Regulator_ON) || \ + ((REGULATOR) == PWR_Regulator_LowPower)) +/** + * @} + */ + +/** @defgroup STOP_mode_entry + * @{ + */ + +#define PWR_STOPEntry_WFI ((uint8_t)0x01) +#define PWR_STOPEntry_WFE ((uint8_t)0x02) +#define IS_PWR_STOP_ENTRY(ENTRY) (((ENTRY) == PWR_STOPEntry_WFI) || ((ENTRY) == PWR_STOPEntry_WFE)) + +/** + * @} + */ + +/** @defgroup PWR_Flag + * @{ + */ + +#define PWR_FLAG_WU ((uint32_t)0x00000001) +#define PWR_FLAG_SB ((uint32_t)0x00000002) +#define PWR_FLAG_PVDO ((uint32_t)0x00000004) +#define IS_PWR_GET_FLAG(FLAG) (((FLAG) == PWR_FLAG_WU) || ((FLAG) == PWR_FLAG_SB) || \ + ((FLAG) == PWR_FLAG_PVDO)) + +#define IS_PWR_CLEAR_FLAG(FLAG) (((FLAG) == PWR_FLAG_WU) || ((FLAG) == PWR_FLAG_SB)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup PWR_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Exported_Functions + * @{ + */ + +void PWR_DeInit(void); +void PWR_BackupAccessCmd(FunctionalState NewState); +void PWR_PVDCmd(FunctionalState NewState); +void PWR_PVDLevelConfig(uint32_t PWR_PVDLevel); +void PWR_WakeUpPinCmd(FunctionalState NewState); +void PWR_EnterSTOPMode(uint32_t PWR_Regulator, uint8_t PWR_STOPEntry); +void PWR_EnterSTANDBYMode(void); +FlagStatus PWR_GetFlagStatus(uint32_t PWR_FLAG); +void PWR_ClearFlag(uint32_t PWR_FLAG); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_PWR_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_rcc.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_rcc.h new file mode 100644 index 0000000..1149c34 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_rcc.h @@ -0,0 +1,727 @@ +/** + ****************************************************************************** + * @file stm32f10x_rcc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the RCC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_RCC_H +#define __STM32F10x_RCC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup RCC + * @{ + */ + +/** @defgroup RCC_Exported_Types + * @{ + */ + +typedef struct +{ + uint32_t SYSCLK_Frequency; /*!< returns SYSCLK clock frequency expressed in Hz */ + uint32_t HCLK_Frequency; /*!< returns HCLK clock frequency expressed in Hz */ + uint32_t PCLK1_Frequency; /*!< returns PCLK1 clock frequency expressed in Hz */ + uint32_t PCLK2_Frequency; /*!< returns PCLK2 clock frequency expressed in Hz */ + uint32_t ADCCLK_Frequency; /*!< returns ADCCLK clock frequency expressed in Hz */ +}RCC_ClocksTypeDef; + +/** + * @} + */ + +/** @defgroup RCC_Exported_Constants + * @{ + */ + +/** @defgroup HSE_configuration + * @{ + */ + +#define RCC_HSE_OFF ((uint32_t)0x00000000) +#define RCC_HSE_ON ((uint32_t)0x00010000) +#define RCC_HSE_Bypass ((uint32_t)0x00040000) +#define IS_RCC_HSE(HSE) (((HSE) == RCC_HSE_OFF) || ((HSE) == RCC_HSE_ON) || \ + ((HSE) == RCC_HSE_Bypass)) + +/** + * @} + */ + +/** @defgroup PLL_entry_clock_source + * @{ + */ + +#define RCC_PLLSource_HSI_Div2 ((uint32_t)0x00000000) + +#if !defined (STM32F10X_LD_VL) && !defined (STM32F10X_MD_VL) && !defined (STM32F10X_HD_VL) && !defined (STM32F10X_CL) + #define RCC_PLLSource_HSE_Div1 ((uint32_t)0x00010000) + #define RCC_PLLSource_HSE_Div2 ((uint32_t)0x00030000) + #define IS_RCC_PLL_SOURCE(SOURCE) (((SOURCE) == RCC_PLLSource_HSI_Div2) || \ + ((SOURCE) == RCC_PLLSource_HSE_Div1) || \ + ((SOURCE) == RCC_PLLSource_HSE_Div2)) +#else + #define RCC_PLLSource_PREDIV1 ((uint32_t)0x00010000) + #define IS_RCC_PLL_SOURCE(SOURCE) (((SOURCE) == RCC_PLLSource_HSI_Div2) || \ + ((SOURCE) == RCC_PLLSource_PREDIV1)) +#endif /* STM32F10X_CL */ + +/** + * @} + */ + +/** @defgroup PLL_multiplication_factor + * @{ + */ +#ifndef STM32F10X_CL + #define RCC_PLLMul_2 ((uint32_t)0x00000000) + #define RCC_PLLMul_3 ((uint32_t)0x00040000) + #define RCC_PLLMul_4 ((uint32_t)0x00080000) + #define RCC_PLLMul_5 ((uint32_t)0x000C0000) + #define RCC_PLLMul_6 ((uint32_t)0x00100000) + #define RCC_PLLMul_7 ((uint32_t)0x00140000) + #define RCC_PLLMul_8 ((uint32_t)0x00180000) + #define RCC_PLLMul_9 ((uint32_t)0x001C0000) + #define RCC_PLLMul_10 ((uint32_t)0x00200000) + #define RCC_PLLMul_11 ((uint32_t)0x00240000) + #define RCC_PLLMul_12 ((uint32_t)0x00280000) + #define RCC_PLLMul_13 ((uint32_t)0x002C0000) + #define RCC_PLLMul_14 ((uint32_t)0x00300000) + #define RCC_PLLMul_15 ((uint32_t)0x00340000) + #define RCC_PLLMul_16 ((uint32_t)0x00380000) + #define IS_RCC_PLL_MUL(MUL) (((MUL) == RCC_PLLMul_2) || ((MUL) == RCC_PLLMul_3) || \ + ((MUL) == RCC_PLLMul_4) || ((MUL) == RCC_PLLMul_5) || \ + ((MUL) == RCC_PLLMul_6) || ((MUL) == RCC_PLLMul_7) || \ + ((MUL) == RCC_PLLMul_8) || ((MUL) == RCC_PLLMul_9) || \ + ((MUL) == RCC_PLLMul_10) || ((MUL) == RCC_PLLMul_11) || \ + ((MUL) == RCC_PLLMul_12) || ((MUL) == RCC_PLLMul_13) || \ + ((MUL) == RCC_PLLMul_14) || ((MUL) == RCC_PLLMul_15) || \ + ((MUL) == RCC_PLLMul_16)) + +#else + #define RCC_PLLMul_4 ((uint32_t)0x00080000) + #define RCC_PLLMul_5 ((uint32_t)0x000C0000) + #define RCC_PLLMul_6 ((uint32_t)0x00100000) + #define RCC_PLLMul_7 ((uint32_t)0x00140000) + #define RCC_PLLMul_8 ((uint32_t)0x00180000) + #define RCC_PLLMul_9 ((uint32_t)0x001C0000) + #define RCC_PLLMul_6_5 ((uint32_t)0x00340000) + + #define IS_RCC_PLL_MUL(MUL) (((MUL) == RCC_PLLMul_4) || ((MUL) == RCC_PLLMul_5) || \ + ((MUL) == RCC_PLLMul_6) || ((MUL) == RCC_PLLMul_7) || \ + ((MUL) == RCC_PLLMul_8) || ((MUL) == RCC_PLLMul_9) || \ + ((MUL) == RCC_PLLMul_6_5)) +#endif /* STM32F10X_CL */ +/** + * @} + */ + +/** @defgroup PREDIV1_division_factor + * @{ + */ +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) + #define RCC_PREDIV1_Div1 ((uint32_t)0x00000000) + #define RCC_PREDIV1_Div2 ((uint32_t)0x00000001) + #define RCC_PREDIV1_Div3 ((uint32_t)0x00000002) + #define RCC_PREDIV1_Div4 ((uint32_t)0x00000003) + #define RCC_PREDIV1_Div5 ((uint32_t)0x00000004) + #define RCC_PREDIV1_Div6 ((uint32_t)0x00000005) + #define RCC_PREDIV1_Div7 ((uint32_t)0x00000006) + #define RCC_PREDIV1_Div8 ((uint32_t)0x00000007) + #define RCC_PREDIV1_Div9 ((uint32_t)0x00000008) + #define RCC_PREDIV1_Div10 ((uint32_t)0x00000009) + #define RCC_PREDIV1_Div11 ((uint32_t)0x0000000A) + #define RCC_PREDIV1_Div12 ((uint32_t)0x0000000B) + #define RCC_PREDIV1_Div13 ((uint32_t)0x0000000C) + #define RCC_PREDIV1_Div14 ((uint32_t)0x0000000D) + #define RCC_PREDIV1_Div15 ((uint32_t)0x0000000E) + #define RCC_PREDIV1_Div16 ((uint32_t)0x0000000F) + + #define IS_RCC_PREDIV1(PREDIV1) (((PREDIV1) == RCC_PREDIV1_Div1) || ((PREDIV1) == RCC_PREDIV1_Div2) || \ + ((PREDIV1) == RCC_PREDIV1_Div3) || ((PREDIV1) == RCC_PREDIV1_Div4) || \ + ((PREDIV1) == RCC_PREDIV1_Div5) || ((PREDIV1) == RCC_PREDIV1_Div6) || \ + ((PREDIV1) == RCC_PREDIV1_Div7) || ((PREDIV1) == RCC_PREDIV1_Div8) || \ + ((PREDIV1) == RCC_PREDIV1_Div9) || ((PREDIV1) == RCC_PREDIV1_Div10) || \ + ((PREDIV1) == RCC_PREDIV1_Div11) || ((PREDIV1) == RCC_PREDIV1_Div12) || \ + ((PREDIV1) == RCC_PREDIV1_Div13) || ((PREDIV1) == RCC_PREDIV1_Div14) || \ + ((PREDIV1) == RCC_PREDIV1_Div15) || ((PREDIV1) == RCC_PREDIV1_Div16)) +#endif +/** + * @} + */ + + +/** @defgroup PREDIV1_clock_source + * @{ + */ +#ifdef STM32F10X_CL +/* PREDIV1 clock source (for STM32 connectivity line devices) */ + #define RCC_PREDIV1_Source_HSE ((uint32_t)0x00000000) + #define RCC_PREDIV1_Source_PLL2 ((uint32_t)0x00010000) + + #define IS_RCC_PREDIV1_SOURCE(SOURCE) (((SOURCE) == RCC_PREDIV1_Source_HSE) || \ + ((SOURCE) == RCC_PREDIV1_Source_PLL2)) +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/* PREDIV1 clock source (for STM32 Value line devices) */ + #define RCC_PREDIV1_Source_HSE ((uint32_t)0x00000000) + + #define IS_RCC_PREDIV1_SOURCE(SOURCE) (((SOURCE) == RCC_PREDIV1_Source_HSE)) +#endif +/** + * @} + */ + +#ifdef STM32F10X_CL +/** @defgroup PREDIV2_division_factor + * @{ + */ + + #define RCC_PREDIV2_Div1 ((uint32_t)0x00000000) + #define RCC_PREDIV2_Div2 ((uint32_t)0x00000010) + #define RCC_PREDIV2_Div3 ((uint32_t)0x00000020) + #define RCC_PREDIV2_Div4 ((uint32_t)0x00000030) + #define RCC_PREDIV2_Div5 ((uint32_t)0x00000040) + #define RCC_PREDIV2_Div6 ((uint32_t)0x00000050) + #define RCC_PREDIV2_Div7 ((uint32_t)0x00000060) + #define RCC_PREDIV2_Div8 ((uint32_t)0x00000070) + #define RCC_PREDIV2_Div9 ((uint32_t)0x00000080) + #define RCC_PREDIV2_Div10 ((uint32_t)0x00000090) + #define RCC_PREDIV2_Div11 ((uint32_t)0x000000A0) + #define RCC_PREDIV2_Div12 ((uint32_t)0x000000B0) + #define RCC_PREDIV2_Div13 ((uint32_t)0x000000C0) + #define RCC_PREDIV2_Div14 ((uint32_t)0x000000D0) + #define RCC_PREDIV2_Div15 ((uint32_t)0x000000E0) + #define RCC_PREDIV2_Div16 ((uint32_t)0x000000F0) + + #define IS_RCC_PREDIV2(PREDIV2) (((PREDIV2) == RCC_PREDIV2_Div1) || ((PREDIV2) == RCC_PREDIV2_Div2) || \ + ((PREDIV2) == RCC_PREDIV2_Div3) || ((PREDIV2) == RCC_PREDIV2_Div4) || \ + ((PREDIV2) == RCC_PREDIV2_Div5) || ((PREDIV2) == RCC_PREDIV2_Div6) || \ + ((PREDIV2) == RCC_PREDIV2_Div7) || ((PREDIV2) == RCC_PREDIV2_Div8) || \ + ((PREDIV2) == RCC_PREDIV2_Div9) || ((PREDIV2) == RCC_PREDIV2_Div10) || \ + ((PREDIV2) == RCC_PREDIV2_Div11) || ((PREDIV2) == RCC_PREDIV2_Div12) || \ + ((PREDIV2) == RCC_PREDIV2_Div13) || ((PREDIV2) == RCC_PREDIV2_Div14) || \ + ((PREDIV2) == RCC_PREDIV2_Div15) || ((PREDIV2) == RCC_PREDIV2_Div16)) +/** + * @} + */ + + +/** @defgroup PLL2_multiplication_factor + * @{ + */ + + #define RCC_PLL2Mul_8 ((uint32_t)0x00000600) + #define RCC_PLL2Mul_9 ((uint32_t)0x00000700) + #define RCC_PLL2Mul_10 ((uint32_t)0x00000800) + #define RCC_PLL2Mul_11 ((uint32_t)0x00000900) + #define RCC_PLL2Mul_12 ((uint32_t)0x00000A00) + #define RCC_PLL2Mul_13 ((uint32_t)0x00000B00) + #define RCC_PLL2Mul_14 ((uint32_t)0x00000C00) + #define RCC_PLL2Mul_16 ((uint32_t)0x00000E00) + #define RCC_PLL2Mul_20 ((uint32_t)0x00000F00) + + #define IS_RCC_PLL2_MUL(MUL) (((MUL) == RCC_PLL2Mul_8) || ((MUL) == RCC_PLL2Mul_9) || \ + ((MUL) == RCC_PLL2Mul_10) || ((MUL) == RCC_PLL2Mul_11) || \ + ((MUL) == RCC_PLL2Mul_12) || ((MUL) == RCC_PLL2Mul_13) || \ + ((MUL) == RCC_PLL2Mul_14) || ((MUL) == RCC_PLL2Mul_16) || \ + ((MUL) == RCC_PLL2Mul_20)) +/** + * @} + */ + + +/** @defgroup PLL3_multiplication_factor + * @{ + */ + + #define RCC_PLL3Mul_8 ((uint32_t)0x00006000) + #define RCC_PLL3Mul_9 ((uint32_t)0x00007000) + #define RCC_PLL3Mul_10 ((uint32_t)0x00008000) + #define RCC_PLL3Mul_11 ((uint32_t)0x00009000) + #define RCC_PLL3Mul_12 ((uint32_t)0x0000A000) + #define RCC_PLL3Mul_13 ((uint32_t)0x0000B000) + #define RCC_PLL3Mul_14 ((uint32_t)0x0000C000) + #define RCC_PLL3Mul_16 ((uint32_t)0x0000E000) + #define RCC_PLL3Mul_20 ((uint32_t)0x0000F000) + + #define IS_RCC_PLL3_MUL(MUL) (((MUL) == RCC_PLL3Mul_8) || ((MUL) == RCC_PLL3Mul_9) || \ + ((MUL) == RCC_PLL3Mul_10) || ((MUL) == RCC_PLL3Mul_11) || \ + ((MUL) == RCC_PLL3Mul_12) || ((MUL) == RCC_PLL3Mul_13) || \ + ((MUL) == RCC_PLL3Mul_14) || ((MUL) == RCC_PLL3Mul_16) || \ + ((MUL) == RCC_PLL3Mul_20)) +/** + * @} + */ + +#endif /* STM32F10X_CL */ + + +/** @defgroup System_clock_source + * @{ + */ + +#define RCC_SYSCLKSource_HSI ((uint32_t)0x00000000) +#define RCC_SYSCLKSource_HSE ((uint32_t)0x00000001) +#define RCC_SYSCLKSource_PLLCLK ((uint32_t)0x00000002) +#define IS_RCC_SYSCLK_SOURCE(SOURCE) (((SOURCE) == RCC_SYSCLKSource_HSI) || \ + ((SOURCE) == RCC_SYSCLKSource_HSE) || \ + ((SOURCE) == RCC_SYSCLKSource_PLLCLK)) +/** + * @} + */ + +/** @defgroup AHB_clock_source + * @{ + */ + +#define RCC_SYSCLK_Div1 ((uint32_t)0x00000000) +#define RCC_SYSCLK_Div2 ((uint32_t)0x00000080) +#define RCC_SYSCLK_Div4 ((uint32_t)0x00000090) +#define RCC_SYSCLK_Div8 ((uint32_t)0x000000A0) +#define RCC_SYSCLK_Div16 ((uint32_t)0x000000B0) +#define RCC_SYSCLK_Div64 ((uint32_t)0x000000C0) +#define RCC_SYSCLK_Div128 ((uint32_t)0x000000D0) +#define RCC_SYSCLK_Div256 ((uint32_t)0x000000E0) +#define RCC_SYSCLK_Div512 ((uint32_t)0x000000F0) +#define IS_RCC_HCLK(HCLK) (((HCLK) == RCC_SYSCLK_Div1) || ((HCLK) == RCC_SYSCLK_Div2) || \ + ((HCLK) == RCC_SYSCLK_Div4) || ((HCLK) == RCC_SYSCLK_Div8) || \ + ((HCLK) == RCC_SYSCLK_Div16) || ((HCLK) == RCC_SYSCLK_Div64) || \ + ((HCLK) == RCC_SYSCLK_Div128) || ((HCLK) == RCC_SYSCLK_Div256) || \ + ((HCLK) == RCC_SYSCLK_Div512)) +/** + * @} + */ + +/** @defgroup APB1_APB2_clock_source + * @{ + */ + +#define RCC_HCLK_Div1 ((uint32_t)0x00000000) +#define RCC_HCLK_Div2 ((uint32_t)0x00000400) +#define RCC_HCLK_Div4 ((uint32_t)0x00000500) +#define RCC_HCLK_Div8 ((uint32_t)0x00000600) +#define RCC_HCLK_Div16 ((uint32_t)0x00000700) +#define IS_RCC_PCLK(PCLK) (((PCLK) == RCC_HCLK_Div1) || ((PCLK) == RCC_HCLK_Div2) || \ + ((PCLK) == RCC_HCLK_Div4) || ((PCLK) == RCC_HCLK_Div8) || \ + ((PCLK) == RCC_HCLK_Div16)) +/** + * @} + */ + +/** @defgroup RCC_Interrupt_source + * @{ + */ + +#define RCC_IT_LSIRDY ((uint8_t)0x01) +#define RCC_IT_LSERDY ((uint8_t)0x02) +#define RCC_IT_HSIRDY ((uint8_t)0x04) +#define RCC_IT_HSERDY ((uint8_t)0x08) +#define RCC_IT_PLLRDY ((uint8_t)0x10) +#define RCC_IT_CSS ((uint8_t)0x80) + +#ifndef STM32F10X_CL + #define IS_RCC_IT(IT) ((((IT) & (uint8_t)0xE0) == 0x00) && ((IT) != 0x00)) + #define IS_RCC_GET_IT(IT) (((IT) == RCC_IT_LSIRDY) || ((IT) == RCC_IT_LSERDY) || \ + ((IT) == RCC_IT_HSIRDY) || ((IT) == RCC_IT_HSERDY) || \ + ((IT) == RCC_IT_PLLRDY) || ((IT) == RCC_IT_CSS)) + #define IS_RCC_CLEAR_IT(IT) ((((IT) & (uint8_t)0x60) == 0x00) && ((IT) != 0x00)) +#else + #define RCC_IT_PLL2RDY ((uint8_t)0x20) + #define RCC_IT_PLL3RDY ((uint8_t)0x40) + #define IS_RCC_IT(IT) ((((IT) & (uint8_t)0x80) == 0x00) && ((IT) != 0x00)) + #define IS_RCC_GET_IT(IT) (((IT) == RCC_IT_LSIRDY) || ((IT) == RCC_IT_LSERDY) || \ + ((IT) == RCC_IT_HSIRDY) || ((IT) == RCC_IT_HSERDY) || \ + ((IT) == RCC_IT_PLLRDY) || ((IT) == RCC_IT_CSS) || \ + ((IT) == RCC_IT_PLL2RDY) || ((IT) == RCC_IT_PLL3RDY)) + #define IS_RCC_CLEAR_IT(IT) ((IT) != 0x00) +#endif /* STM32F10X_CL */ + + +/** + * @} + */ + +#ifndef STM32F10X_CL +/** @defgroup USB_Device_clock_source + * @{ + */ + + #define RCC_USBCLKSource_PLLCLK_1Div5 ((uint8_t)0x00) + #define RCC_USBCLKSource_PLLCLK_Div1 ((uint8_t)0x01) + + #define IS_RCC_USBCLK_SOURCE(SOURCE) (((SOURCE) == RCC_USBCLKSource_PLLCLK_1Div5) || \ + ((SOURCE) == RCC_USBCLKSource_PLLCLK_Div1)) +/** + * @} + */ +#else +/** @defgroup USB_OTG_FS_clock_source + * @{ + */ + #define RCC_OTGFSCLKSource_PLLVCO_Div3 ((uint8_t)0x00) + #define RCC_OTGFSCLKSource_PLLVCO_Div2 ((uint8_t)0x01) + + #define IS_RCC_OTGFSCLK_SOURCE(SOURCE) (((SOURCE) == RCC_OTGFSCLKSource_PLLVCO_Div3) || \ + ((SOURCE) == RCC_OTGFSCLKSource_PLLVCO_Div2)) +/** + * @} + */ +#endif /* STM32F10X_CL */ + + +#ifdef STM32F10X_CL +/** @defgroup I2S2_clock_source + * @{ + */ + #define RCC_I2S2CLKSource_SYSCLK ((uint8_t)0x00) + #define RCC_I2S2CLKSource_PLL3_VCO ((uint8_t)0x01) + + #define IS_RCC_I2S2CLK_SOURCE(SOURCE) (((SOURCE) == RCC_I2S2CLKSource_SYSCLK) || \ + ((SOURCE) == RCC_I2S2CLKSource_PLL3_VCO)) +/** + * @} + */ + +/** @defgroup I2S3_clock_source + * @{ + */ + #define RCC_I2S3CLKSource_SYSCLK ((uint8_t)0x00) + #define RCC_I2S3CLKSource_PLL3_VCO ((uint8_t)0x01) + + #define IS_RCC_I2S3CLK_SOURCE(SOURCE) (((SOURCE) == RCC_I2S3CLKSource_SYSCLK) || \ + ((SOURCE) == RCC_I2S3CLKSource_PLL3_VCO)) +/** + * @} + */ +#endif /* STM32F10X_CL */ + + +/** @defgroup ADC_clock_source + * @{ + */ + +#define RCC_PCLK2_Div2 ((uint32_t)0x00000000) +#define RCC_PCLK2_Div4 ((uint32_t)0x00004000) +#define RCC_PCLK2_Div6 ((uint32_t)0x00008000) +#define RCC_PCLK2_Div8 ((uint32_t)0x0000C000) +#define IS_RCC_ADCCLK(ADCCLK) (((ADCCLK) == RCC_PCLK2_Div2) || ((ADCCLK) == RCC_PCLK2_Div4) || \ + ((ADCCLK) == RCC_PCLK2_Div6) || ((ADCCLK) == RCC_PCLK2_Div8)) +/** + * @} + */ + +/** @defgroup LSE_configuration + * @{ + */ + +#define RCC_LSE_OFF ((uint8_t)0x00) +#define RCC_LSE_ON ((uint8_t)0x01) +#define RCC_LSE_Bypass ((uint8_t)0x04) +#define IS_RCC_LSE(LSE) (((LSE) == RCC_LSE_OFF) || ((LSE) == RCC_LSE_ON) || \ + ((LSE) == RCC_LSE_Bypass)) +/** + * @} + */ + +/** @defgroup RTC_clock_source + * @{ + */ + +#define RCC_RTCCLKSource_LSE ((uint32_t)0x00000100) +#define RCC_RTCCLKSource_LSI ((uint32_t)0x00000200) +#define RCC_RTCCLKSource_HSE_Div128 ((uint32_t)0x00000300) +#define IS_RCC_RTCCLK_SOURCE(SOURCE) (((SOURCE) == RCC_RTCCLKSource_LSE) || \ + ((SOURCE) == RCC_RTCCLKSource_LSI) || \ + ((SOURCE) == RCC_RTCCLKSource_HSE_Div128)) +/** + * @} + */ + +/** @defgroup AHB_peripheral + * @{ + */ + +#define RCC_AHBPeriph_DMA1 ((uint32_t)0x00000001) +#define RCC_AHBPeriph_DMA2 ((uint32_t)0x00000002) +#define RCC_AHBPeriph_SRAM ((uint32_t)0x00000004) +#define RCC_AHBPeriph_FLITF ((uint32_t)0x00000010) +#define RCC_AHBPeriph_CRC ((uint32_t)0x00000040) + +#ifndef STM32F10X_CL + #define RCC_AHBPeriph_FSMC ((uint32_t)0x00000100) + #define RCC_AHBPeriph_SDIO ((uint32_t)0x00000400) + #define IS_RCC_AHB_PERIPH(PERIPH) ((((PERIPH) & 0xFFFFFAA8) == 0x00) && ((PERIPH) != 0x00)) +#else + #define RCC_AHBPeriph_OTG_FS ((uint32_t)0x00001000) + #define RCC_AHBPeriph_ETH_MAC ((uint32_t)0x00004000) + #define RCC_AHBPeriph_ETH_MAC_Tx ((uint32_t)0x00008000) + #define RCC_AHBPeriph_ETH_MAC_Rx ((uint32_t)0x00010000) + + #define IS_RCC_AHB_PERIPH(PERIPH) ((((PERIPH) & 0xFFFE2FA8) == 0x00) && ((PERIPH) != 0x00)) + #define IS_RCC_AHB_PERIPH_RESET(PERIPH) ((((PERIPH) & 0xFFFFAFFF) == 0x00) && ((PERIPH) != 0x00)) +#endif /* STM32F10X_CL */ +/** + * @} + */ + +/** @defgroup APB2_peripheral + * @{ + */ + +#define RCC_APB2Periph_AFIO ((uint32_t)0x00000001) +#define RCC_APB2Periph_GPIOA ((uint32_t)0x00000004) +#define RCC_APB2Periph_GPIOB ((uint32_t)0x00000008) +#define RCC_APB2Periph_GPIOC ((uint32_t)0x00000010) +#define RCC_APB2Periph_GPIOD ((uint32_t)0x00000020) +#define RCC_APB2Periph_GPIOE ((uint32_t)0x00000040) +#define RCC_APB2Periph_GPIOF ((uint32_t)0x00000080) +#define RCC_APB2Periph_GPIOG ((uint32_t)0x00000100) +#define RCC_APB2Periph_ADC1 ((uint32_t)0x00000200) +#define RCC_APB2Periph_ADC2 ((uint32_t)0x00000400) +#define RCC_APB2Periph_TIM1 ((uint32_t)0x00000800) +#define RCC_APB2Periph_SPI1 ((uint32_t)0x00001000) +#define RCC_APB2Periph_TIM8 ((uint32_t)0x00002000) +#define RCC_APB2Periph_USART1 ((uint32_t)0x00004000) +#define RCC_APB2Periph_ADC3 ((uint32_t)0x00008000) +#define RCC_APB2Periph_TIM15 ((uint32_t)0x00010000) +#define RCC_APB2Periph_TIM16 ((uint32_t)0x00020000) +#define RCC_APB2Periph_TIM17 ((uint32_t)0x00040000) +#define RCC_APB2Periph_TIM9 ((uint32_t)0x00080000) +#define RCC_APB2Periph_TIM10 ((uint32_t)0x00100000) +#define RCC_APB2Periph_TIM11 ((uint32_t)0x00200000) + +#define IS_RCC_APB2_PERIPH(PERIPH) ((((PERIPH) & 0xFFC00002) == 0x00) && ((PERIPH) != 0x00)) +/** + * @} + */ + +/** @defgroup APB1_peripheral + * @{ + */ + +#define RCC_APB1Periph_TIM2 ((uint32_t)0x00000001) +#define RCC_APB1Periph_TIM3 ((uint32_t)0x00000002) +#define RCC_APB1Periph_TIM4 ((uint32_t)0x00000004) +#define RCC_APB1Periph_TIM5 ((uint32_t)0x00000008) +#define RCC_APB1Periph_TIM6 ((uint32_t)0x00000010) +#define RCC_APB1Periph_TIM7 ((uint32_t)0x00000020) +#define RCC_APB1Periph_TIM12 ((uint32_t)0x00000040) +#define RCC_APB1Periph_TIM13 ((uint32_t)0x00000080) +#define RCC_APB1Periph_TIM14 ((uint32_t)0x00000100) +#define RCC_APB1Periph_WWDG ((uint32_t)0x00000800) +#define RCC_APB1Periph_SPI2 ((uint32_t)0x00004000) +#define RCC_APB1Periph_SPI3 ((uint32_t)0x00008000) +#define RCC_APB1Periph_USART2 ((uint32_t)0x00020000) +#define RCC_APB1Periph_USART3 ((uint32_t)0x00040000) +#define RCC_APB1Periph_UART4 ((uint32_t)0x00080000) +#define RCC_APB1Periph_UART5 ((uint32_t)0x00100000) +#define RCC_APB1Periph_I2C1 ((uint32_t)0x00200000) +#define RCC_APB1Periph_I2C2 ((uint32_t)0x00400000) +#define RCC_APB1Periph_USB ((uint32_t)0x00800000) +#define RCC_APB1Periph_CAN1 ((uint32_t)0x02000000) +#define RCC_APB1Periph_CAN2 ((uint32_t)0x04000000) +#define RCC_APB1Periph_BKP ((uint32_t)0x08000000) +#define RCC_APB1Periph_PWR ((uint32_t)0x10000000) +#define RCC_APB1Periph_DAC ((uint32_t)0x20000000) +#define RCC_APB1Periph_CEC ((uint32_t)0x40000000) + +#define IS_RCC_APB1_PERIPH(PERIPH) ((((PERIPH) & 0x81013600) == 0x00) && ((PERIPH) != 0x00)) + +/** + * @} + */ + +/** @defgroup Clock_source_to_output_on_MCO_pin + * @{ + */ + +#define RCC_MCO_NoClock ((uint8_t)0x00) +#define RCC_MCO_SYSCLK ((uint8_t)0x04) +#define RCC_MCO_HSI ((uint8_t)0x05) +#define RCC_MCO_HSE ((uint8_t)0x06) +#define RCC_MCO_PLLCLK_Div2 ((uint8_t)0x07) + +#ifndef STM32F10X_CL + #define IS_RCC_MCO(MCO) (((MCO) == RCC_MCO_NoClock) || ((MCO) == RCC_MCO_HSI) || \ + ((MCO) == RCC_MCO_SYSCLK) || ((MCO) == RCC_MCO_HSE) || \ + ((MCO) == RCC_MCO_PLLCLK_Div2)) +#else + #define RCC_MCO_PLL2CLK ((uint8_t)0x08) + #define RCC_MCO_PLL3CLK_Div2 ((uint8_t)0x09) + #define RCC_MCO_XT1 ((uint8_t)0x0A) + #define RCC_MCO_PLL3CLK ((uint8_t)0x0B) + + #define IS_RCC_MCO(MCO) (((MCO) == RCC_MCO_NoClock) || ((MCO) == RCC_MCO_HSI) || \ + ((MCO) == RCC_MCO_SYSCLK) || ((MCO) == RCC_MCO_HSE) || \ + ((MCO) == RCC_MCO_PLLCLK_Div2) || ((MCO) == RCC_MCO_PLL2CLK) || \ + ((MCO) == RCC_MCO_PLL3CLK_Div2) || ((MCO) == RCC_MCO_XT1) || \ + ((MCO) == RCC_MCO_PLL3CLK)) +#endif /* STM32F10X_CL */ + +/** + * @} + */ + +/** @defgroup RCC_Flag + * @{ + */ + +#define RCC_FLAG_HSIRDY ((uint8_t)0x21) +#define RCC_FLAG_HSERDY ((uint8_t)0x31) +#define RCC_FLAG_PLLRDY ((uint8_t)0x39) +#define RCC_FLAG_LSERDY ((uint8_t)0x41) +#define RCC_FLAG_LSIRDY ((uint8_t)0x61) +#define RCC_FLAG_PINRST ((uint8_t)0x7A) +#define RCC_FLAG_PORRST ((uint8_t)0x7B) +#define RCC_FLAG_SFTRST ((uint8_t)0x7C) +#define RCC_FLAG_IWDGRST ((uint8_t)0x7D) +#define RCC_FLAG_WWDGRST ((uint8_t)0x7E) +#define RCC_FLAG_LPWRRST ((uint8_t)0x7F) + +#ifndef STM32F10X_CL + #define IS_RCC_FLAG(FLAG) (((FLAG) == RCC_FLAG_HSIRDY) || ((FLAG) == RCC_FLAG_HSERDY) || \ + ((FLAG) == RCC_FLAG_PLLRDY) || ((FLAG) == RCC_FLAG_LSERDY) || \ + ((FLAG) == RCC_FLAG_LSIRDY) || ((FLAG) == RCC_FLAG_PINRST) || \ + ((FLAG) == RCC_FLAG_PORRST) || ((FLAG) == RCC_FLAG_SFTRST) || \ + ((FLAG) == RCC_FLAG_IWDGRST)|| ((FLAG) == RCC_FLAG_WWDGRST)|| \ + ((FLAG) == RCC_FLAG_LPWRRST)) +#else + #define RCC_FLAG_PLL2RDY ((uint8_t)0x3B) + #define RCC_FLAG_PLL3RDY ((uint8_t)0x3D) + #define IS_RCC_FLAG(FLAG) (((FLAG) == RCC_FLAG_HSIRDY) || ((FLAG) == RCC_FLAG_HSERDY) || \ + ((FLAG) == RCC_FLAG_PLLRDY) || ((FLAG) == RCC_FLAG_LSERDY) || \ + ((FLAG) == RCC_FLAG_PLL2RDY) || ((FLAG) == RCC_FLAG_PLL3RDY) || \ + ((FLAG) == RCC_FLAG_LSIRDY) || ((FLAG) == RCC_FLAG_PINRST) || \ + ((FLAG) == RCC_FLAG_PORRST) || ((FLAG) == RCC_FLAG_SFTRST) || \ + ((FLAG) == RCC_FLAG_IWDGRST)|| ((FLAG) == RCC_FLAG_WWDGRST)|| \ + ((FLAG) == RCC_FLAG_LPWRRST)) +#endif /* STM32F10X_CL */ + +#define IS_RCC_CALIBRATION_VALUE(VALUE) ((VALUE) <= 0x1F) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup RCC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Exported_Functions + * @{ + */ + +void RCC_DeInit(void); +void RCC_HSEConfig(uint32_t RCC_HSE); +ErrorStatus RCC_WaitForHSEStartUp(void); +void RCC_AdjustHSICalibrationValue(uint8_t HSICalibrationValue); +void RCC_HSICmd(FunctionalState NewState); +void RCC_PLLConfig(uint32_t RCC_PLLSource, uint32_t RCC_PLLMul); +void RCC_PLLCmd(FunctionalState NewState); + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) + void RCC_PREDIV1Config(uint32_t RCC_PREDIV1_Source, uint32_t RCC_PREDIV1_Div); +#endif + +#ifdef STM32F10X_CL + void RCC_PREDIV2Config(uint32_t RCC_PREDIV2_Div); + void RCC_PLL2Config(uint32_t RCC_PLL2Mul); + void RCC_PLL2Cmd(FunctionalState NewState); + void RCC_PLL3Config(uint32_t RCC_PLL3Mul); + void RCC_PLL3Cmd(FunctionalState NewState); +#endif /* STM32F10X_CL */ + +void RCC_SYSCLKConfig(uint32_t RCC_SYSCLKSource); +uint8_t RCC_GetSYSCLKSource(void); +void RCC_HCLKConfig(uint32_t RCC_SYSCLK); +void RCC_PCLK1Config(uint32_t RCC_HCLK); +void RCC_PCLK2Config(uint32_t RCC_HCLK); +void RCC_ITConfig(uint8_t RCC_IT, FunctionalState NewState); + +#ifndef STM32F10X_CL + void RCC_USBCLKConfig(uint32_t RCC_USBCLKSource); +#else + void RCC_OTGFSCLKConfig(uint32_t RCC_OTGFSCLKSource); +#endif /* STM32F10X_CL */ + +void RCC_ADCCLKConfig(uint32_t RCC_PCLK2); + +#ifdef STM32F10X_CL + void RCC_I2S2CLKConfig(uint32_t RCC_I2S2CLKSource); + void RCC_I2S3CLKConfig(uint32_t RCC_I2S3CLKSource); +#endif /* STM32F10X_CL */ + +void RCC_LSEConfig(uint8_t RCC_LSE); +void RCC_LSICmd(FunctionalState NewState); +void RCC_RTCCLKConfig(uint32_t RCC_RTCCLKSource); +void RCC_RTCCLKCmd(FunctionalState NewState); +void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks); +void RCC_AHBPeriphClockCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState); +void RCC_APB2PeriphClockCmd(uint32_t RCC_APB2Periph, FunctionalState NewState); +void RCC_APB1PeriphClockCmd(uint32_t RCC_APB1Periph, FunctionalState NewState); + +#ifdef STM32F10X_CL +void RCC_AHBPeriphResetCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState); +#endif /* STM32F10X_CL */ + +void RCC_APB2PeriphResetCmd(uint32_t RCC_APB2Periph, FunctionalState NewState); +void RCC_APB1PeriphResetCmd(uint32_t RCC_APB1Periph, FunctionalState NewState); +void RCC_BackupResetCmd(FunctionalState NewState); +void RCC_ClockSecuritySystemCmd(FunctionalState NewState); +void RCC_MCOConfig(uint8_t RCC_MCO); +FlagStatus RCC_GetFlagStatus(uint8_t RCC_FLAG); +void RCC_ClearFlag(void); +ITStatus RCC_GetITStatus(uint8_t RCC_IT); +void RCC_ClearITPendingBit(uint8_t RCC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_RCC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_rtc.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_rtc.h new file mode 100644 index 0000000..fd8beb5 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_rtc.h @@ -0,0 +1,135 @@ +/** + ****************************************************************************** + * @file stm32f10x_rtc.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the RTC firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_RTC_H +#define __STM32F10x_RTC_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup RTC + * @{ + */ + +/** @defgroup RTC_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Exported_Constants + * @{ + */ + +/** @defgroup RTC_interrupts_define + * @{ + */ + +#define RTC_IT_OW ((uint16_t)0x0004) /*!< Overflow interrupt */ +#define RTC_IT_ALR ((uint16_t)0x0002) /*!< Alarm interrupt */ +#define RTC_IT_SEC ((uint16_t)0x0001) /*!< Second interrupt */ +#define IS_RTC_IT(IT) ((((IT) & (uint16_t)0xFFF8) == 0x00) && ((IT) != 0x00)) +#define IS_RTC_GET_IT(IT) (((IT) == RTC_IT_OW) || ((IT) == RTC_IT_ALR) || \ + ((IT) == RTC_IT_SEC)) +/** + * @} + */ + +/** @defgroup RTC_interrupts_flags + * @{ + */ + +#define RTC_FLAG_RTOFF ((uint16_t)0x0020) /*!< RTC Operation OFF flag */ +#define RTC_FLAG_RSF ((uint16_t)0x0008) /*!< Registers Synchronized flag */ +#define RTC_FLAG_OW ((uint16_t)0x0004) /*!< Overflow flag */ +#define RTC_FLAG_ALR ((uint16_t)0x0002) /*!< Alarm flag */ +#define RTC_FLAG_SEC ((uint16_t)0x0001) /*!< Second flag */ +#define IS_RTC_CLEAR_FLAG(FLAG) ((((FLAG) & (uint16_t)0xFFF0) == 0x00) && ((FLAG) != 0x00)) +#define IS_RTC_GET_FLAG(FLAG) (((FLAG) == RTC_FLAG_RTOFF) || ((FLAG) == RTC_FLAG_RSF) || \ + ((FLAG) == RTC_FLAG_OW) || ((FLAG) == RTC_FLAG_ALR) || \ + ((FLAG) == RTC_FLAG_SEC)) +#define IS_RTC_PRESCALER(PRESCALER) ((PRESCALER) <= 0xFFFFF) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup RTC_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Exported_Functions + * @{ + */ + +void RTC_ITConfig(uint16_t RTC_IT, FunctionalState NewState); +void RTC_EnterConfigMode(void); +void RTC_ExitConfigMode(void); +uint32_t RTC_GetCounter(void); +void RTC_SetCounter(uint32_t CounterValue); +void RTC_SetPrescaler(uint32_t PrescalerValue); +void RTC_SetAlarm(uint32_t AlarmValue); +uint32_t RTC_GetDivider(void); +void RTC_WaitForLastTask(void); +void RTC_WaitForSynchro(void); +FlagStatus RTC_GetFlagStatus(uint16_t RTC_FLAG); +void RTC_ClearFlag(uint16_t RTC_FLAG); +ITStatus RTC_GetITStatus(uint16_t RTC_IT); +void RTC_ClearITPendingBit(uint16_t RTC_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_RTC_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_sdio.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_sdio.h new file mode 100644 index 0000000..81c058a --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_sdio.h @@ -0,0 +1,531 @@ +/** + ****************************************************************************** + * @file stm32f10x_sdio.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the SDIO firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_SDIO_H +#define __STM32F10x_SDIO_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup SDIO + * @{ + */ + +/** @defgroup SDIO_Exported_Types + * @{ + */ + +typedef struct +{ + uint32_t SDIO_ClockEdge; /*!< Specifies the clock transition on which the bit capture is made. + This parameter can be a value of @ref SDIO_Clock_Edge */ + + uint32_t SDIO_ClockBypass; /*!< Specifies whether the SDIO Clock divider bypass is + enabled or disabled. + This parameter can be a value of @ref SDIO_Clock_Bypass */ + + uint32_t SDIO_ClockPowerSave; /*!< Specifies whether SDIO Clock output is enabled or + disabled when the bus is idle. + This parameter can be a value of @ref SDIO_Clock_Power_Save */ + + uint32_t SDIO_BusWide; /*!< Specifies the SDIO bus width. + This parameter can be a value of @ref SDIO_Bus_Wide */ + + uint32_t SDIO_HardwareFlowControl; /*!< Specifies whether the SDIO hardware flow control is enabled or disabled. + This parameter can be a value of @ref SDIO_Hardware_Flow_Control */ + + uint8_t SDIO_ClockDiv; /*!< Specifies the clock frequency of the SDIO controller. + This parameter can be a value between 0x00 and 0xFF. */ + +} SDIO_InitTypeDef; + +typedef struct +{ + uint32_t SDIO_Argument; /*!< Specifies the SDIO command argument which is sent + to a card as part of a command message. If a command + contains an argument, it must be loaded into this register + before writing the command to the command register */ + + uint32_t SDIO_CmdIndex; /*!< Specifies the SDIO command index. It must be lower than 0x40. */ + + uint32_t SDIO_Response; /*!< Specifies the SDIO response type. + This parameter can be a value of @ref SDIO_Response_Type */ + + uint32_t SDIO_Wait; /*!< Specifies whether SDIO wait-for-interrupt request is enabled or disabled. + This parameter can be a value of @ref SDIO_Wait_Interrupt_State */ + + uint32_t SDIO_CPSM; /*!< Specifies whether SDIO Command path state machine (CPSM) + is enabled or disabled. + This parameter can be a value of @ref SDIO_CPSM_State */ +} SDIO_CmdInitTypeDef; + +typedef struct +{ + uint32_t SDIO_DataTimeOut; /*!< Specifies the data timeout period in card bus clock periods. */ + + uint32_t SDIO_DataLength; /*!< Specifies the number of data bytes to be transferred. */ + + uint32_t SDIO_DataBlockSize; /*!< Specifies the data block size for block transfer. + This parameter can be a value of @ref SDIO_Data_Block_Size */ + + uint32_t SDIO_TransferDir; /*!< Specifies the data transfer direction, whether the transfer + is a read or write. + This parameter can be a value of @ref SDIO_Transfer_Direction */ + + uint32_t SDIO_TransferMode; /*!< Specifies whether data transfer is in stream or block mode. + This parameter can be a value of @ref SDIO_Transfer_Type */ + + uint32_t SDIO_DPSM; /*!< Specifies whether SDIO Data path state machine (DPSM) + is enabled or disabled. + This parameter can be a value of @ref SDIO_DPSM_State */ +} SDIO_DataInitTypeDef; + +/** + * @} + */ + +/** @defgroup SDIO_Exported_Constants + * @{ + */ + +/** @defgroup SDIO_Clock_Edge + * @{ + */ + +#define SDIO_ClockEdge_Rising ((uint32_t)0x00000000) +#define SDIO_ClockEdge_Falling ((uint32_t)0x00002000) +#define IS_SDIO_CLOCK_EDGE(EDGE) (((EDGE) == SDIO_ClockEdge_Rising) || \ + ((EDGE) == SDIO_ClockEdge_Falling)) +/** + * @} + */ + +/** @defgroup SDIO_Clock_Bypass + * @{ + */ + +#define SDIO_ClockBypass_Disable ((uint32_t)0x00000000) +#define SDIO_ClockBypass_Enable ((uint32_t)0x00000400) +#define IS_SDIO_CLOCK_BYPASS(BYPASS) (((BYPASS) == SDIO_ClockBypass_Disable) || \ + ((BYPASS) == SDIO_ClockBypass_Enable)) +/** + * @} + */ + +/** @defgroup SDIO_Clock_Power_Save + * @{ + */ + +#define SDIO_ClockPowerSave_Disable ((uint32_t)0x00000000) +#define SDIO_ClockPowerSave_Enable ((uint32_t)0x00000200) +#define IS_SDIO_CLOCK_POWER_SAVE(SAVE) (((SAVE) == SDIO_ClockPowerSave_Disable) || \ + ((SAVE) == SDIO_ClockPowerSave_Enable)) +/** + * @} + */ + +/** @defgroup SDIO_Bus_Wide + * @{ + */ + +#define SDIO_BusWide_1b ((uint32_t)0x00000000) +#define SDIO_BusWide_4b ((uint32_t)0x00000800) +#define SDIO_BusWide_8b ((uint32_t)0x00001000) +#define IS_SDIO_BUS_WIDE(WIDE) (((WIDE) == SDIO_BusWide_1b) || ((WIDE) == SDIO_BusWide_4b) || \ + ((WIDE) == SDIO_BusWide_8b)) + +/** + * @} + */ + +/** @defgroup SDIO_Hardware_Flow_Control + * @{ + */ + +#define SDIO_HardwareFlowControl_Disable ((uint32_t)0x00000000) +#define SDIO_HardwareFlowControl_Enable ((uint32_t)0x00004000) +#define IS_SDIO_HARDWARE_FLOW_CONTROL(CONTROL) (((CONTROL) == SDIO_HardwareFlowControl_Disable) || \ + ((CONTROL) == SDIO_HardwareFlowControl_Enable)) +/** + * @} + */ + +/** @defgroup SDIO_Power_State + * @{ + */ + +#define SDIO_PowerState_OFF ((uint32_t)0x00000000) +#define SDIO_PowerState_ON ((uint32_t)0x00000003) +#define IS_SDIO_POWER_STATE(STATE) (((STATE) == SDIO_PowerState_OFF) || ((STATE) == SDIO_PowerState_ON)) +/** + * @} + */ + + +/** @defgroup SDIO_Interrupt_sources + * @{ + */ + +#define SDIO_IT_CCRCFAIL ((uint32_t)0x00000001) +#define SDIO_IT_DCRCFAIL ((uint32_t)0x00000002) +#define SDIO_IT_CTIMEOUT ((uint32_t)0x00000004) +#define SDIO_IT_DTIMEOUT ((uint32_t)0x00000008) +#define SDIO_IT_TXUNDERR ((uint32_t)0x00000010) +#define SDIO_IT_RXOVERR ((uint32_t)0x00000020) +#define SDIO_IT_CMDREND ((uint32_t)0x00000040) +#define SDIO_IT_CMDSENT ((uint32_t)0x00000080) +#define SDIO_IT_DATAEND ((uint32_t)0x00000100) +#define SDIO_IT_STBITERR ((uint32_t)0x00000200) +#define SDIO_IT_DBCKEND ((uint32_t)0x00000400) +#define SDIO_IT_CMDACT ((uint32_t)0x00000800) +#define SDIO_IT_TXACT ((uint32_t)0x00001000) +#define SDIO_IT_RXACT ((uint32_t)0x00002000) +#define SDIO_IT_TXFIFOHE ((uint32_t)0x00004000) +#define SDIO_IT_RXFIFOHF ((uint32_t)0x00008000) +#define SDIO_IT_TXFIFOF ((uint32_t)0x00010000) +#define SDIO_IT_RXFIFOF ((uint32_t)0x00020000) +#define SDIO_IT_TXFIFOE ((uint32_t)0x00040000) +#define SDIO_IT_RXFIFOE ((uint32_t)0x00080000) +#define SDIO_IT_TXDAVL ((uint32_t)0x00100000) +#define SDIO_IT_RXDAVL ((uint32_t)0x00200000) +#define SDIO_IT_SDIOIT ((uint32_t)0x00400000) +#define SDIO_IT_CEATAEND ((uint32_t)0x00800000) +#define IS_SDIO_IT(IT) ((((IT) & (uint32_t)0xFF000000) == 0x00) && ((IT) != (uint32_t)0x00)) +/** + * @} + */ + +/** @defgroup SDIO_Command_Index + * @{ + */ + +#define IS_SDIO_CMD_INDEX(INDEX) ((INDEX) < 0x40) +/** + * @} + */ + +/** @defgroup SDIO_Response_Type + * @{ + */ + +#define SDIO_Response_No ((uint32_t)0x00000000) +#define SDIO_Response_Short ((uint32_t)0x00000040) +#define SDIO_Response_Long ((uint32_t)0x000000C0) +#define IS_SDIO_RESPONSE(RESPONSE) (((RESPONSE) == SDIO_Response_No) || \ + ((RESPONSE) == SDIO_Response_Short) || \ + ((RESPONSE) == SDIO_Response_Long)) +/** + * @} + */ + +/** @defgroup SDIO_Wait_Interrupt_State + * @{ + */ + +#define SDIO_Wait_No ((uint32_t)0x00000000) /*!< SDIO No Wait, TimeOut is enabled */ +#define SDIO_Wait_IT ((uint32_t)0x00000100) /*!< SDIO Wait Interrupt Request */ +#define SDIO_Wait_Pend ((uint32_t)0x00000200) /*!< SDIO Wait End of transfer */ +#define IS_SDIO_WAIT(WAIT) (((WAIT) == SDIO_Wait_No) || ((WAIT) == SDIO_Wait_IT) || \ + ((WAIT) == SDIO_Wait_Pend)) +/** + * @} + */ + +/** @defgroup SDIO_CPSM_State + * @{ + */ + +#define SDIO_CPSM_Disable ((uint32_t)0x00000000) +#define SDIO_CPSM_Enable ((uint32_t)0x00000400) +#define IS_SDIO_CPSM(CPSM) (((CPSM) == SDIO_CPSM_Enable) || ((CPSM) == SDIO_CPSM_Disable)) +/** + * @} + */ + +/** @defgroup SDIO_Response_Registers + * @{ + */ + +#define SDIO_RESP1 ((uint32_t)0x00000000) +#define SDIO_RESP2 ((uint32_t)0x00000004) +#define SDIO_RESP3 ((uint32_t)0x00000008) +#define SDIO_RESP4 ((uint32_t)0x0000000C) +#define IS_SDIO_RESP(RESP) (((RESP) == SDIO_RESP1) || ((RESP) == SDIO_RESP2) || \ + ((RESP) == SDIO_RESP3) || ((RESP) == SDIO_RESP4)) +/** + * @} + */ + +/** @defgroup SDIO_Data_Length + * @{ + */ + +#define IS_SDIO_DATA_LENGTH(LENGTH) ((LENGTH) <= 0x01FFFFFF) +/** + * @} + */ + +/** @defgroup SDIO_Data_Block_Size + * @{ + */ + +#define SDIO_DataBlockSize_1b ((uint32_t)0x00000000) +#define SDIO_DataBlockSize_2b ((uint32_t)0x00000010) +#define SDIO_DataBlockSize_4b ((uint32_t)0x00000020) +#define SDIO_DataBlockSize_8b ((uint32_t)0x00000030) +#define SDIO_DataBlockSize_16b ((uint32_t)0x00000040) +#define SDIO_DataBlockSize_32b ((uint32_t)0x00000050) +#define SDIO_DataBlockSize_64b ((uint32_t)0x00000060) +#define SDIO_DataBlockSize_128b ((uint32_t)0x00000070) +#define SDIO_DataBlockSize_256b ((uint32_t)0x00000080) +#define SDIO_DataBlockSize_512b ((uint32_t)0x00000090) +#define SDIO_DataBlockSize_1024b ((uint32_t)0x000000A0) +#define SDIO_DataBlockSize_2048b ((uint32_t)0x000000B0) +#define SDIO_DataBlockSize_4096b ((uint32_t)0x000000C0) +#define SDIO_DataBlockSize_8192b ((uint32_t)0x000000D0) +#define SDIO_DataBlockSize_16384b ((uint32_t)0x000000E0) +#define IS_SDIO_BLOCK_SIZE(SIZE) (((SIZE) == SDIO_DataBlockSize_1b) || \ + ((SIZE) == SDIO_DataBlockSize_2b) || \ + ((SIZE) == SDIO_DataBlockSize_4b) || \ + ((SIZE) == SDIO_DataBlockSize_8b) || \ + ((SIZE) == SDIO_DataBlockSize_16b) || \ + ((SIZE) == SDIO_DataBlockSize_32b) || \ + ((SIZE) == SDIO_DataBlockSize_64b) || \ + ((SIZE) == SDIO_DataBlockSize_128b) || \ + ((SIZE) == SDIO_DataBlockSize_256b) || \ + ((SIZE) == SDIO_DataBlockSize_512b) || \ + ((SIZE) == SDIO_DataBlockSize_1024b) || \ + ((SIZE) == SDIO_DataBlockSize_2048b) || \ + ((SIZE) == SDIO_DataBlockSize_4096b) || \ + ((SIZE) == SDIO_DataBlockSize_8192b) || \ + ((SIZE) == SDIO_DataBlockSize_16384b)) +/** + * @} + */ + +/** @defgroup SDIO_Transfer_Direction + * @{ + */ + +#define SDIO_TransferDir_ToCard ((uint32_t)0x00000000) +#define SDIO_TransferDir_ToSDIO ((uint32_t)0x00000002) +#define IS_SDIO_TRANSFER_DIR(DIR) (((DIR) == SDIO_TransferDir_ToCard) || \ + ((DIR) == SDIO_TransferDir_ToSDIO)) +/** + * @} + */ + +/** @defgroup SDIO_Transfer_Type + * @{ + */ + +#define SDIO_TransferMode_Block ((uint32_t)0x00000000) +#define SDIO_TransferMode_Stream ((uint32_t)0x00000004) +#define IS_SDIO_TRANSFER_MODE(MODE) (((MODE) == SDIO_TransferMode_Stream) || \ + ((MODE) == SDIO_TransferMode_Block)) +/** + * @} + */ + +/** @defgroup SDIO_DPSM_State + * @{ + */ + +#define SDIO_DPSM_Disable ((uint32_t)0x00000000) +#define SDIO_DPSM_Enable ((uint32_t)0x00000001) +#define IS_SDIO_DPSM(DPSM) (((DPSM) == SDIO_DPSM_Enable) || ((DPSM) == SDIO_DPSM_Disable)) +/** + * @} + */ + +/** @defgroup SDIO_Flags + * @{ + */ + +#define SDIO_FLAG_CCRCFAIL ((uint32_t)0x00000001) +#define SDIO_FLAG_DCRCFAIL ((uint32_t)0x00000002) +#define SDIO_FLAG_CTIMEOUT ((uint32_t)0x00000004) +#define SDIO_FLAG_DTIMEOUT ((uint32_t)0x00000008) +#define SDIO_FLAG_TXUNDERR ((uint32_t)0x00000010) +#define SDIO_FLAG_RXOVERR ((uint32_t)0x00000020) +#define SDIO_FLAG_CMDREND ((uint32_t)0x00000040) +#define SDIO_FLAG_CMDSENT ((uint32_t)0x00000080) +#define SDIO_FLAG_DATAEND ((uint32_t)0x00000100) +#define SDIO_FLAG_STBITERR ((uint32_t)0x00000200) +#define SDIO_FLAG_DBCKEND ((uint32_t)0x00000400) +#define SDIO_FLAG_CMDACT ((uint32_t)0x00000800) +#define SDIO_FLAG_TXACT ((uint32_t)0x00001000) +#define SDIO_FLAG_RXACT ((uint32_t)0x00002000) +#define SDIO_FLAG_TXFIFOHE ((uint32_t)0x00004000) +#define SDIO_FLAG_RXFIFOHF ((uint32_t)0x00008000) +#define SDIO_FLAG_TXFIFOF ((uint32_t)0x00010000) +#define SDIO_FLAG_RXFIFOF ((uint32_t)0x00020000) +#define SDIO_FLAG_TXFIFOE ((uint32_t)0x00040000) +#define SDIO_FLAG_RXFIFOE ((uint32_t)0x00080000) +#define SDIO_FLAG_TXDAVL ((uint32_t)0x00100000) +#define SDIO_FLAG_RXDAVL ((uint32_t)0x00200000) +#define SDIO_FLAG_SDIOIT ((uint32_t)0x00400000) +#define SDIO_FLAG_CEATAEND ((uint32_t)0x00800000) +#define IS_SDIO_FLAG(FLAG) (((FLAG) == SDIO_FLAG_CCRCFAIL) || \ + ((FLAG) == SDIO_FLAG_DCRCFAIL) || \ + ((FLAG) == SDIO_FLAG_CTIMEOUT) || \ + ((FLAG) == SDIO_FLAG_DTIMEOUT) || \ + ((FLAG) == SDIO_FLAG_TXUNDERR) || \ + ((FLAG) == SDIO_FLAG_RXOVERR) || \ + ((FLAG) == SDIO_FLAG_CMDREND) || \ + ((FLAG) == SDIO_FLAG_CMDSENT) || \ + ((FLAG) == SDIO_FLAG_DATAEND) || \ + ((FLAG) == SDIO_FLAG_STBITERR) || \ + ((FLAG) == SDIO_FLAG_DBCKEND) || \ + ((FLAG) == SDIO_FLAG_CMDACT) || \ + ((FLAG) == SDIO_FLAG_TXACT) || \ + ((FLAG) == SDIO_FLAG_RXACT) || \ + ((FLAG) == SDIO_FLAG_TXFIFOHE) || \ + ((FLAG) == SDIO_FLAG_RXFIFOHF) || \ + ((FLAG) == SDIO_FLAG_TXFIFOF) || \ + ((FLAG) == SDIO_FLAG_RXFIFOF) || \ + ((FLAG) == SDIO_FLAG_TXFIFOE) || \ + ((FLAG) == SDIO_FLAG_RXFIFOE) || \ + ((FLAG) == SDIO_FLAG_TXDAVL) || \ + ((FLAG) == SDIO_FLAG_RXDAVL) || \ + ((FLAG) == SDIO_FLAG_SDIOIT) || \ + ((FLAG) == SDIO_FLAG_CEATAEND)) + +#define IS_SDIO_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFF3FF800) == 0x00) && ((FLAG) != (uint32_t)0x00)) + +#define IS_SDIO_GET_IT(IT) (((IT) == SDIO_IT_CCRCFAIL) || \ + ((IT) == SDIO_IT_DCRCFAIL) || \ + ((IT) == SDIO_IT_CTIMEOUT) || \ + ((IT) == SDIO_IT_DTIMEOUT) || \ + ((IT) == SDIO_IT_TXUNDERR) || \ + ((IT) == SDIO_IT_RXOVERR) || \ + ((IT) == SDIO_IT_CMDREND) || \ + ((IT) == SDIO_IT_CMDSENT) || \ + ((IT) == SDIO_IT_DATAEND) || \ + ((IT) == SDIO_IT_STBITERR) || \ + ((IT) == SDIO_IT_DBCKEND) || \ + ((IT) == SDIO_IT_CMDACT) || \ + ((IT) == SDIO_IT_TXACT) || \ + ((IT) == SDIO_IT_RXACT) || \ + ((IT) == SDIO_IT_TXFIFOHE) || \ + ((IT) == SDIO_IT_RXFIFOHF) || \ + ((IT) == SDIO_IT_TXFIFOF) || \ + ((IT) == SDIO_IT_RXFIFOF) || \ + ((IT) == SDIO_IT_TXFIFOE) || \ + ((IT) == SDIO_IT_RXFIFOE) || \ + ((IT) == SDIO_IT_TXDAVL) || \ + ((IT) == SDIO_IT_RXDAVL) || \ + ((IT) == SDIO_IT_SDIOIT) || \ + ((IT) == SDIO_IT_CEATAEND)) + +#define IS_SDIO_CLEAR_IT(IT) ((((IT) & (uint32_t)0xFF3FF800) == 0x00) && ((IT) != (uint32_t)0x00)) + +/** + * @} + */ + +/** @defgroup SDIO_Read_Wait_Mode + * @{ + */ + +#define SDIO_ReadWaitMode_CLK ((uint32_t)0x00000001) +#define SDIO_ReadWaitMode_DATA2 ((uint32_t)0x00000000) +#define IS_SDIO_READWAIT_MODE(MODE) (((MODE) == SDIO_ReadWaitMode_CLK) || \ + ((MODE) == SDIO_ReadWaitMode_DATA2)) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup SDIO_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Exported_Functions + * @{ + */ + +void SDIO_DeInit(void); +void SDIO_Init(SDIO_InitTypeDef* SDIO_InitStruct); +void SDIO_StructInit(SDIO_InitTypeDef* SDIO_InitStruct); +void SDIO_ClockCmd(FunctionalState NewState); +void SDIO_SetPowerState(uint32_t SDIO_PowerState); +uint32_t SDIO_GetPowerState(void); +void SDIO_ITConfig(uint32_t SDIO_IT, FunctionalState NewState); +void SDIO_DMACmd(FunctionalState NewState); +void SDIO_SendCommand(SDIO_CmdInitTypeDef *SDIO_CmdInitStruct); +void SDIO_CmdStructInit(SDIO_CmdInitTypeDef* SDIO_CmdInitStruct); +uint8_t SDIO_GetCommandResponse(void); +uint32_t SDIO_GetResponse(uint32_t SDIO_RESP); +void SDIO_DataConfig(SDIO_DataInitTypeDef* SDIO_DataInitStruct); +void SDIO_DataStructInit(SDIO_DataInitTypeDef* SDIO_DataInitStruct); +uint32_t SDIO_GetDataCounter(void); +uint32_t SDIO_ReadData(void); +void SDIO_WriteData(uint32_t Data); +uint32_t SDIO_GetFIFOCount(void); +void SDIO_StartSDIOReadWait(FunctionalState NewState); +void SDIO_StopSDIOReadWait(FunctionalState NewState); +void SDIO_SetSDIOReadWaitMode(uint32_t SDIO_ReadWaitMode); +void SDIO_SetSDIOOperation(FunctionalState NewState); +void SDIO_SendSDIOSuspendCmd(FunctionalState NewState); +void SDIO_CommandCompletionCmd(FunctionalState NewState); +void SDIO_CEATAITCmd(FunctionalState NewState); +void SDIO_SendCEATACmd(FunctionalState NewState); +FlagStatus SDIO_GetFlagStatus(uint32_t SDIO_FLAG); +void SDIO_ClearFlag(uint32_t SDIO_FLAG); +ITStatus SDIO_GetITStatus(uint32_t SDIO_IT); +void SDIO_ClearITPendingBit(uint32_t SDIO_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_SDIO_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_spi.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_spi.h new file mode 100644 index 0000000..23cc26d --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_spi.h @@ -0,0 +1,487 @@ +/** + ****************************************************************************** + * @file stm32f10x_spi.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the SPI firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_SPI_H +#define __STM32F10x_SPI_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup SPI + * @{ + */ + +/** @defgroup SPI_Exported_Types + * @{ + */ + +/** + * @brief SPI Init structure definition + */ + +typedef struct +{ + uint16_t SPI_Direction; /*!< Specifies the SPI unidirectional or bidirectional data mode. + This parameter can be a value of @ref SPI_data_direction */ + + uint16_t SPI_Mode; /*!< Specifies the SPI operating mode. + This parameter can be a value of @ref SPI_mode */ + + uint16_t SPI_DataSize; /*!< Specifies the SPI data size. + This parameter can be a value of @ref SPI_data_size */ + + uint16_t SPI_CPOL; /*!< Specifies the serial clock steady state. + This parameter can be a value of @ref SPI_Clock_Polarity */ + + uint16_t SPI_CPHA; /*!< Specifies the clock active edge for the bit capture. + This parameter can be a value of @ref SPI_Clock_Phase */ + + uint16_t SPI_NSS; /*!< Specifies whether the NSS signal is managed by + hardware (NSS pin) or by software using the SSI bit. + This parameter can be a value of @ref SPI_Slave_Select_management */ + + uint16_t SPI_BaudRatePrescaler; /*!< Specifies the Baud Rate prescaler value which will be + used to configure the transmit and receive SCK clock. + This parameter can be a value of @ref SPI_BaudRate_Prescaler. + @note The communication clock is derived from the master + clock. The slave clock does not need to be set. */ + + uint16_t SPI_FirstBit; /*!< Specifies whether data transfers start from MSB or LSB bit. + This parameter can be a value of @ref SPI_MSB_LSB_transmission */ + + uint16_t SPI_CRCPolynomial; /*!< Specifies the polynomial used for the CRC calculation. */ +}SPI_InitTypeDef; + +/** + * @brief I2S Init structure definition + */ + +typedef struct +{ + + uint16_t I2S_Mode; /*!< Specifies the I2S operating mode. + This parameter can be a value of @ref I2S_Mode */ + + uint16_t I2S_Standard; /*!< Specifies the standard used for the I2S communication. + This parameter can be a value of @ref I2S_Standard */ + + uint16_t I2S_DataFormat; /*!< Specifies the data format for the I2S communication. + This parameter can be a value of @ref I2S_Data_Format */ + + uint16_t I2S_MCLKOutput; /*!< Specifies whether the I2S MCLK output is enabled or not. + This parameter can be a value of @ref I2S_MCLK_Output */ + + uint32_t I2S_AudioFreq; /*!< Specifies the frequency selected for the I2S communication. + This parameter can be a value of @ref I2S_Audio_Frequency */ + + uint16_t I2S_CPOL; /*!< Specifies the idle state of the I2S clock. + This parameter can be a value of @ref I2S_Clock_Polarity */ +}I2S_InitTypeDef; + +/** + * @} + */ + +/** @defgroup SPI_Exported_Constants + * @{ + */ + +#define IS_SPI_ALL_PERIPH(PERIPH) (((PERIPH) == SPI1) || \ + ((PERIPH) == SPI2) || \ + ((PERIPH) == SPI3)) + +#define IS_SPI_23_PERIPH(PERIPH) (((PERIPH) == SPI2) || \ + ((PERIPH) == SPI3)) + +/** @defgroup SPI_data_direction + * @{ + */ + +#define SPI_Direction_2Lines_FullDuplex ((uint16_t)0x0000) +#define SPI_Direction_2Lines_RxOnly ((uint16_t)0x0400) +#define SPI_Direction_1Line_Rx ((uint16_t)0x8000) +#define SPI_Direction_1Line_Tx ((uint16_t)0xC000) +#define IS_SPI_DIRECTION_MODE(MODE) (((MODE) == SPI_Direction_2Lines_FullDuplex) || \ + ((MODE) == SPI_Direction_2Lines_RxOnly) || \ + ((MODE) == SPI_Direction_1Line_Rx) || \ + ((MODE) == SPI_Direction_1Line_Tx)) +/** + * @} + */ + +/** @defgroup SPI_mode + * @{ + */ + +#define SPI_Mode_Master ((uint16_t)0x0104) +#define SPI_Mode_Slave ((uint16_t)0x0000) +#define IS_SPI_MODE(MODE) (((MODE) == SPI_Mode_Master) || \ + ((MODE) == SPI_Mode_Slave)) +/** + * @} + */ + +/** @defgroup SPI_data_size + * @{ + */ + +#define SPI_DataSize_16b ((uint16_t)0x0800) +#define SPI_DataSize_8b ((uint16_t)0x0000) +#define IS_SPI_DATASIZE(DATASIZE) (((DATASIZE) == SPI_DataSize_16b) || \ + ((DATASIZE) == SPI_DataSize_8b)) +/** + * @} + */ + +/** @defgroup SPI_Clock_Polarity + * @{ + */ + +#define SPI_CPOL_Low ((uint16_t)0x0000) +#define SPI_CPOL_High ((uint16_t)0x0002) +#define IS_SPI_CPOL(CPOL) (((CPOL) == SPI_CPOL_Low) || \ + ((CPOL) == SPI_CPOL_High)) +/** + * @} + */ + +/** @defgroup SPI_Clock_Phase + * @{ + */ + +#define SPI_CPHA_1Edge ((uint16_t)0x0000) +#define SPI_CPHA_2Edge ((uint16_t)0x0001) +#define IS_SPI_CPHA(CPHA) (((CPHA) == SPI_CPHA_1Edge) || \ + ((CPHA) == SPI_CPHA_2Edge)) +/** + * @} + */ + +/** @defgroup SPI_Slave_Select_management + * @{ + */ + +#define SPI_NSS_Soft ((uint16_t)0x0200) +#define SPI_NSS_Hard ((uint16_t)0x0000) +#define IS_SPI_NSS(NSS) (((NSS) == SPI_NSS_Soft) || \ + ((NSS) == SPI_NSS_Hard)) +/** + * @} + */ + +/** @defgroup SPI_BaudRate_Prescaler + * @{ + */ + +#define SPI_BaudRatePrescaler_2 ((uint16_t)0x0000) +#define SPI_BaudRatePrescaler_4 ((uint16_t)0x0008) +#define SPI_BaudRatePrescaler_8 ((uint16_t)0x0010) +#define SPI_BaudRatePrescaler_16 ((uint16_t)0x0018) +#define SPI_BaudRatePrescaler_32 ((uint16_t)0x0020) +#define SPI_BaudRatePrescaler_64 ((uint16_t)0x0028) +#define SPI_BaudRatePrescaler_128 ((uint16_t)0x0030) +#define SPI_BaudRatePrescaler_256 ((uint16_t)0x0038) +#define IS_SPI_BAUDRATE_PRESCALER(PRESCALER) (((PRESCALER) == SPI_BaudRatePrescaler_2) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_4) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_8) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_16) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_32) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_64) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_128) || \ + ((PRESCALER) == SPI_BaudRatePrescaler_256)) +/** + * @} + */ + +/** @defgroup SPI_MSB_LSB_transmission + * @{ + */ + +#define SPI_FirstBit_MSB ((uint16_t)0x0000) +#define SPI_FirstBit_LSB ((uint16_t)0x0080) +#define IS_SPI_FIRST_BIT(BIT) (((BIT) == SPI_FirstBit_MSB) || \ + ((BIT) == SPI_FirstBit_LSB)) +/** + * @} + */ + +/** @defgroup I2S_Mode + * @{ + */ + +#define I2S_Mode_SlaveTx ((uint16_t)0x0000) +#define I2S_Mode_SlaveRx ((uint16_t)0x0100) +#define I2S_Mode_MasterTx ((uint16_t)0x0200) +#define I2S_Mode_MasterRx ((uint16_t)0x0300) +#define IS_I2S_MODE(MODE) (((MODE) == I2S_Mode_SlaveTx) || \ + ((MODE) == I2S_Mode_SlaveRx) || \ + ((MODE) == I2S_Mode_MasterTx) || \ + ((MODE) == I2S_Mode_MasterRx) ) +/** + * @} + */ + +/** @defgroup I2S_Standard + * @{ + */ + +#define I2S_Standard_Phillips ((uint16_t)0x0000) +#define I2S_Standard_MSB ((uint16_t)0x0010) +#define I2S_Standard_LSB ((uint16_t)0x0020) +#define I2S_Standard_PCMShort ((uint16_t)0x0030) +#define I2S_Standard_PCMLong ((uint16_t)0x00B0) +#define IS_I2S_STANDARD(STANDARD) (((STANDARD) == I2S_Standard_Phillips) || \ + ((STANDARD) == I2S_Standard_MSB) || \ + ((STANDARD) == I2S_Standard_LSB) || \ + ((STANDARD) == I2S_Standard_PCMShort) || \ + ((STANDARD) == I2S_Standard_PCMLong)) +/** + * @} + */ + +/** @defgroup I2S_Data_Format + * @{ + */ + +#define I2S_DataFormat_16b ((uint16_t)0x0000) +#define I2S_DataFormat_16bextended ((uint16_t)0x0001) +#define I2S_DataFormat_24b ((uint16_t)0x0003) +#define I2S_DataFormat_32b ((uint16_t)0x0005) +#define IS_I2S_DATA_FORMAT(FORMAT) (((FORMAT) == I2S_DataFormat_16b) || \ + ((FORMAT) == I2S_DataFormat_16bextended) || \ + ((FORMAT) == I2S_DataFormat_24b) || \ + ((FORMAT) == I2S_DataFormat_32b)) +/** + * @} + */ + +/** @defgroup I2S_MCLK_Output + * @{ + */ + +#define I2S_MCLKOutput_Enable ((uint16_t)0x0200) +#define I2S_MCLKOutput_Disable ((uint16_t)0x0000) +#define IS_I2S_MCLK_OUTPUT(OUTPUT) (((OUTPUT) == I2S_MCLKOutput_Enable) || \ + ((OUTPUT) == I2S_MCLKOutput_Disable)) +/** + * @} + */ + +/** @defgroup I2S_Audio_Frequency + * @{ + */ + +#define I2S_AudioFreq_192k ((uint32_t)192000) +#define I2S_AudioFreq_96k ((uint32_t)96000) +#define I2S_AudioFreq_48k ((uint32_t)48000) +#define I2S_AudioFreq_44k ((uint32_t)44100) +#define I2S_AudioFreq_32k ((uint32_t)32000) +#define I2S_AudioFreq_22k ((uint32_t)22050) +#define I2S_AudioFreq_16k ((uint32_t)16000) +#define I2S_AudioFreq_11k ((uint32_t)11025) +#define I2S_AudioFreq_8k ((uint32_t)8000) +#define I2S_AudioFreq_Default ((uint32_t)2) + +#define IS_I2S_AUDIO_FREQ(FREQ) ((((FREQ) >= I2S_AudioFreq_8k) && \ + ((FREQ) <= I2S_AudioFreq_192k)) || \ + ((FREQ) == I2S_AudioFreq_Default)) +/** + * @} + */ + +/** @defgroup I2S_Clock_Polarity + * @{ + */ + +#define I2S_CPOL_Low ((uint16_t)0x0000) +#define I2S_CPOL_High ((uint16_t)0x0008) +#define IS_I2S_CPOL(CPOL) (((CPOL) == I2S_CPOL_Low) || \ + ((CPOL) == I2S_CPOL_High)) +/** + * @} + */ + +/** @defgroup SPI_I2S_DMA_transfer_requests + * @{ + */ + +#define SPI_I2S_DMAReq_Tx ((uint16_t)0x0002) +#define SPI_I2S_DMAReq_Rx ((uint16_t)0x0001) +#define IS_SPI_I2S_DMAREQ(DMAREQ) ((((DMAREQ) & (uint16_t)0xFFFC) == 0x00) && ((DMAREQ) != 0x00)) +/** + * @} + */ + +/** @defgroup SPI_NSS_internal_software_management + * @{ + */ + +#define SPI_NSSInternalSoft_Set ((uint16_t)0x0100) +#define SPI_NSSInternalSoft_Reset ((uint16_t)0xFEFF) +#define IS_SPI_NSS_INTERNAL(INTERNAL) (((INTERNAL) == SPI_NSSInternalSoft_Set) || \ + ((INTERNAL) == SPI_NSSInternalSoft_Reset)) +/** + * @} + */ + +/** @defgroup SPI_CRC_Transmit_Receive + * @{ + */ + +#define SPI_CRC_Tx ((uint8_t)0x00) +#define SPI_CRC_Rx ((uint8_t)0x01) +#define IS_SPI_CRC(CRC) (((CRC) == SPI_CRC_Tx) || ((CRC) == SPI_CRC_Rx)) +/** + * @} + */ + +/** @defgroup SPI_direction_transmit_receive + * @{ + */ + +#define SPI_Direction_Rx ((uint16_t)0xBFFF) +#define SPI_Direction_Tx ((uint16_t)0x4000) +#define IS_SPI_DIRECTION(DIRECTION) (((DIRECTION) == SPI_Direction_Rx) || \ + ((DIRECTION) == SPI_Direction_Tx)) +/** + * @} + */ + +/** @defgroup SPI_I2S_interrupts_definition + * @{ + */ + +#define SPI_I2S_IT_TXE ((uint8_t)0x71) +#define SPI_I2S_IT_RXNE ((uint8_t)0x60) +#define SPI_I2S_IT_ERR ((uint8_t)0x50) +#define IS_SPI_I2S_CONFIG_IT(IT) (((IT) == SPI_I2S_IT_TXE) || \ + ((IT) == SPI_I2S_IT_RXNE) || \ + ((IT) == SPI_I2S_IT_ERR)) +#define SPI_I2S_IT_OVR ((uint8_t)0x56) +#define SPI_IT_MODF ((uint8_t)0x55) +#define SPI_IT_CRCERR ((uint8_t)0x54) +#define I2S_IT_UDR ((uint8_t)0x53) +#define IS_SPI_I2S_CLEAR_IT(IT) (((IT) == SPI_IT_CRCERR)) +#define IS_SPI_I2S_GET_IT(IT) (((IT) == SPI_I2S_IT_RXNE) || ((IT) == SPI_I2S_IT_TXE) || \ + ((IT) == I2S_IT_UDR) || ((IT) == SPI_IT_CRCERR) || \ + ((IT) == SPI_IT_MODF) || ((IT) == SPI_I2S_IT_OVR)) +/** + * @} + */ + +/** @defgroup SPI_I2S_flags_definition + * @{ + */ + +#define SPI_I2S_FLAG_RXNE ((uint16_t)0x0001) +#define SPI_I2S_FLAG_TXE ((uint16_t)0x0002) +#define I2S_FLAG_CHSIDE ((uint16_t)0x0004) +#define I2S_FLAG_UDR ((uint16_t)0x0008) +#define SPI_FLAG_CRCERR ((uint16_t)0x0010) +#define SPI_FLAG_MODF ((uint16_t)0x0020) +#define SPI_I2S_FLAG_OVR ((uint16_t)0x0040) +#define SPI_I2S_FLAG_BSY ((uint16_t)0x0080) +#define IS_SPI_I2S_CLEAR_FLAG(FLAG) (((FLAG) == SPI_FLAG_CRCERR)) +#define IS_SPI_I2S_GET_FLAG(FLAG) (((FLAG) == SPI_I2S_FLAG_BSY) || ((FLAG) == SPI_I2S_FLAG_OVR) || \ + ((FLAG) == SPI_FLAG_MODF) || ((FLAG) == SPI_FLAG_CRCERR) || \ + ((FLAG) == I2S_FLAG_UDR) || ((FLAG) == I2S_FLAG_CHSIDE) || \ + ((FLAG) == SPI_I2S_FLAG_TXE) || ((FLAG) == SPI_I2S_FLAG_RXNE)) +/** + * @} + */ + +/** @defgroup SPI_CRC_polynomial + * @{ + */ + +#define IS_SPI_CRC_POLYNOMIAL(POLYNOMIAL) ((POLYNOMIAL) >= 0x1) +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup SPI_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Exported_Functions + * @{ + */ + +void SPI_I2S_DeInit(SPI_TypeDef* SPIx); +void SPI_Init(SPI_TypeDef* SPIx, SPI_InitTypeDef* SPI_InitStruct); +void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct); +void SPI_StructInit(SPI_InitTypeDef* SPI_InitStruct); +void I2S_StructInit(I2S_InitTypeDef* I2S_InitStruct); +void SPI_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState); +void I2S_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState); +void SPI_I2S_ITConfig(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT, FunctionalState NewState); +void SPI_I2S_DMACmd(SPI_TypeDef* SPIx, uint16_t SPI_I2S_DMAReq, FunctionalState NewState); +void SPI_I2S_SendData(SPI_TypeDef* SPIx, uint16_t Data); +uint16_t SPI_I2S_ReceiveData(SPI_TypeDef* SPIx); +void SPI_NSSInternalSoftwareConfig(SPI_TypeDef* SPIx, uint16_t SPI_NSSInternalSoft); +void SPI_SSOutputCmd(SPI_TypeDef* SPIx, FunctionalState NewState); +void SPI_DataSizeConfig(SPI_TypeDef* SPIx, uint16_t SPI_DataSize); +void SPI_TransmitCRC(SPI_TypeDef* SPIx); +void SPI_CalculateCRC(SPI_TypeDef* SPIx, FunctionalState NewState); +uint16_t SPI_GetCRC(SPI_TypeDef* SPIx, uint8_t SPI_CRC); +uint16_t SPI_GetCRCPolynomial(SPI_TypeDef* SPIx); +void SPI_BiDirectionalLineConfig(SPI_TypeDef* SPIx, uint16_t SPI_Direction); +FlagStatus SPI_I2S_GetFlagStatus(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG); +void SPI_I2S_ClearFlag(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG); +ITStatus SPI_I2S_GetITStatus(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT); +void SPI_I2S_ClearITPendingBit(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_SPI_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_tim.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_tim.h new file mode 100644 index 0000000..65bf76a --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_tim.h @@ -0,0 +1,1164 @@ +/** + ****************************************************************************** + * @file stm32f10x_tim.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the TIM firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_TIM_H +#define __STM32F10x_TIM_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup TIM + * @{ + */ + +/** @defgroup TIM_Exported_Types + * @{ + */ + +/** + * @brief TIM Time Base Init structure definition + * @note This structure is used with all TIMx except for TIM6 and TIM7. + */ + +typedef struct +{ + uint16_t TIM_Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock. + This parameter can be a number between 0x0000 and 0xFFFF */ + + uint16_t TIM_CounterMode; /*!< Specifies the counter mode. + This parameter can be a value of @ref TIM_Counter_Mode */ + + uint16_t TIM_Period; /*!< Specifies the period value to be loaded into the active + Auto-Reload Register at the next update event. + This parameter must be a number between 0x0000 and 0xFFFF. */ + + uint16_t TIM_ClockDivision; /*!< Specifies the clock division. + This parameter can be a value of @ref TIM_Clock_Division_CKD */ + + uint8_t TIM_RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter + reaches zero, an update event is generated and counting restarts + from the RCR value (N). + This means in PWM mode that (N+1) corresponds to: + - the number of PWM periods in edge-aligned mode + - the number of half PWM period in center-aligned mode + This parameter must be a number between 0x00 and 0xFF. + @note This parameter is valid only for TIM1 and TIM8. */ +} TIM_TimeBaseInitTypeDef; + +/** + * @brief TIM Output Compare Init structure definition + */ + +typedef struct +{ + uint16_t TIM_OCMode; /*!< Specifies the TIM mode. + This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */ + + uint16_t TIM_OutputState; /*!< Specifies the TIM Output Compare state. + This parameter can be a value of @ref TIM_Output_Compare_state */ + + uint16_t TIM_OutputNState; /*!< Specifies the TIM complementary Output Compare state. + This parameter can be a value of @ref TIM_Output_Compare_N_state + @note This parameter is valid only for TIM1 and TIM8. */ + + uint16_t TIM_Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register. + This parameter can be a number between 0x0000 and 0xFFFF */ + + uint16_t TIM_OCPolarity; /*!< Specifies the output polarity. + This parameter can be a value of @ref TIM_Output_Compare_Polarity */ + + uint16_t TIM_OCNPolarity; /*!< Specifies the complementary output polarity. + This parameter can be a value of @ref TIM_Output_Compare_N_Polarity + @note This parameter is valid only for TIM1 and TIM8. */ + + uint16_t TIM_OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. + This parameter can be a value of @ref TIM_Output_Compare_Idle_State + @note This parameter is valid only for TIM1 and TIM8. */ + + uint16_t TIM_OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. + This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State + @note This parameter is valid only for TIM1 and TIM8. */ +} TIM_OCInitTypeDef; + +/** + * @brief TIM Input Capture Init structure definition + */ + +typedef struct +{ + + uint16_t TIM_Channel; /*!< Specifies the TIM channel. + This parameter can be a value of @ref TIM_Channel */ + + uint16_t TIM_ICPolarity; /*!< Specifies the active edge of the input signal. + This parameter can be a value of @ref TIM_Input_Capture_Polarity */ + + uint16_t TIM_ICSelection; /*!< Specifies the input. + This parameter can be a value of @ref TIM_Input_Capture_Selection */ + + uint16_t TIM_ICPrescaler; /*!< Specifies the Input Capture Prescaler. + This parameter can be a value of @ref TIM_Input_Capture_Prescaler */ + + uint16_t TIM_ICFilter; /*!< Specifies the input capture filter. + This parameter can be a number between 0x0 and 0xF */ +} TIM_ICInitTypeDef; + +/** + * @brief BDTR structure definition + * @note This structure is used only with TIM1 and TIM8. + */ + +typedef struct +{ + + uint16_t TIM_OSSRState; /*!< Specifies the Off-State selection used in Run mode. + This parameter can be a value of @ref OSSR_Off_State_Selection_for_Run_mode_state */ + + uint16_t TIM_OSSIState; /*!< Specifies the Off-State used in Idle state. + This parameter can be a value of @ref OSSI_Off_State_Selection_for_Idle_mode_state */ + + uint16_t TIM_LOCKLevel; /*!< Specifies the LOCK level parameters. + This parameter can be a value of @ref Lock_level */ + + uint16_t TIM_DeadTime; /*!< Specifies the delay time between the switching-off and the + switching-on of the outputs. + This parameter can be a number between 0x00 and 0xFF */ + + uint16_t TIM_Break; /*!< Specifies whether the TIM Break input is enabled or not. + This parameter can be a value of @ref Break_Input_enable_disable */ + + uint16_t TIM_BreakPolarity; /*!< Specifies the TIM Break Input pin polarity. + This parameter can be a value of @ref Break_Polarity */ + + uint16_t TIM_AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not. + This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */ +} TIM_BDTRInitTypeDef; + +/** @defgroup TIM_Exported_constants + * @{ + */ + +#define IS_TIM_ALL_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM6) || \ + ((PERIPH) == TIM7) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM10)|| \ + ((PERIPH) == TIM11)|| \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM13)|| \ + ((PERIPH) == TIM14)|| \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST1: TIM 1 and 8 */ +#define IS_TIM_LIST1_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM8)) + +/* LIST2: TIM 1, 8, 15 16 and 17 */ +#define IS_TIM_LIST2_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST3: TIM 1, 2, 3, 4, 5 and 8 */ +#define IS_TIM_LIST3_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8)) + +/* LIST4: TIM 1, 2, 3, 4, 5, 8, 15, 16 and 17 */ +#define IS_TIM_LIST4_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST5: TIM 1, 2, 3, 4, 5, 8 and 15 */ +#define IS_TIM_LIST5_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)) + +/* LIST6: TIM 1, 2, 3, 4, 5, 8, 9, 12 and 15 */ +#define IS_TIM_LIST6_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM15)) + +/* LIST7: TIM 1, 2, 3, 4, 5, 6, 7, 8, 9, 12 and 15 */ +#define IS_TIM_LIST7_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM6) || \ + ((PERIPH) == TIM7) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM15)) + +/* LIST8: TIM 1, 2, 3, 4, 5, 8, 9, 10, 11, 12, 13, 14, 15, 16 and 17 */ +#define IS_TIM_LIST8_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM9) || \ + ((PERIPH) == TIM10)|| \ + ((PERIPH) == TIM11)|| \ + ((PERIPH) == TIM12)|| \ + ((PERIPH) == TIM13)|| \ + ((PERIPH) == TIM14)|| \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/* LIST9: TIM 1, 2, 3, 4, 5, 6, 7, 8, 15, 16, and 17 */ +#define IS_TIM_LIST9_PERIPH(PERIPH) (((PERIPH) == TIM1) || \ + ((PERIPH) == TIM2) || \ + ((PERIPH) == TIM3) || \ + ((PERIPH) == TIM4) || \ + ((PERIPH) == TIM5) || \ + ((PERIPH) == TIM6) || \ + ((PERIPH) == TIM7) || \ + ((PERIPH) == TIM8) || \ + ((PERIPH) == TIM15)|| \ + ((PERIPH) == TIM16)|| \ + ((PERIPH) == TIM17)) + +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_and_PWM_modes + * @{ + */ + +#define TIM_OCMode_Timing ((uint16_t)0x0000) +#define TIM_OCMode_Active ((uint16_t)0x0010) +#define TIM_OCMode_Inactive ((uint16_t)0x0020) +#define TIM_OCMode_Toggle ((uint16_t)0x0030) +#define TIM_OCMode_PWM1 ((uint16_t)0x0060) +#define TIM_OCMode_PWM2 ((uint16_t)0x0070) +#define IS_TIM_OC_MODE(MODE) (((MODE) == TIM_OCMode_Timing) || \ + ((MODE) == TIM_OCMode_Active) || \ + ((MODE) == TIM_OCMode_Inactive) || \ + ((MODE) == TIM_OCMode_Toggle)|| \ + ((MODE) == TIM_OCMode_PWM1) || \ + ((MODE) == TIM_OCMode_PWM2)) +#define IS_TIM_OCM(MODE) (((MODE) == TIM_OCMode_Timing) || \ + ((MODE) == TIM_OCMode_Active) || \ + ((MODE) == TIM_OCMode_Inactive) || \ + ((MODE) == TIM_OCMode_Toggle)|| \ + ((MODE) == TIM_OCMode_PWM1) || \ + ((MODE) == TIM_OCMode_PWM2) || \ + ((MODE) == TIM_ForcedAction_Active) || \ + ((MODE) == TIM_ForcedAction_InActive)) +/** + * @} + */ + +/** @defgroup TIM_One_Pulse_Mode + * @{ + */ + +#define TIM_OPMode_Single ((uint16_t)0x0008) +#define TIM_OPMode_Repetitive ((uint16_t)0x0000) +#define IS_TIM_OPM_MODE(MODE) (((MODE) == TIM_OPMode_Single) || \ + ((MODE) == TIM_OPMode_Repetitive)) +/** + * @} + */ + +/** @defgroup TIM_Channel + * @{ + */ + +#define TIM_Channel_1 ((uint16_t)0x0000) +#define TIM_Channel_2 ((uint16_t)0x0004) +#define TIM_Channel_3 ((uint16_t)0x0008) +#define TIM_Channel_4 ((uint16_t)0x000C) +#define IS_TIM_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \ + ((CHANNEL) == TIM_Channel_2) || \ + ((CHANNEL) == TIM_Channel_3) || \ + ((CHANNEL) == TIM_Channel_4)) +#define IS_TIM_PWMI_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \ + ((CHANNEL) == TIM_Channel_2)) +#define IS_TIM_COMPLEMENTARY_CHANNEL(CHANNEL) (((CHANNEL) == TIM_Channel_1) || \ + ((CHANNEL) == TIM_Channel_2) || \ + ((CHANNEL) == TIM_Channel_3)) +/** + * @} + */ + +/** @defgroup TIM_Clock_Division_CKD + * @{ + */ + +#define TIM_CKD_DIV1 ((uint16_t)0x0000) +#define TIM_CKD_DIV2 ((uint16_t)0x0100) +#define TIM_CKD_DIV4 ((uint16_t)0x0200) +#define IS_TIM_CKD_DIV(DIV) (((DIV) == TIM_CKD_DIV1) || \ + ((DIV) == TIM_CKD_DIV2) || \ + ((DIV) == TIM_CKD_DIV4)) +/** + * @} + */ + +/** @defgroup TIM_Counter_Mode + * @{ + */ + +#define TIM_CounterMode_Up ((uint16_t)0x0000) +#define TIM_CounterMode_Down ((uint16_t)0x0010) +#define TIM_CounterMode_CenterAligned1 ((uint16_t)0x0020) +#define TIM_CounterMode_CenterAligned2 ((uint16_t)0x0040) +#define TIM_CounterMode_CenterAligned3 ((uint16_t)0x0060) +#define IS_TIM_COUNTER_MODE(MODE) (((MODE) == TIM_CounterMode_Up) || \ + ((MODE) == TIM_CounterMode_Down) || \ + ((MODE) == TIM_CounterMode_CenterAligned1) || \ + ((MODE) == TIM_CounterMode_CenterAligned2) || \ + ((MODE) == TIM_CounterMode_CenterAligned3)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Polarity + * @{ + */ + +#define TIM_OCPolarity_High ((uint16_t)0x0000) +#define TIM_OCPolarity_Low ((uint16_t)0x0002) +#define IS_TIM_OC_POLARITY(POLARITY) (((POLARITY) == TIM_OCPolarity_High) || \ + ((POLARITY) == TIM_OCPolarity_Low)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_N_Polarity + * @{ + */ + +#define TIM_OCNPolarity_High ((uint16_t)0x0000) +#define TIM_OCNPolarity_Low ((uint16_t)0x0008) +#define IS_TIM_OCN_POLARITY(POLARITY) (((POLARITY) == TIM_OCNPolarity_High) || \ + ((POLARITY) == TIM_OCNPolarity_Low)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_state + * @{ + */ + +#define TIM_OutputState_Disable ((uint16_t)0x0000) +#define TIM_OutputState_Enable ((uint16_t)0x0001) +#define IS_TIM_OUTPUT_STATE(STATE) (((STATE) == TIM_OutputState_Disable) || \ + ((STATE) == TIM_OutputState_Enable)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_N_state + * @{ + */ + +#define TIM_OutputNState_Disable ((uint16_t)0x0000) +#define TIM_OutputNState_Enable ((uint16_t)0x0004) +#define IS_TIM_OUTPUTN_STATE(STATE) (((STATE) == TIM_OutputNState_Disable) || \ + ((STATE) == TIM_OutputNState_Enable)) +/** + * @} + */ + +/** @defgroup TIM_Capture_Compare_state + * @{ + */ + +#define TIM_CCx_Enable ((uint16_t)0x0001) +#define TIM_CCx_Disable ((uint16_t)0x0000) +#define IS_TIM_CCX(CCX) (((CCX) == TIM_CCx_Enable) || \ + ((CCX) == TIM_CCx_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Capture_Compare_N_state + * @{ + */ + +#define TIM_CCxN_Enable ((uint16_t)0x0004) +#define TIM_CCxN_Disable ((uint16_t)0x0000) +#define IS_TIM_CCXN(CCXN) (((CCXN) == TIM_CCxN_Enable) || \ + ((CCXN) == TIM_CCxN_Disable)) +/** + * @} + */ + +/** @defgroup Break_Input_enable_disable + * @{ + */ + +#define TIM_Break_Enable ((uint16_t)0x1000) +#define TIM_Break_Disable ((uint16_t)0x0000) +#define IS_TIM_BREAK_STATE(STATE) (((STATE) == TIM_Break_Enable) || \ + ((STATE) == TIM_Break_Disable)) +/** + * @} + */ + +/** @defgroup Break_Polarity + * @{ + */ + +#define TIM_BreakPolarity_Low ((uint16_t)0x0000) +#define TIM_BreakPolarity_High ((uint16_t)0x2000) +#define IS_TIM_BREAK_POLARITY(POLARITY) (((POLARITY) == TIM_BreakPolarity_Low) || \ + ((POLARITY) == TIM_BreakPolarity_High)) +/** + * @} + */ + +/** @defgroup TIM_AOE_Bit_Set_Reset + * @{ + */ + +#define TIM_AutomaticOutput_Enable ((uint16_t)0x4000) +#define TIM_AutomaticOutput_Disable ((uint16_t)0x0000) +#define IS_TIM_AUTOMATIC_OUTPUT_STATE(STATE) (((STATE) == TIM_AutomaticOutput_Enable) || \ + ((STATE) == TIM_AutomaticOutput_Disable)) +/** + * @} + */ + +/** @defgroup Lock_level + * @{ + */ + +#define TIM_LOCKLevel_OFF ((uint16_t)0x0000) +#define TIM_LOCKLevel_1 ((uint16_t)0x0100) +#define TIM_LOCKLevel_2 ((uint16_t)0x0200) +#define TIM_LOCKLevel_3 ((uint16_t)0x0300) +#define IS_TIM_LOCK_LEVEL(LEVEL) (((LEVEL) == TIM_LOCKLevel_OFF) || \ + ((LEVEL) == TIM_LOCKLevel_1) || \ + ((LEVEL) == TIM_LOCKLevel_2) || \ + ((LEVEL) == TIM_LOCKLevel_3)) +/** + * @} + */ + +/** @defgroup OSSI_Off_State_Selection_for_Idle_mode_state + * @{ + */ + +#define TIM_OSSIState_Enable ((uint16_t)0x0400) +#define TIM_OSSIState_Disable ((uint16_t)0x0000) +#define IS_TIM_OSSI_STATE(STATE) (((STATE) == TIM_OSSIState_Enable) || \ + ((STATE) == TIM_OSSIState_Disable)) +/** + * @} + */ + +/** @defgroup OSSR_Off_State_Selection_for_Run_mode_state + * @{ + */ + +#define TIM_OSSRState_Enable ((uint16_t)0x0800) +#define TIM_OSSRState_Disable ((uint16_t)0x0000) +#define IS_TIM_OSSR_STATE(STATE) (((STATE) == TIM_OSSRState_Enable) || \ + ((STATE) == TIM_OSSRState_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Idle_State + * @{ + */ + +#define TIM_OCIdleState_Set ((uint16_t)0x0100) +#define TIM_OCIdleState_Reset ((uint16_t)0x0000) +#define IS_TIM_OCIDLE_STATE(STATE) (((STATE) == TIM_OCIdleState_Set) || \ + ((STATE) == TIM_OCIdleState_Reset)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_N_Idle_State + * @{ + */ + +#define TIM_OCNIdleState_Set ((uint16_t)0x0200) +#define TIM_OCNIdleState_Reset ((uint16_t)0x0000) +#define IS_TIM_OCNIDLE_STATE(STATE) (((STATE) == TIM_OCNIdleState_Set) || \ + ((STATE) == TIM_OCNIdleState_Reset)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Polarity + * @{ + */ + +#define TIM_ICPolarity_Rising ((uint16_t)0x0000) +#define TIM_ICPolarity_Falling ((uint16_t)0x0002) +#define TIM_ICPolarity_BothEdge ((uint16_t)0x000A) +#define IS_TIM_IC_POLARITY(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \ + ((POLARITY) == TIM_ICPolarity_Falling)) +#define IS_TIM_IC_POLARITY_LITE(POLARITY) (((POLARITY) == TIM_ICPolarity_Rising) || \ + ((POLARITY) == TIM_ICPolarity_Falling)|| \ + ((POLARITY) == TIM_ICPolarity_BothEdge)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Selection + * @{ + */ + +#define TIM_ICSelection_DirectTI ((uint16_t)0x0001) /*!< TIM Input 1, 2, 3 or 4 is selected to be + connected to IC1, IC2, IC3 or IC4, respectively */ +#define TIM_ICSelection_IndirectTI ((uint16_t)0x0002) /*!< TIM Input 1, 2, 3 or 4 is selected to be + connected to IC2, IC1, IC4 or IC3, respectively. */ +#define TIM_ICSelection_TRC ((uint16_t)0x0003) /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC. */ +#define IS_TIM_IC_SELECTION(SELECTION) (((SELECTION) == TIM_ICSelection_DirectTI) || \ + ((SELECTION) == TIM_ICSelection_IndirectTI) || \ + ((SELECTION) == TIM_ICSelection_TRC)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Prescaler + * @{ + */ + +#define TIM_ICPSC_DIV1 ((uint16_t)0x0000) /*!< Capture performed each time an edge is detected on the capture input. */ +#define TIM_ICPSC_DIV2 ((uint16_t)0x0004) /*!< Capture performed once every 2 events. */ +#define TIM_ICPSC_DIV4 ((uint16_t)0x0008) /*!< Capture performed once every 4 events. */ +#define TIM_ICPSC_DIV8 ((uint16_t)0x000C) /*!< Capture performed once every 8 events. */ +#define IS_TIM_IC_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ICPSC_DIV1) || \ + ((PRESCALER) == TIM_ICPSC_DIV2) || \ + ((PRESCALER) == TIM_ICPSC_DIV4) || \ + ((PRESCALER) == TIM_ICPSC_DIV8)) +/** + * @} + */ + +/** @defgroup TIM_interrupt_sources + * @{ + */ + +#define TIM_IT_Update ((uint16_t)0x0001) +#define TIM_IT_CC1 ((uint16_t)0x0002) +#define TIM_IT_CC2 ((uint16_t)0x0004) +#define TIM_IT_CC3 ((uint16_t)0x0008) +#define TIM_IT_CC4 ((uint16_t)0x0010) +#define TIM_IT_COM ((uint16_t)0x0020) +#define TIM_IT_Trigger ((uint16_t)0x0040) +#define TIM_IT_Break ((uint16_t)0x0080) +#define IS_TIM_IT(IT) ((((IT) & (uint16_t)0xFF00) == 0x0000) && ((IT) != 0x0000)) + +#define IS_TIM_GET_IT(IT) (((IT) == TIM_IT_Update) || \ + ((IT) == TIM_IT_CC1) || \ + ((IT) == TIM_IT_CC2) || \ + ((IT) == TIM_IT_CC3) || \ + ((IT) == TIM_IT_CC4) || \ + ((IT) == TIM_IT_COM) || \ + ((IT) == TIM_IT_Trigger) || \ + ((IT) == TIM_IT_Break)) +/** + * @} + */ + +/** @defgroup TIM_DMA_Base_address + * @{ + */ + +#define TIM_DMABase_CR1 ((uint16_t)0x0000) +#define TIM_DMABase_CR2 ((uint16_t)0x0001) +#define TIM_DMABase_SMCR ((uint16_t)0x0002) +#define TIM_DMABase_DIER ((uint16_t)0x0003) +#define TIM_DMABase_SR ((uint16_t)0x0004) +#define TIM_DMABase_EGR ((uint16_t)0x0005) +#define TIM_DMABase_CCMR1 ((uint16_t)0x0006) +#define TIM_DMABase_CCMR2 ((uint16_t)0x0007) +#define TIM_DMABase_CCER ((uint16_t)0x0008) +#define TIM_DMABase_CNT ((uint16_t)0x0009) +#define TIM_DMABase_PSC ((uint16_t)0x000A) +#define TIM_DMABase_ARR ((uint16_t)0x000B) +#define TIM_DMABase_RCR ((uint16_t)0x000C) +#define TIM_DMABase_CCR1 ((uint16_t)0x000D) +#define TIM_DMABase_CCR2 ((uint16_t)0x000E) +#define TIM_DMABase_CCR3 ((uint16_t)0x000F) +#define TIM_DMABase_CCR4 ((uint16_t)0x0010) +#define TIM_DMABase_BDTR ((uint16_t)0x0011) +#define TIM_DMABase_DCR ((uint16_t)0x0012) +#define IS_TIM_DMA_BASE(BASE) (((BASE) == TIM_DMABase_CR1) || \ + ((BASE) == TIM_DMABase_CR2) || \ + ((BASE) == TIM_DMABase_SMCR) || \ + ((BASE) == TIM_DMABase_DIER) || \ + ((BASE) == TIM_DMABase_SR) || \ + ((BASE) == TIM_DMABase_EGR) || \ + ((BASE) == TIM_DMABase_CCMR1) || \ + ((BASE) == TIM_DMABase_CCMR2) || \ + ((BASE) == TIM_DMABase_CCER) || \ + ((BASE) == TIM_DMABase_CNT) || \ + ((BASE) == TIM_DMABase_PSC) || \ + ((BASE) == TIM_DMABase_ARR) || \ + ((BASE) == TIM_DMABase_RCR) || \ + ((BASE) == TIM_DMABase_CCR1) || \ + ((BASE) == TIM_DMABase_CCR2) || \ + ((BASE) == TIM_DMABase_CCR3) || \ + ((BASE) == TIM_DMABase_CCR4) || \ + ((BASE) == TIM_DMABase_BDTR) || \ + ((BASE) == TIM_DMABase_DCR)) +/** + * @} + */ + +/** @defgroup TIM_DMA_Burst_Length + * @{ + */ + +#define TIM_DMABurstLength_1Transfer ((uint16_t)0x0000) +#define TIM_DMABurstLength_2Transfers ((uint16_t)0x0100) +#define TIM_DMABurstLength_3Transfers ((uint16_t)0x0200) +#define TIM_DMABurstLength_4Transfers ((uint16_t)0x0300) +#define TIM_DMABurstLength_5Transfers ((uint16_t)0x0400) +#define TIM_DMABurstLength_6Transfers ((uint16_t)0x0500) +#define TIM_DMABurstLength_7Transfers ((uint16_t)0x0600) +#define TIM_DMABurstLength_8Transfers ((uint16_t)0x0700) +#define TIM_DMABurstLength_9Transfers ((uint16_t)0x0800) +#define TIM_DMABurstLength_10Transfers ((uint16_t)0x0900) +#define TIM_DMABurstLength_11Transfers ((uint16_t)0x0A00) +#define TIM_DMABurstLength_12Transfers ((uint16_t)0x0B00) +#define TIM_DMABurstLength_13Transfers ((uint16_t)0x0C00) +#define TIM_DMABurstLength_14Transfers ((uint16_t)0x0D00) +#define TIM_DMABurstLength_15Transfers ((uint16_t)0x0E00) +#define TIM_DMABurstLength_16Transfers ((uint16_t)0x0F00) +#define TIM_DMABurstLength_17Transfers ((uint16_t)0x1000) +#define TIM_DMABurstLength_18Transfers ((uint16_t)0x1100) +#define IS_TIM_DMA_LENGTH(LENGTH) (((LENGTH) == TIM_DMABurstLength_1Transfer) || \ + ((LENGTH) == TIM_DMABurstLength_2Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_3Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_4Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_5Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_6Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_7Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_8Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_9Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_10Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_11Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_12Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_13Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_14Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_15Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_16Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_17Transfers) || \ + ((LENGTH) == TIM_DMABurstLength_18Transfers)) +/** + * @} + */ + +/** @defgroup TIM_DMA_sources + * @{ + */ + +#define TIM_DMA_Update ((uint16_t)0x0100) +#define TIM_DMA_CC1 ((uint16_t)0x0200) +#define TIM_DMA_CC2 ((uint16_t)0x0400) +#define TIM_DMA_CC3 ((uint16_t)0x0800) +#define TIM_DMA_CC4 ((uint16_t)0x1000) +#define TIM_DMA_COM ((uint16_t)0x2000) +#define TIM_DMA_Trigger ((uint16_t)0x4000) +#define IS_TIM_DMA_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0x80FF) == 0x0000) && ((SOURCE) != 0x0000)) + +/** + * @} + */ + +/** @defgroup TIM_External_Trigger_Prescaler + * @{ + */ + +#define TIM_ExtTRGPSC_OFF ((uint16_t)0x0000) +#define TIM_ExtTRGPSC_DIV2 ((uint16_t)0x1000) +#define TIM_ExtTRGPSC_DIV4 ((uint16_t)0x2000) +#define TIM_ExtTRGPSC_DIV8 ((uint16_t)0x3000) +#define IS_TIM_EXT_PRESCALER(PRESCALER) (((PRESCALER) == TIM_ExtTRGPSC_OFF) || \ + ((PRESCALER) == TIM_ExtTRGPSC_DIV2) || \ + ((PRESCALER) == TIM_ExtTRGPSC_DIV4) || \ + ((PRESCALER) == TIM_ExtTRGPSC_DIV8)) +/** + * @} + */ + +/** @defgroup TIM_Internal_Trigger_Selection + * @{ + */ + +#define TIM_TS_ITR0 ((uint16_t)0x0000) +#define TIM_TS_ITR1 ((uint16_t)0x0010) +#define TIM_TS_ITR2 ((uint16_t)0x0020) +#define TIM_TS_ITR3 ((uint16_t)0x0030) +#define TIM_TS_TI1F_ED ((uint16_t)0x0040) +#define TIM_TS_TI1FP1 ((uint16_t)0x0050) +#define TIM_TS_TI2FP2 ((uint16_t)0x0060) +#define TIM_TS_ETRF ((uint16_t)0x0070) +#define IS_TIM_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \ + ((SELECTION) == TIM_TS_ITR1) || \ + ((SELECTION) == TIM_TS_ITR2) || \ + ((SELECTION) == TIM_TS_ITR3) || \ + ((SELECTION) == TIM_TS_TI1F_ED) || \ + ((SELECTION) == TIM_TS_TI1FP1) || \ + ((SELECTION) == TIM_TS_TI2FP2) || \ + ((SELECTION) == TIM_TS_ETRF)) +#define IS_TIM_INTERNAL_TRIGGER_SELECTION(SELECTION) (((SELECTION) == TIM_TS_ITR0) || \ + ((SELECTION) == TIM_TS_ITR1) || \ + ((SELECTION) == TIM_TS_ITR2) || \ + ((SELECTION) == TIM_TS_ITR3)) +/** + * @} + */ + +/** @defgroup TIM_TIx_External_Clock_Source + * @{ + */ + +#define TIM_TIxExternalCLK1Source_TI1 ((uint16_t)0x0050) +#define TIM_TIxExternalCLK1Source_TI2 ((uint16_t)0x0060) +#define TIM_TIxExternalCLK1Source_TI1ED ((uint16_t)0x0040) +#define IS_TIM_TIXCLK_SOURCE(SOURCE) (((SOURCE) == TIM_TIxExternalCLK1Source_TI1) || \ + ((SOURCE) == TIM_TIxExternalCLK1Source_TI2) || \ + ((SOURCE) == TIM_TIxExternalCLK1Source_TI1ED)) +/** + * @} + */ + +/** @defgroup TIM_External_Trigger_Polarity + * @{ + */ +#define TIM_ExtTRGPolarity_Inverted ((uint16_t)0x8000) +#define TIM_ExtTRGPolarity_NonInverted ((uint16_t)0x0000) +#define IS_TIM_EXT_POLARITY(POLARITY) (((POLARITY) == TIM_ExtTRGPolarity_Inverted) || \ + ((POLARITY) == TIM_ExtTRGPolarity_NonInverted)) +/** + * @} + */ + +/** @defgroup TIM_Prescaler_Reload_Mode + * @{ + */ + +#define TIM_PSCReloadMode_Update ((uint16_t)0x0000) +#define TIM_PSCReloadMode_Immediate ((uint16_t)0x0001) +#define IS_TIM_PRESCALER_RELOAD(RELOAD) (((RELOAD) == TIM_PSCReloadMode_Update) || \ + ((RELOAD) == TIM_PSCReloadMode_Immediate)) +/** + * @} + */ + +/** @defgroup TIM_Forced_Action + * @{ + */ + +#define TIM_ForcedAction_Active ((uint16_t)0x0050) +#define TIM_ForcedAction_InActive ((uint16_t)0x0040) +#define IS_TIM_FORCED_ACTION(ACTION) (((ACTION) == TIM_ForcedAction_Active) || \ + ((ACTION) == TIM_ForcedAction_InActive)) +/** + * @} + */ + +/** @defgroup TIM_Encoder_Mode + * @{ + */ + +#define TIM_EncoderMode_TI1 ((uint16_t)0x0001) +#define TIM_EncoderMode_TI2 ((uint16_t)0x0002) +#define TIM_EncoderMode_TI12 ((uint16_t)0x0003) +#define IS_TIM_ENCODER_MODE(MODE) (((MODE) == TIM_EncoderMode_TI1) || \ + ((MODE) == TIM_EncoderMode_TI2) || \ + ((MODE) == TIM_EncoderMode_TI12)) +/** + * @} + */ + + +/** @defgroup TIM_Event_Source + * @{ + */ + +#define TIM_EventSource_Update ((uint16_t)0x0001) +#define TIM_EventSource_CC1 ((uint16_t)0x0002) +#define TIM_EventSource_CC2 ((uint16_t)0x0004) +#define TIM_EventSource_CC3 ((uint16_t)0x0008) +#define TIM_EventSource_CC4 ((uint16_t)0x0010) +#define TIM_EventSource_COM ((uint16_t)0x0020) +#define TIM_EventSource_Trigger ((uint16_t)0x0040) +#define TIM_EventSource_Break ((uint16_t)0x0080) +#define IS_TIM_EVENT_SOURCE(SOURCE) ((((SOURCE) & (uint16_t)0xFF00) == 0x0000) && ((SOURCE) != 0x0000)) + +/** + * @} + */ + +/** @defgroup TIM_Update_Source + * @{ + */ + +#define TIM_UpdateSource_Global ((uint16_t)0x0000) /*!< Source of update is the counter overflow/underflow + or the setting of UG bit, or an update generation + through the slave mode controller. */ +#define TIM_UpdateSource_Regular ((uint16_t)0x0001) /*!< Source of update is counter overflow/underflow. */ +#define IS_TIM_UPDATE_SOURCE(SOURCE) (((SOURCE) == TIM_UpdateSource_Global) || \ + ((SOURCE) == TIM_UpdateSource_Regular)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Preload_State + * @{ + */ + +#define TIM_OCPreload_Enable ((uint16_t)0x0008) +#define TIM_OCPreload_Disable ((uint16_t)0x0000) +#define IS_TIM_OCPRELOAD_STATE(STATE) (((STATE) == TIM_OCPreload_Enable) || \ + ((STATE) == TIM_OCPreload_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Fast_State + * @{ + */ + +#define TIM_OCFast_Enable ((uint16_t)0x0004) +#define TIM_OCFast_Disable ((uint16_t)0x0000) +#define IS_TIM_OCFAST_STATE(STATE) (((STATE) == TIM_OCFast_Enable) || \ + ((STATE) == TIM_OCFast_Disable)) + +/** + * @} + */ + +/** @defgroup TIM_Output_Compare_Clear_State + * @{ + */ + +#define TIM_OCClear_Enable ((uint16_t)0x0080) +#define TIM_OCClear_Disable ((uint16_t)0x0000) +#define IS_TIM_OCCLEAR_STATE(STATE) (((STATE) == TIM_OCClear_Enable) || \ + ((STATE) == TIM_OCClear_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Trigger_Output_Source + * @{ + */ + +#define TIM_TRGOSource_Reset ((uint16_t)0x0000) +#define TIM_TRGOSource_Enable ((uint16_t)0x0010) +#define TIM_TRGOSource_Update ((uint16_t)0x0020) +#define TIM_TRGOSource_OC1 ((uint16_t)0x0030) +#define TIM_TRGOSource_OC1Ref ((uint16_t)0x0040) +#define TIM_TRGOSource_OC2Ref ((uint16_t)0x0050) +#define TIM_TRGOSource_OC3Ref ((uint16_t)0x0060) +#define TIM_TRGOSource_OC4Ref ((uint16_t)0x0070) +#define IS_TIM_TRGO_SOURCE(SOURCE) (((SOURCE) == TIM_TRGOSource_Reset) || \ + ((SOURCE) == TIM_TRGOSource_Enable) || \ + ((SOURCE) == TIM_TRGOSource_Update) || \ + ((SOURCE) == TIM_TRGOSource_OC1) || \ + ((SOURCE) == TIM_TRGOSource_OC1Ref) || \ + ((SOURCE) == TIM_TRGOSource_OC2Ref) || \ + ((SOURCE) == TIM_TRGOSource_OC3Ref) || \ + ((SOURCE) == TIM_TRGOSource_OC4Ref)) +/** + * @} + */ + +/** @defgroup TIM_Slave_Mode + * @{ + */ + +#define TIM_SlaveMode_Reset ((uint16_t)0x0004) +#define TIM_SlaveMode_Gated ((uint16_t)0x0005) +#define TIM_SlaveMode_Trigger ((uint16_t)0x0006) +#define TIM_SlaveMode_External1 ((uint16_t)0x0007) +#define IS_TIM_SLAVE_MODE(MODE) (((MODE) == TIM_SlaveMode_Reset) || \ + ((MODE) == TIM_SlaveMode_Gated) || \ + ((MODE) == TIM_SlaveMode_Trigger) || \ + ((MODE) == TIM_SlaveMode_External1)) +/** + * @} + */ + +/** @defgroup TIM_Master_Slave_Mode + * @{ + */ + +#define TIM_MasterSlaveMode_Enable ((uint16_t)0x0080) +#define TIM_MasterSlaveMode_Disable ((uint16_t)0x0000) +#define IS_TIM_MSM_STATE(STATE) (((STATE) == TIM_MasterSlaveMode_Enable) || \ + ((STATE) == TIM_MasterSlaveMode_Disable)) +/** + * @} + */ + +/** @defgroup TIM_Flags + * @{ + */ + +#define TIM_FLAG_Update ((uint16_t)0x0001) +#define TIM_FLAG_CC1 ((uint16_t)0x0002) +#define TIM_FLAG_CC2 ((uint16_t)0x0004) +#define TIM_FLAG_CC3 ((uint16_t)0x0008) +#define TIM_FLAG_CC4 ((uint16_t)0x0010) +#define TIM_FLAG_COM ((uint16_t)0x0020) +#define TIM_FLAG_Trigger ((uint16_t)0x0040) +#define TIM_FLAG_Break ((uint16_t)0x0080) +#define TIM_FLAG_CC1OF ((uint16_t)0x0200) +#define TIM_FLAG_CC2OF ((uint16_t)0x0400) +#define TIM_FLAG_CC3OF ((uint16_t)0x0800) +#define TIM_FLAG_CC4OF ((uint16_t)0x1000) +#define IS_TIM_GET_FLAG(FLAG) (((FLAG) == TIM_FLAG_Update) || \ + ((FLAG) == TIM_FLAG_CC1) || \ + ((FLAG) == TIM_FLAG_CC2) || \ + ((FLAG) == TIM_FLAG_CC3) || \ + ((FLAG) == TIM_FLAG_CC4) || \ + ((FLAG) == TIM_FLAG_COM) || \ + ((FLAG) == TIM_FLAG_Trigger) || \ + ((FLAG) == TIM_FLAG_Break) || \ + ((FLAG) == TIM_FLAG_CC1OF) || \ + ((FLAG) == TIM_FLAG_CC2OF) || \ + ((FLAG) == TIM_FLAG_CC3OF) || \ + ((FLAG) == TIM_FLAG_CC4OF)) + + +#define IS_TIM_CLEAR_FLAG(TIM_FLAG) ((((TIM_FLAG) & (uint16_t)0xE100) == 0x0000) && ((TIM_FLAG) != 0x0000)) +/** + * @} + */ + +/** @defgroup TIM_Input_Capture_Filer_Value + * @{ + */ + +#define IS_TIM_IC_FILTER(ICFILTER) ((ICFILTER) <= 0xF) +/** + * @} + */ + +/** @defgroup TIM_External_Trigger_Filter + * @{ + */ + +#define IS_TIM_EXT_FILTER(EXTFILTER) ((EXTFILTER) <= 0xF) +/** + * @} + */ + +/** @defgroup TIM_Legacy + * @{ + */ + +#define TIM_DMABurstLength_1Byte TIM_DMABurstLength_1Transfer +#define TIM_DMABurstLength_2Bytes TIM_DMABurstLength_2Transfers +#define TIM_DMABurstLength_3Bytes TIM_DMABurstLength_3Transfers +#define TIM_DMABurstLength_4Bytes TIM_DMABurstLength_4Transfers +#define TIM_DMABurstLength_5Bytes TIM_DMABurstLength_5Transfers +#define TIM_DMABurstLength_6Bytes TIM_DMABurstLength_6Transfers +#define TIM_DMABurstLength_7Bytes TIM_DMABurstLength_7Transfers +#define TIM_DMABurstLength_8Bytes TIM_DMABurstLength_8Transfers +#define TIM_DMABurstLength_9Bytes TIM_DMABurstLength_9Transfers +#define TIM_DMABurstLength_10Bytes TIM_DMABurstLength_10Transfers +#define TIM_DMABurstLength_11Bytes TIM_DMABurstLength_11Transfers +#define TIM_DMABurstLength_12Bytes TIM_DMABurstLength_12Transfers +#define TIM_DMABurstLength_13Bytes TIM_DMABurstLength_13Transfers +#define TIM_DMABurstLength_14Bytes TIM_DMABurstLength_14Transfers +#define TIM_DMABurstLength_15Bytes TIM_DMABurstLength_15Transfers +#define TIM_DMABurstLength_16Bytes TIM_DMABurstLength_16Transfers +#define TIM_DMABurstLength_17Bytes TIM_DMABurstLength_17Transfers +#define TIM_DMABurstLength_18Bytes TIM_DMABurstLength_18Transfers +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup TIM_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Exported_Functions + * @{ + */ + +void TIM_DeInit(TIM_TypeDef* TIMx); +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); +void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct); +void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct); +void TIM_OCStructInit(TIM_OCInitTypeDef* TIM_OCInitStruct); +void TIM_ICStructInit(TIM_ICInitTypeDef* TIM_ICInitStruct); +void TIM_BDTRStructInit(TIM_BDTRInitTypeDef* TIM_BDTRInitStruct); +void TIM_Cmd(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_ITConfig(TIM_TypeDef* TIMx, uint16_t TIM_IT, FunctionalState NewState); +void TIM_GenerateEvent(TIM_TypeDef* TIMx, uint16_t TIM_EventSource); +void TIM_DMAConfig(TIM_TypeDef* TIMx, uint16_t TIM_DMABase, uint16_t TIM_DMABurstLength); +void TIM_DMACmd(TIM_TypeDef* TIMx, uint16_t TIM_DMASource, FunctionalState NewState); +void TIM_InternalClockConfig(TIM_TypeDef* TIMx); +void TIM_ITRxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource); +void TIM_TIxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_TIxExternalCLKSource, + uint16_t TIM_ICPolarity, uint16_t ICFilter); +void TIM_ETRClockMode1Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter); +void TIM_ETRClockMode2Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, + uint16_t TIM_ExtTRGPolarity, uint16_t ExtTRGFilter); +void TIM_ETRConfig(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter); +void TIM_PrescalerConfig(TIM_TypeDef* TIMx, uint16_t Prescaler, uint16_t TIM_PSCReloadMode); +void TIM_CounterModeConfig(TIM_TypeDef* TIMx, uint16_t TIM_CounterMode); +void TIM_SelectInputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource); +void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode, + uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity); +void TIM_ForcedOC1Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ForcedOC2Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ForcedOC3Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ForcedOC4Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction); +void TIM_ARRPreloadConfig(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_SelectCOM(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_SelectCCDMA(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_CCPreloadControl(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_OC1PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC2PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC3PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC4PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload); +void TIM_OC1FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_OC2FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_OC3FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_OC4FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast); +void TIM_ClearOC1Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_ClearOC2Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_ClearOC3Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_ClearOC4Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear); +void TIM_OC1PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_OC1NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity); +void TIM_OC2PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_OC2NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity); +void TIM_OC3PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_OC3NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity); +void TIM_OC4PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity); +void TIM_CCxCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCx); +void TIM_CCxNCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCxN); +void TIM_SelectOCxM(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode); +void TIM_UpdateDisableConfig(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_UpdateRequestConfig(TIM_TypeDef* TIMx, uint16_t TIM_UpdateSource); +void TIM_SelectHallSensor(TIM_TypeDef* TIMx, FunctionalState NewState); +void TIM_SelectOnePulseMode(TIM_TypeDef* TIMx, uint16_t TIM_OPMode); +void TIM_SelectOutputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_TRGOSource); +void TIM_SelectSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_SlaveMode); +void TIM_SelectMasterSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_MasterSlaveMode); +void TIM_SetCounter(TIM_TypeDef* TIMx, uint16_t Counter); +void TIM_SetAutoreload(TIM_TypeDef* TIMx, uint16_t Autoreload); +void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare1); +void TIM_SetCompare2(TIM_TypeDef* TIMx, uint16_t Compare2); +void TIM_SetCompare3(TIM_TypeDef* TIMx, uint16_t Compare3); +void TIM_SetCompare4(TIM_TypeDef* TIMx, uint16_t Compare4); +void TIM_SetIC1Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetIC2Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetIC3Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetIC4Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC); +void TIM_SetClockDivision(TIM_TypeDef* TIMx, uint16_t TIM_CKD); +uint16_t TIM_GetCapture1(TIM_TypeDef* TIMx); +uint16_t TIM_GetCapture2(TIM_TypeDef* TIMx); +uint16_t TIM_GetCapture3(TIM_TypeDef* TIMx); +uint16_t TIM_GetCapture4(TIM_TypeDef* TIMx); +uint16_t TIM_GetCounter(TIM_TypeDef* TIMx); +uint16_t TIM_GetPrescaler(TIM_TypeDef* TIMx); +FlagStatus TIM_GetFlagStatus(TIM_TypeDef* TIMx, uint16_t TIM_FLAG); +void TIM_ClearFlag(TIM_TypeDef* TIMx, uint16_t TIM_FLAG); +ITStatus TIM_GetITStatus(TIM_TypeDef* TIMx, uint16_t TIM_IT); +void TIM_ClearITPendingBit(TIM_TypeDef* TIMx, uint16_t TIM_IT); + +#ifdef __cplusplus +} +#endif + +#endif /*__STM32F10x_TIM_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_usart.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_usart.h new file mode 100644 index 0000000..162fa87 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_usart.h @@ -0,0 +1,412 @@ +/** + ****************************************************************************** + * @file stm32f10x_usart.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the USART + * firmware library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_USART_H +#define __STM32F10x_USART_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup USART + * @{ + */ + +/** @defgroup USART_Exported_Types + * @{ + */ + +/** + * @brief USART Init Structure definition + */ + +typedef struct +{ + uint32_t USART_BaudRate; /*!< This member configures the USART communication baud rate. + The baud rate is computed using the following formula: + - IntegerDivider = ((PCLKx) / (16 * (USART_InitStruct->USART_BaudRate))) + - FractionalDivider = ((IntegerDivider - ((u32) IntegerDivider)) * 16) + 0.5 */ + + uint16_t USART_WordLength; /*!< Specifies the number of data bits transmitted or received in a frame. + This parameter can be a value of @ref USART_Word_Length */ + + uint16_t USART_StopBits; /*!< Specifies the number of stop bits transmitted. + This parameter can be a value of @ref USART_Stop_Bits */ + + uint16_t USART_Parity; /*!< Specifies the parity mode. + This parameter can be a value of @ref USART_Parity + @note When parity is enabled, the computed parity is inserted + at the MSB position of the transmitted data (9th bit when + the word length is set to 9 data bits; 8th bit when the + word length is set to 8 data bits). */ + + uint16_t USART_Mode; /*!< Specifies wether the Receive or Transmit mode is enabled or disabled. + This parameter can be a value of @ref USART_Mode */ + + uint16_t USART_HardwareFlowControl; /*!< Specifies wether the hardware flow control mode is enabled + or disabled. + This parameter can be a value of @ref USART_Hardware_Flow_Control */ +} USART_InitTypeDef; + +/** + * @brief USART Clock Init Structure definition + */ + +typedef struct +{ + + uint16_t USART_Clock; /*!< Specifies whether the USART clock is enabled or disabled. + This parameter can be a value of @ref USART_Clock */ + + uint16_t USART_CPOL; /*!< Specifies the steady state value of the serial clock. + This parameter can be a value of @ref USART_Clock_Polarity */ + + uint16_t USART_CPHA; /*!< Specifies the clock transition on which the bit capture is made. + This parameter can be a value of @ref USART_Clock_Phase */ + + uint16_t USART_LastBit; /*!< Specifies whether the clock pulse corresponding to the last transmitted + data bit (MSB) has to be output on the SCLK pin in synchronous mode. + This parameter can be a value of @ref USART_Last_Bit */ +} USART_ClockInitTypeDef; + +/** + * @} + */ + +/** @defgroup USART_Exported_Constants + * @{ + */ + +#define IS_USART_ALL_PERIPH(PERIPH) (((PERIPH) == USART1) || \ + ((PERIPH) == USART2) || \ + ((PERIPH) == USART3) || \ + ((PERIPH) == UART4) || \ + ((PERIPH) == UART5)) + +#define IS_USART_123_PERIPH(PERIPH) (((PERIPH) == USART1) || \ + ((PERIPH) == USART2) || \ + ((PERIPH) == USART3)) + +#define IS_USART_1234_PERIPH(PERIPH) (((PERIPH) == USART1) || \ + ((PERIPH) == USART2) || \ + ((PERIPH) == USART3) || \ + ((PERIPH) == UART4)) +/** @defgroup USART_Word_Length + * @{ + */ + +#define USART_WordLength_8b ((uint16_t)0x0000) +#define USART_WordLength_9b ((uint16_t)0x1000) + +#define IS_USART_WORD_LENGTH(LENGTH) (((LENGTH) == USART_WordLength_8b) || \ + ((LENGTH) == USART_WordLength_9b)) +/** + * @} + */ + +/** @defgroup USART_Stop_Bits + * @{ + */ + +#define USART_StopBits_1 ((uint16_t)0x0000) +#define USART_StopBits_0_5 ((uint16_t)0x1000) +#define USART_StopBits_2 ((uint16_t)0x2000) +#define USART_StopBits_1_5 ((uint16_t)0x3000) +#define IS_USART_STOPBITS(STOPBITS) (((STOPBITS) == USART_StopBits_1) || \ + ((STOPBITS) == USART_StopBits_0_5) || \ + ((STOPBITS) == USART_StopBits_2) || \ + ((STOPBITS) == USART_StopBits_1_5)) +/** + * @} + */ + +/** @defgroup USART_Parity + * @{ + */ + +#define USART_Parity_No ((uint16_t)0x0000) +#define USART_Parity_Even ((uint16_t)0x0400) +#define USART_Parity_Odd ((uint16_t)0x0600) +#define IS_USART_PARITY(PARITY) (((PARITY) == USART_Parity_No) || \ + ((PARITY) == USART_Parity_Even) || \ + ((PARITY) == USART_Parity_Odd)) +/** + * @} + */ + +/** @defgroup USART_Mode + * @{ + */ + +#define USART_Mode_Rx ((uint16_t)0x0004) +#define USART_Mode_Tx ((uint16_t)0x0008) +#define IS_USART_MODE(MODE) ((((MODE) & (uint16_t)0xFFF3) == 0x00) && ((MODE) != (uint16_t)0x00)) +/** + * @} + */ + +/** @defgroup USART_Hardware_Flow_Control + * @{ + */ +#define USART_HardwareFlowControl_None ((uint16_t)0x0000) +#define USART_HardwareFlowControl_RTS ((uint16_t)0x0100) +#define USART_HardwareFlowControl_CTS ((uint16_t)0x0200) +#define USART_HardwareFlowControl_RTS_CTS ((uint16_t)0x0300) +#define IS_USART_HARDWARE_FLOW_CONTROL(CONTROL)\ + (((CONTROL) == USART_HardwareFlowControl_None) || \ + ((CONTROL) == USART_HardwareFlowControl_RTS) || \ + ((CONTROL) == USART_HardwareFlowControl_CTS) || \ + ((CONTROL) == USART_HardwareFlowControl_RTS_CTS)) +/** + * @} + */ + +/** @defgroup USART_Clock + * @{ + */ +#define USART_Clock_Disable ((uint16_t)0x0000) +#define USART_Clock_Enable ((uint16_t)0x0800) +#define IS_USART_CLOCK(CLOCK) (((CLOCK) == USART_Clock_Disable) || \ + ((CLOCK) == USART_Clock_Enable)) +/** + * @} + */ + +/** @defgroup USART_Clock_Polarity + * @{ + */ + +#define USART_CPOL_Low ((uint16_t)0x0000) +#define USART_CPOL_High ((uint16_t)0x0400) +#define IS_USART_CPOL(CPOL) (((CPOL) == USART_CPOL_Low) || ((CPOL) == USART_CPOL_High)) + +/** + * @} + */ + +/** @defgroup USART_Clock_Phase + * @{ + */ + +#define USART_CPHA_1Edge ((uint16_t)0x0000) +#define USART_CPHA_2Edge ((uint16_t)0x0200) +#define IS_USART_CPHA(CPHA) (((CPHA) == USART_CPHA_1Edge) || ((CPHA) == USART_CPHA_2Edge)) + +/** + * @} + */ + +/** @defgroup USART_Last_Bit + * @{ + */ + +#define USART_LastBit_Disable ((uint16_t)0x0000) +#define USART_LastBit_Enable ((uint16_t)0x0100) +#define IS_USART_LASTBIT(LASTBIT) (((LASTBIT) == USART_LastBit_Disable) || \ + ((LASTBIT) == USART_LastBit_Enable)) +/** + * @} + */ + +/** @defgroup USART_Interrupt_definition + * @{ + */ + +#define USART_IT_PE ((uint16_t)0x0028) +#define USART_IT_TXE ((uint16_t)0x0727) +#define USART_IT_TC ((uint16_t)0x0626) +#define USART_IT_RXNE ((uint16_t)0x0525) +#define USART_IT_IDLE ((uint16_t)0x0424) +#define USART_IT_LBD ((uint16_t)0x0846) +#define USART_IT_CTS ((uint16_t)0x096A) +#define USART_IT_ERR ((uint16_t)0x0060) +#define USART_IT_ORE ((uint16_t)0x0360) +#define USART_IT_NE ((uint16_t)0x0260) +#define USART_IT_FE ((uint16_t)0x0160) +#define IS_USART_CONFIG_IT(IT) (((IT) == USART_IT_PE) || ((IT) == USART_IT_TXE) || \ + ((IT) == USART_IT_TC) || ((IT) == USART_IT_RXNE) || \ + ((IT) == USART_IT_IDLE) || ((IT) == USART_IT_LBD) || \ + ((IT) == USART_IT_CTS) || ((IT) == USART_IT_ERR)) +#define IS_USART_GET_IT(IT) (((IT) == USART_IT_PE) || ((IT) == USART_IT_TXE) || \ + ((IT) == USART_IT_TC) || ((IT) == USART_IT_RXNE) || \ + ((IT) == USART_IT_IDLE) || ((IT) == USART_IT_LBD) || \ + ((IT) == USART_IT_CTS) || ((IT) == USART_IT_ORE) || \ + ((IT) == USART_IT_NE) || ((IT) == USART_IT_FE)) +#define IS_USART_CLEAR_IT(IT) (((IT) == USART_IT_TC) || ((IT) == USART_IT_RXNE) || \ + ((IT) == USART_IT_LBD) || ((IT) == USART_IT_CTS)) +/** + * @} + */ + +/** @defgroup USART_DMA_Requests + * @{ + */ + +#define USART_DMAReq_Tx ((uint16_t)0x0080) +#define USART_DMAReq_Rx ((uint16_t)0x0040) +#define IS_USART_DMAREQ(DMAREQ) ((((DMAREQ) & (uint16_t)0xFF3F) == 0x00) && ((DMAREQ) != (uint16_t)0x00)) + +/** + * @} + */ + +/** @defgroup USART_WakeUp_methods + * @{ + */ + +#define USART_WakeUp_IdleLine ((uint16_t)0x0000) +#define USART_WakeUp_AddressMark ((uint16_t)0x0800) +#define IS_USART_WAKEUP(WAKEUP) (((WAKEUP) == USART_WakeUp_IdleLine) || \ + ((WAKEUP) == USART_WakeUp_AddressMark)) +/** + * @} + */ + +/** @defgroup USART_LIN_Break_Detection_Length + * @{ + */ + +#define USART_LINBreakDetectLength_10b ((uint16_t)0x0000) +#define USART_LINBreakDetectLength_11b ((uint16_t)0x0020) +#define IS_USART_LIN_BREAK_DETECT_LENGTH(LENGTH) \ + (((LENGTH) == USART_LINBreakDetectLength_10b) || \ + ((LENGTH) == USART_LINBreakDetectLength_11b)) +/** + * @} + */ + +/** @defgroup USART_IrDA_Low_Power + * @{ + */ + +#define USART_IrDAMode_LowPower ((uint16_t)0x0004) +#define USART_IrDAMode_Normal ((uint16_t)0x0000) +#define IS_USART_IRDA_MODE(MODE) (((MODE) == USART_IrDAMode_LowPower) || \ + ((MODE) == USART_IrDAMode_Normal)) +/** + * @} + */ + +/** @defgroup USART_Flags + * @{ + */ + +#define USART_FLAG_CTS ((uint16_t)0x0200) +#define USART_FLAG_LBD ((uint16_t)0x0100) +#define USART_FLAG_TXE ((uint16_t)0x0080) +#define USART_FLAG_TC ((uint16_t)0x0040) +#define USART_FLAG_RXNE ((uint16_t)0x0020) +#define USART_FLAG_IDLE ((uint16_t)0x0010) +#define USART_FLAG_ORE ((uint16_t)0x0008) +#define USART_FLAG_NE ((uint16_t)0x0004) +#define USART_FLAG_FE ((uint16_t)0x0002) +#define USART_FLAG_PE ((uint16_t)0x0001) +#define IS_USART_FLAG(FLAG) (((FLAG) == USART_FLAG_PE) || ((FLAG) == USART_FLAG_TXE) || \ + ((FLAG) == USART_FLAG_TC) || ((FLAG) == USART_FLAG_RXNE) || \ + ((FLAG) == USART_FLAG_IDLE) || ((FLAG) == USART_FLAG_LBD) || \ + ((FLAG) == USART_FLAG_CTS) || ((FLAG) == USART_FLAG_ORE) || \ + ((FLAG) == USART_FLAG_NE) || ((FLAG) == USART_FLAG_FE)) + +#define IS_USART_CLEAR_FLAG(FLAG) ((((FLAG) & (uint16_t)0xFC9F) == 0x00) && ((FLAG) != (uint16_t)0x00)) +#define IS_USART_PERIPH_FLAG(PERIPH, USART_FLAG) ((((*(uint32_t*)&(PERIPH)) != UART4_BASE) &&\ + ((*(uint32_t*)&(PERIPH)) != UART5_BASE)) \ + || ((USART_FLAG) != USART_FLAG_CTS)) +#define IS_USART_BAUDRATE(BAUDRATE) (((BAUDRATE) > 0) && ((BAUDRATE) < 0x0044AA21)) +#define IS_USART_ADDRESS(ADDRESS) ((ADDRESS) <= 0xF) +#define IS_USART_DATA(DATA) ((DATA) <= 0x1FF) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup USART_Exported_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Exported_Functions + * @{ + */ + +void USART_DeInit(USART_TypeDef* USARTx); +void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct); +void USART_StructInit(USART_InitTypeDef* USART_InitStruct); +void USART_ClockInit(USART_TypeDef* USARTx, USART_ClockInitTypeDef* USART_ClockInitStruct); +void USART_ClockStructInit(USART_ClockInitTypeDef* USART_ClockInitStruct); +void USART_Cmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_ITConfig(USART_TypeDef* USARTx, uint16_t USART_IT, FunctionalState NewState); +void USART_DMACmd(USART_TypeDef* USARTx, uint16_t USART_DMAReq, FunctionalState NewState); +void USART_SetAddress(USART_TypeDef* USARTx, uint8_t USART_Address); +void USART_WakeUpConfig(USART_TypeDef* USARTx, uint16_t USART_WakeUp); +void USART_ReceiverWakeUpCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_LINBreakDetectLengthConfig(USART_TypeDef* USARTx, uint16_t USART_LINBreakDetectLength); +void USART_LINCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_SendData(USART_TypeDef* USARTx, uint16_t Data); +uint16_t USART_ReceiveData(USART_TypeDef* USARTx); +void USART_SendBreak(USART_TypeDef* USARTx); +void USART_SetGuardTime(USART_TypeDef* USARTx, uint8_t USART_GuardTime); +void USART_SetPrescaler(USART_TypeDef* USARTx, uint8_t USART_Prescaler); +void USART_SmartCardCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_SmartCardNACKCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_HalfDuplexCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_OverSampling8Cmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_OneBitMethodCmd(USART_TypeDef* USARTx, FunctionalState NewState); +void USART_IrDAConfig(USART_TypeDef* USARTx, uint16_t USART_IrDAMode); +void USART_IrDACmd(USART_TypeDef* USARTx, FunctionalState NewState); +FlagStatus USART_GetFlagStatus(USART_TypeDef* USARTx, uint16_t USART_FLAG); +void USART_ClearFlag(USART_TypeDef* USARTx, uint16_t USART_FLAG); +ITStatus USART_GetITStatus(USART_TypeDef* USARTx, uint16_t USART_IT); +void USART_ClearITPendingBit(USART_TypeDef* USARTx, uint16_t USART_IT); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_USART_H */ +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_wwdg.h b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_wwdg.h new file mode 100644 index 0000000..bdfa177 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/inc/stm32f10x_wwdg.h @@ -0,0 +1,115 @@ +/** + ****************************************************************************** + * @file stm32f10x_wwdg.h + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file contains all the functions prototypes for the WWDG firmware + * library. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Define to prevent recursive inclusion -------------------------------------*/ +#ifndef __STM32F10x_WWDG_H +#define __STM32F10x_WWDG_H + +#ifdef __cplusplus + extern "C" { +#endif + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @addtogroup WWDG + * @{ + */ + +/** @defgroup WWDG_Exported_Types + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Exported_Constants + * @{ + */ + +/** @defgroup WWDG_Prescaler + * @{ + */ + +#define WWDG_Prescaler_1 ((uint32_t)0x00000000) +#define WWDG_Prescaler_2 ((uint32_t)0x00000080) +#define WWDG_Prescaler_4 ((uint32_t)0x00000100) +#define WWDG_Prescaler_8 ((uint32_t)0x00000180) +#define IS_WWDG_PRESCALER(PRESCALER) (((PRESCALER) == WWDG_Prescaler_1) || \ + ((PRESCALER) == WWDG_Prescaler_2) || \ + ((PRESCALER) == WWDG_Prescaler_4) || \ + ((PRESCALER) == WWDG_Prescaler_8)) +#define IS_WWDG_WINDOW_VALUE(VALUE) ((VALUE) <= 0x7F) +#define IS_WWDG_COUNTER(COUNTER) (((COUNTER) >= 0x40) && ((COUNTER) <= 0x7F)) + +/** + * @} + */ + +/** + * @} + */ + +/** @defgroup WWDG_Exported_Macros + * @{ + */ +/** + * @} + */ + +/** @defgroup WWDG_Exported_Functions + * @{ + */ + +void WWDG_DeInit(void); +void WWDG_SetPrescaler(uint32_t WWDG_Prescaler); +void WWDG_SetWindowValue(uint8_t WindowValue); +void WWDG_EnableIT(void); +void WWDG_SetCounter(uint8_t Counter); +void WWDG_Enable(uint8_t Counter); +FlagStatus WWDG_GetFlagStatus(void); +void WWDG_ClearFlag(void); + +#ifdef __cplusplus +} +#endif + +#endif /* __STM32F10x_WWDG_H */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/misc.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/misc.c new file mode 100644 index 0000000..c0a5e11 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/misc.c @@ -0,0 +1,225 @@ +/** + ****************************************************************************** + * @file misc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the miscellaneous firmware functions (add-on + * to CMSIS functions). + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "misc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup MISC + * @brief MISC driver modules + * @{ + */ + +/** @defgroup MISC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_Defines + * @{ + */ + +#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000) +/** + * @} + */ + +/** @defgroup MISC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup MISC_Private_Functions + * @{ + */ + +/** + * @brief Configures the priority grouping: pre-emption priority and subpriority. + * @param NVIC_PriorityGroup: specifies the priority grouping bits length. + * This parameter can be one of the following values: + * @arg NVIC_PriorityGroup_0: 0 bits for pre-emption priority + * 4 bits for subpriority + * @arg NVIC_PriorityGroup_1: 1 bits for pre-emption priority + * 3 bits for subpriority + * @arg NVIC_PriorityGroup_2: 2 bits for pre-emption priority + * 2 bits for subpriority + * @arg NVIC_PriorityGroup_3: 3 bits for pre-emption priority + * 1 bits for subpriority + * @arg NVIC_PriorityGroup_4: 4 bits for pre-emption priority + * 0 bits for subpriority + * @retval None + */ +void NVIC_PriorityGroupConfig(uint32_t NVIC_PriorityGroup) +{ + /* Check the parameters */ + assert_param(IS_NVIC_PRIORITY_GROUP(NVIC_PriorityGroup)); + + /* Set the PRIGROUP[10:8] bits according to NVIC_PriorityGroup value */ + SCB->AIRCR = AIRCR_VECTKEY_MASK | NVIC_PriorityGroup; +} + +/** + * @brief Initializes the NVIC peripheral according to the specified + * parameters in the NVIC_InitStruct. + * @param NVIC_InitStruct: pointer to a NVIC_InitTypeDef structure that contains + * the configuration information for the specified NVIC peripheral. + * @retval None + */ +void NVIC_Init(NVIC_InitTypeDef* NVIC_InitStruct) +{ + uint32_t tmppriority = 0x00, tmppre = 0x00, tmpsub = 0x0F; + + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NVIC_InitStruct->NVIC_IRQChannelCmd)); + assert_param(IS_NVIC_PREEMPTION_PRIORITY(NVIC_InitStruct->NVIC_IRQChannelPreemptionPriority)); + assert_param(IS_NVIC_SUB_PRIORITY(NVIC_InitStruct->NVIC_IRQChannelSubPriority)); + + if (NVIC_InitStruct->NVIC_IRQChannelCmd != DISABLE) + { + /* Compute the Corresponding IRQ Priority --------------------------------*/ + tmppriority = (0x700 - ((SCB->AIRCR) & (uint32_t)0x700))>> 0x08; + tmppre = (0x4 - tmppriority); + tmpsub = tmpsub >> tmppriority; + + tmppriority = (uint32_t)NVIC_InitStruct->NVIC_IRQChannelPreemptionPriority << tmppre; + tmppriority |= NVIC_InitStruct->NVIC_IRQChannelSubPriority & tmpsub; + tmppriority = tmppriority << 0x04; + + NVIC->IP[NVIC_InitStruct->NVIC_IRQChannel] = tmppriority; + + /* Enable the Selected IRQ Channels --------------------------------------*/ + NVIC->ISER[NVIC_InitStruct->NVIC_IRQChannel >> 0x05] = + (uint32_t)0x01 << (NVIC_InitStruct->NVIC_IRQChannel & (uint8_t)0x1F); + } + else + { + /* Disable the Selected IRQ Channels -------------------------------------*/ + NVIC->ICER[NVIC_InitStruct->NVIC_IRQChannel >> 0x05] = + (uint32_t)0x01 << (NVIC_InitStruct->NVIC_IRQChannel & (uint8_t)0x1F); + } +} + +/** + * @brief Sets the vector table location and Offset. + * @param NVIC_VectTab: specifies if the vector table is in RAM or FLASH memory. + * This parameter can be one of the following values: + * @arg NVIC_VectTab_RAM + * @arg NVIC_VectTab_FLASH + * @param Offset: Vector Table base offset field. This value must be a multiple + * of 0x200. + * @retval None + */ +void NVIC_SetVectorTable(uint32_t NVIC_VectTab, uint32_t Offset) +{ + /* Check the parameters */ + assert_param(IS_NVIC_VECTTAB(NVIC_VectTab)); + assert_param(IS_NVIC_OFFSET(Offset)); + + SCB->VTOR = NVIC_VectTab | (Offset & (uint32_t)0x1FFFFF80); +} + +/** + * @brief Selects the condition for the system to enter low power mode. + * @param LowPowerMode: Specifies the new mode for the system to enter low power mode. + * This parameter can be one of the following values: + * @arg NVIC_LP_SEVONPEND + * @arg NVIC_LP_SLEEPDEEP + * @arg NVIC_LP_SLEEPONEXIT + * @param NewState: new state of LP condition. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void NVIC_SystemLPConfig(uint8_t LowPowerMode, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_NVIC_LP(LowPowerMode)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + SCB->SCR |= LowPowerMode; + } + else + { + SCB->SCR &= (uint32_t)(~(uint32_t)LowPowerMode); + } +} + +/** + * @brief Configures the SysTick clock source. + * @param SysTick_CLKSource: specifies the SysTick clock source. + * This parameter can be one of the following values: + * @arg SysTick_CLKSource_HCLK_Div8: AHB clock divided by 8 selected as SysTick clock source. + * @arg SysTick_CLKSource_HCLK: AHB clock selected as SysTick clock source. + * @retval None + */ +void SysTick_CLKSourceConfig(uint32_t SysTick_CLKSource) +{ + /* Check the parameters */ + assert_param(IS_SYSTICK_CLK_SOURCE(SysTick_CLKSource)); + if (SysTick_CLKSource == SysTick_CLKSource_HCLK) + { + SysTick->CTRL |= SysTick_CLKSource_HCLK; + } + else + { + SysTick->CTRL &= SysTick_CLKSource_HCLK_Div8; + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_adc.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_adc.c new file mode 100644 index 0000000..8155dc9 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_adc.c @@ -0,0 +1,1307 @@ +/** + ****************************************************************************** + * @file stm32f10x_adc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the ADC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_adc.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup ADC + * @brief ADC driver modules + * @{ + */ + +/** @defgroup ADC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_Defines + * @{ + */ + +/* ADC DISCNUM mask */ +#define CR1_DISCNUM_Reset ((uint32_t)0xFFFF1FFF) + +/* ADC DISCEN mask */ +#define CR1_DISCEN_Set ((uint32_t)0x00000800) +#define CR1_DISCEN_Reset ((uint32_t)0xFFFFF7FF) + +/* ADC JAUTO mask */ +#define CR1_JAUTO_Set ((uint32_t)0x00000400) +#define CR1_JAUTO_Reset ((uint32_t)0xFFFFFBFF) + +/* ADC JDISCEN mask */ +#define CR1_JDISCEN_Set ((uint32_t)0x00001000) +#define CR1_JDISCEN_Reset ((uint32_t)0xFFFFEFFF) + +/* ADC AWDCH mask */ +#define CR1_AWDCH_Reset ((uint32_t)0xFFFFFFE0) + +/* ADC Analog watchdog enable mode mask */ +#define CR1_AWDMode_Reset ((uint32_t)0xFF3FFDFF) + +/* CR1 register Mask */ +#define CR1_CLEAR_Mask ((uint32_t)0xFFF0FEFF) + +/* ADC ADON mask */ +#define CR2_ADON_Set ((uint32_t)0x00000001) +#define CR2_ADON_Reset ((uint32_t)0xFFFFFFFE) + +/* ADC DMA mask */ +#define CR2_DMA_Set ((uint32_t)0x00000100) +#define CR2_DMA_Reset ((uint32_t)0xFFFFFEFF) + +/* ADC RSTCAL mask */ +#define CR2_RSTCAL_Set ((uint32_t)0x00000008) + +/* ADC CAL mask */ +#define CR2_CAL_Set ((uint32_t)0x00000004) + +/* ADC SWSTART mask */ +#define CR2_SWSTART_Set ((uint32_t)0x00400000) + +/* ADC EXTTRIG mask */ +#define CR2_EXTTRIG_Set ((uint32_t)0x00100000) +#define CR2_EXTTRIG_Reset ((uint32_t)0xFFEFFFFF) + +/* ADC Software start mask */ +#define CR2_EXTTRIG_SWSTART_Set ((uint32_t)0x00500000) +#define CR2_EXTTRIG_SWSTART_Reset ((uint32_t)0xFFAFFFFF) + +/* ADC JEXTSEL mask */ +#define CR2_JEXTSEL_Reset ((uint32_t)0xFFFF8FFF) + +/* ADC JEXTTRIG mask */ +#define CR2_JEXTTRIG_Set ((uint32_t)0x00008000) +#define CR2_JEXTTRIG_Reset ((uint32_t)0xFFFF7FFF) + +/* ADC JSWSTART mask */ +#define CR2_JSWSTART_Set ((uint32_t)0x00200000) + +/* ADC injected software start mask */ +#define CR2_JEXTTRIG_JSWSTART_Set ((uint32_t)0x00208000) +#define CR2_JEXTTRIG_JSWSTART_Reset ((uint32_t)0xFFDF7FFF) + +/* ADC TSPD mask */ +#define CR2_TSVREFE_Set ((uint32_t)0x00800000) +#define CR2_TSVREFE_Reset ((uint32_t)0xFF7FFFFF) + +/* CR2 register Mask */ +#define CR2_CLEAR_Mask ((uint32_t)0xFFF1F7FD) + +/* ADC SQx mask */ +#define SQR3_SQ_Set ((uint32_t)0x0000001F) +#define SQR2_SQ_Set ((uint32_t)0x0000001F) +#define SQR1_SQ_Set ((uint32_t)0x0000001F) + +/* SQR1 register Mask */ +#define SQR1_CLEAR_Mask ((uint32_t)0xFF0FFFFF) + +/* ADC JSQx mask */ +#define JSQR_JSQ_Set ((uint32_t)0x0000001F) + +/* ADC JL mask */ +#define JSQR_JL_Set ((uint32_t)0x00300000) +#define JSQR_JL_Reset ((uint32_t)0xFFCFFFFF) + +/* ADC SMPx mask */ +#define SMPR1_SMP_Set ((uint32_t)0x00000007) +#define SMPR2_SMP_Set ((uint32_t)0x00000007) + +/* ADC JDRx registers offset */ +#define JDR_Offset ((uint8_t)0x28) + +/* ADC1 DR register base address */ +#define DR_ADDRESS ((uint32_t)0x4001244C) + +/** + * @} + */ + +/** @defgroup ADC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup ADC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the ADCx peripheral registers to their default reset values. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval None + */ +void ADC_DeInit(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + + if (ADCx == ADC1) + { + /* Enable ADC1 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1, ENABLE); + /* Release ADC1 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC1, DISABLE); + } + else if (ADCx == ADC2) + { + /* Enable ADC2 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC2, ENABLE); + /* Release ADC2 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC2, DISABLE); + } + else + { + if (ADCx == ADC3) + { + /* Enable ADC3 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC3, ENABLE); + /* Release ADC3 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_ADC3, DISABLE); + } + } +} + +/** + * @brief Initializes the ADCx peripheral according to the specified parameters + * in the ADC_InitStruct. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_InitStruct: pointer to an ADC_InitTypeDef structure that contains + * the configuration information for the specified ADC peripheral. + * @retval None + */ +void ADC_Init(ADC_TypeDef* ADCx, ADC_InitTypeDef* ADC_InitStruct) +{ + uint32_t tmpreg1 = 0; + uint8_t tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_MODE(ADC_InitStruct->ADC_Mode)); + assert_param(IS_FUNCTIONAL_STATE(ADC_InitStruct->ADC_ScanConvMode)); + assert_param(IS_FUNCTIONAL_STATE(ADC_InitStruct->ADC_ContinuousConvMode)); + assert_param(IS_ADC_EXT_TRIG(ADC_InitStruct->ADC_ExternalTrigConv)); + assert_param(IS_ADC_DATA_ALIGN(ADC_InitStruct->ADC_DataAlign)); + assert_param(IS_ADC_REGULAR_LENGTH(ADC_InitStruct->ADC_NbrOfChannel)); + + /*---------------------------- ADCx CR1 Configuration -----------------*/ + /* Get the ADCx CR1 value */ + tmpreg1 = ADCx->CR1; + /* Clear DUALMOD and SCAN bits */ + tmpreg1 &= CR1_CLEAR_Mask; + /* Configure ADCx: Dual mode and scan conversion mode */ + /* Set DUALMOD bits according to ADC_Mode value */ + /* Set SCAN bit according to ADC_ScanConvMode value */ + tmpreg1 |= (uint32_t)(ADC_InitStruct->ADC_Mode | ((uint32_t)ADC_InitStruct->ADC_ScanConvMode << 8)); + /* Write to ADCx CR1 */ + ADCx->CR1 = tmpreg1; + + /*---------------------------- ADCx CR2 Configuration -----------------*/ + /* Get the ADCx CR2 value */ + tmpreg1 = ADCx->CR2; + /* Clear CONT, ALIGN and EXTSEL bits */ + tmpreg1 &= CR2_CLEAR_Mask; + /* Configure ADCx: external trigger event and continuous conversion mode */ + /* Set ALIGN bit according to ADC_DataAlign value */ + /* Set EXTSEL bits according to ADC_ExternalTrigConv value */ + /* Set CONT bit according to ADC_ContinuousConvMode value */ + tmpreg1 |= (uint32_t)(ADC_InitStruct->ADC_DataAlign | ADC_InitStruct->ADC_ExternalTrigConv | + ((uint32_t)ADC_InitStruct->ADC_ContinuousConvMode << 1)); + /* Write to ADCx CR2 */ + ADCx->CR2 = tmpreg1; + + /*---------------------------- ADCx SQR1 Configuration -----------------*/ + /* Get the ADCx SQR1 value */ + tmpreg1 = ADCx->SQR1; + /* Clear L bits */ + tmpreg1 &= SQR1_CLEAR_Mask; + /* Configure ADCx: regular channel sequence length */ + /* Set L bits according to ADC_NbrOfChannel value */ + tmpreg2 |= (uint8_t) (ADC_InitStruct->ADC_NbrOfChannel - (uint8_t)1); + tmpreg1 |= (uint32_t)tmpreg2 << 20; + /* Write to ADCx SQR1 */ + ADCx->SQR1 = tmpreg1; +} + +/** + * @brief Fills each ADC_InitStruct member with its default value. + * @param ADC_InitStruct : pointer to an ADC_InitTypeDef structure which will be initialized. + * @retval None + */ +void ADC_StructInit(ADC_InitTypeDef* ADC_InitStruct) +{ + /* Reset ADC init structure parameters values */ + /* Initialize the ADC_Mode member */ + ADC_InitStruct->ADC_Mode = ADC_Mode_Independent; + /* initialize the ADC_ScanConvMode member */ + ADC_InitStruct->ADC_ScanConvMode = DISABLE; + /* Initialize the ADC_ContinuousConvMode member */ + ADC_InitStruct->ADC_ContinuousConvMode = DISABLE; + /* Initialize the ADC_ExternalTrigConv member */ + ADC_InitStruct->ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC1; + /* Initialize the ADC_DataAlign member */ + ADC_InitStruct->ADC_DataAlign = ADC_DataAlign_Right; + /* Initialize the ADC_NbrOfChannel member */ + ADC_InitStruct->ADC_NbrOfChannel = 1; +} + +/** + * @brief Enables or disables the specified ADC peripheral. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the ADCx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_Cmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the ADON bit to wake up the ADC from power down mode */ + ADCx->CR2 |= CR2_ADON_Set; + } + else + { + /* Disable the selected ADC peripheral */ + ADCx->CR2 &= CR2_ADON_Reset; + } +} + +/** + * @brief Enables or disables the specified ADC DMA request. + * @param ADCx: where x can be 1 or 3 to select the ADC peripheral. + * Note: ADC2 hasn't a DMA capability. + * @param NewState: new state of the selected ADC DMA transfer. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_DMACmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_DMA_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC DMA request */ + ADCx->CR2 |= CR2_DMA_Set; + } + else + { + /* Disable the selected ADC DMA request */ + ADCx->CR2 &= CR2_DMA_Reset; + } +} + +/** + * @brief Enables or disables the specified ADC interrupts. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_IT: specifies the ADC interrupt sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg ADC_IT_EOC: End of conversion interrupt mask + * @arg ADC_IT_AWD: Analog watchdog interrupt mask + * @arg ADC_IT_JEOC: End of injected conversion interrupt mask + * @param NewState: new state of the specified ADC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_ITConfig(ADC_TypeDef* ADCx, uint16_t ADC_IT, FunctionalState NewState) +{ + uint8_t itmask = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_ADC_IT(ADC_IT)); + /* Get the ADC IT index */ + itmask = (uint8_t)ADC_IT; + if (NewState != DISABLE) + { + /* Enable the selected ADC interrupts */ + ADCx->CR1 |= itmask; + } + else + { + /* Disable the selected ADC interrupts */ + ADCx->CR1 &= (~(uint32_t)itmask); + } +} + +/** + * @brief Resets the selected ADC calibration registers. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval None + */ +void ADC_ResetCalibration(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Resets the selected ADC calibration registers */ + ADCx->CR2 |= CR2_RSTCAL_Set; +} + +/** + * @brief Gets the selected ADC reset calibration registers status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC reset calibration registers (SET or RESET). + */ +FlagStatus ADC_GetResetCalibrationStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of RSTCAL bit */ + if ((ADCx->CR2 & CR2_RSTCAL_Set) != (uint32_t)RESET) + { + /* RSTCAL bit is set */ + bitstatus = SET; + } + else + { + /* RSTCAL bit is reset */ + bitstatus = RESET; + } + /* Return the RSTCAL bit status */ + return bitstatus; +} + +/** + * @brief Starts the selected ADC calibration process. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval None + */ +void ADC_StartCalibration(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Enable the selected ADC calibration process */ + ADCx->CR2 |= CR2_CAL_Set; +} + +/** + * @brief Gets the selected ADC calibration status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC calibration (SET or RESET). + */ +FlagStatus ADC_GetCalibrationStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of CAL bit */ + if ((ADCx->CR2 & CR2_CAL_Set) != (uint32_t)RESET) + { + /* CAL bit is set: calibration on going */ + bitstatus = SET; + } + else + { + /* CAL bit is reset: end of calibration */ + bitstatus = RESET; + } + /* Return the CAL bit status */ + return bitstatus; +} + +/** + * @brief Enables or disables the selected ADC software start conversion . + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC software start conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_SoftwareStartConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC conversion on external event and start the selected + ADC conversion */ + ADCx->CR2 |= CR2_EXTTRIG_SWSTART_Set; + } + else + { + /* Disable the selected ADC conversion on external event and stop the selected + ADC conversion */ + ADCx->CR2 &= CR2_EXTTRIG_SWSTART_Reset; + } +} + +/** + * @brief Gets the selected ADC Software start conversion Status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC software start conversion (SET or RESET). + */ +FlagStatus ADC_GetSoftwareStartConvStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of SWSTART bit */ + if ((ADCx->CR2 & CR2_SWSTART_Set) != (uint32_t)RESET) + { + /* SWSTART bit is set */ + bitstatus = SET; + } + else + { + /* SWSTART bit is reset */ + bitstatus = RESET; + } + /* Return the SWSTART bit status */ + return bitstatus; +} + +/** + * @brief Configures the discontinuous mode for the selected ADC regular + * group channel. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param Number: specifies the discontinuous mode regular channel + * count value. This number must be between 1 and 8. + * @retval None + */ +void ADC_DiscModeChannelCountConfig(ADC_TypeDef* ADCx, uint8_t Number) +{ + uint32_t tmpreg1 = 0; + uint32_t tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_REGULAR_DISC_NUMBER(Number)); + /* Get the old register value */ + tmpreg1 = ADCx->CR1; + /* Clear the old discontinuous mode channel count */ + tmpreg1 &= CR1_DISCNUM_Reset; + /* Set the discontinuous mode channel count */ + tmpreg2 = Number - 1; + tmpreg1 |= tmpreg2 << 13; + /* Store the new register value */ + ADCx->CR1 = tmpreg1; +} + +/** + * @brief Enables or disables the discontinuous mode on regular group + * channel for the specified ADC + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC discontinuous mode + * on regular group channel. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_DiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC regular discontinuous mode */ + ADCx->CR1 |= CR1_DISCEN_Set; + } + else + { + /* Disable the selected ADC regular discontinuous mode */ + ADCx->CR1 &= CR1_DISCEN_Reset; + } +} + +/** + * @brief Configures for the selected ADC regular channel its corresponding + * rank in the sequencer and its sample time. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_Channel: the ADC channel to configure. + * This parameter can be one of the following values: + * @arg ADC_Channel_0: ADC Channel0 selected + * @arg ADC_Channel_1: ADC Channel1 selected + * @arg ADC_Channel_2: ADC Channel2 selected + * @arg ADC_Channel_3: ADC Channel3 selected + * @arg ADC_Channel_4: ADC Channel4 selected + * @arg ADC_Channel_5: ADC Channel5 selected + * @arg ADC_Channel_6: ADC Channel6 selected + * @arg ADC_Channel_7: ADC Channel7 selected + * @arg ADC_Channel_8: ADC Channel8 selected + * @arg ADC_Channel_9: ADC Channel9 selected + * @arg ADC_Channel_10: ADC Channel10 selected + * @arg ADC_Channel_11: ADC Channel11 selected + * @arg ADC_Channel_12: ADC Channel12 selected + * @arg ADC_Channel_13: ADC Channel13 selected + * @arg ADC_Channel_14: ADC Channel14 selected + * @arg ADC_Channel_15: ADC Channel15 selected + * @arg ADC_Channel_16: ADC Channel16 selected + * @arg ADC_Channel_17: ADC Channel17 selected + * @param Rank: The rank in the regular group sequencer. This parameter must be between 1 to 16. + * @param ADC_SampleTime: The sample time value to be set for the selected channel. + * This parameter can be one of the following values: + * @arg ADC_SampleTime_1Cycles5: Sample time equal to 1.5 cycles + * @arg ADC_SampleTime_7Cycles5: Sample time equal to 7.5 cycles + * @arg ADC_SampleTime_13Cycles5: Sample time equal to 13.5 cycles + * @arg ADC_SampleTime_28Cycles5: Sample time equal to 28.5 cycles + * @arg ADC_SampleTime_41Cycles5: Sample time equal to 41.5 cycles + * @arg ADC_SampleTime_55Cycles5: Sample time equal to 55.5 cycles + * @arg ADC_SampleTime_71Cycles5: Sample time equal to 71.5 cycles + * @arg ADC_SampleTime_239Cycles5: Sample time equal to 239.5 cycles + * @retval None + */ +void ADC_RegularChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime) +{ + uint32_t tmpreg1 = 0, tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CHANNEL(ADC_Channel)); + assert_param(IS_ADC_REGULAR_RANK(Rank)); + assert_param(IS_ADC_SAMPLE_TIME(ADC_SampleTime)); + /* if ADC_Channel_10 ... ADC_Channel_17 is selected */ + if (ADC_Channel > ADC_Channel_9) + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR1; + /* Calculate the mask to clear */ + tmpreg2 = SMPR1_SMP_Set << (3 * (ADC_Channel - 10)); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * (ADC_Channel - 10)); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR1 = tmpreg1; + } + else /* ADC_Channel include in ADC_Channel_[0..9] */ + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR2; + /* Calculate the mask to clear */ + tmpreg2 = SMPR2_SMP_Set << (3 * ADC_Channel); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * ADC_Channel); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR2 = tmpreg1; + } + /* For Rank 1 to 6 */ + if (Rank < 7) + { + /* Get the old register value */ + tmpreg1 = ADCx->SQR3; + /* Calculate the mask to clear */ + tmpreg2 = SQR3_SQ_Set << (5 * (Rank - 1)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 1)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SQR3 = tmpreg1; + } + /* For Rank 7 to 12 */ + else if (Rank < 13) + { + /* Get the old register value */ + tmpreg1 = ADCx->SQR2; + /* Calculate the mask to clear */ + tmpreg2 = SQR2_SQ_Set << (5 * (Rank - 7)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 7)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SQR2 = tmpreg1; + } + /* For Rank 13 to 16 */ + else + { + /* Get the old register value */ + tmpreg1 = ADCx->SQR1; + /* Calculate the mask to clear */ + tmpreg2 = SQR1_SQ_Set << (5 * (Rank - 13)); + /* Clear the old SQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (Rank - 13)); + /* Set the SQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SQR1 = tmpreg1; + } +} + +/** + * @brief Enables or disables the ADCx conversion through external trigger. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC external trigger start of conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_ExternalTrigConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC conversion on external event */ + ADCx->CR2 |= CR2_EXTTRIG_Set; + } + else + { + /* Disable the selected ADC conversion on external event */ + ADCx->CR2 &= CR2_EXTTRIG_Reset; + } +} + +/** + * @brief Returns the last ADCx conversion result data for regular channel. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The Data conversion value. + */ +uint16_t ADC_GetConversionValue(ADC_TypeDef* ADCx) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Return the selected ADC conversion value */ + return (uint16_t) ADCx->DR; +} + +/** + * @brief Returns the last ADC1 and ADC2 conversion result data in dual mode. + * @retval The Data conversion value. + */ +uint32_t ADC_GetDualModeConversionValue(void) +{ + /* Return the dual mode conversion value */ + return (*(__IO uint32_t *) DR_ADDRESS); +} + +/** + * @brief Enables or disables the selected ADC automatic injected group + * conversion after regular one. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC auto injected conversion + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_AutoInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC automatic injected group conversion */ + ADCx->CR1 |= CR1_JAUTO_Set; + } + else + { + /* Disable the selected ADC automatic injected group conversion */ + ADCx->CR1 &= CR1_JAUTO_Reset; + } +} + +/** + * @brief Enables or disables the discontinuous mode for injected group + * channel for the specified ADC + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC discontinuous mode + * on injected group channel. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_InjectedDiscModeCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC injected discontinuous mode */ + ADCx->CR1 |= CR1_JDISCEN_Set; + } + else + { + /* Disable the selected ADC injected discontinuous mode */ + ADCx->CR1 &= CR1_JDISCEN_Reset; + } +} + +/** + * @brief Configures the ADCx external trigger for injected channels conversion. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_ExternalTrigInjecConv: specifies the ADC trigger to start injected conversion. + * This parameter can be one of the following values: + * @arg ADC_ExternalTrigInjecConv_T1_TRGO: Timer1 TRGO event selected (for ADC1, ADC2 and ADC3) + * @arg ADC_ExternalTrigInjecConv_T1_CC4: Timer1 capture compare4 selected (for ADC1, ADC2 and ADC3) + * @arg ADC_ExternalTrigInjecConv_T2_TRGO: Timer2 TRGO event selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T2_CC1: Timer2 capture compare1 selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T3_CC4: Timer3 capture compare4 selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T4_TRGO: Timer4 TRGO event selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_Ext_IT15_TIM8_CC4: External interrupt line 15 or Timer8 + * capture compare4 event selected (for ADC1 and ADC2) + * @arg ADC_ExternalTrigInjecConv_T4_CC3: Timer4 capture compare3 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T8_CC2: Timer8 capture compare2 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T8_CC4: Timer8 capture compare4 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T5_TRGO: Timer5 TRGO event selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_T5_CC4: Timer5 capture compare4 selected (for ADC3 only) + * @arg ADC_ExternalTrigInjecConv_None: Injected conversion started by software and not + * by external trigger (for ADC1, ADC2 and ADC3) + * @retval None + */ +void ADC_ExternalTrigInjectedConvConfig(ADC_TypeDef* ADCx, uint32_t ADC_ExternalTrigInjecConv) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_EXT_INJEC_TRIG(ADC_ExternalTrigInjecConv)); + /* Get the old register value */ + tmpreg = ADCx->CR2; + /* Clear the old external event selection for injected group */ + tmpreg &= CR2_JEXTSEL_Reset; + /* Set the external event selection for injected group */ + tmpreg |= ADC_ExternalTrigInjecConv; + /* Store the new register value */ + ADCx->CR2 = tmpreg; +} + +/** + * @brief Enables or disables the ADCx injected channels conversion through + * external trigger + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC external trigger start of + * injected conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_ExternalTrigInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC external event selection for injected group */ + ADCx->CR2 |= CR2_JEXTTRIG_Set; + } + else + { + /* Disable the selected ADC external event selection for injected group */ + ADCx->CR2 &= CR2_JEXTTRIG_Reset; + } +} + +/** + * @brief Enables or disables the selected ADC start of the injected + * channels conversion. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param NewState: new state of the selected ADC software start injected conversion. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_SoftwareStartInjectedConvCmd(ADC_TypeDef* ADCx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected ADC conversion for injected group on external event and start the selected + ADC injected conversion */ + ADCx->CR2 |= CR2_JEXTTRIG_JSWSTART_Set; + } + else + { + /* Disable the selected ADC conversion on external event for injected group and stop the selected + ADC injected conversion */ + ADCx->CR2 &= CR2_JEXTTRIG_JSWSTART_Reset; + } +} + +/** + * @brief Gets the selected ADC Software start injected conversion Status. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @retval The new state of ADC software start injected conversion (SET or RESET). + */ +FlagStatus ADC_GetSoftwareStartInjectedConvCmdStatus(ADC_TypeDef* ADCx) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + /* Check the status of JSWSTART bit */ + if ((ADCx->CR2 & CR2_JSWSTART_Set) != (uint32_t)RESET) + { + /* JSWSTART bit is set */ + bitstatus = SET; + } + else + { + /* JSWSTART bit is reset */ + bitstatus = RESET; + } + /* Return the JSWSTART bit status */ + return bitstatus; +} + +/** + * @brief Configures for the selected ADC injected channel its corresponding + * rank in the sequencer and its sample time. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_Channel: the ADC channel to configure. + * This parameter can be one of the following values: + * @arg ADC_Channel_0: ADC Channel0 selected + * @arg ADC_Channel_1: ADC Channel1 selected + * @arg ADC_Channel_2: ADC Channel2 selected + * @arg ADC_Channel_3: ADC Channel3 selected + * @arg ADC_Channel_4: ADC Channel4 selected + * @arg ADC_Channel_5: ADC Channel5 selected + * @arg ADC_Channel_6: ADC Channel6 selected + * @arg ADC_Channel_7: ADC Channel7 selected + * @arg ADC_Channel_8: ADC Channel8 selected + * @arg ADC_Channel_9: ADC Channel9 selected + * @arg ADC_Channel_10: ADC Channel10 selected + * @arg ADC_Channel_11: ADC Channel11 selected + * @arg ADC_Channel_12: ADC Channel12 selected + * @arg ADC_Channel_13: ADC Channel13 selected + * @arg ADC_Channel_14: ADC Channel14 selected + * @arg ADC_Channel_15: ADC Channel15 selected + * @arg ADC_Channel_16: ADC Channel16 selected + * @arg ADC_Channel_17: ADC Channel17 selected + * @param Rank: The rank in the injected group sequencer. This parameter must be between 1 and 4. + * @param ADC_SampleTime: The sample time value to be set for the selected channel. + * This parameter can be one of the following values: + * @arg ADC_SampleTime_1Cycles5: Sample time equal to 1.5 cycles + * @arg ADC_SampleTime_7Cycles5: Sample time equal to 7.5 cycles + * @arg ADC_SampleTime_13Cycles5: Sample time equal to 13.5 cycles + * @arg ADC_SampleTime_28Cycles5: Sample time equal to 28.5 cycles + * @arg ADC_SampleTime_41Cycles5: Sample time equal to 41.5 cycles + * @arg ADC_SampleTime_55Cycles5: Sample time equal to 55.5 cycles + * @arg ADC_SampleTime_71Cycles5: Sample time equal to 71.5 cycles + * @arg ADC_SampleTime_239Cycles5: Sample time equal to 239.5 cycles + * @retval None + */ +void ADC_InjectedChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel, uint8_t Rank, uint8_t ADC_SampleTime) +{ + uint32_t tmpreg1 = 0, tmpreg2 = 0, tmpreg3 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CHANNEL(ADC_Channel)); + assert_param(IS_ADC_INJECTED_RANK(Rank)); + assert_param(IS_ADC_SAMPLE_TIME(ADC_SampleTime)); + /* if ADC_Channel_10 ... ADC_Channel_17 is selected */ + if (ADC_Channel > ADC_Channel_9) + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR1; + /* Calculate the mask to clear */ + tmpreg2 = SMPR1_SMP_Set << (3*(ADC_Channel - 10)); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3*(ADC_Channel - 10)); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR1 = tmpreg1; + } + else /* ADC_Channel include in ADC_Channel_[0..9] */ + { + /* Get the old register value */ + tmpreg1 = ADCx->SMPR2; + /* Calculate the mask to clear */ + tmpreg2 = SMPR2_SMP_Set << (3 * ADC_Channel); + /* Clear the old channel sample time */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set */ + tmpreg2 = (uint32_t)ADC_SampleTime << (3 * ADC_Channel); + /* Set the new channel sample time */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->SMPR2 = tmpreg1; + } + /* Rank configuration */ + /* Get the old register value */ + tmpreg1 = ADCx->JSQR; + /* Get JL value: Number = JL+1 */ + tmpreg3 = (tmpreg1 & JSQR_JL_Set)>> 20; + /* Calculate the mask to clear: ((Rank-1)+(4-JL-1)) */ + tmpreg2 = JSQR_JSQ_Set << (5 * (uint8_t)((Rank + 3) - (tmpreg3 + 1))); + /* Clear the old JSQx bits for the selected rank */ + tmpreg1 &= ~tmpreg2; + /* Calculate the mask to set: ((Rank-1)+(4-JL-1)) */ + tmpreg2 = (uint32_t)ADC_Channel << (5 * (uint8_t)((Rank + 3) - (tmpreg3 + 1))); + /* Set the JSQx bits for the selected rank */ + tmpreg1 |= tmpreg2; + /* Store the new register value */ + ADCx->JSQR = tmpreg1; +} + +/** + * @brief Configures the sequencer length for injected channels + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param Length: The sequencer length. + * This parameter must be a number between 1 to 4. + * @retval None + */ +void ADC_InjectedSequencerLengthConfig(ADC_TypeDef* ADCx, uint8_t Length) +{ + uint32_t tmpreg1 = 0; + uint32_t tmpreg2 = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_INJECTED_LENGTH(Length)); + + /* Get the old register value */ + tmpreg1 = ADCx->JSQR; + /* Clear the old injected sequnence lenght JL bits */ + tmpreg1 &= JSQR_JL_Reset; + /* Set the injected sequnence lenght JL bits */ + tmpreg2 = Length - 1; + tmpreg1 |= tmpreg2 << 20; + /* Store the new register value */ + ADCx->JSQR = tmpreg1; +} + +/** + * @brief Set the injected channels conversion value offset + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_InjectedChannel: the ADC injected channel to set its offset. + * This parameter can be one of the following values: + * @arg ADC_InjectedChannel_1: Injected Channel1 selected + * @arg ADC_InjectedChannel_2: Injected Channel2 selected + * @arg ADC_InjectedChannel_3: Injected Channel3 selected + * @arg ADC_InjectedChannel_4: Injected Channel4 selected + * @param Offset: the offset value for the selected ADC injected channel + * This parameter must be a 12bit value. + * @retval None + */ +void ADC_SetInjectedOffset(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel, uint16_t Offset) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_INJECTED_CHANNEL(ADC_InjectedChannel)); + assert_param(IS_ADC_OFFSET(Offset)); + + tmp = (uint32_t)ADCx; + tmp += ADC_InjectedChannel; + + /* Set the selected injected channel data offset */ + *(__IO uint32_t *) tmp = (uint32_t)Offset; +} + +/** + * @brief Returns the ADC injected channel conversion result + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_InjectedChannel: the converted ADC injected channel. + * This parameter can be one of the following values: + * @arg ADC_InjectedChannel_1: Injected Channel1 selected + * @arg ADC_InjectedChannel_2: Injected Channel2 selected + * @arg ADC_InjectedChannel_3: Injected Channel3 selected + * @arg ADC_InjectedChannel_4: Injected Channel4 selected + * @retval The Data conversion value. + */ +uint16_t ADC_GetInjectedConversionValue(ADC_TypeDef* ADCx, uint8_t ADC_InjectedChannel) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_INJECTED_CHANNEL(ADC_InjectedChannel)); + + tmp = (uint32_t)ADCx; + tmp += ADC_InjectedChannel + JDR_Offset; + + /* Returns the selected injected channel conversion data value */ + return (uint16_t) (*(__IO uint32_t*) tmp); +} + +/** + * @brief Enables or disables the analog watchdog on single/all regular + * or injected channels + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_AnalogWatchdog: the ADC analog watchdog configuration. + * This parameter can be one of the following values: + * @arg ADC_AnalogWatchdog_SingleRegEnable: Analog watchdog on a single regular channel + * @arg ADC_AnalogWatchdog_SingleInjecEnable: Analog watchdog on a single injected channel + * @arg ADC_AnalogWatchdog_SingleRegOrInjecEnable: Analog watchdog on a single regular or injected channel + * @arg ADC_AnalogWatchdog_AllRegEnable: Analog watchdog on all regular channel + * @arg ADC_AnalogWatchdog_AllInjecEnable: Analog watchdog on all injected channel + * @arg ADC_AnalogWatchdog_AllRegAllInjecEnable: Analog watchdog on all regular and injected channels + * @arg ADC_AnalogWatchdog_None: No channel guarded by the analog watchdog + * @retval None + */ +void ADC_AnalogWatchdogCmd(ADC_TypeDef* ADCx, uint32_t ADC_AnalogWatchdog) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_ANALOG_WATCHDOG(ADC_AnalogWatchdog)); + /* Get the old register value */ + tmpreg = ADCx->CR1; + /* Clear AWDEN, AWDENJ and AWDSGL bits */ + tmpreg &= CR1_AWDMode_Reset; + /* Set the analog watchdog enable mode */ + tmpreg |= ADC_AnalogWatchdog; + /* Store the new register value */ + ADCx->CR1 = tmpreg; +} + +/** + * @brief Configures the high and low thresholds of the analog watchdog. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param HighThreshold: the ADC analog watchdog High threshold value. + * This parameter must be a 12bit value. + * @param LowThreshold: the ADC analog watchdog Low threshold value. + * This parameter must be a 12bit value. + * @retval None + */ +void ADC_AnalogWatchdogThresholdsConfig(ADC_TypeDef* ADCx, uint16_t HighThreshold, + uint16_t LowThreshold) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_THRESHOLD(HighThreshold)); + assert_param(IS_ADC_THRESHOLD(LowThreshold)); + /* Set the ADCx high threshold */ + ADCx->HTR = HighThreshold; + /* Set the ADCx low threshold */ + ADCx->LTR = LowThreshold; +} + +/** + * @brief Configures the analog watchdog guarded single channel + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_Channel: the ADC channel to configure for the analog watchdog. + * This parameter can be one of the following values: + * @arg ADC_Channel_0: ADC Channel0 selected + * @arg ADC_Channel_1: ADC Channel1 selected + * @arg ADC_Channel_2: ADC Channel2 selected + * @arg ADC_Channel_3: ADC Channel3 selected + * @arg ADC_Channel_4: ADC Channel4 selected + * @arg ADC_Channel_5: ADC Channel5 selected + * @arg ADC_Channel_6: ADC Channel6 selected + * @arg ADC_Channel_7: ADC Channel7 selected + * @arg ADC_Channel_8: ADC Channel8 selected + * @arg ADC_Channel_9: ADC Channel9 selected + * @arg ADC_Channel_10: ADC Channel10 selected + * @arg ADC_Channel_11: ADC Channel11 selected + * @arg ADC_Channel_12: ADC Channel12 selected + * @arg ADC_Channel_13: ADC Channel13 selected + * @arg ADC_Channel_14: ADC Channel14 selected + * @arg ADC_Channel_15: ADC Channel15 selected + * @arg ADC_Channel_16: ADC Channel16 selected + * @arg ADC_Channel_17: ADC Channel17 selected + * @retval None + */ +void ADC_AnalogWatchdogSingleChannelConfig(ADC_TypeDef* ADCx, uint8_t ADC_Channel) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CHANNEL(ADC_Channel)); + /* Get the old register value */ + tmpreg = ADCx->CR1; + /* Clear the Analog watchdog channel select bits */ + tmpreg &= CR1_AWDCH_Reset; + /* Set the Analog watchdog channel */ + tmpreg |= ADC_Channel; + /* Store the new register value */ + ADCx->CR1 = tmpreg; +} + +/** + * @brief Enables or disables the temperature sensor and Vrefint channel. + * @param NewState: new state of the temperature sensor. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void ADC_TempSensorVrefintCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the temperature sensor and Vrefint channel*/ + ADC1->CR2 |= CR2_TSVREFE_Set; + } + else + { + /* Disable the temperature sensor and Vrefint channel*/ + ADC1->CR2 &= CR2_TSVREFE_Reset; + } +} + +/** + * @brief Checks whether the specified ADC flag is set or not. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg ADC_FLAG_AWD: Analog watchdog flag + * @arg ADC_FLAG_EOC: End of conversion flag + * @arg ADC_FLAG_JEOC: End of injected group conversion flag + * @arg ADC_FLAG_JSTRT: Start of injected group conversion flag + * @arg ADC_FLAG_STRT: Start of regular group conversion flag + * @retval The new state of ADC_FLAG (SET or RESET). + */ +FlagStatus ADC_GetFlagStatus(ADC_TypeDef* ADCx, uint8_t ADC_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_GET_FLAG(ADC_FLAG)); + /* Check the status of the specified ADC flag */ + if ((ADCx->SR & ADC_FLAG) != (uint8_t)RESET) + { + /* ADC_FLAG is set */ + bitstatus = SET; + } + else + { + /* ADC_FLAG is reset */ + bitstatus = RESET; + } + /* Return the ADC_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the ADCx's pending flags. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg ADC_FLAG_AWD: Analog watchdog flag + * @arg ADC_FLAG_EOC: End of conversion flag + * @arg ADC_FLAG_JEOC: End of injected group conversion flag + * @arg ADC_FLAG_JSTRT: Start of injected group conversion flag + * @arg ADC_FLAG_STRT: Start of regular group conversion flag + * @retval None + */ +void ADC_ClearFlag(ADC_TypeDef* ADCx, uint8_t ADC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_CLEAR_FLAG(ADC_FLAG)); + /* Clear the selected ADC flags */ + ADCx->SR = ~(uint32_t)ADC_FLAG; +} + +/** + * @brief Checks whether the specified ADC interrupt has occurred or not. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_IT: specifies the ADC interrupt source to check. + * This parameter can be one of the following values: + * @arg ADC_IT_EOC: End of conversion interrupt mask + * @arg ADC_IT_AWD: Analog watchdog interrupt mask + * @arg ADC_IT_JEOC: End of injected conversion interrupt mask + * @retval The new state of ADC_IT (SET or RESET). + */ +ITStatus ADC_GetITStatus(ADC_TypeDef* ADCx, uint16_t ADC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t itmask = 0, enablestatus = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_GET_IT(ADC_IT)); + /* Get the ADC IT index */ + itmask = ADC_IT >> 8; + /* Get the ADC_IT enable bit status */ + enablestatus = (ADCx->CR1 & (uint8_t)ADC_IT) ; + /* Check the status of the specified ADC interrupt */ + if (((ADCx->SR & itmask) != (uint32_t)RESET) && enablestatus) + { + /* ADC_IT is set */ + bitstatus = SET; + } + else + { + /* ADC_IT is reset */ + bitstatus = RESET; + } + /* Return the ADC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the ADCx's interrupt pending bits. + * @param ADCx: where x can be 1, 2 or 3 to select the ADC peripheral. + * @param ADC_IT: specifies the ADC interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg ADC_IT_EOC: End of conversion interrupt mask + * @arg ADC_IT_AWD: Analog watchdog interrupt mask + * @arg ADC_IT_JEOC: End of injected conversion interrupt mask + * @retval None + */ +void ADC_ClearITPendingBit(ADC_TypeDef* ADCx, uint16_t ADC_IT) +{ + uint8_t itmask = 0; + /* Check the parameters */ + assert_param(IS_ADC_ALL_PERIPH(ADCx)); + assert_param(IS_ADC_IT(ADC_IT)); + /* Get the ADC IT index */ + itmask = (uint8_t)(ADC_IT >> 8); + /* Clear the selected ADC interrupt pending bits */ + ADCx->SR = ~(uint32_t)itmask; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_bkp.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_bkp.c new file mode 100644 index 0000000..997eecc --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_bkp.c @@ -0,0 +1,308 @@ +/** + ****************************************************************************** + * @file stm32f10x_bkp.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the BKP firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_bkp.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup BKP + * @brief BKP driver modules + * @{ + */ + +/** @defgroup BKP_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_Defines + * @{ + */ + +/* ------------ BKP registers bit address in the alias region --------------- */ +#define BKP_OFFSET (BKP_BASE - PERIPH_BASE) + +/* --- CR Register ----*/ + +/* Alias word address of TPAL bit */ +#define CR_OFFSET (BKP_OFFSET + 0x30) +#define TPAL_BitNumber 0x01 +#define CR_TPAL_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (TPAL_BitNumber * 4)) + +/* Alias word address of TPE bit */ +#define TPE_BitNumber 0x00 +#define CR_TPE_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (TPE_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of TPIE bit */ +#define CSR_OFFSET (BKP_OFFSET + 0x34) +#define TPIE_BitNumber 0x02 +#define CSR_TPIE_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TPIE_BitNumber * 4)) + +/* Alias word address of TIF bit */ +#define TIF_BitNumber 0x09 +#define CSR_TIF_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TIF_BitNumber * 4)) + +/* Alias word address of TEF bit */ +#define TEF_BitNumber 0x08 +#define CSR_TEF_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TEF_BitNumber * 4)) + +/* ---------------------- BKP registers bit mask ------------------------ */ + +/* RTCCR register bit mask */ +#define RTCCR_CAL_MASK ((uint16_t)0xFF80) +#define RTCCR_MASK ((uint16_t)0xFC7F) + +/** + * @} + */ + + +/** @defgroup BKP_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup BKP_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the BKP peripheral registers to their default reset values. + * @param None + * @retval None + */ +void BKP_DeInit(void) +{ + RCC_BackupResetCmd(ENABLE); + RCC_BackupResetCmd(DISABLE); +} + +/** + * @brief Configures the Tamper Pin active level. + * @param BKP_TamperPinLevel: specifies the Tamper Pin active level. + * This parameter can be one of the following values: + * @arg BKP_TamperPinLevel_High: Tamper pin active on high level + * @arg BKP_TamperPinLevel_Low: Tamper pin active on low level + * @retval None + */ +void BKP_TamperPinLevelConfig(uint16_t BKP_TamperPinLevel) +{ + /* Check the parameters */ + assert_param(IS_BKP_TAMPER_PIN_LEVEL(BKP_TamperPinLevel)); + *(__IO uint32_t *) CR_TPAL_BB = BKP_TamperPinLevel; +} + +/** + * @brief Enables or disables the Tamper Pin activation. + * @param NewState: new state of the Tamper Pin activation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void BKP_TamperPinCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_TPE_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the Tamper Pin Interrupt. + * @param NewState: new state of the Tamper Pin Interrupt. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void BKP_ITConfig(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CSR_TPIE_BB = (uint32_t)NewState; +} + +/** + * @brief Select the RTC output source to output on the Tamper pin. + * @param BKP_RTCOutputSource: specifies the RTC output source. + * This parameter can be one of the following values: + * @arg BKP_RTCOutputSource_None: no RTC output on the Tamper pin. + * @arg BKP_RTCOutputSource_CalibClock: output the RTC clock with frequency + * divided by 64 on the Tamper pin. + * @arg BKP_RTCOutputSource_Alarm: output the RTC Alarm pulse signal on + * the Tamper pin. + * @arg BKP_RTCOutputSource_Second: output the RTC Second pulse signal on + * the Tamper pin. + * @retval None + */ +void BKP_RTCOutputConfig(uint16_t BKP_RTCOutputSource) +{ + uint16_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_BKP_RTC_OUTPUT_SOURCE(BKP_RTCOutputSource)); + tmpreg = BKP->RTCCR; + /* Clear CCO, ASOE and ASOS bits */ + tmpreg &= RTCCR_MASK; + + /* Set CCO, ASOE and ASOS bits according to BKP_RTCOutputSource value */ + tmpreg |= BKP_RTCOutputSource; + /* Store the new value */ + BKP->RTCCR = tmpreg; +} + +/** + * @brief Sets RTC Clock Calibration value. + * @param CalibrationValue: specifies the RTC Clock Calibration value. + * This parameter must be a number between 0 and 0x7F. + * @retval None + */ +void BKP_SetRTCCalibrationValue(uint8_t CalibrationValue) +{ + uint16_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_BKP_CALIBRATION_VALUE(CalibrationValue)); + tmpreg = BKP->RTCCR; + /* Clear CAL[6:0] bits */ + tmpreg &= RTCCR_CAL_MASK; + /* Set CAL[6:0] bits according to CalibrationValue value */ + tmpreg |= CalibrationValue; + /* Store the new value */ + BKP->RTCCR = tmpreg; +} + +/** + * @brief Writes user data to the specified Data Backup Register. + * @param BKP_DR: specifies the Data Backup Register. + * This parameter can be BKP_DRx where x:[1, 42] + * @param Data: data to write + * @retval None + */ +void BKP_WriteBackupRegister(uint16_t BKP_DR, uint16_t Data) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_BKP_DR(BKP_DR)); + + tmp = (uint32_t)BKP_BASE; + tmp += BKP_DR; + + *(__IO uint32_t *) tmp = Data; +} + +/** + * @brief Reads data from the specified Data Backup Register. + * @param BKP_DR: specifies the Data Backup Register. + * This parameter can be BKP_DRx where x:[1, 42] + * @retval The content of the specified Data Backup Register + */ +uint16_t BKP_ReadBackupRegister(uint16_t BKP_DR) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_BKP_DR(BKP_DR)); + + tmp = (uint32_t)BKP_BASE; + tmp += BKP_DR; + + return (*(__IO uint16_t *) tmp); +} + +/** + * @brief Checks whether the Tamper Pin Event flag is set or not. + * @param None + * @retval The new state of the Tamper Pin Event flag (SET or RESET). + */ +FlagStatus BKP_GetFlagStatus(void) +{ + return (FlagStatus)(*(__IO uint32_t *) CSR_TEF_BB); +} + +/** + * @brief Clears Tamper Pin Event pending flag. + * @param None + * @retval None + */ +void BKP_ClearFlag(void) +{ + /* Set CTE bit to clear Tamper Pin Event flag */ + BKP->CSR |= BKP_CSR_CTE; +} + +/** + * @brief Checks whether the Tamper Pin Interrupt has occurred or not. + * @param None + * @retval The new state of the Tamper Pin Interrupt (SET or RESET). + */ +ITStatus BKP_GetITStatus(void) +{ + return (ITStatus)(*(__IO uint32_t *) CSR_TIF_BB); +} + +/** + * @brief Clears Tamper Pin Interrupt pending bit. + * @param None + * @retval None + */ +void BKP_ClearITPendingBit(void) +{ + /* Set CTI bit to clear Tamper Pin Interrupt pending bit */ + BKP->CSR |= BKP_CSR_CTI; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_can.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_can.c new file mode 100644 index 0000000..ec8e049 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_can.c @@ -0,0 +1,1415 @@ +/** + ****************************************************************************** + * @file stm32f10x_can.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the CAN firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_can.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup CAN + * @brief CAN driver modules + * @{ + */ + +/** @defgroup CAN_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Private_Defines + * @{ + */ + +/* CAN Master Control Register bits */ + +#define MCR_DBF ((uint32_t)0x00010000) /* software master reset */ + +/* CAN Mailbox Transmit Request */ +#define TMIDxR_TXRQ ((uint32_t)0x00000001) /* Transmit mailbox request */ + +/* CAN Filter Master Register bits */ +#define FMR_FINIT ((uint32_t)0x00000001) /* Filter init mode */ + +/* Time out for INAK bit */ +#define INAK_TIMEOUT ((uint32_t)0x0000FFFF) +/* Time out for SLAK bit */ +#define SLAK_TIMEOUT ((uint32_t)0x0000FFFF) + + + +/* Flags in TSR register */ +#define CAN_FLAGS_TSR ((uint32_t)0x08000000) +/* Flags in RF1R register */ +#define CAN_FLAGS_RF1R ((uint32_t)0x04000000) +/* Flags in RF0R register */ +#define CAN_FLAGS_RF0R ((uint32_t)0x02000000) +/* Flags in MSR register */ +#define CAN_FLAGS_MSR ((uint32_t)0x01000000) +/* Flags in ESR register */ +#define CAN_FLAGS_ESR ((uint32_t)0x00F00000) + +/* Mailboxes definition */ +#define CAN_TXMAILBOX_0 ((uint8_t)0x00) +#define CAN_TXMAILBOX_1 ((uint8_t)0x01) +#define CAN_TXMAILBOX_2 ((uint8_t)0x02) + + + +#define CAN_MODE_MASK ((uint32_t) 0x00000003) +/** + * @} + */ + +/** @defgroup CAN_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup CAN_Private_FunctionPrototypes + * @{ + */ + +static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit); + +/** + * @} + */ + +/** @defgroup CAN_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the CAN peripheral registers to their default reset values. + * @param CANx: where x can be 1 or 2 to select the CAN peripheral. + * @retval None. + */ +void CAN_DeInit(CAN_TypeDef* CANx) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + if (CANx == CAN1) + { + /* Enable CAN1 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, ENABLE); + /* Release CAN1 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN1, DISABLE); + } + else + { + /* Enable CAN2 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, ENABLE); + /* Release CAN2 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CAN2, DISABLE); + } +} + +/** + * @brief Initializes the CAN peripheral according to the specified + * parameters in the CAN_InitStruct. + * @param CANx: where x can be 1 or 2 to to select the CAN + * peripheral. + * @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure that + * contains the configuration information for the + * CAN peripheral. + * @retval Constant indicates initialization succeed which will be + * CAN_InitStatus_Failed or CAN_InitStatus_Success. + */ +uint8_t CAN_Init(CAN_TypeDef* CANx, CAN_InitTypeDef* CAN_InitStruct) +{ + uint8_t InitStatus = CAN_InitStatus_Failed; + uint32_t wait_ack = 0x00000000; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TTCM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_ABOM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_AWUM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_NART)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_RFLM)); + assert_param(IS_FUNCTIONAL_STATE(CAN_InitStruct->CAN_TXFP)); + assert_param(IS_CAN_MODE(CAN_InitStruct->CAN_Mode)); + assert_param(IS_CAN_SJW(CAN_InitStruct->CAN_SJW)); + assert_param(IS_CAN_BS1(CAN_InitStruct->CAN_BS1)); + assert_param(IS_CAN_BS2(CAN_InitStruct->CAN_BS2)); + assert_param(IS_CAN_PRESCALER(CAN_InitStruct->CAN_Prescaler)); + + /* Exit from sleep mode */ + CANx->MCR &= (~(uint32_t)CAN_MCR_SLEEP); + + /* Request initialisation */ + CANx->MCR |= CAN_MCR_INRQ ; + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) + { + wait_ack++; + } + + /* Check acknowledge */ + if ((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) + { + InitStatus = CAN_InitStatus_Failed; + } + else + { + /* Set the time triggered communication mode */ + if (CAN_InitStruct->CAN_TTCM == ENABLE) + { + CANx->MCR |= CAN_MCR_TTCM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_TTCM; + } + + /* Set the automatic bus-off management */ + if (CAN_InitStruct->CAN_ABOM == ENABLE) + { + CANx->MCR |= CAN_MCR_ABOM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_ABOM; + } + + /* Set the automatic wake-up mode */ + if (CAN_InitStruct->CAN_AWUM == ENABLE) + { + CANx->MCR |= CAN_MCR_AWUM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_AWUM; + } + + /* Set the no automatic retransmission */ + if (CAN_InitStruct->CAN_NART == ENABLE) + { + CANx->MCR |= CAN_MCR_NART; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_NART; + } + + /* Set the receive FIFO locked mode */ + if (CAN_InitStruct->CAN_RFLM == ENABLE) + { + CANx->MCR |= CAN_MCR_RFLM; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_RFLM; + } + + /* Set the transmit FIFO priority */ + if (CAN_InitStruct->CAN_TXFP == ENABLE) + { + CANx->MCR |= CAN_MCR_TXFP; + } + else + { + CANx->MCR &= ~(uint32_t)CAN_MCR_TXFP; + } + + /* Set the bit timing register */ + CANx->BTR = (uint32_t)((uint32_t)CAN_InitStruct->CAN_Mode << 30) | \ + ((uint32_t)CAN_InitStruct->CAN_SJW << 24) | \ + ((uint32_t)CAN_InitStruct->CAN_BS1 << 16) | \ + ((uint32_t)CAN_InitStruct->CAN_BS2 << 20) | \ + ((uint32_t)CAN_InitStruct->CAN_Prescaler - 1); + + /* Request leave initialisation */ + CANx->MCR &= ~(uint32_t)CAN_MCR_INRQ; + + /* Wait the acknowledge */ + wait_ack = 0; + + while (((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) && (wait_ack != INAK_TIMEOUT)) + { + wait_ack++; + } + + /* ...and check acknowledged */ + if ((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) + { + InitStatus = CAN_InitStatus_Failed; + } + else + { + InitStatus = CAN_InitStatus_Success ; + } + } + + /* At this step, return the status of initialization */ + return InitStatus; +} + +/** + * @brief Initializes the CAN peripheral according to the specified + * parameters in the CAN_FilterInitStruct. + * @param CAN_FilterInitStruct: pointer to a CAN_FilterInitTypeDef + * structure that contains the configuration + * information. + * @retval None. + */ +void CAN_FilterInit(CAN_FilterInitTypeDef* CAN_FilterInitStruct) +{ + uint32_t filter_number_bit_pos = 0; + /* Check the parameters */ + assert_param(IS_CAN_FILTER_NUMBER(CAN_FilterInitStruct->CAN_FilterNumber)); + assert_param(IS_CAN_FILTER_MODE(CAN_FilterInitStruct->CAN_FilterMode)); + assert_param(IS_CAN_FILTER_SCALE(CAN_FilterInitStruct->CAN_FilterScale)); + assert_param(IS_CAN_FILTER_FIFO(CAN_FilterInitStruct->CAN_FilterFIFOAssignment)); + assert_param(IS_FUNCTIONAL_STATE(CAN_FilterInitStruct->CAN_FilterActivation)); + + filter_number_bit_pos = ((uint32_t)1) << CAN_FilterInitStruct->CAN_FilterNumber; + + /* Initialisation mode for the filter */ + CAN1->FMR |= FMR_FINIT; + + /* Filter Deactivation */ + CAN1->FA1R &= ~(uint32_t)filter_number_bit_pos; + + /* Filter Scale */ + if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_16bit) + { + /* 16-bit scale for the filter */ + CAN1->FS1R &= ~(uint32_t)filter_number_bit_pos; + + /* First 16-bit identifier and First 16-bit mask */ + /* Or First 16-bit identifier and Second 16-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow); + + /* Second 16-bit identifier and Second 16-bit mask */ + /* Or Third 16-bit identifier and Fourth 16-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh); + } + + if (CAN_FilterInitStruct->CAN_FilterScale == CAN_FilterScale_32bit) + { + /* 32-bit scale for the filter */ + CAN1->FS1R |= filter_number_bit_pos; + /* 32-bit identifier or First 32-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR1 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdHigh) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterIdLow); + /* 32-bit mask or Second 32-bit identifier */ + CAN1->sFilterRegister[CAN_FilterInitStruct->CAN_FilterNumber].FR2 = + ((0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdHigh) << 16) | + (0x0000FFFF & (uint32_t)CAN_FilterInitStruct->CAN_FilterMaskIdLow); + } + + /* Filter Mode */ + if (CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdMask) + { + /*Id/Mask mode for the filter*/ + CAN1->FM1R &= ~(uint32_t)filter_number_bit_pos; + } + else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */ + { + /*Identifier list mode for the filter*/ + CAN1->FM1R |= (uint32_t)filter_number_bit_pos; + } + + /* Filter FIFO assignment */ + if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO0) + { + /* FIFO 0 assignation for the filter */ + CAN1->FFA1R &= ~(uint32_t)filter_number_bit_pos; + } + + if (CAN_FilterInitStruct->CAN_FilterFIFOAssignment == CAN_Filter_FIFO1) + { + /* FIFO 1 assignation for the filter */ + CAN1->FFA1R |= (uint32_t)filter_number_bit_pos; + } + + /* Filter activation */ + if (CAN_FilterInitStruct->CAN_FilterActivation == ENABLE) + { + CAN1->FA1R |= filter_number_bit_pos; + } + + /* Leave the initialisation mode for the filter */ + CAN1->FMR &= ~FMR_FINIT; +} + +/** + * @brief Fills each CAN_InitStruct member with its default value. + * @param CAN_InitStruct: pointer to a CAN_InitTypeDef structure which + * will be initialized. + * @retval None. + */ +void CAN_StructInit(CAN_InitTypeDef* CAN_InitStruct) +{ + /* Reset CAN init structure parameters values */ + + /* Initialize the time triggered communication mode */ + CAN_InitStruct->CAN_TTCM = DISABLE; + + /* Initialize the automatic bus-off management */ + CAN_InitStruct->CAN_ABOM = DISABLE; + + /* Initialize the automatic wake-up mode */ + CAN_InitStruct->CAN_AWUM = DISABLE; + + /* Initialize the no automatic retransmission */ + CAN_InitStruct->CAN_NART = DISABLE; + + /* Initialize the receive FIFO locked mode */ + CAN_InitStruct->CAN_RFLM = DISABLE; + + /* Initialize the transmit FIFO priority */ + CAN_InitStruct->CAN_TXFP = DISABLE; + + /* Initialize the CAN_Mode member */ + CAN_InitStruct->CAN_Mode = CAN_Mode_Normal; + + /* Initialize the CAN_SJW member */ + CAN_InitStruct->CAN_SJW = CAN_SJW_1tq; + + /* Initialize the CAN_BS1 member */ + CAN_InitStruct->CAN_BS1 = CAN_BS1_4tq; + + /* Initialize the CAN_BS2 member */ + CAN_InitStruct->CAN_BS2 = CAN_BS2_3tq; + + /* Initialize the CAN_Prescaler member */ + CAN_InitStruct->CAN_Prescaler = 1; +} + +/** + * @brief Select the start bank filter for slave CAN. + * @note This function applies only to STM32 Connectivity line devices. + * @param CAN_BankNumber: Select the start slave bank filter from 1..27. + * @retval None. + */ +void CAN_SlaveStartBank(uint8_t CAN_BankNumber) +{ + /* Check the parameters */ + assert_param(IS_CAN_BANKNUMBER(CAN_BankNumber)); + + /* Enter Initialisation mode for the filter */ + CAN1->FMR |= FMR_FINIT; + + /* Select the start slave bank */ + CAN1->FMR &= (uint32_t)0xFFFFC0F1 ; + CAN1->FMR |= (uint32_t)(CAN_BankNumber)<<8; + + /* Leave Initialisation mode for the filter */ + CAN1->FMR &= ~FMR_FINIT; +} + +/** + * @brief Enables or disables the DBG Freeze for CAN. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param NewState: new state of the CAN peripheral. This parameter can + * be: ENABLE or DISABLE. + * @retval None. + */ +void CAN_DBGFreeze(CAN_TypeDef* CANx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable Debug Freeze */ + CANx->MCR |= MCR_DBF; + } + else + { + /* Disable Debug Freeze */ + CANx->MCR &= ~MCR_DBF; + } +} + + +/** + * @brief Enables or disabes the CAN Time TriggerOperation communication mode. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param NewState : Mode new state , can be one of @ref FunctionalState. + * @note when enabled, Time stamp (TIME[15:0]) value is sent in the last + * two data bytes of the 8-byte message: TIME[7:0] in data byte 6 + * and TIME[15:8] in data byte 7 + * @note DLC must be programmed as 8 in order Time Stamp (2 bytes) to be + * sent over the CAN bus. + * @retval None + */ +void CAN_TTComModeCmd(CAN_TypeDef* CANx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the TTCM mode */ + CANx->MCR |= CAN_MCR_TTCM; + + /* Set TGT bits */ + CANx->sTxMailBox[0].TDTR |= ((uint32_t)CAN_TDT0R_TGT); + CANx->sTxMailBox[1].TDTR |= ((uint32_t)CAN_TDT1R_TGT); + CANx->sTxMailBox[2].TDTR |= ((uint32_t)CAN_TDT2R_TGT); + } + else + { + /* Disable the TTCM mode */ + CANx->MCR &= (uint32_t)(~(uint32_t)CAN_MCR_TTCM); + + /* Reset TGT bits */ + CANx->sTxMailBox[0].TDTR &= ((uint32_t)~CAN_TDT0R_TGT); + CANx->sTxMailBox[1].TDTR &= ((uint32_t)~CAN_TDT1R_TGT); + CANx->sTxMailBox[2].TDTR &= ((uint32_t)~CAN_TDT2R_TGT); + } +} +/** + * @brief Initiates the transmission of a message. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param TxMessage: pointer to a structure which contains CAN Id, CAN + * DLC and CAN data. + * @retval The number of the mailbox that is used for transmission + * or CAN_TxStatus_NoMailBox if there is no empty mailbox. + */ +uint8_t CAN_Transmit(CAN_TypeDef* CANx, CanTxMsg* TxMessage) +{ + uint8_t transmit_mailbox = 0; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_IDTYPE(TxMessage->IDE)); + assert_param(IS_CAN_RTR(TxMessage->RTR)); + assert_param(IS_CAN_DLC(TxMessage->DLC)); + + /* Select one empty transmit mailbox */ + if ((CANx->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) + { + transmit_mailbox = 0; + } + else if ((CANx->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) + { + transmit_mailbox = 1; + } + else if ((CANx->TSR&CAN_TSR_TME2) == CAN_TSR_TME2) + { + transmit_mailbox = 2; + } + else + { + transmit_mailbox = CAN_TxStatus_NoMailBox; + } + + if (transmit_mailbox != CAN_TxStatus_NoMailBox) + { + /* Set up the Id */ + CANx->sTxMailBox[transmit_mailbox].TIR &= TMIDxR_TXRQ; + if (TxMessage->IDE == CAN_Id_Standard) + { + assert_param(IS_CAN_STDID(TxMessage->StdId)); + CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->StdId << 21) | \ + TxMessage->RTR); + } + else + { + assert_param(IS_CAN_EXTID(TxMessage->ExtId)); + CANx->sTxMailBox[transmit_mailbox].TIR |= ((TxMessage->ExtId << 3) | \ + TxMessage->IDE | \ + TxMessage->RTR); + } + + /* Set up the DLC */ + TxMessage->DLC &= (uint8_t)0x0000000F; + CANx->sTxMailBox[transmit_mailbox].TDTR &= (uint32_t)0xFFFFFFF0; + CANx->sTxMailBox[transmit_mailbox].TDTR |= TxMessage->DLC; + + /* Set up the data field */ + CANx->sTxMailBox[transmit_mailbox].TDLR = (((uint32_t)TxMessage->Data[3] << 24) | + ((uint32_t)TxMessage->Data[2] << 16) | + ((uint32_t)TxMessage->Data[1] << 8) | + ((uint32_t)TxMessage->Data[0])); + CANx->sTxMailBox[transmit_mailbox].TDHR = (((uint32_t)TxMessage->Data[7] << 24) | + ((uint32_t)TxMessage->Data[6] << 16) | + ((uint32_t)TxMessage->Data[5] << 8) | + ((uint32_t)TxMessage->Data[4])); + /* Request transmission */ + CANx->sTxMailBox[transmit_mailbox].TIR |= TMIDxR_TXRQ; + } + return transmit_mailbox; +} + +/** + * @brief Checks the transmission of a message. + * @param CANx: where x can be 1 or 2 to to select the + * CAN peripheral. + * @param TransmitMailbox: the number of the mailbox that is used for + * transmission. + * @retval CAN_TxStatus_Ok if the CAN driver transmits the message, CAN_TxStatus_Failed + * in an other case. + */ +uint8_t CAN_TransmitStatus(CAN_TypeDef* CANx, uint8_t TransmitMailbox) +{ + uint32_t state = 0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_TRANSMITMAILBOX(TransmitMailbox)); + + switch (TransmitMailbox) + { + case (CAN_TXMAILBOX_0): + state = CANx->TSR & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0); + break; + case (CAN_TXMAILBOX_1): + state = CANx->TSR & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1); + break; + case (CAN_TXMAILBOX_2): + state = CANx->TSR & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2); + break; + default: + state = CAN_TxStatus_Failed; + break; + } + switch (state) + { + /* transmit pending */ + case (0x0): state = CAN_TxStatus_Pending; + break; + /* transmit failed */ + case (CAN_TSR_RQCP0 | CAN_TSR_TME0): state = CAN_TxStatus_Failed; + break; + case (CAN_TSR_RQCP1 | CAN_TSR_TME1): state = CAN_TxStatus_Failed; + break; + case (CAN_TSR_RQCP2 | CAN_TSR_TME2): state = CAN_TxStatus_Failed; + break; + /* transmit succeeded */ + case (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0):state = CAN_TxStatus_Ok; + break; + case (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1):state = CAN_TxStatus_Ok; + break; + case (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2):state = CAN_TxStatus_Ok; + break; + default: state = CAN_TxStatus_Failed; + break; + } + return (uint8_t) state; +} + +/** + * @brief Cancels a transmit request. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param Mailbox: Mailbox number. + * @retval None. + */ +void CAN_CancelTransmit(CAN_TypeDef* CANx, uint8_t Mailbox) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_TRANSMITMAILBOX(Mailbox)); + /* abort transmission */ + switch (Mailbox) + { + case (CAN_TXMAILBOX_0): CANx->TSR |= CAN_TSR_ABRQ0; + break; + case (CAN_TXMAILBOX_1): CANx->TSR |= CAN_TSR_ABRQ1; + break; + case (CAN_TXMAILBOX_2): CANx->TSR |= CAN_TSR_ABRQ2; + break; + default: + break; + } +} + + +/** + * @brief Receives a message. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. + * @param RxMessage: pointer to a structure receive message which contains + * CAN Id, CAN DLC, CAN datas and FMI number. + * @retval None. + */ +void CAN_Receive(CAN_TypeDef* CANx, uint8_t FIFONumber, CanRxMsg* RxMessage) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_FIFO(FIFONumber)); + /* Get the Id */ + RxMessage->IDE = (uint8_t)0x04 & CANx->sFIFOMailBox[FIFONumber].RIR; + if (RxMessage->IDE == CAN_Id_Standard) + { + RxMessage->StdId = (uint32_t)0x000007FF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 21); + } + else + { + RxMessage->ExtId = (uint32_t)0x1FFFFFFF & (CANx->sFIFOMailBox[FIFONumber].RIR >> 3); + } + + RxMessage->RTR = (uint8_t)0x02 & CANx->sFIFOMailBox[FIFONumber].RIR; + /* Get the DLC */ + RxMessage->DLC = (uint8_t)0x0F & CANx->sFIFOMailBox[FIFONumber].RDTR; + /* Get the FMI */ + RxMessage->FMI = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDTR >> 8); + /* Get the data field */ + RxMessage->Data[0] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDLR; + RxMessage->Data[1] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 8); + RxMessage->Data[2] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 16); + RxMessage->Data[3] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDLR >> 24); + RxMessage->Data[4] = (uint8_t)0xFF & CANx->sFIFOMailBox[FIFONumber].RDHR; + RxMessage->Data[5] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 8); + RxMessage->Data[6] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 16); + RxMessage->Data[7] = (uint8_t)0xFF & (CANx->sFIFOMailBox[FIFONumber].RDHR >> 24); + /* Release the FIFO */ + /* Release FIFO0 */ + if (FIFONumber == CAN_FIFO0) + { + CANx->RF0R |= CAN_RF0R_RFOM0; + } + /* Release FIFO1 */ + else /* FIFONumber == CAN_FIFO1 */ + { + CANx->RF1R |= CAN_RF1R_RFOM1; + } +} + +/** + * @brief Releases the specified FIFO. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param FIFONumber: FIFO to release, CAN_FIFO0 or CAN_FIFO1. + * @retval None. + */ +void CAN_FIFORelease(CAN_TypeDef* CANx, uint8_t FIFONumber) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_FIFO(FIFONumber)); + /* Release FIFO0 */ + if (FIFONumber == CAN_FIFO0) + { + CANx->RF0R |= CAN_RF0R_RFOM0; + } + /* Release FIFO1 */ + else /* FIFONumber == CAN_FIFO1 */ + { + CANx->RF1R |= CAN_RF1R_RFOM1; + } +} + +/** + * @brief Returns the number of pending messages. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param FIFONumber: Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. + * @retval NbMessage : which is the number of pending message. + */ +uint8_t CAN_MessagePending(CAN_TypeDef* CANx, uint8_t FIFONumber) +{ + uint8_t message_pending=0; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_FIFO(FIFONumber)); + if (FIFONumber == CAN_FIFO0) + { + message_pending = (uint8_t)(CANx->RF0R&(uint32_t)0x03); + } + else if (FIFONumber == CAN_FIFO1) + { + message_pending = (uint8_t)(CANx->RF1R&(uint32_t)0x03); + } + else + { + message_pending = 0; + } + return message_pending; +} + + +/** + * @brief Select the CAN Operation mode. + * @param CAN_OperatingMode : CAN Operating Mode. This parameter can be one + * of @ref CAN_OperatingMode_TypeDef enumeration. + * @retval status of the requested mode which can be + * - CAN_ModeStatus_Failed CAN failed entering the specific mode + * - CAN_ModeStatus_Success CAN Succeed entering the specific mode + + */ +uint8_t CAN_OperatingModeRequest(CAN_TypeDef* CANx, uint8_t CAN_OperatingMode) +{ + uint8_t status = CAN_ModeStatus_Failed; + + /* Timeout for INAK or also for SLAK bits*/ + uint32_t timeout = INAK_TIMEOUT; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_OPERATING_MODE(CAN_OperatingMode)); + + if (CAN_OperatingMode == CAN_OperatingMode_Initialization) + { + /* Request initialisation */ + CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_SLEEP)) | CAN_MCR_INRQ); + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) && (timeout != 0)) + { + timeout--; + } + if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_INAK) + { + status = CAN_ModeStatus_Failed; + } + else + { + status = CAN_ModeStatus_Success; + } + } + else if (CAN_OperatingMode == CAN_OperatingMode_Normal) + { + /* Request leave initialisation and sleep mode and enter Normal mode */ + CANx->MCR &= (uint32_t)(~(CAN_MCR_SLEEP|CAN_MCR_INRQ)); + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MODE_MASK) != 0) && (timeout!=0)) + { + timeout--; + } + if ((CANx->MSR & CAN_MODE_MASK) != 0) + { + status = CAN_ModeStatus_Failed; + } + else + { + status = CAN_ModeStatus_Success; + } + } + else if (CAN_OperatingMode == CAN_OperatingMode_Sleep) + { + /* Request Sleep mode */ + CANx->MCR = (uint32_t)((CANx->MCR & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); + + /* Wait the acknowledge */ + while (((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) && (timeout!=0)) + { + timeout--; + } + if ((CANx->MSR & CAN_MODE_MASK) != CAN_MSR_SLAK) + { + status = CAN_ModeStatus_Failed; + } + else + { + status = CAN_ModeStatus_Success; + } + } + else + { + status = CAN_ModeStatus_Failed; + } + + return (uint8_t) status; +} + +/** + * @brief Enters the low power mode. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval status: CAN_Sleep_Ok if sleep entered, CAN_Sleep_Failed in an + * other case. + */ +uint8_t CAN_Sleep(CAN_TypeDef* CANx) +{ + uint8_t sleepstatus = CAN_Sleep_Failed; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Request Sleep mode */ + CANx->MCR = (((CANx->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); + + /* Sleep mode status */ + if ((CANx->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) == CAN_MSR_SLAK) + { + /* Sleep mode not entered */ + sleepstatus = CAN_Sleep_Ok; + } + /* return sleep mode status */ + return (uint8_t)sleepstatus; +} + +/** + * @brief Wakes the CAN up. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval status: CAN_WakeUp_Ok if sleep mode left, CAN_WakeUp_Failed in an + * other case. + */ +uint8_t CAN_WakeUp(CAN_TypeDef* CANx) +{ + uint32_t wait_slak = SLAK_TIMEOUT; + uint8_t wakeupstatus = CAN_WakeUp_Failed; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Wake up request */ + CANx->MCR &= ~(uint32_t)CAN_MCR_SLEEP; + + /* Sleep mode status */ + while(((CANx->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK)&&(wait_slak!=0x00)) + { + wait_slak--; + } + if((CANx->MSR & CAN_MSR_SLAK) != CAN_MSR_SLAK) + { + /* wake up done : Sleep mode exited */ + wakeupstatus = CAN_WakeUp_Ok; + } + /* return wakeup status */ + return (uint8_t)wakeupstatus; +} + + +/** + * @brief Returns the CANx's last error code (LEC). + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval CAN_ErrorCode: specifies the Error code : + * - CAN_ERRORCODE_NoErr No Error + * - CAN_ERRORCODE_StuffErr Stuff Error + * - CAN_ERRORCODE_FormErr Form Error + * - CAN_ERRORCODE_ACKErr Acknowledgment Error + * - CAN_ERRORCODE_BitRecessiveErr Bit Recessive Error + * - CAN_ERRORCODE_BitDominantErr Bit Dominant Error + * - CAN_ERRORCODE_CRCErr CRC Error + * - CAN_ERRORCODE_SoftwareSetErr Software Set Error + */ + +uint8_t CAN_GetLastErrorCode(CAN_TypeDef* CANx) +{ + uint8_t errorcode=0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Get the error code*/ + errorcode = (((uint8_t)CANx->ESR) & (uint8_t)CAN_ESR_LEC); + + /* Return the error code*/ + return errorcode; +} +/** + * @brief Returns the CANx Receive Error Counter (REC). + * @note In case of an error during reception, this counter is incremented + * by 1 or by 8 depending on the error condition as defined by the CAN + * standard. After every successful reception, the counter is + * decremented by 1 or reset to 120 if its value was higher than 128. + * When the counter value exceeds 127, the CAN controller enters the + * error passive state. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval CAN Receive Error Counter. + */ +uint8_t CAN_GetReceiveErrorCounter(CAN_TypeDef* CANx) +{ + uint8_t counter=0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Get the Receive Error Counter*/ + counter = (uint8_t)((CANx->ESR & CAN_ESR_REC)>> 24); + + /* Return the Receive Error Counter*/ + return counter; +} + + +/** + * @brief Returns the LSB of the 9-bit CANx Transmit Error Counter(TEC). + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @retval LSB of the 9-bit CAN Transmit Error Counter. + */ +uint8_t CAN_GetLSBTransmitErrorCounter(CAN_TypeDef* CANx) +{ + uint8_t counter=0; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + + /* Get the LSB of the 9-bit CANx Transmit Error Counter(TEC) */ + counter = (uint8_t)((CANx->ESR & CAN_ESR_TEC)>> 16); + + /* Return the LSB of the 9-bit CANx Transmit Error Counter(TEC) */ + return counter; +} + + +/** + * @brief Enables or disables the specified CANx interrupts. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_IT: specifies the CAN interrupt sources to be enabled or disabled. + * This parameter can be: + * - CAN_IT_TME, + * - CAN_IT_FMP0, + * - CAN_IT_FF0, + * - CAN_IT_FOV0, + * - CAN_IT_FMP1, + * - CAN_IT_FF1, + * - CAN_IT_FOV1, + * - CAN_IT_EWG, + * - CAN_IT_EPV, + * - CAN_IT_LEC, + * - CAN_IT_ERR, + * - CAN_IT_WKU or + * - CAN_IT_SLK. + * @param NewState: new state of the CAN interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void CAN_ITConfig(CAN_TypeDef* CANx, uint32_t CAN_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_IT(CAN_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected CANx interrupt */ + CANx->IER |= CAN_IT; + } + else + { + /* Disable the selected CANx interrupt */ + CANx->IER &= ~CAN_IT; + } +} +/** + * @brief Checks whether the specified CAN flag is set or not. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_FLAG: specifies the flag to check. + * This parameter can be one of the following flags: + * - CAN_FLAG_EWG + * - CAN_FLAG_EPV + * - CAN_FLAG_BOF + * - CAN_FLAG_RQCP0 + * - CAN_FLAG_RQCP1 + * - CAN_FLAG_RQCP2 + * - CAN_FLAG_FMP1 + * - CAN_FLAG_FF1 + * - CAN_FLAG_FOV1 + * - CAN_FLAG_FMP0 + * - CAN_FLAG_FF0 + * - CAN_FLAG_FOV0 + * - CAN_FLAG_WKU + * - CAN_FLAG_SLAK + * - CAN_FLAG_LEC + * @retval The new state of CAN_FLAG (SET or RESET). + */ +FlagStatus CAN_GetFlagStatus(CAN_TypeDef* CANx, uint32_t CAN_FLAG) +{ + FlagStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_GET_FLAG(CAN_FLAG)); + + + if((CAN_FLAG & CAN_FLAGS_ESR) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->ESR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else if((CAN_FLAG & CAN_FLAGS_MSR) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->MSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else if((CAN_FLAG & CAN_FLAGS_TSR) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->TSR & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else if((CAN_FLAG & CAN_FLAGS_RF0R) != (uint32_t)RESET) + { + /* Check the status of the specified CAN flag */ + if ((CANx->RF0R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + else /* If(CAN_FLAG & CAN_FLAGS_RF1R != (uint32_t)RESET) */ + { + /* Check the status of the specified CAN flag */ + if ((uint32_t)(CANx->RF1R & (CAN_FLAG & 0x000FFFFF)) != (uint32_t)RESET) + { + /* CAN_FLAG is set */ + bitstatus = SET; + } + else + { + /* CAN_FLAG is reset */ + bitstatus = RESET; + } + } + /* Return the CAN_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the CAN's pending flags. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_FLAG: specifies the flag to clear. + * This parameter can be one of the following flags: + * - CAN_FLAG_RQCP0 + * - CAN_FLAG_RQCP1 + * - CAN_FLAG_RQCP2 + * - CAN_FLAG_FF1 + * - CAN_FLAG_FOV1 + * - CAN_FLAG_FF0 + * - CAN_FLAG_FOV0 + * - CAN_FLAG_WKU + * - CAN_FLAG_SLAK + * - CAN_FLAG_LEC + * @retval None. + */ +void CAN_ClearFlag(CAN_TypeDef* CANx, uint32_t CAN_FLAG) +{ + uint32_t flagtmp=0; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_CLEAR_FLAG(CAN_FLAG)); + + if (CAN_FLAG == CAN_FLAG_LEC) /* ESR register */ + { + /* Clear the selected CAN flags */ + CANx->ESR = (uint32_t)RESET; + } + else /* MSR or TSR or RF0R or RF1R */ + { + flagtmp = CAN_FLAG & 0x000FFFFF; + + if ((CAN_FLAG & CAN_FLAGS_RF0R)!=(uint32_t)RESET) + { + /* Receive Flags */ + CANx->RF0R = (uint32_t)(flagtmp); + } + else if ((CAN_FLAG & CAN_FLAGS_RF1R)!=(uint32_t)RESET) + { + /* Receive Flags */ + CANx->RF1R = (uint32_t)(flagtmp); + } + else if ((CAN_FLAG & CAN_FLAGS_TSR)!=(uint32_t)RESET) + { + /* Transmit Flags */ + CANx->TSR = (uint32_t)(flagtmp); + } + else /* If((CAN_FLAG & CAN_FLAGS_MSR)!=(uint32_t)RESET) */ + { + /* Operating mode Flags */ + CANx->MSR = (uint32_t)(flagtmp); + } + } +} + +/** + * @brief Checks whether the specified CANx interrupt has occurred or not. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_IT: specifies the CAN interrupt source to check. + * This parameter can be one of the following flags: + * - CAN_IT_TME + * - CAN_IT_FMP0 + * - CAN_IT_FF0 + * - CAN_IT_FOV0 + * - CAN_IT_FMP1 + * - CAN_IT_FF1 + * - CAN_IT_FOV1 + * - CAN_IT_WKU + * - CAN_IT_SLK + * - CAN_IT_EWG + * - CAN_IT_EPV + * - CAN_IT_BOF + * - CAN_IT_LEC + * - CAN_IT_ERR + * @retval The current state of CAN_IT (SET or RESET). + */ +ITStatus CAN_GetITStatus(CAN_TypeDef* CANx, uint32_t CAN_IT) +{ + ITStatus itstatus = RESET; + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_IT(CAN_IT)); + + /* check the enable interrupt bit */ + if((CANx->IER & CAN_IT) != RESET) + { + /* in case the Interrupt is enabled, .... */ + switch (CAN_IT) + { + case CAN_IT_TME: + /* Check CAN_TSR_RQCPx bits */ + itstatus = CheckITStatus(CANx->TSR, CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2); + break; + case CAN_IT_FMP0: + /* Check CAN_RF0R_FMP0 bit */ + itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FMP0); + break; + case CAN_IT_FF0: + /* Check CAN_RF0R_FULL0 bit */ + itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FULL0); + break; + case CAN_IT_FOV0: + /* Check CAN_RF0R_FOVR0 bit */ + itstatus = CheckITStatus(CANx->RF0R, CAN_RF0R_FOVR0); + break; + case CAN_IT_FMP1: + /* Check CAN_RF1R_FMP1 bit */ + itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FMP1); + break; + case CAN_IT_FF1: + /* Check CAN_RF1R_FULL1 bit */ + itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FULL1); + break; + case CAN_IT_FOV1: + /* Check CAN_RF1R_FOVR1 bit */ + itstatus = CheckITStatus(CANx->RF1R, CAN_RF1R_FOVR1); + break; + case CAN_IT_WKU: + /* Check CAN_MSR_WKUI bit */ + itstatus = CheckITStatus(CANx->MSR, CAN_MSR_WKUI); + break; + case CAN_IT_SLK: + /* Check CAN_MSR_SLAKI bit */ + itstatus = CheckITStatus(CANx->MSR, CAN_MSR_SLAKI); + break; + case CAN_IT_EWG: + /* Check CAN_ESR_EWGF bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EWGF); + break; + case CAN_IT_EPV: + /* Check CAN_ESR_EPVF bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_EPVF); + break; + case CAN_IT_BOF: + /* Check CAN_ESR_BOFF bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_BOFF); + break; + case CAN_IT_LEC: + /* Check CAN_ESR_LEC bit */ + itstatus = CheckITStatus(CANx->ESR, CAN_ESR_LEC); + break; + case CAN_IT_ERR: + /* Check CAN_MSR_ERRI bit */ + itstatus = CheckITStatus(CANx->MSR, CAN_MSR_ERRI); + break; + default : + /* in case of error, return RESET */ + itstatus = RESET; + break; + } + } + else + { + /* in case the Interrupt is not enabled, return RESET */ + itstatus = RESET; + } + + /* Return the CAN_IT status */ + return itstatus; +} + +/** + * @brief Clears the CANx's interrupt pending bits. + * @param CANx: where x can be 1 or 2 to to select the CAN peripheral. + * @param CAN_IT: specifies the interrupt pending bit to clear. + * - CAN_IT_TME + * - CAN_IT_FF0 + * - CAN_IT_FOV0 + * - CAN_IT_FF1 + * - CAN_IT_FOV1 + * - CAN_IT_WKU + * - CAN_IT_SLK + * - CAN_IT_EWG + * - CAN_IT_EPV + * - CAN_IT_BOF + * - CAN_IT_LEC + * - CAN_IT_ERR + * @retval None. + */ +void CAN_ClearITPendingBit(CAN_TypeDef* CANx, uint32_t CAN_IT) +{ + /* Check the parameters */ + assert_param(IS_CAN_ALL_PERIPH(CANx)); + assert_param(IS_CAN_CLEAR_IT(CAN_IT)); + + switch (CAN_IT) + { + case CAN_IT_TME: + /* Clear CAN_TSR_RQCPx (rc_w1)*/ + CANx->TSR = CAN_TSR_RQCP0|CAN_TSR_RQCP1|CAN_TSR_RQCP2; + break; + case CAN_IT_FF0: + /* Clear CAN_RF0R_FULL0 (rc_w1)*/ + CANx->RF0R = CAN_RF0R_FULL0; + break; + case CAN_IT_FOV0: + /* Clear CAN_RF0R_FOVR0 (rc_w1)*/ + CANx->RF0R = CAN_RF0R_FOVR0; + break; + case CAN_IT_FF1: + /* Clear CAN_RF1R_FULL1 (rc_w1)*/ + CANx->RF1R = CAN_RF1R_FULL1; + break; + case CAN_IT_FOV1: + /* Clear CAN_RF1R_FOVR1 (rc_w1)*/ + CANx->RF1R = CAN_RF1R_FOVR1; + break; + case CAN_IT_WKU: + /* Clear CAN_MSR_WKUI (rc_w1)*/ + CANx->MSR = CAN_MSR_WKUI; + break; + case CAN_IT_SLK: + /* Clear CAN_MSR_SLAKI (rc_w1)*/ + CANx->MSR = CAN_MSR_SLAKI; + break; + case CAN_IT_EWG: + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : the corresponding Flag is cleared by hardware depending + of the CAN Bus status*/ + break; + case CAN_IT_EPV: + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : the corresponding Flag is cleared by hardware depending + of the CAN Bus status*/ + break; + case CAN_IT_BOF: + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : the corresponding Flag is cleared by hardware depending + of the CAN Bus status*/ + break; + case CAN_IT_LEC: + /* Clear LEC bits */ + CANx->ESR = RESET; + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + break; + case CAN_IT_ERR: + /*Clear LEC bits */ + CANx->ESR = RESET; + /* Clear CAN_MSR_ERRI (rc_w1) */ + CANx->MSR = CAN_MSR_ERRI; + /* Note : BOFF, EPVF and EWGF Flags are cleared by hardware depending + of the CAN Bus status*/ + break; + default : + break; + } +} + +/** + * @brief Checks whether the CAN interrupt has occurred or not. + * @param CAN_Reg: specifies the CAN interrupt register to check. + * @param It_Bit: specifies the interrupt source bit to check. + * @retval The new state of the CAN Interrupt (SET or RESET). + */ +static ITStatus CheckITStatus(uint32_t CAN_Reg, uint32_t It_Bit) +{ + ITStatus pendingbitstatus = RESET; + + if ((CAN_Reg & It_Bit) != (uint32_t)RESET) + { + /* CAN_IT is set */ + pendingbitstatus = SET; + } + else + { + /* CAN_IT is reset */ + pendingbitstatus = RESET; + } + return pendingbitstatus; +} + + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_cec.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_cec.c new file mode 100644 index 0000000..4dc615f --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_cec.c @@ -0,0 +1,433 @@ +/** + ****************************************************************************** + * @file stm32f10x_cec.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the CEC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_cec.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup CEC + * @brief CEC driver modules + * @{ + */ + +/** @defgroup CEC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Defines + * @{ + */ + +/* ------------ CEC registers bit address in the alias region ----------- */ +#define CEC_OFFSET (CEC_BASE - PERIPH_BASE) + +/* --- CFGR Register ---*/ + +/* Alias word address of PE bit */ +#define CFGR_OFFSET (CEC_OFFSET + 0x00) +#define PE_BitNumber 0x00 +#define CFGR_PE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (PE_BitNumber * 4)) + +/* Alias word address of IE bit */ +#define IE_BitNumber 0x01 +#define CFGR_IE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (IE_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of TSOM bit */ +#define CSR_OFFSET (CEC_OFFSET + 0x10) +#define TSOM_BitNumber 0x00 +#define CSR_TSOM_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TSOM_BitNumber * 4)) + +/* Alias word address of TEOM bit */ +#define TEOM_BitNumber 0x01 +#define CSR_TEOM_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (TEOM_BitNumber * 4)) + +#define CFGR_CLEAR_Mask (uint8_t)(0xF3) /* CFGR register Mask */ +#define FLAG_Mask ((uint32_t)0x00FFFFFF) /* CEC FLAG mask */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Macros + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Variables + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + + +/** @defgroup CEC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the CEC peripheral registers to their default reset + * values. + * @param None + * @retval None + */ +void CEC_DeInit(void) +{ + /* Enable CEC reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, ENABLE); + /* Release CEC from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_CEC, DISABLE); +} + + +/** + * @brief Initializes the CEC peripheral according to the specified + * parameters in the CEC_InitStruct. + * @param CEC_InitStruct: pointer to an CEC_InitTypeDef structure that + * contains the configuration information for the specified + * CEC peripheral. + * @retval None + */ +void CEC_Init(CEC_InitTypeDef* CEC_InitStruct) +{ + uint16_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_CEC_BIT_TIMING_ERROR_MODE(CEC_InitStruct->CEC_BitTimingMode)); + assert_param(IS_CEC_BIT_PERIOD_ERROR_MODE(CEC_InitStruct->CEC_BitPeriodMode)); + + /*---------------------------- CEC CFGR Configuration -----------------*/ + /* Get the CEC CFGR value */ + tmpreg = CEC->CFGR; + + /* Clear BTEM and BPEM bits */ + tmpreg &= CFGR_CLEAR_Mask; + + /* Configure CEC: Bit Timing Error and Bit Period Error */ + tmpreg |= (uint16_t)(CEC_InitStruct->CEC_BitTimingMode | CEC_InitStruct->CEC_BitPeriodMode); + + /* Write to CEC CFGR register*/ + CEC->CFGR = tmpreg; + +} + +/** + * @brief Enables or disables the specified CEC peripheral. + * @param NewState: new state of the CEC peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void CEC_Cmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CFGR_PE_BB = (uint32_t)NewState; + + if(NewState == DISABLE) + { + /* Wait until the PE bit is cleared by hardware (Idle Line detected) */ + while((CEC->CFGR & CEC_CFGR_PE) != (uint32_t)RESET) + { + } + } +} + +/** + * @brief Enables or disables the CEC interrupt. + * @param NewState: new state of the CEC interrupt. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void CEC_ITConfig(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CFGR_IE_BB = (uint32_t)NewState; +} + +/** + * @brief Defines the Own Address of the CEC device. + * @param CEC_OwnAddress: The CEC own address + * @retval None + */ +void CEC_OwnAddressConfig(uint8_t CEC_OwnAddress) +{ + /* Check the parameters */ + assert_param(IS_CEC_ADDRESS(CEC_OwnAddress)); + + /* Set the CEC own address */ + CEC->OAR = CEC_OwnAddress; +} + +/** + * @brief Sets the CEC prescaler value. + * @param CEC_Prescaler: CEC prescaler new value + * @retval None + */ +void CEC_SetPrescaler(uint16_t CEC_Prescaler) +{ + /* Check the parameters */ + assert_param(IS_CEC_PRESCALER(CEC_Prescaler)); + + /* Set the Prescaler value*/ + CEC->PRES = CEC_Prescaler; +} + +/** + * @brief Transmits single data through the CEC peripheral. + * @param Data: the data to transmit. + * @retval None + */ +void CEC_SendDataByte(uint8_t Data) +{ + /* Transmit Data */ + CEC->TXD = Data ; +} + + +/** + * @brief Returns the most recent received data by the CEC peripheral. + * @param None + * @retval The received data. + */ +uint8_t CEC_ReceiveDataByte(void) +{ + /* Receive Data */ + return (uint8_t)(CEC->RXD); +} + +/** + * @brief Starts a new message. + * @param None + * @retval None + */ +void CEC_StartOfMessage(void) +{ + /* Starts of new message */ + *(__IO uint32_t *) CSR_TSOM_BB = (uint32_t)0x1; +} + +/** + * @brief Transmits message with or without an EOM bit. + * @param NewState: new state of the CEC Tx End Of Message. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void CEC_EndOfMessageCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + /* The data byte will be transmitted with or without an EOM bit*/ + *(__IO uint32_t *) CSR_TEOM_BB = (uint32_t)NewState; +} + +/** + * @brief Gets the CEC flag status + * @param CEC_FLAG: specifies the CEC flag to check. + * This parameter can be one of the following values: + * @arg CEC_FLAG_BTE: Bit Timing Error + * @arg CEC_FLAG_BPE: Bit Period Error + * @arg CEC_FLAG_RBTFE: Rx Block Transfer Finished Error + * @arg CEC_FLAG_SBE: Start Bit Error + * @arg CEC_FLAG_ACKE: Block Acknowledge Error + * @arg CEC_FLAG_LINE: Line Error + * @arg CEC_FLAG_TBTFE: Tx Block Transfer Finished Error + * @arg CEC_FLAG_TEOM: Tx End Of Message + * @arg CEC_FLAG_TERR: Tx Error + * @arg CEC_FLAG_TBTRF: Tx Byte Transfer Request or Block Transfer Finished + * @arg CEC_FLAG_RSOM: Rx Start Of Message + * @arg CEC_FLAG_REOM: Rx End Of Message + * @arg CEC_FLAG_RERR: Rx Error + * @arg CEC_FLAG_RBTF: Rx Byte/Block Transfer Finished + * @retval The new state of CEC_FLAG (SET or RESET) + */ +FlagStatus CEC_GetFlagStatus(uint32_t CEC_FLAG) +{ + FlagStatus bitstatus = RESET; + uint32_t cecreg = 0, cecbase = 0; + + /* Check the parameters */ + assert_param(IS_CEC_GET_FLAG(CEC_FLAG)); + + /* Get the CEC peripheral base address */ + cecbase = (uint32_t)(CEC_BASE); + + /* Read flag register index */ + cecreg = CEC_FLAG >> 28; + + /* Get bit[23:0] of the flag */ + CEC_FLAG &= FLAG_Mask; + + if(cecreg != 0) + { + /* Flag in CEC ESR Register */ + CEC_FLAG = (uint32_t)(CEC_FLAG >> 16); + + /* Get the CEC ESR register address */ + cecbase += 0xC; + } + else + { + /* Get the CEC CSR register address */ + cecbase += 0x10; + } + + if(((*(__IO uint32_t *)cecbase) & CEC_FLAG) != (uint32_t)RESET) + { + /* CEC_FLAG is set */ + bitstatus = SET; + } + else + { + /* CEC_FLAG is reset */ + bitstatus = RESET; + } + + /* Return the CEC_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the CEC's pending flags. + * @param CEC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg CEC_FLAG_TERR: Tx Error + * @arg CEC_FLAG_TBTRF: Tx Byte Transfer Request or Block Transfer Finished + * @arg CEC_FLAG_RSOM: Rx Start Of Message + * @arg CEC_FLAG_REOM: Rx End Of Message + * @arg CEC_FLAG_RERR: Rx Error + * @arg CEC_FLAG_RBTF: Rx Byte/Block Transfer Finished + * @retval None + */ +void CEC_ClearFlag(uint32_t CEC_FLAG) +{ + uint32_t tmp = 0x0; + + /* Check the parameters */ + assert_param(IS_CEC_CLEAR_FLAG(CEC_FLAG)); + + tmp = CEC->CSR & 0x2; + + /* Clear the selected CEC flags */ + CEC->CSR &= (uint32_t)(((~(uint32_t)CEC_FLAG) & 0xFFFFFFFC) | tmp); +} + +/** + * @brief Checks whether the specified CEC interrupt has occurred or not. + * @param CEC_IT: specifies the CEC interrupt source to check. + * This parameter can be one of the following values: + * @arg CEC_IT_TERR: Tx Error + * @arg CEC_IT_TBTF: Tx Block Transfer Finished + * @arg CEC_IT_RERR: Rx Error + * @arg CEC_IT_RBTF: Rx Block Transfer Finished + * @retval The new state of CEC_IT (SET or RESET). + */ +ITStatus CEC_GetITStatus(uint8_t CEC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_CEC_GET_IT(CEC_IT)); + + /* Get the CEC IT enable bit status */ + enablestatus = (CEC->CFGR & (uint8_t)CEC_CFGR_IE) ; + + /* Check the status of the specified CEC interrupt */ + if (((CEC->CSR & CEC_IT) != (uint32_t)RESET) && enablestatus) + { + /* CEC_IT is set */ + bitstatus = SET; + } + else + { + /* CEC_IT is reset */ + bitstatus = RESET; + } + /* Return the CEC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the CEC's interrupt pending bits. + * @param CEC_IT: specifies the CEC interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg CEC_IT_TERR: Tx Error + * @arg CEC_IT_TBTF: Tx Block Transfer Finished + * @arg CEC_IT_RERR: Rx Error + * @arg CEC_IT_RBTF: Rx Block Transfer Finished + * @retval None + */ +void CEC_ClearITPendingBit(uint16_t CEC_IT) +{ + uint32_t tmp = 0x0; + + /* Check the parameters */ + assert_param(IS_CEC_GET_IT(CEC_IT)); + + tmp = CEC->CSR & 0x2; + + /* Clear the selected CEC interrupt pending bits */ + CEC->CSR &= (uint32_t)(((~(uint32_t)CEC_IT) & 0xFFFFFFFC) | tmp); +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_crc.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_crc.c new file mode 100644 index 0000000..6501728 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_crc.c @@ -0,0 +1,160 @@ +/** + ****************************************************************************** + * @file stm32f10x_crc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the CRC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_crc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup CRC + * @brief CRC driver modules + * @{ + */ + +/** @defgroup CRC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Defines + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup CRC_Private_Functions + * @{ + */ + +/** + * @brief Resets the CRC Data register (DR). + * @param None + * @retval None + */ +void CRC_ResetDR(void) +{ + /* Reset CRC generator */ + CRC->CR = CRC_CR_RESET; +} + +/** + * @brief Computes the 32-bit CRC of a given data word(32-bit). + * @param Data: data word(32-bit) to compute its CRC + * @retval 32-bit CRC + */ +uint32_t CRC_CalcCRC(uint32_t Data) +{ + CRC->DR = Data; + + return (CRC->DR); +} + +/** + * @brief Computes the 32-bit CRC of a given buffer of data word(32-bit). + * @param pBuffer: pointer to the buffer containing the data to be computed + * @param BufferLength: length of the buffer to be computed + * @retval 32-bit CRC + */ +uint32_t CRC_CalcBlockCRC(uint32_t pBuffer[], uint32_t BufferLength) +{ + uint32_t index = 0; + + for(index = 0; index < BufferLength; index++) + { + CRC->DR = pBuffer[index]; + } + return (CRC->DR); +} + +/** + * @brief Returns the current CRC value. + * @param None + * @retval 32-bit CRC + */ +uint32_t CRC_GetCRC(void) +{ + return (CRC->DR); +} + +/** + * @brief Stores a 8-bit data in the Independent Data(ID) register. + * @param IDValue: 8-bit value to be stored in the ID register + * @retval None + */ +void CRC_SetIDRegister(uint8_t IDValue) +{ + CRC->IDR = IDValue; +} + +/** + * @brief Returns the 8-bit data stored in the Independent Data(ID) register + * @param None + * @retval 8-bit value of the ID register + */ +uint8_t CRC_GetIDRegister(void) +{ + return (CRC->IDR); +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dac.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dac.c new file mode 100644 index 0000000..1cfc71d --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dac.c @@ -0,0 +1,571 @@ +/** + ****************************************************************************** + * @file stm32f10x_dac.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the DAC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_dac.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup DAC + * @brief DAC driver modules + * @{ + */ + +/** @defgroup DAC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_Defines + * @{ + */ + +/* CR register Mask */ +#define CR_CLEAR_MASK ((uint32_t)0x00000FFE) + +/* DAC Dual Channels SWTRIG masks */ +#define DUAL_SWTRIG_SET ((uint32_t)0x00000003) +#define DUAL_SWTRIG_RESET ((uint32_t)0xFFFFFFFC) + +/* DHR registers offsets */ +#define DHR12R1_OFFSET ((uint32_t)0x00000008) +#define DHR12R2_OFFSET ((uint32_t)0x00000014) +#define DHR12RD_OFFSET ((uint32_t)0x00000020) + +/* DOR register offset */ +#define DOR_OFFSET ((uint32_t)0x0000002C) +/** + * @} + */ + +/** @defgroup DAC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup DAC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the DAC peripheral registers to their default reset values. + * @param None + * @retval None + */ +void DAC_DeInit(void) +{ + /* Enable DAC reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_DAC, ENABLE); + /* Release DAC from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_DAC, DISABLE); +} + +/** + * @brief Initializes the DAC peripheral according to the specified + * parameters in the DAC_InitStruct. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_InitStruct: pointer to a DAC_InitTypeDef structure that + * contains the configuration information for the specified DAC channel. + * @retval None + */ +void DAC_Init(uint32_t DAC_Channel, DAC_InitTypeDef* DAC_InitStruct) +{ + uint32_t tmpreg1 = 0, tmpreg2 = 0; + /* Check the DAC parameters */ + assert_param(IS_DAC_TRIGGER(DAC_InitStruct->DAC_Trigger)); + assert_param(IS_DAC_GENERATE_WAVE(DAC_InitStruct->DAC_WaveGeneration)); + assert_param(IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude)); + assert_param(IS_DAC_OUTPUT_BUFFER_STATE(DAC_InitStruct->DAC_OutputBuffer)); +/*---------------------------- DAC CR Configuration --------------------------*/ + /* Get the DAC CR value */ + tmpreg1 = DAC->CR; + /* Clear BOFFx, TENx, TSELx, WAVEx and MAMPx bits */ + tmpreg1 &= ~(CR_CLEAR_MASK << DAC_Channel); + /* Configure for the selected DAC channel: buffer output, trigger, wave generation, + mask/amplitude for wave generation */ + /* Set TSELx and TENx bits according to DAC_Trigger value */ + /* Set WAVEx bits according to DAC_WaveGeneration value */ + /* Set MAMPx bits according to DAC_LFSRUnmask_TriangleAmplitude value */ + /* Set BOFFx bit according to DAC_OutputBuffer value */ + tmpreg2 = (DAC_InitStruct->DAC_Trigger | DAC_InitStruct->DAC_WaveGeneration | + DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude | DAC_InitStruct->DAC_OutputBuffer); + /* Calculate CR register value depending on DAC_Channel */ + tmpreg1 |= tmpreg2 << DAC_Channel; + /* Write to DAC CR */ + DAC->CR = tmpreg1; +} + +/** + * @brief Fills each DAC_InitStruct member with its default value. + * @param DAC_InitStruct : pointer to a DAC_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void DAC_StructInit(DAC_InitTypeDef* DAC_InitStruct) +{ +/*--------------- Reset DAC init structure parameters values -----------------*/ + /* Initialize the DAC_Trigger member */ + DAC_InitStruct->DAC_Trigger = DAC_Trigger_None; + /* Initialize the DAC_WaveGeneration member */ + DAC_InitStruct->DAC_WaveGeneration = DAC_WaveGeneration_None; + /* Initialize the DAC_LFSRUnmask_TriangleAmplitude member */ + DAC_InitStruct->DAC_LFSRUnmask_TriangleAmplitude = DAC_LFSRUnmask_Bit0; + /* Initialize the DAC_OutputBuffer member */ + DAC_InitStruct->DAC_OutputBuffer = DAC_OutputBuffer_Enable; +} + +/** + * @brief Enables or disables the specified DAC channel. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param NewState: new state of the DAC channel. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_Cmd(uint32_t DAC_Channel, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected DAC channel */ + DAC->CR |= (DAC_CR_EN1 << DAC_Channel); + } + else + { + /* Disable the selected DAC channel */ + DAC->CR &= ~(DAC_CR_EN1 << DAC_Channel); + } +} +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/** + * @brief Enables or disables the specified DAC interrupts. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_IT: specifies the DAC interrupt sources to be enabled or disabled. + * This parameter can be the following values: + * @arg DAC_IT_DMAUDR: DMA underrun interrupt mask + * @param NewState: new state of the specified DAC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_ITConfig(uint32_t DAC_Channel, uint32_t DAC_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_DAC_IT(DAC_IT)); + + if (NewState != DISABLE) + { + /* Enable the selected DAC interrupts */ + DAC->CR |= (DAC_IT << DAC_Channel); + } + else + { + /* Disable the selected DAC interrupts */ + DAC->CR &= (~(uint32_t)(DAC_IT << DAC_Channel)); + } +} +#endif + +/** + * @brief Enables or disables the specified DAC channel DMA request. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param NewState: new state of the selected DAC channel DMA request. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_DMACmd(uint32_t DAC_Channel, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected DAC channel DMA request */ + DAC->CR |= (DAC_CR_DMAEN1 << DAC_Channel); + } + else + { + /* Disable the selected DAC channel DMA request */ + DAC->CR &= ~(DAC_CR_DMAEN1 << DAC_Channel); + } +} + +/** + * @brief Enables or disables the selected DAC channel software trigger. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param NewState: new state of the selected DAC channel software trigger. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_SoftwareTriggerCmd(uint32_t DAC_Channel, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable software trigger for the selected DAC channel */ + DAC->SWTRIGR |= (uint32_t)DAC_SWTRIGR_SWTRIG1 << (DAC_Channel >> 4); + } + else + { + /* Disable software trigger for the selected DAC channel */ + DAC->SWTRIGR &= ~((uint32_t)DAC_SWTRIGR_SWTRIG1 << (DAC_Channel >> 4)); + } +} + +/** + * @brief Enables or disables simultaneously the two DAC channels software + * triggers. + * @param NewState: new state of the DAC channels software triggers. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_DualSoftwareTriggerCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable software trigger for both DAC channels */ + DAC->SWTRIGR |= DUAL_SWTRIG_SET ; + } + else + { + /* Disable software trigger for both DAC channels */ + DAC->SWTRIGR &= DUAL_SWTRIG_RESET; + } +} + +/** + * @brief Enables or disables the selected DAC channel wave generation. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_Wave: Specifies the wave type to enable or disable. + * This parameter can be one of the following values: + * @arg DAC_Wave_Noise: noise wave generation + * @arg DAC_Wave_Triangle: triangle wave generation + * @param NewState: new state of the selected DAC channel wave generation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DAC_WaveGenerationCmd(uint32_t DAC_Channel, uint32_t DAC_Wave, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_WAVE(DAC_Wave)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected wave generation for the selected DAC channel */ + DAC->CR |= DAC_Wave << DAC_Channel; + } + else + { + /* Disable the selected wave generation for the selected DAC channel */ + DAC->CR &= ~(DAC_Wave << DAC_Channel); + } +} + +/** + * @brief Set the specified data holding register value for DAC channel1. + * @param DAC_Align: Specifies the data alignment for DAC channel1. + * This parameter can be one of the following values: + * @arg DAC_Align_8b_R: 8bit right data alignment selected + * @arg DAC_Align_12b_L: 12bit left data alignment selected + * @arg DAC_Align_12b_R: 12bit right data alignment selected + * @param Data : Data to be loaded in the selected data holding register. + * @retval None + */ +void DAC_SetChannel1Data(uint32_t DAC_Align, uint16_t Data) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_ALIGN(DAC_Align)); + assert_param(IS_DAC_DATA(Data)); + + tmp = (uint32_t)DAC_BASE; + tmp += DHR12R1_OFFSET + DAC_Align; + + /* Set the DAC channel1 selected data holding register */ + *(__IO uint32_t *) tmp = Data; +} + +/** + * @brief Set the specified data holding register value for DAC channel2. + * @param DAC_Align: Specifies the data alignment for DAC channel2. + * This parameter can be one of the following values: + * @arg DAC_Align_8b_R: 8bit right data alignment selected + * @arg DAC_Align_12b_L: 12bit left data alignment selected + * @arg DAC_Align_12b_R: 12bit right data alignment selected + * @param Data : Data to be loaded in the selected data holding register. + * @retval None + */ +void DAC_SetChannel2Data(uint32_t DAC_Align, uint16_t Data) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_ALIGN(DAC_Align)); + assert_param(IS_DAC_DATA(Data)); + + tmp = (uint32_t)DAC_BASE; + tmp += DHR12R2_OFFSET + DAC_Align; + + /* Set the DAC channel2 selected data holding register */ + *(__IO uint32_t *)tmp = Data; +} + +/** + * @brief Set the specified data holding register value for dual channel + * DAC. + * @param DAC_Align: Specifies the data alignment for dual channel DAC. + * This parameter can be one of the following values: + * @arg DAC_Align_8b_R: 8bit right data alignment selected + * @arg DAC_Align_12b_L: 12bit left data alignment selected + * @arg DAC_Align_12b_R: 12bit right data alignment selected + * @param Data2: Data for DAC Channel2 to be loaded in the selected data + * holding register. + * @param Data1: Data for DAC Channel1 to be loaded in the selected data + * holding register. + * @retval None + */ +void DAC_SetDualChannelData(uint32_t DAC_Align, uint16_t Data2, uint16_t Data1) +{ + uint32_t data = 0, tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_ALIGN(DAC_Align)); + assert_param(IS_DAC_DATA(Data1)); + assert_param(IS_DAC_DATA(Data2)); + + /* Calculate and set dual DAC data holding register value */ + if (DAC_Align == DAC_Align_8b_R) + { + data = ((uint32_t)Data2 << 8) | Data1; + } + else + { + data = ((uint32_t)Data2 << 16) | Data1; + } + + tmp = (uint32_t)DAC_BASE; + tmp += DHR12RD_OFFSET + DAC_Align; + + /* Set the dual DAC selected data holding register */ + *(__IO uint32_t *)tmp = data; +} + +/** + * @brief Returns the last data output value of the selected DAC channel. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @retval The selected DAC channel data output value. + */ +uint16_t DAC_GetDataOutputValue(uint32_t DAC_Channel) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + + tmp = (uint32_t) DAC_BASE ; + tmp += DOR_OFFSET + ((uint32_t)DAC_Channel >> 2); + + /* Returns the DAC channel data output register value */ + return (uint16_t) (*(__IO uint32_t*) tmp); +} + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) +/** + * @brief Checks whether the specified DAC flag is set or not. + * @param DAC_Channel: thee selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_FLAG: specifies the flag to check. + * This parameter can be only of the following value: + * @arg DAC_FLAG_DMAUDR: DMA underrun flag + * @retval The new state of DAC_FLAG (SET or RESET). + */ +FlagStatus DAC_GetFlagStatus(uint32_t DAC_Channel, uint32_t DAC_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_FLAG(DAC_FLAG)); + + /* Check the status of the specified DAC flag */ + if ((DAC->SR & (DAC_FLAG << DAC_Channel)) != (uint8_t)RESET) + { + /* DAC_FLAG is set */ + bitstatus = SET; + } + else + { + /* DAC_FLAG is reset */ + bitstatus = RESET; + } + /* Return the DAC_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the DAC channelx's pending flags. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_FLAG: specifies the flag to clear. + * This parameter can be of the following value: + * @arg DAC_FLAG_DMAUDR: DMA underrun flag + * @retval None + */ +void DAC_ClearFlag(uint32_t DAC_Channel, uint32_t DAC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_FLAG(DAC_FLAG)); + + /* Clear the selected DAC flags */ + DAC->SR = (DAC_FLAG << DAC_Channel); +} + +/** + * @brief Checks whether the specified DAC interrupt has occurred or not. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_IT: specifies the DAC interrupt source to check. + * This parameter can be the following values: + * @arg DAC_IT_DMAUDR: DMA underrun interrupt mask + * @retval The new state of DAC_IT (SET or RESET). + */ +ITStatus DAC_GetITStatus(uint32_t DAC_Channel, uint32_t DAC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_IT(DAC_IT)); + + /* Get the DAC_IT enable bit status */ + enablestatus = (DAC->CR & (DAC_IT << DAC_Channel)) ; + + /* Check the status of the specified DAC interrupt */ + if (((DAC->SR & (DAC_IT << DAC_Channel)) != (uint32_t)RESET) && enablestatus) + { + /* DAC_IT is set */ + bitstatus = SET; + } + else + { + /* DAC_IT is reset */ + bitstatus = RESET; + } + /* Return the DAC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the DAC channelx's interrupt pending bits. + * @param DAC_Channel: the selected DAC channel. + * This parameter can be one of the following values: + * @arg DAC_Channel_1: DAC Channel1 selected + * @arg DAC_Channel_2: DAC Channel2 selected + * @param DAC_IT: specifies the DAC interrupt pending bit to clear. + * This parameter can be the following values: + * @arg DAC_IT_DMAUDR: DMA underrun interrupt mask + * @retval None + */ +void DAC_ClearITPendingBit(uint32_t DAC_Channel, uint32_t DAC_IT) +{ + /* Check the parameters */ + assert_param(IS_DAC_CHANNEL(DAC_Channel)); + assert_param(IS_DAC_IT(DAC_IT)); + + /* Clear the selected DAC interrupt pending bits */ + DAC->SR = (DAC_IT << DAC_Channel); +} +#endif + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dbgmcu.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dbgmcu.c new file mode 100644 index 0000000..96a8fde --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dbgmcu.c @@ -0,0 +1,162 @@ +/** + ****************************************************************************** + * @file stm32f10x_dbgmcu.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the DBGMCU firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_dbgmcu.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup DBGMCU + * @brief DBGMCU driver modules + * @{ + */ + +/** @defgroup DBGMCU_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Defines + * @{ + */ + +#define IDCODE_DEVID_MASK ((uint32_t)0x00000FFF) +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup DBGMCU_Private_Functions + * @{ + */ + +/** + * @brief Returns the device revision identifier. + * @param None + * @retval Device revision identifier + */ +uint32_t DBGMCU_GetREVID(void) +{ + return(DBGMCU->IDCODE >> 16); +} + +/** + * @brief Returns the device identifier. + * @param None + * @retval Device identifier + */ +uint32_t DBGMCU_GetDEVID(void) +{ + return(DBGMCU->IDCODE & IDCODE_DEVID_MASK); +} + +/** + * @brief Configures the specified peripheral and low power mode behavior + * when the MCU under Debug mode. + * @param DBGMCU_Periph: specifies the peripheral and low power mode. + * This parameter can be any combination of the following values: + * @arg DBGMCU_SLEEP: Keep debugger connection during SLEEP mode + * @arg DBGMCU_STOP: Keep debugger connection during STOP mode + * @arg DBGMCU_STANDBY: Keep debugger connection during STANDBY mode + * @arg DBGMCU_IWDG_STOP: Debug IWDG stopped when Core is halted + * @arg DBGMCU_WWDG_STOP: Debug WWDG stopped when Core is halted + * @arg DBGMCU_TIM1_STOP: TIM1 counter stopped when Core is halted + * @arg DBGMCU_TIM2_STOP: TIM2 counter stopped when Core is halted + * @arg DBGMCU_TIM3_STOP: TIM3 counter stopped when Core is halted + * @arg DBGMCU_TIM4_STOP: TIM4 counter stopped when Core is halted + * @arg DBGMCU_CAN1_STOP: Debug CAN2 stopped when Core is halted + * @arg DBGMCU_I2C1_SMBUS_TIMEOUT: I2C1 SMBUS timeout mode stopped when Core is halted + * @arg DBGMCU_I2C2_SMBUS_TIMEOUT: I2C2 SMBUS timeout mode stopped when Core is halted + * @arg DBGMCU_TIM5_STOP: TIM5 counter stopped when Core is halted + * @arg DBGMCU_TIM6_STOP: TIM6 counter stopped when Core is halted + * @arg DBGMCU_TIM7_STOP: TIM7 counter stopped when Core is halted + * @arg DBGMCU_TIM8_STOP: TIM8 counter stopped when Core is halted + * @arg DBGMCU_CAN2_STOP: Debug CAN2 stopped when Core is halted + * @arg DBGMCU_TIM15_STOP: TIM15 counter stopped when Core is halted + * @arg DBGMCU_TIM16_STOP: TIM16 counter stopped when Core is halted + * @arg DBGMCU_TIM17_STOP: TIM17 counter stopped when Core is halted + * @arg DBGMCU_TIM9_STOP: TIM9 counter stopped when Core is halted + * @arg DBGMCU_TIM10_STOP: TIM10 counter stopped when Core is halted + * @arg DBGMCU_TIM11_STOP: TIM11 counter stopped when Core is halted + * @arg DBGMCU_TIM12_STOP: TIM12 counter stopped when Core is halted + * @arg DBGMCU_TIM13_STOP: TIM13 counter stopped when Core is halted + * @arg DBGMCU_TIM14_STOP: TIM14 counter stopped when Core is halted + * @param NewState: new state of the specified peripheral in Debug mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DBGMCU_Config(uint32_t DBGMCU_Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DBGMCU_PERIPH(DBGMCU_Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + DBGMCU->CR |= DBGMCU_Periph; + } + else + { + DBGMCU->CR &= ~DBGMCU_Periph; + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dma.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dma.c new file mode 100644 index 0000000..bf072df --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_dma.c @@ -0,0 +1,714 @@ +/** + ****************************************************************************** + * @file stm32f10x_dma.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the DMA firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_dma.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup DMA + * @brief DMA driver modules + * @{ + */ + +/** @defgroup DMA_Private_TypesDefinitions + * @{ + */ +/** + * @} + */ + +/** @defgroup DMA_Private_Defines + * @{ + */ + + +/* DMA1 Channelx interrupt pending bit masks */ +#define DMA1_Channel1_IT_Mask ((uint32_t)(DMA_ISR_GIF1 | DMA_ISR_TCIF1 | DMA_ISR_HTIF1 | DMA_ISR_TEIF1)) +#define DMA1_Channel2_IT_Mask ((uint32_t)(DMA_ISR_GIF2 | DMA_ISR_TCIF2 | DMA_ISR_HTIF2 | DMA_ISR_TEIF2)) +#define DMA1_Channel3_IT_Mask ((uint32_t)(DMA_ISR_GIF3 | DMA_ISR_TCIF3 | DMA_ISR_HTIF3 | DMA_ISR_TEIF3)) +#define DMA1_Channel4_IT_Mask ((uint32_t)(DMA_ISR_GIF4 | DMA_ISR_TCIF4 | DMA_ISR_HTIF4 | DMA_ISR_TEIF4)) +#define DMA1_Channel5_IT_Mask ((uint32_t)(DMA_ISR_GIF5 | DMA_ISR_TCIF5 | DMA_ISR_HTIF5 | DMA_ISR_TEIF5)) +#define DMA1_Channel6_IT_Mask ((uint32_t)(DMA_ISR_GIF6 | DMA_ISR_TCIF6 | DMA_ISR_HTIF6 | DMA_ISR_TEIF6)) +#define DMA1_Channel7_IT_Mask ((uint32_t)(DMA_ISR_GIF7 | DMA_ISR_TCIF7 | DMA_ISR_HTIF7 | DMA_ISR_TEIF7)) + +/* DMA2 Channelx interrupt pending bit masks */ +#define DMA2_Channel1_IT_Mask ((uint32_t)(DMA_ISR_GIF1 | DMA_ISR_TCIF1 | DMA_ISR_HTIF1 | DMA_ISR_TEIF1)) +#define DMA2_Channel2_IT_Mask ((uint32_t)(DMA_ISR_GIF2 | DMA_ISR_TCIF2 | DMA_ISR_HTIF2 | DMA_ISR_TEIF2)) +#define DMA2_Channel3_IT_Mask ((uint32_t)(DMA_ISR_GIF3 | DMA_ISR_TCIF3 | DMA_ISR_HTIF3 | DMA_ISR_TEIF3)) +#define DMA2_Channel4_IT_Mask ((uint32_t)(DMA_ISR_GIF4 | DMA_ISR_TCIF4 | DMA_ISR_HTIF4 | DMA_ISR_TEIF4)) +#define DMA2_Channel5_IT_Mask ((uint32_t)(DMA_ISR_GIF5 | DMA_ISR_TCIF5 | DMA_ISR_HTIF5 | DMA_ISR_TEIF5)) + +/* DMA2 FLAG mask */ +#define FLAG_Mask ((uint32_t)0x10000000) + +/* DMA registers Masks */ +#define CCR_CLEAR_Mask ((uint32_t)0xFFFF800F) + +/** + * @} + */ + +/** @defgroup DMA_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup DMA_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the DMAy Channelx registers to their default reset + * values. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @retval None + */ +void DMA_DeInit(DMA_Channel_TypeDef* DMAy_Channelx) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + + /* Disable the selected DMAy Channelx */ + DMAy_Channelx->CCR &= (uint16_t)(~DMA_CCR1_EN); + + /* Reset DMAy Channelx control register */ + DMAy_Channelx->CCR = 0; + + /* Reset DMAy Channelx remaining bytes register */ + DMAy_Channelx->CNDTR = 0; + + /* Reset DMAy Channelx peripheral address register */ + DMAy_Channelx->CPAR = 0; + + /* Reset DMAy Channelx memory address register */ + DMAy_Channelx->CMAR = 0; + + if (DMAy_Channelx == DMA1_Channel1) + { + /* Reset interrupt pending bits for DMA1 Channel1 */ + DMA1->IFCR |= DMA1_Channel1_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel2) + { + /* Reset interrupt pending bits for DMA1 Channel2 */ + DMA1->IFCR |= DMA1_Channel2_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel3) + { + /* Reset interrupt pending bits for DMA1 Channel3 */ + DMA1->IFCR |= DMA1_Channel3_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel4) + { + /* Reset interrupt pending bits for DMA1 Channel4 */ + DMA1->IFCR |= DMA1_Channel4_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel5) + { + /* Reset interrupt pending bits for DMA1 Channel5 */ + DMA1->IFCR |= DMA1_Channel5_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel6) + { + /* Reset interrupt pending bits for DMA1 Channel6 */ + DMA1->IFCR |= DMA1_Channel6_IT_Mask; + } + else if (DMAy_Channelx == DMA1_Channel7) + { + /* Reset interrupt pending bits for DMA1 Channel7 */ + DMA1->IFCR |= DMA1_Channel7_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel1) + { + /* Reset interrupt pending bits for DMA2 Channel1 */ + DMA2->IFCR |= DMA2_Channel1_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel2) + { + /* Reset interrupt pending bits for DMA2 Channel2 */ + DMA2->IFCR |= DMA2_Channel2_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel3) + { + /* Reset interrupt pending bits for DMA2 Channel3 */ + DMA2->IFCR |= DMA2_Channel3_IT_Mask; + } + else if (DMAy_Channelx == DMA2_Channel4) + { + /* Reset interrupt pending bits for DMA2 Channel4 */ + DMA2->IFCR |= DMA2_Channel4_IT_Mask; + } + else + { + if (DMAy_Channelx == DMA2_Channel5) + { + /* Reset interrupt pending bits for DMA2 Channel5 */ + DMA2->IFCR |= DMA2_Channel5_IT_Mask; + } + } +} + +/** + * @brief Initializes the DMAy Channelx according to the specified + * parameters in the DMA_InitStruct. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param DMA_InitStruct: pointer to a DMA_InitTypeDef structure that + * contains the configuration information for the specified DMA Channel. + * @retval None + */ +void DMA_Init(DMA_Channel_TypeDef* DMAy_Channelx, DMA_InitTypeDef* DMA_InitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + assert_param(IS_DMA_DIR(DMA_InitStruct->DMA_DIR)); + assert_param(IS_DMA_BUFFER_SIZE(DMA_InitStruct->DMA_BufferSize)); + assert_param(IS_DMA_PERIPHERAL_INC_STATE(DMA_InitStruct->DMA_PeripheralInc)); + assert_param(IS_DMA_MEMORY_INC_STATE(DMA_InitStruct->DMA_MemoryInc)); + assert_param(IS_DMA_PERIPHERAL_DATA_SIZE(DMA_InitStruct->DMA_PeripheralDataSize)); + assert_param(IS_DMA_MEMORY_DATA_SIZE(DMA_InitStruct->DMA_MemoryDataSize)); + assert_param(IS_DMA_MODE(DMA_InitStruct->DMA_Mode)); + assert_param(IS_DMA_PRIORITY(DMA_InitStruct->DMA_Priority)); + assert_param(IS_DMA_M2M_STATE(DMA_InitStruct->DMA_M2M)); + +/*--------------------------- DMAy Channelx CCR Configuration -----------------*/ + /* Get the DMAy_Channelx CCR value */ + tmpreg = DMAy_Channelx->CCR; + /* Clear MEM2MEM, PL, MSIZE, PSIZE, MINC, PINC, CIRC and DIR bits */ + tmpreg &= CCR_CLEAR_Mask; + /* Configure DMAy Channelx: data transfer, data size, priority level and mode */ + /* Set DIR bit according to DMA_DIR value */ + /* Set CIRC bit according to DMA_Mode value */ + /* Set PINC bit according to DMA_PeripheralInc value */ + /* Set MINC bit according to DMA_MemoryInc value */ + /* Set PSIZE bits according to DMA_PeripheralDataSize value */ + /* Set MSIZE bits according to DMA_MemoryDataSize value */ + /* Set PL bits according to DMA_Priority value */ + /* Set the MEM2MEM bit according to DMA_M2M value */ + tmpreg |= DMA_InitStruct->DMA_DIR | DMA_InitStruct->DMA_Mode | + DMA_InitStruct->DMA_PeripheralInc | DMA_InitStruct->DMA_MemoryInc | + DMA_InitStruct->DMA_PeripheralDataSize | DMA_InitStruct->DMA_MemoryDataSize | + DMA_InitStruct->DMA_Priority | DMA_InitStruct->DMA_M2M; + + /* Write to DMAy Channelx CCR */ + DMAy_Channelx->CCR = tmpreg; + +/*--------------------------- DMAy Channelx CNDTR Configuration ---------------*/ + /* Write to DMAy Channelx CNDTR */ + DMAy_Channelx->CNDTR = DMA_InitStruct->DMA_BufferSize; + +/*--------------------------- DMAy Channelx CPAR Configuration ----------------*/ + /* Write to DMAy Channelx CPAR */ + DMAy_Channelx->CPAR = DMA_InitStruct->DMA_PeripheralBaseAddr; + +/*--------------------------- DMAy Channelx CMAR Configuration ----------------*/ + /* Write to DMAy Channelx CMAR */ + DMAy_Channelx->CMAR = DMA_InitStruct->DMA_MemoryBaseAddr; +} + +/** + * @brief Fills each DMA_InitStruct member with its default value. + * @param DMA_InitStruct : pointer to a DMA_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct) +{ +/*-------------- Reset DMA init structure parameters values ------------------*/ + /* Initialize the DMA_PeripheralBaseAddr member */ + DMA_InitStruct->DMA_PeripheralBaseAddr = 0; + /* Initialize the DMA_MemoryBaseAddr member */ + DMA_InitStruct->DMA_MemoryBaseAddr = 0; + /* Initialize the DMA_DIR member */ + DMA_InitStruct->DMA_DIR = DMA_DIR_PeripheralSRC; + /* Initialize the DMA_BufferSize member */ + DMA_InitStruct->DMA_BufferSize = 0; + /* Initialize the DMA_PeripheralInc member */ + DMA_InitStruct->DMA_PeripheralInc = DMA_PeripheralInc_Disable; + /* Initialize the DMA_MemoryInc member */ + DMA_InitStruct->DMA_MemoryInc = DMA_MemoryInc_Disable; + /* Initialize the DMA_PeripheralDataSize member */ + DMA_InitStruct->DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; + /* Initialize the DMA_MemoryDataSize member */ + DMA_InitStruct->DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; + /* Initialize the DMA_Mode member */ + DMA_InitStruct->DMA_Mode = DMA_Mode_Normal; + /* Initialize the DMA_Priority member */ + DMA_InitStruct->DMA_Priority = DMA_Priority_Low; + /* Initialize the DMA_M2M member */ + DMA_InitStruct->DMA_M2M = DMA_M2M_Disable; +} + +/** + * @brief Enables or disables the specified DMAy Channelx. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param NewState: new state of the DMAy Channelx. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DMA_Cmd(DMA_Channel_TypeDef* DMAy_Channelx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected DMAy Channelx */ + DMAy_Channelx->CCR |= DMA_CCR1_EN; + } + else + { + /* Disable the selected DMAy Channelx */ + DMAy_Channelx->CCR &= (uint16_t)(~DMA_CCR1_EN); + } +} + +/** + * @brief Enables or disables the specified DMAy Channelx interrupts. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param DMA_IT: specifies the DMA interrupts sources to be enabled + * or disabled. + * This parameter can be any combination of the following values: + * @arg DMA_IT_TC: Transfer complete interrupt mask + * @arg DMA_IT_HT: Half transfer interrupt mask + * @arg DMA_IT_TE: Transfer error interrupt mask + * @param NewState: new state of the specified DMA interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void DMA_ITConfig(DMA_Channel_TypeDef* DMAy_Channelx, uint32_t DMA_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + assert_param(IS_DMA_CONFIG_IT(DMA_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected DMA interrupts */ + DMAy_Channelx->CCR |= DMA_IT; + } + else + { + /* Disable the selected DMA interrupts */ + DMAy_Channelx->CCR &= ~DMA_IT; + } +} + +/** + * @brief Sets the number of data units in the current DMAy Channelx transfer. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @param DataNumber: The number of data units in the current DMAy Channelx + * transfer. + * @note This function can only be used when the DMAy_Channelx is disabled. + * @retval None. + */ +void DMA_SetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx, uint16_t DataNumber) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + +/*--------------------------- DMAy Channelx CNDTR Configuration ---------------*/ + /* Write to DMAy Channelx CNDTR */ + DMAy_Channelx->CNDTR = DataNumber; +} + +/** + * @brief Returns the number of remaining data units in the current + * DMAy Channelx transfer. + * @param DMAy_Channelx: where y can be 1 or 2 to select the DMA and + * x can be 1 to 7 for DMA1 and 1 to 5 for DMA2 to select the DMA Channel. + * @retval The number of remaining data units in the current DMAy Channelx + * transfer. + */ +uint16_t DMA_GetCurrDataCounter(DMA_Channel_TypeDef* DMAy_Channelx) +{ + /* Check the parameters */ + assert_param(IS_DMA_ALL_PERIPH(DMAy_Channelx)); + /* Return the number of remaining data units for DMAy Channelx */ + return ((uint16_t)(DMAy_Channelx->CNDTR)); +} + +/** + * @brief Checks whether the specified DMAy Channelx flag is set or not. + * @param DMAy_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg DMA1_FLAG_GL1: DMA1 Channel1 global flag. + * @arg DMA1_FLAG_TC1: DMA1 Channel1 transfer complete flag. + * @arg DMA1_FLAG_HT1: DMA1 Channel1 half transfer flag. + * @arg DMA1_FLAG_TE1: DMA1 Channel1 transfer error flag. + * @arg DMA1_FLAG_GL2: DMA1 Channel2 global flag. + * @arg DMA1_FLAG_TC2: DMA1 Channel2 transfer complete flag. + * @arg DMA1_FLAG_HT2: DMA1 Channel2 half transfer flag. + * @arg DMA1_FLAG_TE2: DMA1 Channel2 transfer error flag. + * @arg DMA1_FLAG_GL3: DMA1 Channel3 global flag. + * @arg DMA1_FLAG_TC3: DMA1 Channel3 transfer complete flag. + * @arg DMA1_FLAG_HT3: DMA1 Channel3 half transfer flag. + * @arg DMA1_FLAG_TE3: DMA1 Channel3 transfer error flag. + * @arg DMA1_FLAG_GL4: DMA1 Channel4 global flag. + * @arg DMA1_FLAG_TC4: DMA1 Channel4 transfer complete flag. + * @arg DMA1_FLAG_HT4: DMA1 Channel4 half transfer flag. + * @arg DMA1_FLAG_TE4: DMA1 Channel4 transfer error flag. + * @arg DMA1_FLAG_GL5: DMA1 Channel5 global flag. + * @arg DMA1_FLAG_TC5: DMA1 Channel5 transfer complete flag. + * @arg DMA1_FLAG_HT5: DMA1 Channel5 half transfer flag. + * @arg DMA1_FLAG_TE5: DMA1 Channel5 transfer error flag. + * @arg DMA1_FLAG_GL6: DMA1 Channel6 global flag. + * @arg DMA1_FLAG_TC6: DMA1 Channel6 transfer complete flag. + * @arg DMA1_FLAG_HT6: DMA1 Channel6 half transfer flag. + * @arg DMA1_FLAG_TE6: DMA1 Channel6 transfer error flag. + * @arg DMA1_FLAG_GL7: DMA1 Channel7 global flag. + * @arg DMA1_FLAG_TC7: DMA1 Channel7 transfer complete flag. + * @arg DMA1_FLAG_HT7: DMA1 Channel7 half transfer flag. + * @arg DMA1_FLAG_TE7: DMA1 Channel7 transfer error flag. + * @arg DMA2_FLAG_GL1: DMA2 Channel1 global flag. + * @arg DMA2_FLAG_TC1: DMA2 Channel1 transfer complete flag. + * @arg DMA2_FLAG_HT1: DMA2 Channel1 half transfer flag. + * @arg DMA2_FLAG_TE1: DMA2 Channel1 transfer error flag. + * @arg DMA2_FLAG_GL2: DMA2 Channel2 global flag. + * @arg DMA2_FLAG_TC2: DMA2 Channel2 transfer complete flag. + * @arg DMA2_FLAG_HT2: DMA2 Channel2 half transfer flag. + * @arg DMA2_FLAG_TE2: DMA2 Channel2 transfer error flag. + * @arg DMA2_FLAG_GL3: DMA2 Channel3 global flag. + * @arg DMA2_FLAG_TC3: DMA2 Channel3 transfer complete flag. + * @arg DMA2_FLAG_HT3: DMA2 Channel3 half transfer flag. + * @arg DMA2_FLAG_TE3: DMA2 Channel3 transfer error flag. + * @arg DMA2_FLAG_GL4: DMA2 Channel4 global flag. + * @arg DMA2_FLAG_TC4: DMA2 Channel4 transfer complete flag. + * @arg DMA2_FLAG_HT4: DMA2 Channel4 half transfer flag. + * @arg DMA2_FLAG_TE4: DMA2 Channel4 transfer error flag. + * @arg DMA2_FLAG_GL5: DMA2 Channel5 global flag. + * @arg DMA2_FLAG_TC5: DMA2 Channel5 transfer complete flag. + * @arg DMA2_FLAG_HT5: DMA2 Channel5 half transfer flag. + * @arg DMA2_FLAG_TE5: DMA2 Channel5 transfer error flag. + * @retval The new state of DMAy_FLAG (SET or RESET). + */ +FlagStatus DMA_GetFlagStatus(uint32_t DMAy_FLAG) +{ + FlagStatus bitstatus = RESET; + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_DMA_GET_FLAG(DMAy_FLAG)); + + /* Calculate the used DMAy */ + if ((DMAy_FLAG & FLAG_Mask) != (uint32_t)RESET) + { + /* Get DMA2 ISR register value */ + tmpreg = DMA2->ISR ; + } + else + { + /* Get DMA1 ISR register value */ + tmpreg = DMA1->ISR ; + } + + /* Check the status of the specified DMAy flag */ + if ((tmpreg & DMAy_FLAG) != (uint32_t)RESET) + { + /* DMAy_FLAG is set */ + bitstatus = SET; + } + else + { + /* DMAy_FLAG is reset */ + bitstatus = RESET; + } + + /* Return the DMAy_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the DMAy Channelx's pending flags. + * @param DMAy_FLAG: specifies the flag to clear. + * This parameter can be any combination (for the same DMA) of the following values: + * @arg DMA1_FLAG_GL1: DMA1 Channel1 global flag. + * @arg DMA1_FLAG_TC1: DMA1 Channel1 transfer complete flag. + * @arg DMA1_FLAG_HT1: DMA1 Channel1 half transfer flag. + * @arg DMA1_FLAG_TE1: DMA1 Channel1 transfer error flag. + * @arg DMA1_FLAG_GL2: DMA1 Channel2 global flag. + * @arg DMA1_FLAG_TC2: DMA1 Channel2 transfer complete flag. + * @arg DMA1_FLAG_HT2: DMA1 Channel2 half transfer flag. + * @arg DMA1_FLAG_TE2: DMA1 Channel2 transfer error flag. + * @arg DMA1_FLAG_GL3: DMA1 Channel3 global flag. + * @arg DMA1_FLAG_TC3: DMA1 Channel3 transfer complete flag. + * @arg DMA1_FLAG_HT3: DMA1 Channel3 half transfer flag. + * @arg DMA1_FLAG_TE3: DMA1 Channel3 transfer error flag. + * @arg DMA1_FLAG_GL4: DMA1 Channel4 global flag. + * @arg DMA1_FLAG_TC4: DMA1 Channel4 transfer complete flag. + * @arg DMA1_FLAG_HT4: DMA1 Channel4 half transfer flag. + * @arg DMA1_FLAG_TE4: DMA1 Channel4 transfer error flag. + * @arg DMA1_FLAG_GL5: DMA1 Channel5 global flag. + * @arg DMA1_FLAG_TC5: DMA1 Channel5 transfer complete flag. + * @arg DMA1_FLAG_HT5: DMA1 Channel5 half transfer flag. + * @arg DMA1_FLAG_TE5: DMA1 Channel5 transfer error flag. + * @arg DMA1_FLAG_GL6: DMA1 Channel6 global flag. + * @arg DMA1_FLAG_TC6: DMA1 Channel6 transfer complete flag. + * @arg DMA1_FLAG_HT6: DMA1 Channel6 half transfer flag. + * @arg DMA1_FLAG_TE6: DMA1 Channel6 transfer error flag. + * @arg DMA1_FLAG_GL7: DMA1 Channel7 global flag. + * @arg DMA1_FLAG_TC7: DMA1 Channel7 transfer complete flag. + * @arg DMA1_FLAG_HT7: DMA1 Channel7 half transfer flag. + * @arg DMA1_FLAG_TE7: DMA1 Channel7 transfer error flag. + * @arg DMA2_FLAG_GL1: DMA2 Channel1 global flag. + * @arg DMA2_FLAG_TC1: DMA2 Channel1 transfer complete flag. + * @arg DMA2_FLAG_HT1: DMA2 Channel1 half transfer flag. + * @arg DMA2_FLAG_TE1: DMA2 Channel1 transfer error flag. + * @arg DMA2_FLAG_GL2: DMA2 Channel2 global flag. + * @arg DMA2_FLAG_TC2: DMA2 Channel2 transfer complete flag. + * @arg DMA2_FLAG_HT2: DMA2 Channel2 half transfer flag. + * @arg DMA2_FLAG_TE2: DMA2 Channel2 transfer error flag. + * @arg DMA2_FLAG_GL3: DMA2 Channel3 global flag. + * @arg DMA2_FLAG_TC3: DMA2 Channel3 transfer complete flag. + * @arg DMA2_FLAG_HT3: DMA2 Channel3 half transfer flag. + * @arg DMA2_FLAG_TE3: DMA2 Channel3 transfer error flag. + * @arg DMA2_FLAG_GL4: DMA2 Channel4 global flag. + * @arg DMA2_FLAG_TC4: DMA2 Channel4 transfer complete flag. + * @arg DMA2_FLAG_HT4: DMA2 Channel4 half transfer flag. + * @arg DMA2_FLAG_TE4: DMA2 Channel4 transfer error flag. + * @arg DMA2_FLAG_GL5: DMA2 Channel5 global flag. + * @arg DMA2_FLAG_TC5: DMA2 Channel5 transfer complete flag. + * @arg DMA2_FLAG_HT5: DMA2 Channel5 half transfer flag. + * @arg DMA2_FLAG_TE5: DMA2 Channel5 transfer error flag. + * @retval None + */ +void DMA_ClearFlag(uint32_t DMAy_FLAG) +{ + /* Check the parameters */ + assert_param(IS_DMA_CLEAR_FLAG(DMAy_FLAG)); + + /* Calculate the used DMAy */ + if ((DMAy_FLAG & FLAG_Mask) != (uint32_t)RESET) + { + /* Clear the selected DMAy flags */ + DMA2->IFCR = DMAy_FLAG; + } + else + { + /* Clear the selected DMAy flags */ + DMA1->IFCR = DMAy_FLAG; + } +} + +/** + * @brief Checks whether the specified DMAy Channelx interrupt has occurred or not. + * @param DMAy_IT: specifies the DMAy interrupt source to check. + * This parameter can be one of the following values: + * @arg DMA1_IT_GL1: DMA1 Channel1 global interrupt. + * @arg DMA1_IT_TC1: DMA1 Channel1 transfer complete interrupt. + * @arg DMA1_IT_HT1: DMA1 Channel1 half transfer interrupt. + * @arg DMA1_IT_TE1: DMA1 Channel1 transfer error interrupt. + * @arg DMA1_IT_GL2: DMA1 Channel2 global interrupt. + * @arg DMA1_IT_TC2: DMA1 Channel2 transfer complete interrupt. + * @arg DMA1_IT_HT2: DMA1 Channel2 half transfer interrupt. + * @arg DMA1_IT_TE2: DMA1 Channel2 transfer error interrupt. + * @arg DMA1_IT_GL3: DMA1 Channel3 global interrupt. + * @arg DMA1_IT_TC3: DMA1 Channel3 transfer complete interrupt. + * @arg DMA1_IT_HT3: DMA1 Channel3 half transfer interrupt. + * @arg DMA1_IT_TE3: DMA1 Channel3 transfer error interrupt. + * @arg DMA1_IT_GL4: DMA1 Channel4 global interrupt. + * @arg DMA1_IT_TC4: DMA1 Channel4 transfer complete interrupt. + * @arg DMA1_IT_HT4: DMA1 Channel4 half transfer interrupt. + * @arg DMA1_IT_TE4: DMA1 Channel4 transfer error interrupt. + * @arg DMA1_IT_GL5: DMA1 Channel5 global interrupt. + * @arg DMA1_IT_TC5: DMA1 Channel5 transfer complete interrupt. + * @arg DMA1_IT_HT5: DMA1 Channel5 half transfer interrupt. + * @arg DMA1_IT_TE5: DMA1 Channel5 transfer error interrupt. + * @arg DMA1_IT_GL6: DMA1 Channel6 global interrupt. + * @arg DMA1_IT_TC6: DMA1 Channel6 transfer complete interrupt. + * @arg DMA1_IT_HT6: DMA1 Channel6 half transfer interrupt. + * @arg DMA1_IT_TE6: DMA1 Channel6 transfer error interrupt. + * @arg DMA1_IT_GL7: DMA1 Channel7 global interrupt. + * @arg DMA1_IT_TC7: DMA1 Channel7 transfer complete interrupt. + * @arg DMA1_IT_HT7: DMA1 Channel7 half transfer interrupt. + * @arg DMA1_IT_TE7: DMA1 Channel7 transfer error interrupt. + * @arg DMA2_IT_GL1: DMA2 Channel1 global interrupt. + * @arg DMA2_IT_TC1: DMA2 Channel1 transfer complete interrupt. + * @arg DMA2_IT_HT1: DMA2 Channel1 half transfer interrupt. + * @arg DMA2_IT_TE1: DMA2 Channel1 transfer error interrupt. + * @arg DMA2_IT_GL2: DMA2 Channel2 global interrupt. + * @arg DMA2_IT_TC2: DMA2 Channel2 transfer complete interrupt. + * @arg DMA2_IT_HT2: DMA2 Channel2 half transfer interrupt. + * @arg DMA2_IT_TE2: DMA2 Channel2 transfer error interrupt. + * @arg DMA2_IT_GL3: DMA2 Channel3 global interrupt. + * @arg DMA2_IT_TC3: DMA2 Channel3 transfer complete interrupt. + * @arg DMA2_IT_HT3: DMA2 Channel3 half transfer interrupt. + * @arg DMA2_IT_TE3: DMA2 Channel3 transfer error interrupt. + * @arg DMA2_IT_GL4: DMA2 Channel4 global interrupt. + * @arg DMA2_IT_TC4: DMA2 Channel4 transfer complete interrupt. + * @arg DMA2_IT_HT4: DMA2 Channel4 half transfer interrupt. + * @arg DMA2_IT_TE4: DMA2 Channel4 transfer error interrupt. + * @arg DMA2_IT_GL5: DMA2 Channel5 global interrupt. + * @arg DMA2_IT_TC5: DMA2 Channel5 transfer complete interrupt. + * @arg DMA2_IT_HT5: DMA2 Channel5 half transfer interrupt. + * @arg DMA2_IT_TE5: DMA2 Channel5 transfer error interrupt. + * @retval The new state of DMAy_IT (SET or RESET). + */ +ITStatus DMA_GetITStatus(uint32_t DMAy_IT) +{ + ITStatus bitstatus = RESET; + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_DMA_GET_IT(DMAy_IT)); + + /* Calculate the used DMA */ + if ((DMAy_IT & FLAG_Mask) != (uint32_t)RESET) + { + /* Get DMA2 ISR register value */ + tmpreg = DMA2->ISR; + } + else + { + /* Get DMA1 ISR register value */ + tmpreg = DMA1->ISR; + } + + /* Check the status of the specified DMAy interrupt */ + if ((tmpreg & DMAy_IT) != (uint32_t)RESET) + { + /* DMAy_IT is set */ + bitstatus = SET; + } + else + { + /* DMAy_IT is reset */ + bitstatus = RESET; + } + /* Return the DMA_IT status */ + return bitstatus; +} + +/** + * @brief Clears the DMAy Channelx's interrupt pending bits. + * @param DMAy_IT: specifies the DMAy interrupt pending bit to clear. + * This parameter can be any combination (for the same DMA) of the following values: + * @arg DMA1_IT_GL1: DMA1 Channel1 global interrupt. + * @arg DMA1_IT_TC1: DMA1 Channel1 transfer complete interrupt. + * @arg DMA1_IT_HT1: DMA1 Channel1 half transfer interrupt. + * @arg DMA1_IT_TE1: DMA1 Channel1 transfer error interrupt. + * @arg DMA1_IT_GL2: DMA1 Channel2 global interrupt. + * @arg DMA1_IT_TC2: DMA1 Channel2 transfer complete interrupt. + * @arg DMA1_IT_HT2: DMA1 Channel2 half transfer interrupt. + * @arg DMA1_IT_TE2: DMA1 Channel2 transfer error interrupt. + * @arg DMA1_IT_GL3: DMA1 Channel3 global interrupt. + * @arg DMA1_IT_TC3: DMA1 Channel3 transfer complete interrupt. + * @arg DMA1_IT_HT3: DMA1 Channel3 half transfer interrupt. + * @arg DMA1_IT_TE3: DMA1 Channel3 transfer error interrupt. + * @arg DMA1_IT_GL4: DMA1 Channel4 global interrupt. + * @arg DMA1_IT_TC4: DMA1 Channel4 transfer complete interrupt. + * @arg DMA1_IT_HT4: DMA1 Channel4 half transfer interrupt. + * @arg DMA1_IT_TE4: DMA1 Channel4 transfer error interrupt. + * @arg DMA1_IT_GL5: DMA1 Channel5 global interrupt. + * @arg DMA1_IT_TC5: DMA1 Channel5 transfer complete interrupt. + * @arg DMA1_IT_HT5: DMA1 Channel5 half transfer interrupt. + * @arg DMA1_IT_TE5: DMA1 Channel5 transfer error interrupt. + * @arg DMA1_IT_GL6: DMA1 Channel6 global interrupt. + * @arg DMA1_IT_TC6: DMA1 Channel6 transfer complete interrupt. + * @arg DMA1_IT_HT6: DMA1 Channel6 half transfer interrupt. + * @arg DMA1_IT_TE6: DMA1 Channel6 transfer error interrupt. + * @arg DMA1_IT_GL7: DMA1 Channel7 global interrupt. + * @arg DMA1_IT_TC7: DMA1 Channel7 transfer complete interrupt. + * @arg DMA1_IT_HT7: DMA1 Channel7 half transfer interrupt. + * @arg DMA1_IT_TE7: DMA1 Channel7 transfer error interrupt. + * @arg DMA2_IT_GL1: DMA2 Channel1 global interrupt. + * @arg DMA2_IT_TC1: DMA2 Channel1 transfer complete interrupt. + * @arg DMA2_IT_HT1: DMA2 Channel1 half transfer interrupt. + * @arg DMA2_IT_TE1: DMA2 Channel1 transfer error interrupt. + * @arg DMA2_IT_GL2: DMA2 Channel2 global interrupt. + * @arg DMA2_IT_TC2: DMA2 Channel2 transfer complete interrupt. + * @arg DMA2_IT_HT2: DMA2 Channel2 half transfer interrupt. + * @arg DMA2_IT_TE2: DMA2 Channel2 transfer error interrupt. + * @arg DMA2_IT_GL3: DMA2 Channel3 global interrupt. + * @arg DMA2_IT_TC3: DMA2 Channel3 transfer complete interrupt. + * @arg DMA2_IT_HT3: DMA2 Channel3 half transfer interrupt. + * @arg DMA2_IT_TE3: DMA2 Channel3 transfer error interrupt. + * @arg DMA2_IT_GL4: DMA2 Channel4 global interrupt. + * @arg DMA2_IT_TC4: DMA2 Channel4 transfer complete interrupt. + * @arg DMA2_IT_HT4: DMA2 Channel4 half transfer interrupt. + * @arg DMA2_IT_TE4: DMA2 Channel4 transfer error interrupt. + * @arg DMA2_IT_GL5: DMA2 Channel5 global interrupt. + * @arg DMA2_IT_TC5: DMA2 Channel5 transfer complete interrupt. + * @arg DMA2_IT_HT5: DMA2 Channel5 half transfer interrupt. + * @arg DMA2_IT_TE5: DMA2 Channel5 transfer error interrupt. + * @retval None + */ +void DMA_ClearITPendingBit(uint32_t DMAy_IT) +{ + /* Check the parameters */ + assert_param(IS_DMA_CLEAR_IT(DMAy_IT)); + + /* Calculate the used DMAy */ + if ((DMAy_IT & FLAG_Mask) != (uint32_t)RESET) + { + /* Clear the selected DMAy interrupt pending bits */ + DMA2->IFCR = DMAy_IT; + } + else + { + /* Clear the selected DMAy interrupt pending bits */ + DMA1->IFCR = DMAy_IT; + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_exti.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_exti.c new file mode 100644 index 0000000..b6290d5 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_exti.c @@ -0,0 +1,269 @@ +/** + ****************************************************************************** + * @file stm32f10x_exti.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the EXTI firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_exti.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup EXTI + * @brief EXTI driver modules + * @{ + */ + +/** @defgroup EXTI_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Defines + * @{ + */ + +#define EXTI_LINENONE ((uint32_t)0x00000) /* No interrupt selected */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup EXTI_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the EXTI peripheral registers to their default reset values. + * @param None + * @retval None + */ +void EXTI_DeInit(void) +{ + EXTI->IMR = 0x00000000; + EXTI->EMR = 0x00000000; + EXTI->RTSR = 0x00000000; + EXTI->FTSR = 0x00000000; + EXTI->PR = 0x000FFFFF; +} + +/** + * @brief Initializes the EXTI peripheral according to the specified + * parameters in the EXTI_InitStruct. + * @param EXTI_InitStruct: pointer to a EXTI_InitTypeDef structure + * that contains the configuration information for the EXTI peripheral. + * @retval None + */ +void EXTI_Init(EXTI_InitTypeDef* EXTI_InitStruct) +{ + uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_EXTI_MODE(EXTI_InitStruct->EXTI_Mode)); + assert_param(IS_EXTI_TRIGGER(EXTI_InitStruct->EXTI_Trigger)); + assert_param(IS_EXTI_LINE(EXTI_InitStruct->EXTI_Line)); + assert_param(IS_FUNCTIONAL_STATE(EXTI_InitStruct->EXTI_LineCmd)); + + tmp = (uint32_t)EXTI_BASE; + + if (EXTI_InitStruct->EXTI_LineCmd != DISABLE) + { + /* Clear EXTI line configuration */ + EXTI->IMR &= ~EXTI_InitStruct->EXTI_Line; + EXTI->EMR &= ~EXTI_InitStruct->EXTI_Line; + + tmp += EXTI_InitStruct->EXTI_Mode; + + *(__IO uint32_t *) tmp |= EXTI_InitStruct->EXTI_Line; + + /* Clear Rising Falling edge configuration */ + EXTI->RTSR &= ~EXTI_InitStruct->EXTI_Line; + EXTI->FTSR &= ~EXTI_InitStruct->EXTI_Line; + + /* Select the trigger for the selected external interrupts */ + if (EXTI_InitStruct->EXTI_Trigger == EXTI_Trigger_Rising_Falling) + { + /* Rising Falling edge */ + EXTI->RTSR |= EXTI_InitStruct->EXTI_Line; + EXTI->FTSR |= EXTI_InitStruct->EXTI_Line; + } + else + { + tmp = (uint32_t)EXTI_BASE; + tmp += EXTI_InitStruct->EXTI_Trigger; + + *(__IO uint32_t *) tmp |= EXTI_InitStruct->EXTI_Line; + } + } + else + { + tmp += EXTI_InitStruct->EXTI_Mode; + + /* Disable the selected external lines */ + *(__IO uint32_t *) tmp &= ~EXTI_InitStruct->EXTI_Line; + } +} + +/** + * @brief Fills each EXTI_InitStruct member with its reset value. + * @param EXTI_InitStruct: pointer to a EXTI_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void EXTI_StructInit(EXTI_InitTypeDef* EXTI_InitStruct) +{ + EXTI_InitStruct->EXTI_Line = EXTI_LINENONE; + EXTI_InitStruct->EXTI_Mode = EXTI_Mode_Interrupt; + EXTI_InitStruct->EXTI_Trigger = EXTI_Trigger_Falling; + EXTI_InitStruct->EXTI_LineCmd = DISABLE; +} + +/** + * @brief Generates a Software interrupt. + * @param EXTI_Line: specifies the EXTI lines to be enabled or disabled. + * This parameter can be any combination of EXTI_Linex where x can be (0..19). + * @retval None + */ +void EXTI_GenerateSWInterrupt(uint32_t EXTI_Line) +{ + /* Check the parameters */ + assert_param(IS_EXTI_LINE(EXTI_Line)); + + EXTI->SWIER |= EXTI_Line; +} + +/** + * @brief Checks whether the specified EXTI line flag is set or not. + * @param EXTI_Line: specifies the EXTI line flag to check. + * This parameter can be: + * @arg EXTI_Linex: External interrupt line x where x(0..19) + * @retval The new state of EXTI_Line (SET or RESET). + */ +FlagStatus EXTI_GetFlagStatus(uint32_t EXTI_Line) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_GET_EXTI_LINE(EXTI_Line)); + + if ((EXTI->PR & EXTI_Line) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the EXTI's line pending flags. + * @param EXTI_Line: specifies the EXTI lines flags to clear. + * This parameter can be any combination of EXTI_Linex where x can be (0..19). + * @retval None + */ +void EXTI_ClearFlag(uint32_t EXTI_Line) +{ + /* Check the parameters */ + assert_param(IS_EXTI_LINE(EXTI_Line)); + + EXTI->PR = EXTI_Line; +} + +/** + * @brief Checks whether the specified EXTI line is asserted or not. + * @param EXTI_Line: specifies the EXTI line to check. + * This parameter can be: + * @arg EXTI_Linex: External interrupt line x where x(0..19) + * @retval The new state of EXTI_Line (SET or RESET). + */ +ITStatus EXTI_GetITStatus(uint32_t EXTI_Line) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + /* Check the parameters */ + assert_param(IS_GET_EXTI_LINE(EXTI_Line)); + + enablestatus = EXTI->IMR & EXTI_Line; + if (((EXTI->PR & EXTI_Line) != (uint32_t)RESET) && (enablestatus != (uint32_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the EXTI's line pending bits. + * @param EXTI_Line: specifies the EXTI lines to clear. + * This parameter can be any combination of EXTI_Linex where x can be (0..19). + * @retval None + */ +void EXTI_ClearITPendingBit(uint32_t EXTI_Line) +{ + /* Check the parameters */ + assert_param(IS_EXTI_LINE(EXTI_Line)); + + EXTI->PR = EXTI_Line; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_flash.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_flash.c new file mode 100644 index 0000000..cdff9e9 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_flash.c @@ -0,0 +1,1684 @@ +/** + ****************************************************************************** + * @file stm32f10x_flash.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the FLASH firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_flash.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup FLASH + * @brief FLASH driver modules + * @{ + */ + +/** @defgroup FLASH_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_Defines + * @{ + */ + +/* Flash Access Control Register bits */ +#define ACR_LATENCY_Mask ((uint32_t)0x00000038) +#define ACR_HLFCYA_Mask ((uint32_t)0xFFFFFFF7) +#define ACR_PRFTBE_Mask ((uint32_t)0xFFFFFFEF) + +/* Flash Access Control Register bits */ +#define ACR_PRFTBS_Mask ((uint32_t)0x00000020) + +/* Flash Control Register bits */ +#define CR_PG_Set ((uint32_t)0x00000001) +#define CR_PG_Reset ((uint32_t)0x00001FFE) +#define CR_PER_Set ((uint32_t)0x00000002) +#define CR_PER_Reset ((uint32_t)0x00001FFD) +#define CR_MER_Set ((uint32_t)0x00000004) +#define CR_MER_Reset ((uint32_t)0x00001FFB) +#define CR_OPTPG_Set ((uint32_t)0x00000010) +#define CR_OPTPG_Reset ((uint32_t)0x00001FEF) +#define CR_OPTER_Set ((uint32_t)0x00000020) +#define CR_OPTER_Reset ((uint32_t)0x00001FDF) +#define CR_STRT_Set ((uint32_t)0x00000040) +#define CR_LOCK_Set ((uint32_t)0x00000080) + +/* FLASH Mask */ +#define RDPRT_Mask ((uint32_t)0x00000002) +#define WRP0_Mask ((uint32_t)0x000000FF) +#define WRP1_Mask ((uint32_t)0x0000FF00) +#define WRP2_Mask ((uint32_t)0x00FF0000) +#define WRP3_Mask ((uint32_t)0xFF000000) +#define OB_USER_BFB2 ((uint16_t)0x0008) + +/* FLASH Keys */ +#define RDP_Key ((uint16_t)0x00A5) +#define FLASH_KEY1 ((uint32_t)0x45670123) +#define FLASH_KEY2 ((uint32_t)0xCDEF89AB) + +/* FLASH BANK address */ +#define FLASH_BANK1_END_ADDRESS ((uint32_t)0x807FFFF) + +/* Delay definition */ +#define EraseTimeout ((uint32_t)0x000B0000) +#define ProgramTimeout ((uint32_t)0x00002000) +/** + * @} + */ + +/** @defgroup FLASH_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup FLASH_Private_Functions + * @{ + */ + +/** +@code + + This driver provides functions to configure and program the Flash memory of all STM32F10x devices, + including the latest STM32F10x_XL density devices. + + STM32F10x_XL devices feature up to 1 Mbyte with dual bank architecture for read-while-write (RWW) capability: + - bank1: fixed size of 512 Kbytes (256 pages of 2Kbytes each) + - bank2: up to 512 Kbytes (up to 256 pages of 2Kbytes each) + While other STM32F10x devices features only one bank with memory up to 512 Kbytes. + + In version V3.3.0, some functions were updated and new ones were added to support + STM32F10x_XL devices. Thus some functions manages all devices, while other are + dedicated for XL devices only. + + The table below presents the list of available functions depending on the used STM32F10x devices. + + *************************************************** + * Legacy functions used for all STM32F10x devices * + *************************************************** + +----------------------------------------------------------------------------------------------------------------------------------+ + | Functions prototypes |STM32F10x_XL|Other STM32F10x| Comments | + | | devices | devices | | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_SetLatency | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_HalfCycleAccessCmd | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_PrefetchBufferCmd | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_Unlock | Yes | Yes | - For STM32F10X_XL devices: unlock Bank1 and Bank2. | + | | | | - For other devices: unlock Bank1 and it is equivalent | + | | | | to FLASH_UnlockBank1 function. | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_Lock | Yes | Yes | - For STM32F10X_XL devices: lock Bank1 and Bank2. | + | | | | - For other devices: lock Bank1 and it is equivalent | + | | | | to FLASH_LockBank1 function. | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ErasePage | Yes | Yes | - For STM32F10x_XL devices: erase a page in Bank1 and Bank2 | + | | | | - For other devices: erase a page in Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_EraseAllPages | Yes | Yes | - For STM32F10x_XL devices: erase all pages in Bank1 and Bank2 | + | | | | - For other devices: erase all pages in Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_EraseOptionBytes | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ProgramWord | Yes | Yes | Updated to program up to 1MByte (depending on the used device) | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ProgramHalfWord | Yes | Yes | Updated to program up to 1MByte (depending on the used device) | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ProgramOptionByteData | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_EnableWriteProtection | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ReadOutProtection | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_UserOptionByteConfig | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetUserOptionByte | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetWriteProtectionOptionByte | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetReadOutProtectionStatus | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetPrefetchBufferStatus | Yes | Yes | No change | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ITConfig | Yes | Yes | - For STM32F10x_XL devices: enable Bank1 and Bank2's interrupts| + | | | | - For other devices: enable Bank1's interrupts | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetFlagStatus | Yes | Yes | - For STM32F10x_XL devices: return Bank1 and Bank2's flag status| + | | | | - For other devices: return Bank1's flag status | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_ClearFlag | Yes | Yes | - For STM32F10x_XL devices: clear Bank1 and Bank2's flag | + | | | | - For other devices: clear Bank1's flag | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_GetStatus | Yes | Yes | - Return the status of Bank1 (for all devices) | + | | | | equivalent to FLASH_GetBank1Status function | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_WaitForLastOperation | Yes | Yes | - Wait for Bank1 last operation (for all devices) | + | | | | equivalent to: FLASH_WaitForLastBank1Operation function | + +----------------------------------------------------------------------------------------------------------------------------------+ + + ************************************************************************************************************************ + * New functions used for all STM32F10x devices to manage Bank1: * + * - These functions are mainly useful for STM32F10x_XL density devices, to have separate control for Bank1 and bank2 * + * - For other devices, these functions are optional (covered by functions listed above) * + ************************************************************************************************************************ + +----------------------------------------------------------------------------------------------------------------------------------+ + | Functions prototypes |STM32F10x_XL|Other STM32F10x| Comments | + | | devices | devices | | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_UnlockBank1 | Yes | Yes | - Unlock Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_LockBank1 | Yes | Yes | - Lock Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_EraseAllBank1Pages | Yes | Yes | - Erase all pages in Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_GetBank1Status | Yes | Yes | - Return the status of Bank1 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_WaitForLastBank1Operation | Yes | Yes | - Wait for Bank1 last operation | + +----------------------------------------------------------------------------------------------------------------------------------+ + + ***************************************************************************** + * New Functions used only with STM32F10x_XL density devices to manage Bank2 * + ***************************************************************************** + +----------------------------------------------------------------------------------------------------------------------------------+ + | Functions prototypes |STM32F10x_XL|Other STM32F10x| Comments | + | | devices | devices | | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_UnlockBank2 | Yes | No | - Unlock Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + |FLASH_LockBank2 | Yes | No | - Lock Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_EraseAllBank2Pages | Yes | No | - Erase all pages in Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_GetBank2Status | Yes | No | - Return the status of Bank2 | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_WaitForLastBank2Operation | Yes | No | - Wait for Bank2 last operation | + |----------------------------------------------------------------------------------------------------------------------------------| + | FLASH_BootConfig | Yes | No | - Configure to boot from Bank1 or Bank2 | + +----------------------------------------------------------------------------------------------------------------------------------+ +@endcode +*/ + + +/** + * @brief Sets the code latency value. + * @note This function can be used for all STM32F10x devices. + * @param FLASH_Latency: specifies the FLASH Latency value. + * This parameter can be one of the following values: + * @arg FLASH_Latency_0: FLASH Zero Latency cycle + * @arg FLASH_Latency_1: FLASH One Latency cycle + * @arg FLASH_Latency_2: FLASH Two Latency cycles + * @retval None + */ +void FLASH_SetLatency(uint32_t FLASH_Latency) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_FLASH_LATENCY(FLASH_Latency)); + + /* Read the ACR register */ + tmpreg = FLASH->ACR; + + /* Sets the Latency value */ + tmpreg &= ACR_LATENCY_Mask; + tmpreg |= FLASH_Latency; + + /* Write the ACR register */ + FLASH->ACR = tmpreg; +} + +/** + * @brief Enables or disables the Half cycle flash access. + * @note This function can be used for all STM32F10x devices. + * @param FLASH_HalfCycleAccess: specifies the FLASH Half cycle Access mode. + * This parameter can be one of the following values: + * @arg FLASH_HalfCycleAccess_Enable: FLASH Half Cycle Enable + * @arg FLASH_HalfCycleAccess_Disable: FLASH Half Cycle Disable + * @retval None + */ +void FLASH_HalfCycleAccessCmd(uint32_t FLASH_HalfCycleAccess) +{ + /* Check the parameters */ + assert_param(IS_FLASH_HALFCYCLEACCESS_STATE(FLASH_HalfCycleAccess)); + + /* Enable or disable the Half cycle access */ + FLASH->ACR &= ACR_HLFCYA_Mask; + FLASH->ACR |= FLASH_HalfCycleAccess; +} + +/** + * @brief Enables or disables the Prefetch Buffer. + * @note This function can be used for all STM32F10x devices. + * @param FLASH_PrefetchBuffer: specifies the Prefetch buffer status. + * This parameter can be one of the following values: + * @arg FLASH_PrefetchBuffer_Enable: FLASH Prefetch Buffer Enable + * @arg FLASH_PrefetchBuffer_Disable: FLASH Prefetch Buffer Disable + * @retval None + */ +void FLASH_PrefetchBufferCmd(uint32_t FLASH_PrefetchBuffer) +{ + /* Check the parameters */ + assert_param(IS_FLASH_PREFETCHBUFFER_STATE(FLASH_PrefetchBuffer)); + + /* Enable or disable the Prefetch Buffer */ + FLASH->ACR &= ACR_PRFTBE_Mask; + FLASH->ACR |= FLASH_PrefetchBuffer; +} + +/** + * @brief Unlocks the FLASH Program Erase Controller. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function unlocks Bank1 and Bank2. + * - For all other devices it unlocks Bank1 and it is equivalent + * to FLASH_UnlockBank1 function.. + * @param None + * @retval None + */ +void FLASH_Unlock(void) +{ + /* Authorize the FPEC of Bank1 Access */ + FLASH->KEYR = FLASH_KEY1; + FLASH->KEYR = FLASH_KEY2; + +#ifdef STM32F10X_XL + /* Authorize the FPEC of Bank2 Access */ + FLASH->KEYR2 = FLASH_KEY1; + FLASH->KEYR2 = FLASH_KEY2; +#endif /* STM32F10X_XL */ +} +/** + * @brief Unlocks the FLASH Bank1 Program Erase Controller. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function unlocks Bank1. + * - For all other devices it unlocks Bank1 and it is + * equivalent to FLASH_Unlock function. + * @param None + * @retval None + */ +void FLASH_UnlockBank1(void) +{ + /* Authorize the FPEC of Bank1 Access */ + FLASH->KEYR = FLASH_KEY1; + FLASH->KEYR = FLASH_KEY2; +} + +#ifdef STM32F10X_XL +/** + * @brief Unlocks the FLASH Bank2 Program Erase Controller. + * @note This function can be used only for STM32F10X_XL density devices. + * @param None + * @retval None + */ +void FLASH_UnlockBank2(void) +{ + /* Authorize the FPEC of Bank2 Access */ + FLASH->KEYR2 = FLASH_KEY1; + FLASH->KEYR2 = FLASH_KEY2; + +} +#endif /* STM32F10X_XL */ + +/** + * @brief Locks the FLASH Program Erase Controller. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function Locks Bank1 and Bank2. + * - For all other devices it Locks Bank1 and it is equivalent + * to FLASH_LockBank1 function. + * @param None + * @retval None + */ +void FLASH_Lock(void) +{ + /* Set the Lock Bit to lock the FPEC and the CR of Bank1 */ + FLASH->CR |= CR_LOCK_Set; + +#ifdef STM32F10X_XL + /* Set the Lock Bit to lock the FPEC and the CR of Bank2 */ + FLASH->CR2 |= CR_LOCK_Set; +#endif /* STM32F10X_XL */ +} + +/** + * @brief Locks the FLASH Bank1 Program Erase Controller. + * @note this function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function Locks Bank1. + * - For all other devices it Locks Bank1 and it is equivalent + * to FLASH_Lock function. + * @param None + * @retval None + */ +void FLASH_LockBank1(void) +{ + /* Set the Lock Bit to lock the FPEC and the CR of Bank1 */ + FLASH->CR |= CR_LOCK_Set; +} + +#ifdef STM32F10X_XL +/** + * @brief Locks the FLASH Bank2 Program Erase Controller. + * @note This function can be used only for STM32F10X_XL density devices. + * @param None + * @retval None + */ +void FLASH_LockBank2(void) +{ + /* Set the Lock Bit to lock the FPEC and the CR of Bank2 */ + FLASH->CR2 |= CR_LOCK_Set; +} +#endif /* STM32F10X_XL */ + +/** + * @brief Erases a specified FLASH page. + * @note This function can be used for all STM32F10x devices. + * @param Page_Address: The page address to be erased. + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ErasePage(uint32_t Page_Address) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_FLASH_ADDRESS(Page_Address)); + +#ifdef STM32F10X_XL + if(Page_Address < FLASH_BANK1_END_ADDRESS) + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase the page */ + FLASH->CR|= CR_PER_Set; + FLASH->AR = Page_Address; + FLASH->CR|= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + /* Disable the PER Bit */ + FLASH->CR &= CR_PER_Reset; + } + } + else + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase the page */ + FLASH->CR2|= CR_PER_Set; + FLASH->AR2 = Page_Address; + FLASH->CR2|= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + /* Disable the PER Bit */ + FLASH->CR2 &= CR_PER_Reset; + } + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase the page */ + FLASH->CR|= CR_PER_Set; + FLASH->AR = Page_Address; + FLASH->CR|= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + /* Disable the PER Bit */ + FLASH->CR &= CR_PER_Reset; + } +#endif /* STM32F10X_XL */ + + /* Return the Erase Status */ + return status; +} + +/** + * @brief Erases all FLASH pages. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseAllPages(void) +{ + FLASH_Status status = FLASH_COMPLETE; + +#ifdef STM32F10X_XL + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR |= CR_MER_Set; + FLASH->CR |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR &= CR_MER_Reset; + } + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR2 |= CR_MER_Set; + FLASH->CR2 |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR2 &= CR_MER_Reset; + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR |= CR_MER_Set; + FLASH->CR |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR &= CR_MER_Reset; + } +#endif /* STM32F10X_XL */ + + /* Return the Erase Status */ + return status; +} + +/** + * @brief Erases all Bank1 FLASH pages. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices this function erases all Bank1 pages. + * - For all other devices it erases all Bank1 pages and it is equivalent + * to FLASH_EraseAllPages function. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseAllBank1Pages(void) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR |= CR_MER_Set; + FLASH->CR |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR &= CR_MER_Reset; + } + /* Return the Erase Status */ + return status; +} + +#ifdef STM32F10X_XL +/** + * @brief Erases all Bank2 FLASH pages. + * @note This function can be used only for STM32F10x_XL density devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseAllBank2Pages(void) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to erase all pages */ + FLASH->CR2 |= CR_MER_Set; + FLASH->CR2 |= CR_STRT_Set; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(EraseTimeout); + + /* Disable the MER Bit */ + FLASH->CR2 &= CR_MER_Reset; + } + /* Return the Erase Status */ + return status; +} +#endif /* STM32F10X_XL */ + +/** + * @brief Erases the FLASH option bytes. + * @note This functions erases all option bytes except the Read protection (RDP). + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EraseOptionBytes(void) +{ + uint16_t rdptmp = RDP_Key; + + FLASH_Status status = FLASH_COMPLETE; + + /* Get the actual read protection Option Byte value */ + if(FLASH_GetReadOutProtectionStatus() != RESET) + { + rdptmp = 0x00; + } + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + + /* if the previous operation is completed, proceed to erase the option bytes */ + FLASH->CR |= CR_OPTER_Set; + FLASH->CR |= CR_STRT_Set; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the erase operation is completed, disable the OPTER Bit */ + FLASH->CR &= CR_OPTER_Reset; + + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + /* Restore the last read protection Option Byte value */ + OB->RDP = (uint16_t)rdptmp; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + else + { + if (status != FLASH_TIMEOUT) + { + /* Disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + } + /* Return the erase status */ + return status; +} + +/** + * @brief Programs a word at a specified address. + * @note This function can be used for all STM32F10x devices. + * @param Address: specifies the address to be programmed. + * @param Data: specifies the data to be programmed. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data) +{ + FLASH_Status status = FLASH_COMPLETE; + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_FLASH_ADDRESS(Address)); + +#ifdef STM32F10X_XL + if(Address < FLASH_BANK1_END_ADDRESS - 2) + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + } + } + else if(Address == (FLASH_BANK1_END_ADDRESS - 1)) + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + FLASH->CR2 |= CR_PG_Set; + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + } + else + { + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR2 |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + } + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new first + half word */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = (uint16_t)Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new second + half word */ + tmp = Address + 2; + + *(__IO uint16_t*) tmp = Data >> 16; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + else + { + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + } +#endif /* STM32F10X_XL */ + + /* Return the Program Status */ + return status; +} + +/** + * @brief Programs a half word at a specified address. + * @note This function can be used for all STM32F10x devices. + * @param Address: specifies the address to be programmed. + * @param Data: specifies the data to be programmed. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_FLASH_ADDRESS(Address)); + +#ifdef STM32F10X_XL + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(Address < FLASH_BANK1_END_ADDRESS) + { + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new data */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank1Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } + } + else + { + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new data */ + FLASH->CR2 |= CR_PG_Set; + + *(__IO uint16_t*)Address = Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastBank2Operation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR2 &= CR_PG_Reset; + } + } +#else + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* if the previous operation is completed, proceed to program the new data */ + FLASH->CR |= CR_PG_Set; + + *(__IO uint16_t*)Address = Data; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + /* Disable the PG Bit */ + FLASH->CR &= CR_PG_Reset; + } +#endif /* STM32F10X_XL */ + + /* Return the Program Status */ + return status; +} + +/** + * @brief Programs a half word at a specified Option Byte Data address. + * @note This function can be used for all STM32F10x devices. + * @param Address: specifies the address to be programmed. + * This parameter can be 0x1FFFF804 or 0x1FFFF806. + * @param Data: specifies the data to be programmed. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ProgramOptionByteData(uint32_t Address, uint8_t Data) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_OB_DATA_ADDRESS(Address)); + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + /* Enables the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + *(__IO uint16_t*)Address = Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the Option Byte Data Program Status */ + return status; +} + +/** + * @brief Write protects the desired pages + * @note This function can be used for all STM32F10x devices. + * @param FLASH_Pages: specifies the address of the pages to be write protected. + * This parameter can be: + * @arg For @b STM32_Low-density_devices: value between FLASH_WRProt_Pages0to3 and FLASH_WRProt_Pages28to31 + * @arg For @b STM32_Medium-density_devices: value between FLASH_WRProt_Pages0to3 + * and FLASH_WRProt_Pages124to127 + * @arg For @b STM32_High-density_devices: value between FLASH_WRProt_Pages0to1 and + * FLASH_WRProt_Pages60to61 or FLASH_WRProt_Pages62to255 + * @arg For @b STM32_Connectivity_line_devices: value between FLASH_WRProt_Pages0to1 and + * FLASH_WRProt_Pages60to61 or FLASH_WRProt_Pages62to127 + * @arg For @b STM32_XL-density_devices: value between FLASH_WRProt_Pages0to1 and + * FLASH_WRProt_Pages60to61 or FLASH_WRProt_Pages62to511 + * @arg FLASH_WRProt_AllPages + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_EnableWriteProtection(uint32_t FLASH_Pages) +{ + uint16_t WRP0_Data = 0xFFFF, WRP1_Data = 0xFFFF, WRP2_Data = 0xFFFF, WRP3_Data = 0xFFFF; + + FLASH_Status status = FLASH_COMPLETE; + + /* Check the parameters */ + assert_param(IS_FLASH_WRPROT_PAGE(FLASH_Pages)); + + FLASH_Pages = (uint32_t)(~FLASH_Pages); + WRP0_Data = (uint16_t)(FLASH_Pages & WRP0_Mask); + WRP1_Data = (uint16_t)((FLASH_Pages & WRP1_Mask) >> 8); + WRP2_Data = (uint16_t)((FLASH_Pages & WRP2_Mask) >> 16); + WRP3_Data = (uint16_t)((FLASH_Pages & WRP3_Mask) >> 24); + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Authorizes the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + FLASH->CR |= CR_OPTPG_Set; + if(WRP0_Data != 0xFF) + { + OB->WRP0 = WRP0_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + if((status == FLASH_COMPLETE) && (WRP1_Data != 0xFF)) + { + OB->WRP1 = WRP1_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + if((status == FLASH_COMPLETE) && (WRP2_Data != 0xFF)) + { + OB->WRP2 = WRP2_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + + if((status == FLASH_COMPLETE)&& (WRP3_Data != 0xFF)) + { + OB->WRP3 = WRP3_Data; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + } + + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the write protection operation Status */ + return status; +} + +/** + * @brief Enables or disables the read out protection. + * @note If the user has already programmed the other option bytes before calling + * this function, he must re-program them since this function erases all option bytes. + * @note This function can be used for all STM32F10x devices. + * @param Newstate: new state of the ReadOut Protection. + * This parameter can be: ENABLE or DISABLE. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_ReadOutProtection(FunctionalState NewState) +{ + FLASH_Status status = FLASH_COMPLETE; + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* Authorizes the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + FLASH->CR |= CR_OPTER_Set; + FLASH->CR |= CR_STRT_Set; + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + if(status == FLASH_COMPLETE) + { + /* if the erase operation is completed, disable the OPTER Bit */ + FLASH->CR &= CR_OPTER_Reset; + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + if(NewState != DISABLE) + { + OB->RDP = 0x00; + } + else + { + OB->RDP = RDP_Key; + } + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(EraseTimeout); + + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + else + { + if(status != FLASH_TIMEOUT) + { + /* Disable the OPTER Bit */ + FLASH->CR &= CR_OPTER_Reset; + } + } + } + /* Return the protection operation Status */ + return status; +} + +/** + * @brief Programs the FLASH User Option Byte: IWDG_SW / RST_STOP / RST_STDBY. + * @note This function can be used for all STM32F10x devices. + * @param OB_IWDG: Selects the IWDG mode + * This parameter can be one of the following values: + * @arg OB_IWDG_SW: Software IWDG selected + * @arg OB_IWDG_HW: Hardware IWDG selected + * @param OB_STOP: Reset event when entering STOP mode. + * This parameter can be one of the following values: + * @arg OB_STOP_NoRST: No reset generated when entering in STOP + * @arg OB_STOP_RST: Reset generated when entering in STOP + * @param OB_STDBY: Reset event when entering Standby mode. + * This parameter can be one of the following values: + * @arg OB_STDBY_NoRST: No reset generated when entering in STANDBY + * @arg OB_STDBY_RST: Reset generated when entering in STANDBY + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_UserOptionByteConfig(uint16_t OB_IWDG, uint16_t OB_STOP, uint16_t OB_STDBY) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check the parameters */ + assert_param(IS_OB_IWDG_SOURCE(OB_IWDG)); + assert_param(IS_OB_STOP_SOURCE(OB_STOP)); + assert_param(IS_OB_STDBY_SOURCE(OB_STDBY)); + + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + + OB->USER = OB_IWDG | (uint16_t)(OB_STOP | (uint16_t)(OB_STDBY | ((uint16_t)0xF8))); + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the Option Byte program Status */ + return status; +} + +#ifdef STM32F10X_XL +/** + * @brief Configures to boot from Bank1 or Bank2. + * @note This function can be used only for STM32F10x_XL density devices. + * @param FLASH_BOOT: select the FLASH Bank to boot from. + * This parameter can be one of the following values: + * @arg FLASH_BOOT_Bank1: At startup, if boot pins are set in boot from user Flash + * position and this parameter is selected the device will boot from Bank1(Default). + * @arg FLASH_BOOT_Bank2: At startup, if boot pins are set in boot from user Flash + * position and this parameter is selected the device will boot from Bank2 or Bank1, + * depending on the activation of the bank. The active banks are checked in + * the following order: Bank2, followed by Bank1. + * The active bank is recognized by the value programmed at the base address + * of the respective bank (corresponding to the initial stack pointer value + * in the interrupt vector table). + * For more information, please refer to AN2606 from www.st.com. + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_BootConfig(uint16_t FLASH_BOOT) +{ + FLASH_Status status = FLASH_COMPLETE; + assert_param(IS_FLASH_BOOT(FLASH_BOOT)); + /* Authorize the small information block programming */ + FLASH->OPTKEYR = FLASH_KEY1; + FLASH->OPTKEYR = FLASH_KEY2; + + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + + if(status == FLASH_COMPLETE) + { + /* Enable the Option Bytes Programming operation */ + FLASH->CR |= CR_OPTPG_Set; + + if(FLASH_BOOT == FLASH_BOOT_Bank1) + { + OB->USER |= OB_USER_BFB2; + } + else + { + OB->USER &= (uint16_t)(~(uint16_t)(OB_USER_BFB2)); + } + /* Wait for last operation to be completed */ + status = FLASH_WaitForLastOperation(ProgramTimeout); + if(status != FLASH_TIMEOUT) + { + /* if the program operation is completed, disable the OPTPG Bit */ + FLASH->CR &= CR_OPTPG_Reset; + } + } + /* Return the Option Byte program Status */ + return status; +} +#endif /* STM32F10X_XL */ + +/** + * @brief Returns the FLASH User Option Bytes values. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval The FLASH User Option Bytes values:IWDG_SW(Bit0), RST_STOP(Bit1) + * and RST_STDBY(Bit2). + */ +uint32_t FLASH_GetUserOptionByte(void) +{ + /* Return the User Option Byte */ + return (uint32_t)(FLASH->OBR >> 2); +} + +/** + * @brief Returns the FLASH Write Protection Option Bytes Register value. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval The FLASH Write Protection Option Bytes Register value + */ +uint32_t FLASH_GetWriteProtectionOptionByte(void) +{ + /* Return the Flash write protection Register value */ + return (uint32_t)(FLASH->WRPR); +} + +/** + * @brief Checks whether the FLASH Read Out Protection Status is set or not. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH ReadOut Protection Status(SET or RESET) + */ +FlagStatus FLASH_GetReadOutProtectionStatus(void) +{ + FlagStatus readoutstatus = RESET; + if ((FLASH->OBR & RDPRT_Mask) != (uint32_t)RESET) + { + readoutstatus = SET; + } + else + { + readoutstatus = RESET; + } + return readoutstatus; +} + +/** + * @brief Checks whether the FLASH Prefetch Buffer status is set or not. + * @note This function can be used for all STM32F10x devices. + * @param None + * @retval FLASH Prefetch Buffer Status (SET or RESET). + */ +FlagStatus FLASH_GetPrefetchBufferStatus(void) +{ + FlagStatus bitstatus = RESET; + + if ((FLASH->ACR & ACR_PRFTBS_Mask) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the new state of FLASH Prefetch Buffer Status (SET or RESET) */ + return bitstatus; +} + +/** + * @brief Enables or disables the specified FLASH interrupts. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices, enables or disables the specified FLASH interrupts + for Bank1 and Bank2. + * - For other devices it enables or disables the specified FLASH interrupts for Bank1. + * @param FLASH_IT: specifies the FLASH interrupt sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg FLASH_IT_ERROR: FLASH Error Interrupt + * @arg FLASH_IT_EOP: FLASH end of operation Interrupt + * @param NewState: new state of the specified Flash interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FLASH_ITConfig(uint32_t FLASH_IT, FunctionalState NewState) +{ +#ifdef STM32F10X_XL + /* Check the parameters */ + assert_param(IS_FLASH_IT(FLASH_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if((FLASH_IT & 0x80000000) != 0x0) + { + if(NewState != DISABLE) + { + /* Enable the interrupt sources */ + FLASH->CR2 |= (FLASH_IT & 0x7FFFFFFF); + } + else + { + /* Disable the interrupt sources */ + FLASH->CR2 &= ~(uint32_t)(FLASH_IT & 0x7FFFFFFF); + } + } + else + { + if(NewState != DISABLE) + { + /* Enable the interrupt sources */ + FLASH->CR |= FLASH_IT; + } + else + { + /* Disable the interrupt sources */ + FLASH->CR &= ~(uint32_t)FLASH_IT; + } + } +#else + /* Check the parameters */ + assert_param(IS_FLASH_IT(FLASH_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if(NewState != DISABLE) + { + /* Enable the interrupt sources */ + FLASH->CR |= FLASH_IT; + } + else + { + /* Disable the interrupt sources */ + FLASH->CR &= ~(uint32_t)FLASH_IT; + } +#endif /* STM32F10X_XL */ +} + +/** + * @brief Checks whether the specified FLASH flag is set or not. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices, this function checks whether the specified + * Bank1 or Bank2 flag is set or not. + * - For other devices, it checks whether the specified Bank1 flag is + * set or not. + * @param FLASH_FLAG: specifies the FLASH flag to check. + * This parameter can be one of the following values: + * @arg FLASH_FLAG_BSY: FLASH Busy flag + * @arg FLASH_FLAG_PGERR: FLASH Program error flag + * @arg FLASH_FLAG_WRPRTERR: FLASH Write protected error flag + * @arg FLASH_FLAG_EOP: FLASH End of Operation flag + * @arg FLASH_FLAG_OPTERR: FLASH Option Byte error flag + * @retval The new state of FLASH_FLAG (SET or RESET). + */ +FlagStatus FLASH_GetFlagStatus(uint32_t FLASH_FLAG) +{ + FlagStatus bitstatus = RESET; + +#ifdef STM32F10X_XL + /* Check the parameters */ + assert_param(IS_FLASH_GET_FLAG(FLASH_FLAG)) ; + if(FLASH_FLAG == FLASH_FLAG_OPTERR) + { + if((FLASH->OBR & FLASH_FLAG_OPTERR) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + else + { + if((FLASH_FLAG & 0x80000000) != 0x0) + { + if((FLASH->SR2 & FLASH_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + else + { + if((FLASH->SR & FLASH_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + } +#else + /* Check the parameters */ + assert_param(IS_FLASH_GET_FLAG(FLASH_FLAG)) ; + if(FLASH_FLAG == FLASH_FLAG_OPTERR) + { + if((FLASH->OBR & FLASH_FLAG_OPTERR) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } + else + { + if((FLASH->SR & FLASH_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + } +#endif /* STM32F10X_XL */ + + /* Return the new state of FLASH_FLAG (SET or RESET) */ + return bitstatus; +} + +/** + * @brief Clears the FLASH's pending flags. + * @note This function can be used for all STM32F10x devices. + * - For STM32F10X_XL devices, this function clears Bank1 or Bank2s pending flags + * - For other devices, it clears Bank1s pending flags. + * @param FLASH_FLAG: specifies the FLASH flags to clear. + * This parameter can be any combination of the following values: + * @arg FLASH_FLAG_PGERR: FLASH Program error flag + * @arg FLASH_FLAG_WRPRTERR: FLASH Write protected error flag + * @arg FLASH_FLAG_EOP: FLASH End of Operation flag + * @retval None + */ +void FLASH_ClearFlag(uint32_t FLASH_FLAG) +{ +#ifdef STM32F10X_XL + /* Check the parameters */ + assert_param(IS_FLASH_CLEAR_FLAG(FLASH_FLAG)) ; + + if((FLASH_FLAG & 0x80000000) != 0x0) + { + /* Clear the flags */ + FLASH->SR2 = FLASH_FLAG; + } + else + { + /* Clear the flags */ + FLASH->SR = FLASH_FLAG; + } + +#else + /* Check the parameters */ + assert_param(IS_FLASH_CLEAR_FLAG(FLASH_FLAG)) ; + + /* Clear the flags */ + FLASH->SR = FLASH_FLAG; +#endif /* STM32F10X_XL */ +} + +/** + * @brief Returns the FLASH Status. + * @note This function can be used for all STM32F10x devices, it is equivalent + * to FLASH_GetBank1Status function. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP or FLASH_COMPLETE + */ +FLASH_Status FLASH_GetStatus(void) +{ + FLASH_Status flashstatus = FLASH_COMPLETE; + + if((FLASH->SR & FLASH_FLAG_BSY) == FLASH_FLAG_BSY) + { + flashstatus = FLASH_BUSY; + } + else + { + if((FLASH->SR & FLASH_FLAG_PGERR) != 0) + { + flashstatus = FLASH_ERROR_PG; + } + else + { + if((FLASH->SR & FLASH_FLAG_WRPRTERR) != 0 ) + { + flashstatus = FLASH_ERROR_WRP; + } + else + { + flashstatus = FLASH_COMPLETE; + } + } + } + /* Return the Flash Status */ + return flashstatus; +} + +/** + * @brief Returns the FLASH Bank1 Status. + * @note This function can be used for all STM32F10x devices, it is equivalent + * to FLASH_GetStatus function. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP or FLASH_COMPLETE + */ +FLASH_Status FLASH_GetBank1Status(void) +{ + FLASH_Status flashstatus = FLASH_COMPLETE; + + if((FLASH->SR & FLASH_FLAG_BANK1_BSY) == FLASH_FLAG_BSY) + { + flashstatus = FLASH_BUSY; + } + else + { + if((FLASH->SR & FLASH_FLAG_BANK1_PGERR) != 0) + { + flashstatus = FLASH_ERROR_PG; + } + else + { + if((FLASH->SR & FLASH_FLAG_BANK1_WRPRTERR) != 0 ) + { + flashstatus = FLASH_ERROR_WRP; + } + else + { + flashstatus = FLASH_COMPLETE; + } + } + } + /* Return the Flash Status */ + return flashstatus; +} + +#ifdef STM32F10X_XL +/** + * @brief Returns the FLASH Bank2 Status. + * @note This function can be used for STM32F10x_XL density devices. + * @param None + * @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG, + * FLASH_ERROR_WRP or FLASH_COMPLETE + */ +FLASH_Status FLASH_GetBank2Status(void) +{ + FLASH_Status flashstatus = FLASH_COMPLETE; + + if((FLASH->SR2 & (FLASH_FLAG_BANK2_BSY & 0x7FFFFFFF)) == (FLASH_FLAG_BANK2_BSY & 0x7FFFFFFF)) + { + flashstatus = FLASH_BUSY; + } + else + { + if((FLASH->SR2 & (FLASH_FLAG_BANK2_PGERR & 0x7FFFFFFF)) != 0) + { + flashstatus = FLASH_ERROR_PG; + } + else + { + if((FLASH->SR2 & (FLASH_FLAG_BANK2_WRPRTERR & 0x7FFFFFFF)) != 0 ) + { + flashstatus = FLASH_ERROR_WRP; + } + else + { + flashstatus = FLASH_COMPLETE; + } + } + } + /* Return the Flash Status */ + return flashstatus; +} +#endif /* STM32F10X_XL */ +/** + * @brief Waits for a Flash operation to complete or a TIMEOUT to occur. + * @note This function can be used for all STM32F10x devices, + * it is equivalent to FLASH_WaitForLastBank1Operation. + * - For STM32F10X_XL devices this function waits for a Bank1 Flash operation + * to complete or a TIMEOUT to occur. + * - For all other devices it waits for a Flash operation to complete + * or a TIMEOUT to occur. + * @param Timeout: FLASH programming Timeout + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_WaitForLastOperation(uint32_t Timeout) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check for the Flash Status */ + status = FLASH_GetBank1Status(); + /* Wait for a Flash operation to complete or a TIMEOUT to occur */ + while((status == FLASH_BUSY) && (Timeout != 0x00)) + { + status = FLASH_GetBank1Status(); + Timeout--; + } + if(Timeout == 0x00 ) + { + status = FLASH_TIMEOUT; + } + /* Return the operation status */ + return status; +} + +/** + * @brief Waits for a Flash operation on Bank1 to complete or a TIMEOUT to occur. + * @note This function can be used for all STM32F10x devices, + * it is equivalent to FLASH_WaitForLastOperation. + * @param Timeout: FLASH programming Timeout + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_WaitForLastBank1Operation(uint32_t Timeout) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check for the Flash Status */ + status = FLASH_GetBank1Status(); + /* Wait for a Flash operation to complete or a TIMEOUT to occur */ + while((status == FLASH_FLAG_BANK1_BSY) && (Timeout != 0x00)) + { + status = FLASH_GetBank1Status(); + Timeout--; + } + if(Timeout == 0x00 ) + { + status = FLASH_TIMEOUT; + } + /* Return the operation status */ + return status; +} + +#ifdef STM32F10X_XL +/** + * @brief Waits for a Flash operation on Bank2 to complete or a TIMEOUT to occur. + * @note This function can be used only for STM32F10x_XL density devices. + * @param Timeout: FLASH programming Timeout + * @retval FLASH Status: The returned value can be: FLASH_ERROR_PG, + * FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT. + */ +FLASH_Status FLASH_WaitForLastBank2Operation(uint32_t Timeout) +{ + FLASH_Status status = FLASH_COMPLETE; + + /* Check for the Flash Status */ + status = FLASH_GetBank2Status(); + /* Wait for a Flash operation to complete or a TIMEOUT to occur */ + while((status == (FLASH_FLAG_BANK2_BSY & 0x7FFFFFFF)) && (Timeout != 0x00)) + { + status = FLASH_GetBank2Status(); + Timeout--; + } + if(Timeout == 0x00 ) + { + status = FLASH_TIMEOUT; + } + /* Return the operation status */ + return status; +} +#endif /* STM32F10X_XL */ + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_fsmc.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_fsmc.c new file mode 100644 index 0000000..51669ee --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_fsmc.c @@ -0,0 +1,866 @@ +/** + ****************************************************************************** + * @file stm32f10x_fsmc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the FSMC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_fsmc.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup FSMC + * @brief FSMC driver modules + * @{ + */ + +/** @defgroup FSMC_Private_TypesDefinitions + * @{ + */ +/** + * @} + */ + +/** @defgroup FSMC_Private_Defines + * @{ + */ + +/* --------------------- FSMC registers bit mask ---------------------------- */ + +/* FSMC BCRx Mask */ +#define BCR_MBKEN_Set ((uint32_t)0x00000001) +#define BCR_MBKEN_Reset ((uint32_t)0x000FFFFE) +#define BCR_FACCEN_Set ((uint32_t)0x00000040) + +/* FSMC PCRx Mask */ +#define PCR_PBKEN_Set ((uint32_t)0x00000004) +#define PCR_PBKEN_Reset ((uint32_t)0x000FFFFB) +#define PCR_ECCEN_Set ((uint32_t)0x00000040) +#define PCR_ECCEN_Reset ((uint32_t)0x000FFFBF) +#define PCR_MemoryType_NAND ((uint32_t)0x00000008) +/** + * @} + */ + +/** @defgroup FSMC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup FSMC_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the FSMC NOR/SRAM Banks registers to their default + * reset values. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank1_NORSRAM1: FSMC Bank1 NOR/SRAM1 + * @arg FSMC_Bank1_NORSRAM2: FSMC Bank1 NOR/SRAM2 + * @arg FSMC_Bank1_NORSRAM3: FSMC Bank1 NOR/SRAM3 + * @arg FSMC_Bank1_NORSRAM4: FSMC Bank1 NOR/SRAM4 + * @retval None + */ +void FSMC_NORSRAMDeInit(uint32_t FSMC_Bank) +{ + /* Check the parameter */ + assert_param(IS_FSMC_NORSRAM_BANK(FSMC_Bank)); + + /* FSMC_Bank1_NORSRAM1 */ + if(FSMC_Bank == FSMC_Bank1_NORSRAM1) + { + FSMC_Bank1->BTCR[FSMC_Bank] = 0x000030DB; + } + /* FSMC_Bank1_NORSRAM2, FSMC_Bank1_NORSRAM3 or FSMC_Bank1_NORSRAM4 */ + else + { + FSMC_Bank1->BTCR[FSMC_Bank] = 0x000030D2; + } + FSMC_Bank1->BTCR[FSMC_Bank + 1] = 0x0FFFFFFF; + FSMC_Bank1E->BWTR[FSMC_Bank] = 0x0FFFFFFF; +} + +/** + * @brief Deinitializes the FSMC NAND Banks registers to their default reset values. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @retval None + */ +void FSMC_NANDDeInit(uint32_t FSMC_Bank) +{ + /* Check the parameter */ + assert_param(IS_FSMC_NAND_BANK(FSMC_Bank)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + /* Set the FSMC_Bank2 registers to their reset values */ + FSMC_Bank2->PCR2 = 0x00000018; + FSMC_Bank2->SR2 = 0x00000040; + FSMC_Bank2->PMEM2 = 0xFCFCFCFC; + FSMC_Bank2->PATT2 = 0xFCFCFCFC; + } + /* FSMC_Bank3_NAND */ + else + { + /* Set the FSMC_Bank3 registers to their reset values */ + FSMC_Bank3->PCR3 = 0x00000018; + FSMC_Bank3->SR3 = 0x00000040; + FSMC_Bank3->PMEM3 = 0xFCFCFCFC; + FSMC_Bank3->PATT3 = 0xFCFCFCFC; + } +} + +/** + * @brief Deinitializes the FSMC PCCARD Bank registers to their default reset values. + * @param None + * @retval None + */ +void FSMC_PCCARDDeInit(void) +{ + /* Set the FSMC_Bank4 registers to their reset values */ + FSMC_Bank4->PCR4 = 0x00000018; + FSMC_Bank4->SR4 = 0x00000000; + FSMC_Bank4->PMEM4 = 0xFCFCFCFC; + FSMC_Bank4->PATT4 = 0xFCFCFCFC; + FSMC_Bank4->PIO4 = 0xFCFCFCFC; +} + +/** + * @brief Initializes the FSMC NOR/SRAM Banks according to the specified + * parameters in the FSMC_NORSRAMInitStruct. + * @param FSMC_NORSRAMInitStruct : pointer to a FSMC_NORSRAMInitTypeDef + * structure that contains the configuration information for + * the FSMC NOR/SRAM specified Banks. + * @retval None + */ +void FSMC_NORSRAMInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct) +{ + /* Check the parameters */ + assert_param(IS_FSMC_NORSRAM_BANK(FSMC_NORSRAMInitStruct->FSMC_Bank)); + assert_param(IS_FSMC_MUX(FSMC_NORSRAMInitStruct->FSMC_DataAddressMux)); + assert_param(IS_FSMC_MEMORY(FSMC_NORSRAMInitStruct->FSMC_MemoryType)); + assert_param(IS_FSMC_MEMORY_WIDTH(FSMC_NORSRAMInitStruct->FSMC_MemoryDataWidth)); + assert_param(IS_FSMC_BURSTMODE(FSMC_NORSRAMInitStruct->FSMC_BurstAccessMode)); + assert_param(IS_FSMC_ASYNWAIT(FSMC_NORSRAMInitStruct->FSMC_AsynchronousWait)); + assert_param(IS_FSMC_WAIT_POLARITY(FSMC_NORSRAMInitStruct->FSMC_WaitSignalPolarity)); + assert_param(IS_FSMC_WRAP_MODE(FSMC_NORSRAMInitStruct->FSMC_WrapMode)); + assert_param(IS_FSMC_WAIT_SIGNAL_ACTIVE(FSMC_NORSRAMInitStruct->FSMC_WaitSignalActive)); + assert_param(IS_FSMC_WRITE_OPERATION(FSMC_NORSRAMInitStruct->FSMC_WriteOperation)); + assert_param(IS_FSMC_WAITE_SIGNAL(FSMC_NORSRAMInitStruct->FSMC_WaitSignal)); + assert_param(IS_FSMC_EXTENDED_MODE(FSMC_NORSRAMInitStruct->FSMC_ExtendedMode)); + assert_param(IS_FSMC_WRITE_BURST(FSMC_NORSRAMInitStruct->FSMC_WriteBurst)); + assert_param(IS_FSMC_ADDRESS_SETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressSetupTime)); + assert_param(IS_FSMC_ADDRESS_HOLD_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressHoldTime)); + assert_param(IS_FSMC_DATASETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataSetupTime)); + assert_param(IS_FSMC_TURNAROUND_TIME(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_BusTurnAroundDuration)); + assert_param(IS_FSMC_CLK_DIV(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_CLKDivision)); + assert_param(IS_FSMC_DATA_LATENCY(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataLatency)); + assert_param(IS_FSMC_ACCESS_MODE(FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AccessMode)); + + /* Bank1 NOR/SRAM control register configuration */ + FSMC_Bank1->BTCR[FSMC_NORSRAMInitStruct->FSMC_Bank] = + (uint32_t)FSMC_NORSRAMInitStruct->FSMC_DataAddressMux | + FSMC_NORSRAMInitStruct->FSMC_MemoryType | + FSMC_NORSRAMInitStruct->FSMC_MemoryDataWidth | + FSMC_NORSRAMInitStruct->FSMC_BurstAccessMode | + FSMC_NORSRAMInitStruct->FSMC_AsynchronousWait | + FSMC_NORSRAMInitStruct->FSMC_WaitSignalPolarity | + FSMC_NORSRAMInitStruct->FSMC_WrapMode | + FSMC_NORSRAMInitStruct->FSMC_WaitSignalActive | + FSMC_NORSRAMInitStruct->FSMC_WriteOperation | + FSMC_NORSRAMInitStruct->FSMC_WaitSignal | + FSMC_NORSRAMInitStruct->FSMC_ExtendedMode | + FSMC_NORSRAMInitStruct->FSMC_WriteBurst; + + if(FSMC_NORSRAMInitStruct->FSMC_MemoryType == FSMC_MemoryType_NOR) + { + FSMC_Bank1->BTCR[FSMC_NORSRAMInitStruct->FSMC_Bank] |= (uint32_t)BCR_FACCEN_Set; + } + + /* Bank1 NOR/SRAM timing register configuration */ + FSMC_Bank1->BTCR[FSMC_NORSRAMInitStruct->FSMC_Bank+1] = + (uint32_t)FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressSetupTime | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressHoldTime << 4) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataSetupTime << 8) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_BusTurnAroundDuration << 16) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_CLKDivision << 20) | + (FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataLatency << 24) | + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AccessMode; + + + /* Bank1 NOR/SRAM timing register for write configuration, if extended mode is used */ + if(FSMC_NORSRAMInitStruct->FSMC_ExtendedMode == FSMC_ExtendedMode_Enable) + { + assert_param(IS_FSMC_ADDRESS_SETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressSetupTime)); + assert_param(IS_FSMC_ADDRESS_HOLD_TIME(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressHoldTime)); + assert_param(IS_FSMC_DATASETUP_TIME(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataSetupTime)); + assert_param(IS_FSMC_CLK_DIV(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_CLKDivision)); + assert_param(IS_FSMC_DATA_LATENCY(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataLatency)); + assert_param(IS_FSMC_ACCESS_MODE(FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AccessMode)); + FSMC_Bank1E->BWTR[FSMC_NORSRAMInitStruct->FSMC_Bank] = + (uint32_t)FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressSetupTime | + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressHoldTime << 4 )| + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataSetupTime << 8) | + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_CLKDivision << 20) | + (FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataLatency << 24) | + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AccessMode; + } + else + { + FSMC_Bank1E->BWTR[FSMC_NORSRAMInitStruct->FSMC_Bank] = 0x0FFFFFFF; + } +} + +/** + * @brief Initializes the FSMC NAND Banks according to the specified + * parameters in the FSMC_NANDInitStruct. + * @param FSMC_NANDInitStruct : pointer to a FSMC_NANDInitTypeDef + * structure that contains the configuration information for the FSMC + * NAND specified Banks. + * @retval None + */ +void FSMC_NANDInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct) +{ + uint32_t tmppcr = 0x00000000, tmppmem = 0x00000000, tmppatt = 0x00000000; + + /* Check the parameters */ + assert_param( IS_FSMC_NAND_BANK(FSMC_NANDInitStruct->FSMC_Bank)); + assert_param( IS_FSMC_WAIT_FEATURE(FSMC_NANDInitStruct->FSMC_Waitfeature)); + assert_param( IS_FSMC_MEMORY_WIDTH(FSMC_NANDInitStruct->FSMC_MemoryDataWidth)); + assert_param( IS_FSMC_ECC_STATE(FSMC_NANDInitStruct->FSMC_ECC)); + assert_param( IS_FSMC_ECCPAGE_SIZE(FSMC_NANDInitStruct->FSMC_ECCPageSize)); + assert_param( IS_FSMC_TCLR_TIME(FSMC_NANDInitStruct->FSMC_TCLRSetupTime)); + assert_param( IS_FSMC_TAR_TIME(FSMC_NANDInitStruct->FSMC_TARSetupTime)); + assert_param(IS_FSMC_SETUP_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime)); + assert_param(IS_FSMC_SETUP_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime)); + + /* Set the tmppcr value according to FSMC_NANDInitStruct parameters */ + tmppcr = (uint32_t)FSMC_NANDInitStruct->FSMC_Waitfeature | + PCR_MemoryType_NAND | + FSMC_NANDInitStruct->FSMC_MemoryDataWidth | + FSMC_NANDInitStruct->FSMC_ECC | + FSMC_NANDInitStruct->FSMC_ECCPageSize | + (FSMC_NANDInitStruct->FSMC_TCLRSetupTime << 9 )| + (FSMC_NANDInitStruct->FSMC_TARSetupTime << 13); + + /* Set tmppmem value according to FSMC_CommonSpaceTimingStructure parameters */ + tmppmem = (uint32_t)FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime | + (FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + /* Set tmppatt value according to FSMC_AttributeSpaceTimingStructure parameters */ + tmppatt = (uint32_t)FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime | + (FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + if(FSMC_NANDInitStruct->FSMC_Bank == FSMC_Bank2_NAND) + { + /* FSMC_Bank2_NAND registers configuration */ + FSMC_Bank2->PCR2 = tmppcr; + FSMC_Bank2->PMEM2 = tmppmem; + FSMC_Bank2->PATT2 = tmppatt; + } + else + { + /* FSMC_Bank3_NAND registers configuration */ + FSMC_Bank3->PCR3 = tmppcr; + FSMC_Bank3->PMEM3 = tmppmem; + FSMC_Bank3->PATT3 = tmppatt; + } +} + +/** + * @brief Initializes the FSMC PCCARD Bank according to the specified + * parameters in the FSMC_PCCARDInitStruct. + * @param FSMC_PCCARDInitStruct : pointer to a FSMC_PCCARDInitTypeDef + * structure that contains the configuration information for the FSMC + * PCCARD Bank. + * @retval None + */ +void FSMC_PCCARDInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct) +{ + /* Check the parameters */ + assert_param(IS_FSMC_WAIT_FEATURE(FSMC_PCCARDInitStruct->FSMC_Waitfeature)); + assert_param(IS_FSMC_TCLR_TIME(FSMC_PCCARDInitStruct->FSMC_TCLRSetupTime)); + assert_param(IS_FSMC_TAR_TIME(FSMC_PCCARDInitStruct->FSMC_TARSetupTime)); + + assert_param(IS_FSMC_SETUP_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime)); + + assert_param(IS_FSMC_SETUP_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime)); + assert_param(IS_FSMC_SETUP_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_SetupTime)); + assert_param(IS_FSMC_WAIT_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_WaitSetupTime)); + assert_param(IS_FSMC_HOLD_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HoldSetupTime)); + assert_param(IS_FSMC_HIZ_TIME(FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HiZSetupTime)); + + /* Set the PCR4 register value according to FSMC_PCCARDInitStruct parameters */ + FSMC_Bank4->PCR4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_Waitfeature | + FSMC_MemoryDataWidth_16b | + (FSMC_PCCARDInitStruct->FSMC_TCLRSetupTime << 9) | + (FSMC_PCCARDInitStruct->FSMC_TARSetupTime << 13); + + /* Set PMEM4 register value according to FSMC_CommonSpaceTimingStructure parameters */ + FSMC_Bank4->PMEM4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime | + (FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + /* Set PATT4 register value according to FSMC_AttributeSpaceTimingStructure parameters */ + FSMC_Bank4->PATT4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime | + (FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime << 24); + + /* Set PIO4 register value according to FSMC_IOSpaceTimingStructure parameters */ + FSMC_Bank4->PIO4 = (uint32_t)FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_SetupTime | + (FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_WaitSetupTime << 8) | + (FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HoldSetupTime << 16)| + (FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HiZSetupTime << 24); +} + +/** + * @brief Fills each FSMC_NORSRAMInitStruct member with its default value. + * @param FSMC_NORSRAMInitStruct: pointer to a FSMC_NORSRAMInitTypeDef + * structure which will be initialized. + * @retval None + */ +void FSMC_NORSRAMStructInit(FSMC_NORSRAMInitTypeDef* FSMC_NORSRAMInitStruct) +{ + /* Reset NOR/SRAM Init structure parameters values */ + FSMC_NORSRAMInitStruct->FSMC_Bank = FSMC_Bank1_NORSRAM1; + FSMC_NORSRAMInitStruct->FSMC_DataAddressMux = FSMC_DataAddressMux_Enable; + FSMC_NORSRAMInitStruct->FSMC_MemoryType = FSMC_MemoryType_SRAM; + FSMC_NORSRAMInitStruct->FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_8b; + FSMC_NORSRAMInitStruct->FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable; + FSMC_NORSRAMInitStruct->FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable; + FSMC_NORSRAMInitStruct->FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low; + FSMC_NORSRAMInitStruct->FSMC_WrapMode = FSMC_WrapMode_Disable; + FSMC_NORSRAMInitStruct->FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState; + FSMC_NORSRAMInitStruct->FSMC_WriteOperation = FSMC_WriteOperation_Enable; + FSMC_NORSRAMInitStruct->FSMC_WaitSignal = FSMC_WaitSignal_Enable; + FSMC_NORSRAMInitStruct->FSMC_ExtendedMode = FSMC_ExtendedMode_Disable; + FSMC_NORSRAMInitStruct->FSMC_WriteBurst = FSMC_WriteBurst_Disable; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressSetupTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AddressHoldTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataSetupTime = 0xFF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_BusTurnAroundDuration = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_CLKDivision = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_DataLatency = 0xF; + FSMC_NORSRAMInitStruct->FSMC_ReadWriteTimingStruct->FSMC_AccessMode = FSMC_AccessMode_A; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressSetupTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AddressHoldTime = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataSetupTime = 0xFF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_BusTurnAroundDuration = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_CLKDivision = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_DataLatency = 0xF; + FSMC_NORSRAMInitStruct->FSMC_WriteTimingStruct->FSMC_AccessMode = FSMC_AccessMode_A; +} + +/** + * @brief Fills each FSMC_NANDInitStruct member with its default value. + * @param FSMC_NANDInitStruct: pointer to a FSMC_NANDInitTypeDef + * structure which will be initialized. + * @retval None + */ +void FSMC_NANDStructInit(FSMC_NANDInitTypeDef* FSMC_NANDInitStruct) +{ + /* Reset NAND Init structure parameters values */ + FSMC_NANDInitStruct->FSMC_Bank = FSMC_Bank2_NAND; + FSMC_NANDInitStruct->FSMC_Waitfeature = FSMC_Waitfeature_Disable; + FSMC_NANDInitStruct->FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_8b; + FSMC_NANDInitStruct->FSMC_ECC = FSMC_ECC_Disable; + FSMC_NANDInitStruct->FSMC_ECCPageSize = FSMC_ECCPageSize_256Bytes; + FSMC_NANDInitStruct->FSMC_TCLRSetupTime = 0x0; + FSMC_NANDInitStruct->FSMC_TARSetupTime = 0x0; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_NANDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; +} + +/** + * @brief Fills each FSMC_PCCARDInitStruct member with its default value. + * @param FSMC_PCCARDInitStruct: pointer to a FSMC_PCCARDInitTypeDef + * structure which will be initialized. + * @retval None + */ +void FSMC_PCCARDStructInit(FSMC_PCCARDInitTypeDef* FSMC_PCCARDInitStruct) +{ + /* Reset PCCARD Init structure parameters values */ + FSMC_PCCARDInitStruct->FSMC_Waitfeature = FSMC_Waitfeature_Disable; + FSMC_PCCARDInitStruct->FSMC_TCLRSetupTime = 0x0; + FSMC_PCCARDInitStruct->FSMC_TARSetupTime = 0x0; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_CommonSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_AttributeSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_SetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_WaitSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HoldSetupTime = 0xFC; + FSMC_PCCARDInitStruct->FSMC_IOSpaceTimingStruct->FSMC_HiZSetupTime = 0xFC; +} + +/** + * @brief Enables or disables the specified NOR/SRAM Memory Bank. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank1_NORSRAM1: FSMC Bank1 NOR/SRAM1 + * @arg FSMC_Bank1_NORSRAM2: FSMC Bank1 NOR/SRAM2 + * @arg FSMC_Bank1_NORSRAM3: FSMC Bank1 NOR/SRAM3 + * @arg FSMC_Bank1_NORSRAM4: FSMC Bank1 NOR/SRAM4 + * @param NewState: new state of the FSMC_Bank. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_NORSRAMCmd(uint32_t FSMC_Bank, FunctionalState NewState) +{ + assert_param(IS_FSMC_NORSRAM_BANK(FSMC_Bank)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected NOR/SRAM Bank by setting the PBKEN bit in the BCRx register */ + FSMC_Bank1->BTCR[FSMC_Bank] |= BCR_MBKEN_Set; + } + else + { + /* Disable the selected NOR/SRAM Bank by clearing the PBKEN bit in the BCRx register */ + FSMC_Bank1->BTCR[FSMC_Bank] &= BCR_MBKEN_Reset; + } +} + +/** + * @brief Enables or disables the specified NAND Memory Bank. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @param NewState: new state of the FSMC_Bank. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_NANDCmd(uint32_t FSMC_Bank, FunctionalState NewState) +{ + assert_param(IS_FSMC_NAND_BANK(FSMC_Bank)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected NAND Bank by setting the PBKEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 |= PCR_PBKEN_Set; + } + else + { + FSMC_Bank3->PCR3 |= PCR_PBKEN_Set; + } + } + else + { + /* Disable the selected NAND Bank by clearing the PBKEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 &= PCR_PBKEN_Reset; + } + else + { + FSMC_Bank3->PCR3 &= PCR_PBKEN_Reset; + } + } +} + +/** + * @brief Enables or disables the PCCARD Memory Bank. + * @param NewState: new state of the PCCARD Memory Bank. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_PCCARDCmd(FunctionalState NewState) +{ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the PCCARD Bank by setting the PBKEN bit in the PCR4 register */ + FSMC_Bank4->PCR4 |= PCR_PBKEN_Set; + } + else + { + /* Disable the PCCARD Bank by clearing the PBKEN bit in the PCR4 register */ + FSMC_Bank4->PCR4 &= PCR_PBKEN_Reset; + } +} + +/** + * @brief Enables or disables the FSMC NAND ECC feature. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @param NewState: new state of the FSMC NAND ECC feature. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_NANDECCCmd(uint32_t FSMC_Bank, FunctionalState NewState) +{ + assert_param(IS_FSMC_NAND_BANK(FSMC_Bank)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected NAND Bank ECC function by setting the ECCEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 |= PCR_ECCEN_Set; + } + else + { + FSMC_Bank3->PCR3 |= PCR_ECCEN_Set; + } + } + else + { + /* Disable the selected NAND Bank ECC function by clearing the ECCEN bit in the PCRx register */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->PCR2 &= PCR_ECCEN_Reset; + } + else + { + FSMC_Bank3->PCR3 &= PCR_ECCEN_Reset; + } + } +} + +/** + * @brief Returns the error correction code register value. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @retval The Error Correction Code (ECC) value. + */ +uint32_t FSMC_GetECC(uint32_t FSMC_Bank) +{ + uint32_t eccval = 0x00000000; + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + /* Get the ECCR2 register value */ + eccval = FSMC_Bank2->ECCR2; + } + else + { + /* Get the ECCR3 register value */ + eccval = FSMC_Bank3->ECCR3; + } + /* Return the error correction code value */ + return(eccval); +} + +/** + * @brief Enables or disables the specified FSMC interrupts. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_IT: specifies the FSMC interrupt sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg FSMC_IT_RisingEdge: Rising edge detection interrupt. + * @arg FSMC_IT_Level: Level edge detection interrupt. + * @arg FSMC_IT_FallingEdge: Falling edge detection interrupt. + * @param NewState: new state of the specified FSMC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void FSMC_ITConfig(uint32_t FSMC_Bank, uint32_t FSMC_IT, FunctionalState NewState) +{ + assert_param(IS_FSMC_IT_BANK(FSMC_Bank)); + assert_param(IS_FSMC_IT(FSMC_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected FSMC_Bank2 interrupts */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->SR2 |= FSMC_IT; + } + /* Enable the selected FSMC_Bank3 interrupts */ + else if (FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 |= FSMC_IT; + } + /* Enable the selected FSMC_Bank4 interrupts */ + else + { + FSMC_Bank4->SR4 |= FSMC_IT; + } + } + else + { + /* Disable the selected FSMC_Bank2 interrupts */ + if(FSMC_Bank == FSMC_Bank2_NAND) + { + + FSMC_Bank2->SR2 &= (uint32_t)~FSMC_IT; + } + /* Disable the selected FSMC_Bank3 interrupts */ + else if (FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 &= (uint32_t)~FSMC_IT; + } + /* Disable the selected FSMC_Bank4 interrupts */ + else + { + FSMC_Bank4->SR4 &= (uint32_t)~FSMC_IT; + } + } +} + +/** + * @brief Checks whether the specified FSMC flag is set or not. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg FSMC_FLAG_RisingEdge: Rising egde detection Flag. + * @arg FSMC_FLAG_Level: Level detection Flag. + * @arg FSMC_FLAG_FallingEdge: Falling egde detection Flag. + * @arg FSMC_FLAG_FEMPT: Fifo empty Flag. + * @retval The new state of FSMC_FLAG (SET or RESET). + */ +FlagStatus FSMC_GetFlagStatus(uint32_t FSMC_Bank, uint32_t FSMC_FLAG) +{ + FlagStatus bitstatus = RESET; + uint32_t tmpsr = 0x00000000; + + /* Check the parameters */ + assert_param(IS_FSMC_GETFLAG_BANK(FSMC_Bank)); + assert_param(IS_FSMC_GET_FLAG(FSMC_FLAG)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + tmpsr = FSMC_Bank2->SR2; + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + tmpsr = FSMC_Bank3->SR3; + } + /* FSMC_Bank4_PCCARD*/ + else + { + tmpsr = FSMC_Bank4->SR4; + } + + /* Get the flag status */ + if ((tmpsr & FSMC_FLAG) != (uint16_t)RESET ) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the flag status */ + return bitstatus; +} + +/** + * @brief Clears the FSMC's pending flags. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg FSMC_FLAG_RisingEdge: Rising egde detection Flag. + * @arg FSMC_FLAG_Level: Level detection Flag. + * @arg FSMC_FLAG_FallingEdge: Falling egde detection Flag. + * @retval None + */ +void FSMC_ClearFlag(uint32_t FSMC_Bank, uint32_t FSMC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_FSMC_GETFLAG_BANK(FSMC_Bank)); + assert_param(IS_FSMC_CLEAR_FLAG(FSMC_FLAG)) ; + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->SR2 &= ~FSMC_FLAG; + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 &= ~FSMC_FLAG; + } + /* FSMC_Bank4_PCCARD*/ + else + { + FSMC_Bank4->SR4 &= ~FSMC_FLAG; + } +} + +/** + * @brief Checks whether the specified FSMC interrupt has occurred or not. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_IT: specifies the FSMC interrupt source to check. + * This parameter can be one of the following values: + * @arg FSMC_IT_RisingEdge: Rising edge detection interrupt. + * @arg FSMC_IT_Level: Level edge detection interrupt. + * @arg FSMC_IT_FallingEdge: Falling edge detection interrupt. + * @retval The new state of FSMC_IT (SET or RESET). + */ +ITStatus FSMC_GetITStatus(uint32_t FSMC_Bank, uint32_t FSMC_IT) +{ + ITStatus bitstatus = RESET; + uint32_t tmpsr = 0x0, itstatus = 0x0, itenable = 0x0; + + /* Check the parameters */ + assert_param(IS_FSMC_IT_BANK(FSMC_Bank)); + assert_param(IS_FSMC_GET_IT(FSMC_IT)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + tmpsr = FSMC_Bank2->SR2; + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + tmpsr = FSMC_Bank3->SR3; + } + /* FSMC_Bank4_PCCARD*/ + else + { + tmpsr = FSMC_Bank4->SR4; + } + + itstatus = tmpsr & FSMC_IT; + + itenable = tmpsr & (FSMC_IT >> 3); + if ((itstatus != (uint32_t)RESET) && (itenable != (uint32_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the FSMC's interrupt pending bits. + * @param FSMC_Bank: specifies the FSMC Bank to be used + * This parameter can be one of the following values: + * @arg FSMC_Bank2_NAND: FSMC Bank2 NAND + * @arg FSMC_Bank3_NAND: FSMC Bank3 NAND + * @arg FSMC_Bank4_PCCARD: FSMC Bank4 PCCARD + * @param FSMC_IT: specifies the interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg FSMC_IT_RisingEdge: Rising edge detection interrupt. + * @arg FSMC_IT_Level: Level edge detection interrupt. + * @arg FSMC_IT_FallingEdge: Falling edge detection interrupt. + * @retval None + */ +void FSMC_ClearITPendingBit(uint32_t FSMC_Bank, uint32_t FSMC_IT) +{ + /* Check the parameters */ + assert_param(IS_FSMC_IT_BANK(FSMC_Bank)); + assert_param(IS_FSMC_IT(FSMC_IT)); + + if(FSMC_Bank == FSMC_Bank2_NAND) + { + FSMC_Bank2->SR2 &= ~(FSMC_IT >> 3); + } + else if(FSMC_Bank == FSMC_Bank3_NAND) + { + FSMC_Bank3->SR3 &= ~(FSMC_IT >> 3); + } + /* FSMC_Bank4_PCCARD*/ + else + { + FSMC_Bank4->SR4 &= ~(FSMC_IT >> 3); + } +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_gpio.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_gpio.c new file mode 100644 index 0000000..457ff11 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_gpio.c @@ -0,0 +1,650 @@ +/** + ****************************************************************************** + * @file stm32f10x_gpio.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the GPIO firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_gpio.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup GPIO + * @brief GPIO driver modules + * @{ + */ + +/** @defgroup GPIO_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_Defines + * @{ + */ + +/* ------------ RCC registers bit address in the alias region ----------------*/ +#define AFIO_OFFSET (AFIO_BASE - PERIPH_BASE) + +/* --- EVENTCR Register -----*/ + +/* Alias word address of EVOE bit */ +#define EVCR_OFFSET (AFIO_OFFSET + 0x00) +#define EVOE_BitNumber ((uint8_t)0x07) +#define EVCR_EVOE_BB (PERIPH_BB_BASE + (EVCR_OFFSET * 32) + (EVOE_BitNumber * 4)) + + +/* --- MAPR Register ---*/ +/* Alias word address of MII_RMII_SEL bit */ +#define MAPR_OFFSET (AFIO_OFFSET + 0x04) +#define MII_RMII_SEL_BitNumber ((u8)0x17) +#define MAPR_MII_RMII_SEL_BB (PERIPH_BB_BASE + (MAPR_OFFSET * 32) + (MII_RMII_SEL_BitNumber * 4)) + + +#define EVCR_PORTPINCONFIG_MASK ((uint16_t)0xFF80) +#define LSB_MASK ((uint16_t)0xFFFF) +#define DBGAFR_POSITION_MASK ((uint32_t)0x000F0000) +#define DBGAFR_SWJCFG_MASK ((uint32_t)0xF0FFFFFF) +#define DBGAFR_LOCATION_MASK ((uint32_t)0x00200000) +#define DBGAFR_NUMBITS_MASK ((uint32_t)0x00100000) +/** + * @} + */ + +/** @defgroup GPIO_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup GPIO_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the GPIOx peripheral registers to their default reset values. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @retval None + */ +void GPIO_DeInit(GPIO_TypeDef* GPIOx) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + if (GPIOx == GPIOA) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOA, DISABLE); + } + else if (GPIOx == GPIOB) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOB, DISABLE); + } + else if (GPIOx == GPIOC) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOC, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOC, DISABLE); + } + else if (GPIOx == GPIOD) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOD, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOD, DISABLE); + } + else if (GPIOx == GPIOE) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOE, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOE, DISABLE); + } + else if (GPIOx == GPIOF) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOF, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOF, DISABLE); + } + else + { + if (GPIOx == GPIOG) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOG, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_GPIOG, DISABLE); + } + } +} + +/** + * @brief Deinitializes the Alternate Functions (remap, event control + * and EXTI configuration) registers to their default reset values. + * @param None + * @retval None + */ +void GPIO_AFIODeInit(void) +{ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_AFIO, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_AFIO, DISABLE); +} + +/** + * @brief Initializes the GPIOx peripheral according to the specified + * parameters in the GPIO_InitStruct. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_InitStruct: pointer to a GPIO_InitTypeDef structure that + * contains the configuration information for the specified GPIO peripheral. + * @retval None + */ +void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct) +{ + uint32_t currentmode = 0x00, currentpin = 0x00, pinpos = 0x00, pos = 0x00; + uint32_t tmpreg = 0x00, pinmask = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_MODE(GPIO_InitStruct->GPIO_Mode)); + assert_param(IS_GPIO_PIN(GPIO_InitStruct->GPIO_Pin)); + +/*---------------------------- GPIO Mode Configuration -----------------------*/ + currentmode = ((uint32_t)GPIO_InitStruct->GPIO_Mode) & ((uint32_t)0x0F); + if ((((uint32_t)GPIO_InitStruct->GPIO_Mode) & ((uint32_t)0x10)) != 0x00) + { + /* Check the parameters */ + assert_param(IS_GPIO_SPEED(GPIO_InitStruct->GPIO_Speed)); + /* Output mode */ + currentmode |= (uint32_t)GPIO_InitStruct->GPIO_Speed; + } +/*---------------------------- GPIO CRL Configuration ------------------------*/ + /* Configure the eight low port pins */ + if (((uint32_t)GPIO_InitStruct->GPIO_Pin & ((uint32_t)0x00FF)) != 0x00) + { + tmpreg = GPIOx->CRL; + for (pinpos = 0x00; pinpos < 0x08; pinpos++) + { + pos = ((uint32_t)0x01) << pinpos; + /* Get the port pins position */ + currentpin = (GPIO_InitStruct->GPIO_Pin) & pos; + if (currentpin == pos) + { + pos = pinpos << 2; + /* Clear the corresponding low control register bits */ + pinmask = ((uint32_t)0x0F) << pos; + tmpreg &= ~pinmask; + /* Write the mode configuration in the corresponding bits */ + tmpreg |= (currentmode << pos); + /* Reset the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPD) + { + GPIOx->BRR = (((uint32_t)0x01) << pinpos); + } + else + { + /* Set the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPU) + { + GPIOx->BSRR = (((uint32_t)0x01) << pinpos); + } + } + } + } + GPIOx->CRL = tmpreg; + } +/*---------------------------- GPIO CRH Configuration ------------------------*/ + /* Configure the eight high port pins */ + if (GPIO_InitStruct->GPIO_Pin > 0x00FF) + { + tmpreg = GPIOx->CRH; + for (pinpos = 0x00; pinpos < 0x08; pinpos++) + { + pos = (((uint32_t)0x01) << (pinpos + 0x08)); + /* Get the port pins position */ + currentpin = ((GPIO_InitStruct->GPIO_Pin) & pos); + if (currentpin == pos) + { + pos = pinpos << 2; + /* Clear the corresponding high control register bits */ + pinmask = ((uint32_t)0x0F) << pos; + tmpreg &= ~pinmask; + /* Write the mode configuration in the corresponding bits */ + tmpreg |= (currentmode << pos); + /* Reset the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPD) + { + GPIOx->BRR = (((uint32_t)0x01) << (pinpos + 0x08)); + } + /* Set the corresponding ODR bit */ + if (GPIO_InitStruct->GPIO_Mode == GPIO_Mode_IPU) + { + GPIOx->BSRR = (((uint32_t)0x01) << (pinpos + 0x08)); + } + } + } + GPIOx->CRH = tmpreg; + } +} + +/** + * @brief Fills each GPIO_InitStruct member with its default value. + * @param GPIO_InitStruct : pointer to a GPIO_InitTypeDef structure which will + * be initialized. + * @retval None + */ +void GPIO_StructInit(GPIO_InitTypeDef* GPIO_InitStruct) +{ + /* Reset GPIO init structure parameters values */ + GPIO_InitStruct->GPIO_Pin = GPIO_Pin_All; + GPIO_InitStruct->GPIO_Speed = GPIO_Speed_2MHz; + GPIO_InitStruct->GPIO_Mode = GPIO_Mode_IN_FLOATING; +} + +/** + * @brief Reads the specified input port pin. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to read. + * This parameter can be GPIO_Pin_x where x can be (0..15). + * @retval The input port pin value. + */ +uint8_t GPIO_ReadInputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + uint8_t bitstatus = 0x00; + + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GET_GPIO_PIN(GPIO_Pin)); + + if ((GPIOx->IDR & GPIO_Pin) != (uint32_t)Bit_RESET) + { + bitstatus = (uint8_t)Bit_SET; + } + else + { + bitstatus = (uint8_t)Bit_RESET; + } + return bitstatus; +} + +/** + * @brief Reads the specified GPIO input data port. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @retval GPIO input data port value. + */ +uint16_t GPIO_ReadInputData(GPIO_TypeDef* GPIOx) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + return ((uint16_t)GPIOx->IDR); +} + +/** + * @brief Reads the specified output data port bit. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to read. + * This parameter can be GPIO_Pin_x where x can be (0..15). + * @retval The output port pin value. + */ +uint8_t GPIO_ReadOutputDataBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + uint8_t bitstatus = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GET_GPIO_PIN(GPIO_Pin)); + + if ((GPIOx->ODR & GPIO_Pin) != (uint32_t)Bit_RESET) + { + bitstatus = (uint8_t)Bit_SET; + } + else + { + bitstatus = (uint8_t)Bit_RESET; + } + return bitstatus; +} + +/** + * @brief Reads the specified GPIO output data port. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @retval GPIO output data port value. + */ +uint16_t GPIO_ReadOutputData(GPIO_TypeDef* GPIOx) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + return ((uint16_t)GPIOx->ODR); +} + +/** + * @brief Sets the selected data port bits. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bits to be written. + * This parameter can be any combination of GPIO_Pin_x where x can be (0..15). + * @retval None + */ +void GPIO_SetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_PIN(GPIO_Pin)); + + GPIOx->BSRR = GPIO_Pin; +} + +/** + * @brief Clears the selected data port bits. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bits to be written. + * This parameter can be any combination of GPIO_Pin_x where x can be (0..15). + * @retval None + */ +void GPIO_ResetBits(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_PIN(GPIO_Pin)); + + GPIOx->BRR = GPIO_Pin; +} + +/** + * @brief Sets or clears the selected data port bit. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to be written. + * This parameter can be one of GPIO_Pin_x where x can be (0..15). + * @param BitVal: specifies the value to be written to the selected bit. + * This parameter can be one of the BitAction enum values: + * @arg Bit_RESET: to clear the port pin + * @arg Bit_SET: to set the port pin + * @retval None + */ +void GPIO_WriteBit(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, BitAction BitVal) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GET_GPIO_PIN(GPIO_Pin)); + assert_param(IS_GPIO_BIT_ACTION(BitVal)); + + if (BitVal != Bit_RESET) + { + GPIOx->BSRR = GPIO_Pin; + } + else + { + GPIOx->BRR = GPIO_Pin; + } +} + +/** + * @brief Writes data to the specified GPIO data port. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param PortVal: specifies the value to be written to the port output data register. + * @retval None + */ +void GPIO_Write(GPIO_TypeDef* GPIOx, uint16_t PortVal) +{ + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + + GPIOx->ODR = PortVal; +} + +/** + * @brief Locks GPIO Pins configuration registers. + * @param GPIOx: where x can be (A..G) to select the GPIO peripheral. + * @param GPIO_Pin: specifies the port bit to be written. + * This parameter can be any combination of GPIO_Pin_x where x can be (0..15). + * @retval None + */ +void GPIO_PinLockConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) +{ + uint32_t tmp = 0x00010000; + + /* Check the parameters */ + assert_param(IS_GPIO_ALL_PERIPH(GPIOx)); + assert_param(IS_GPIO_PIN(GPIO_Pin)); + + tmp |= GPIO_Pin; + /* Set LCKK bit */ + GPIOx->LCKR = tmp; + /* Reset LCKK bit */ + GPIOx->LCKR = GPIO_Pin; + /* Set LCKK bit */ + GPIOx->LCKR = tmp; + /* Read LCKK bit*/ + tmp = GPIOx->LCKR; + /* Read LCKK bit*/ + tmp = GPIOx->LCKR; +} + +/** + * @brief Selects the GPIO pin used as Event output. + * @param GPIO_PortSource: selects the GPIO port to be used as source + * for Event output. + * This parameter can be GPIO_PortSourceGPIOx where x can be (A..E). + * @param GPIO_PinSource: specifies the pin for the Event output. + * This parameter can be GPIO_PinSourcex where x can be (0..15). + * @retval None + */ +void GPIO_EventOutputConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource) +{ + uint32_t tmpreg = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_EVENTOUT_PORT_SOURCE(GPIO_PortSource)); + assert_param(IS_GPIO_PIN_SOURCE(GPIO_PinSource)); + + tmpreg = AFIO->EVCR; + /* Clear the PORT[6:4] and PIN[3:0] bits */ + tmpreg &= EVCR_PORTPINCONFIG_MASK; + tmpreg |= (uint32_t)GPIO_PortSource << 0x04; + tmpreg |= GPIO_PinSource; + AFIO->EVCR = tmpreg; +} + +/** + * @brief Enables or disables the Event Output. + * @param NewState: new state of the Event output. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void GPIO_EventOutputCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) EVCR_EVOE_BB = (uint32_t)NewState; +} + +/** + * @brief Changes the mapping of the specified pin. + * @param GPIO_Remap: selects the pin to remap. + * This parameter can be one of the following values: + * @arg GPIO_Remap_SPI1 : SPI1 Alternate Function mapping + * @arg GPIO_Remap_I2C1 : I2C1 Alternate Function mapping + * @arg GPIO_Remap_USART1 : USART1 Alternate Function mapping + * @arg GPIO_Remap_USART2 : USART2 Alternate Function mapping + * @arg GPIO_PartialRemap_USART3 : USART3 Partial Alternate Function mapping + * @arg GPIO_FullRemap_USART3 : USART3 Full Alternate Function mapping + * @arg GPIO_PartialRemap_TIM1 : TIM1 Partial Alternate Function mapping + * @arg GPIO_FullRemap_TIM1 : TIM1 Full Alternate Function mapping + * @arg GPIO_PartialRemap1_TIM2 : TIM2 Partial1 Alternate Function mapping + * @arg GPIO_PartialRemap2_TIM2 : TIM2 Partial2 Alternate Function mapping + * @arg GPIO_FullRemap_TIM2 : TIM2 Full Alternate Function mapping + * @arg GPIO_PartialRemap_TIM3 : TIM3 Partial Alternate Function mapping + * @arg GPIO_FullRemap_TIM3 : TIM3 Full Alternate Function mapping + * @arg GPIO_Remap_TIM4 : TIM4 Alternate Function mapping + * @arg GPIO_Remap1_CAN1 : CAN1 Alternate Function mapping + * @arg GPIO_Remap2_CAN1 : CAN1 Alternate Function mapping + * @arg GPIO_Remap_PD01 : PD01 Alternate Function mapping + * @arg GPIO_Remap_TIM5CH4_LSI : LSI connected to TIM5 Channel4 input capture for calibration + * @arg GPIO_Remap_ADC1_ETRGINJ : ADC1 External Trigger Injected Conversion remapping + * @arg GPIO_Remap_ADC1_ETRGREG : ADC1 External Trigger Regular Conversion remapping + * @arg GPIO_Remap_ADC2_ETRGINJ : ADC2 External Trigger Injected Conversion remapping + * @arg GPIO_Remap_ADC2_ETRGREG : ADC2 External Trigger Regular Conversion remapping + * @arg GPIO_Remap_ETH : Ethernet remapping (only for Connectivity line devices) + * @arg GPIO_Remap_CAN2 : CAN2 remapping (only for Connectivity line devices) + * @arg GPIO_Remap_SWJ_NoJTRST : Full SWJ Enabled (JTAG-DP + SW-DP) but without JTRST + * @arg GPIO_Remap_SWJ_JTAGDisable : JTAG-DP Disabled and SW-DP Enabled + * @arg GPIO_Remap_SWJ_Disable : Full SWJ Disabled (JTAG-DP + SW-DP) + * @arg GPIO_Remap_SPI3 : SPI3/I2S3 Alternate Function mapping (only for Connectivity line devices) + * When the SPI3/I2S3 is remapped using this function, the SWJ is configured + * to Full SWJ Enabled (JTAG-DP + SW-DP) but without JTRST. + * @arg GPIO_Remap_TIM2ITR1_PTP_SOF : Ethernet PTP output or USB OTG SOF (Start of Frame) connected + * to TIM2 Internal Trigger 1 for calibration (only for Connectivity line devices) + * If the GPIO_Remap_TIM2ITR1_PTP_SOF is enabled the TIM2 ITR1 is connected to + * Ethernet PTP output. When Reset TIM2 ITR1 is connected to USB OTG SOF output. + * @arg GPIO_Remap_PTP_PPS : Ethernet MAC PPS_PTS output on PB05 (only for Connectivity line devices) + * @arg GPIO_Remap_TIM15 : TIM15 Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_TIM16 : TIM16 Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_TIM17 : TIM17 Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_CEC : CEC Alternate Function mapping (only for Value line devices) + * @arg GPIO_Remap_TIM1_DMA : TIM1 DMA requests mapping (only for Value line devices) + * @arg GPIO_Remap_TIM9 : TIM9 Alternate Function mapping (only for XL-density devices) + * @arg GPIO_Remap_TIM10 : TIM10 Alternate Function mapping (only for XL-density devices) + * @arg GPIO_Remap_TIM11 : TIM11 Alternate Function mapping (only for XL-density devices) + * @arg GPIO_Remap_TIM13 : TIM13 Alternate Function mapping (only for High density Value line and XL-density devices) + * @arg GPIO_Remap_TIM14 : TIM14 Alternate Function mapping (only for High density Value line and XL-density devices) + * @arg GPIO_Remap_FSMC_NADV : FSMC_NADV Alternate Function mapping (only for High density Value line and XL-density devices) + * @arg GPIO_Remap_TIM67_DAC_DMA : TIM6/TIM7 and DAC DMA requests remapping (only for High density Value line devices) + * @arg GPIO_Remap_TIM12 : TIM12 Alternate Function mapping (only for High density Value line devices) + * @arg GPIO_Remap_MISC : Miscellaneous Remap (DMA2 Channel5 Position and DAC Trigger remapping, + * only for High density Value line devices) + * @param NewState: new state of the port pin remapping. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void GPIO_PinRemapConfig(uint32_t GPIO_Remap, FunctionalState NewState) +{ + uint32_t tmp = 0x00, tmp1 = 0x00, tmpreg = 0x00, tmpmask = 0x00; + + /* Check the parameters */ + assert_param(IS_GPIO_REMAP(GPIO_Remap)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if((GPIO_Remap & 0x80000000) == 0x80000000) + { + tmpreg = AFIO->MAPR2; + } + else + { + tmpreg = AFIO->MAPR; + } + + tmpmask = (GPIO_Remap & DBGAFR_POSITION_MASK) >> 0x10; + tmp = GPIO_Remap & LSB_MASK; + + if ((GPIO_Remap & (DBGAFR_LOCATION_MASK | DBGAFR_NUMBITS_MASK)) == (DBGAFR_LOCATION_MASK | DBGAFR_NUMBITS_MASK)) + { + tmpreg &= DBGAFR_SWJCFG_MASK; + AFIO->MAPR &= DBGAFR_SWJCFG_MASK; + } + else if ((GPIO_Remap & DBGAFR_NUMBITS_MASK) == DBGAFR_NUMBITS_MASK) + { + tmp1 = ((uint32_t)0x03) << tmpmask; + tmpreg &= ~tmp1; + tmpreg |= ~DBGAFR_SWJCFG_MASK; + } + else + { + tmpreg &= ~(tmp << ((GPIO_Remap >> 0x15)*0x10)); + tmpreg |= ~DBGAFR_SWJCFG_MASK; + } + + if (NewState != DISABLE) + { + tmpreg |= (tmp << ((GPIO_Remap >> 0x15)*0x10)); + } + + if((GPIO_Remap & 0x80000000) == 0x80000000) + { + AFIO->MAPR2 = tmpreg; + } + else + { + AFIO->MAPR = tmpreg; + } +} + +/** + * @brief Selects the GPIO pin used as EXTI Line. + * @param GPIO_PortSource: selects the GPIO port to be used as source for EXTI lines. + * This parameter can be GPIO_PortSourceGPIOx where x can be (A..G). + * @param GPIO_PinSource: specifies the EXTI line to be configured. + * This parameter can be GPIO_PinSourcex where x can be (0..15). + * @retval None + */ +void GPIO_EXTILineConfig(uint8_t GPIO_PortSource, uint8_t GPIO_PinSource) +{ + uint32_t tmp = 0x00; + /* Check the parameters */ + assert_param(IS_GPIO_EXTI_PORT_SOURCE(GPIO_PortSource)); + assert_param(IS_GPIO_PIN_SOURCE(GPIO_PinSource)); + + tmp = ((uint32_t)0x0F) << (0x04 * (GPIO_PinSource & (uint8_t)0x03)); + AFIO->EXTICR[GPIO_PinSource >> 0x02] &= ~tmp; + AFIO->EXTICR[GPIO_PinSource >> 0x02] |= (((uint32_t)GPIO_PortSource) << (0x04 * (GPIO_PinSource & (uint8_t)0x03))); +} + +/** + * @brief Selects the Ethernet media interface. + * @note This function applies only to STM32 Connectivity line devices. + * @param GPIO_ETH_MediaInterface: specifies the Media Interface mode. + * This parameter can be one of the following values: + * @arg GPIO_ETH_MediaInterface_MII: MII mode + * @arg GPIO_ETH_MediaInterface_RMII: RMII mode + * @retval None + */ +void GPIO_ETH_MediaInterfaceConfig(uint32_t GPIO_ETH_MediaInterface) +{ + assert_param(IS_GPIO_ETH_MEDIA_INTERFACE(GPIO_ETH_MediaInterface)); + + /* Configure MII_RMII selection bit */ + *(__IO uint32_t *) MAPR_MII_RMII_SEL_BB = GPIO_ETH_MediaInterface; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_i2c.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_i2c.c new file mode 100644 index 0000000..4ea321c --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_i2c.c @@ -0,0 +1,1331 @@ +/** + ****************************************************************************** + * @file stm32f10x_i2c.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the I2C firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_i2c.h" +#include "stm32f10x_rcc.h" + + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup I2C + * @brief I2C driver modules + * @{ + */ + +/** @defgroup I2C_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_Defines + * @{ + */ + +/* I2C SPE mask */ +#define CR1_PE_Set ((uint16_t)0x0001) +#define CR1_PE_Reset ((uint16_t)0xFFFE) + +/* I2C START mask */ +#define CR1_START_Set ((uint16_t)0x0100) +#define CR1_START_Reset ((uint16_t)0xFEFF) + +/* I2C STOP mask */ +#define CR1_STOP_Set ((uint16_t)0x0200) +#define CR1_STOP_Reset ((uint16_t)0xFDFF) + +/* I2C ACK mask */ +#define CR1_ACK_Set ((uint16_t)0x0400) +#define CR1_ACK_Reset ((uint16_t)0xFBFF) + +/* I2C ENGC mask */ +#define CR1_ENGC_Set ((uint16_t)0x0040) +#define CR1_ENGC_Reset ((uint16_t)0xFFBF) + +/* I2C SWRST mask */ +#define CR1_SWRST_Set ((uint16_t)0x8000) +#define CR1_SWRST_Reset ((uint16_t)0x7FFF) + +/* I2C PEC mask */ +#define CR1_PEC_Set ((uint16_t)0x1000) +#define CR1_PEC_Reset ((uint16_t)0xEFFF) + +/* I2C ENPEC mask */ +#define CR1_ENPEC_Set ((uint16_t)0x0020) +#define CR1_ENPEC_Reset ((uint16_t)0xFFDF) + +/* I2C ENARP mask */ +#define CR1_ENARP_Set ((uint16_t)0x0010) +#define CR1_ENARP_Reset ((uint16_t)0xFFEF) + +/* I2C NOSTRETCH mask */ +#define CR1_NOSTRETCH_Set ((uint16_t)0x0080) +#define CR1_NOSTRETCH_Reset ((uint16_t)0xFF7F) + +/* I2C registers Masks */ +#define CR1_CLEAR_Mask ((uint16_t)0xFBF5) + +/* I2C DMAEN mask */ +#define CR2_DMAEN_Set ((uint16_t)0x0800) +#define CR2_DMAEN_Reset ((uint16_t)0xF7FF) + +/* I2C LAST mask */ +#define CR2_LAST_Set ((uint16_t)0x1000) +#define CR2_LAST_Reset ((uint16_t)0xEFFF) + +/* I2C FREQ mask */ +#define CR2_FREQ_Reset ((uint16_t)0xFFC0) + +/* I2C ADD0 mask */ +#define OAR1_ADD0_Set ((uint16_t)0x0001) +#define OAR1_ADD0_Reset ((uint16_t)0xFFFE) + +/* I2C ENDUAL mask */ +#define OAR2_ENDUAL_Set ((uint16_t)0x0001) +#define OAR2_ENDUAL_Reset ((uint16_t)0xFFFE) + +/* I2C ADD2 mask */ +#define OAR2_ADD2_Reset ((uint16_t)0xFF01) + +/* I2C F/S mask */ +#define CCR_FS_Set ((uint16_t)0x8000) + +/* I2C CCR mask */ +#define CCR_CCR_Set ((uint16_t)0x0FFF) + +/* I2C FLAG mask */ +#define FLAG_Mask ((uint32_t)0x00FFFFFF) + +/* I2C Interrupt Enable mask */ +#define ITEN_Mask ((uint32_t)0x07000000) + +/** + * @} + */ + +/** @defgroup I2C_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup I2C_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the I2Cx peripheral registers to their default reset values. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @retval None + */ +void I2C_DeInit(I2C_TypeDef* I2Cx) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + + if (I2Cx == I2C1) + { + /* Enable I2C1 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, ENABLE); + /* Release I2C1 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C1, DISABLE); + } + else + { + /* Enable I2C2 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, ENABLE); + /* Release I2C2 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_I2C2, DISABLE); + } +} + +/** + * @brief Initializes the I2Cx peripheral according to the specified + * parameters in the I2C_InitStruct. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_InitStruct: pointer to a I2C_InitTypeDef structure that + * contains the configuration information for the specified I2C peripheral. + * @retval None + */ +void I2C_Init(I2C_TypeDef* I2Cx, I2C_InitTypeDef* I2C_InitStruct) +{ + uint16_t tmpreg = 0, freqrange = 0; + uint16_t result = 0x04; + uint32_t pclk1 = 8000000; + RCC_ClocksTypeDef rcc_clocks; + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_CLOCK_SPEED(I2C_InitStruct->I2C_ClockSpeed)); + assert_param(IS_I2C_MODE(I2C_InitStruct->I2C_Mode)); + assert_param(IS_I2C_DUTY_CYCLE(I2C_InitStruct->I2C_DutyCycle)); + assert_param(IS_I2C_OWN_ADDRESS1(I2C_InitStruct->I2C_OwnAddress1)); + assert_param(IS_I2C_ACK_STATE(I2C_InitStruct->I2C_Ack)); + assert_param(IS_I2C_ACKNOWLEDGE_ADDRESS(I2C_InitStruct->I2C_AcknowledgedAddress)); + +/*---------------------------- I2Cx CR2 Configuration ------------------------*/ + /* Get the I2Cx CR2 value */ + tmpreg = I2Cx->CR2; + /* Clear frequency FREQ[5:0] bits */ + tmpreg &= CR2_FREQ_Reset; + /* Get pclk1 frequency value */ + RCC_GetClocksFreq(&rcc_clocks); + pclk1 = rcc_clocks.PCLK1_Frequency; + /* Set frequency bits depending on pclk1 value */ + freqrange = (uint16_t)(pclk1 / 1000000); + tmpreg |= freqrange; + /* Write to I2Cx CR2 */ + I2Cx->CR2 = tmpreg; + +/*---------------------------- I2Cx CCR Configuration ------------------------*/ + /* Disable the selected I2C peripheral to configure TRISE */ + I2Cx->CR1 &= CR1_PE_Reset; + /* Reset tmpreg value */ + /* Clear F/S, DUTY and CCR[11:0] bits */ + tmpreg = 0; + + /* Configure speed in standard mode */ + if (I2C_InitStruct->I2C_ClockSpeed <= 100000) + { + /* Standard mode speed calculate */ + result = (uint16_t)(pclk1 / (I2C_InitStruct->I2C_ClockSpeed << 1)); + /* Test if CCR value is under 0x4*/ + if (result < 0x04) + { + /* Set minimum allowed value */ + result = 0x04; + } + /* Set speed value for standard mode */ + tmpreg |= result; + /* Set Maximum Rise Time for standard mode */ + I2Cx->TRISE = freqrange + 1; + } + /* Configure speed in fast mode */ + else /*(I2C_InitStruct->I2C_ClockSpeed <= 400000)*/ + { + if (I2C_InitStruct->I2C_DutyCycle == I2C_DutyCycle_2) + { + /* Fast mode speed calculate: Tlow/Thigh = 2 */ + result = (uint16_t)(pclk1 / (I2C_InitStruct->I2C_ClockSpeed * 3)); + } + else /*I2C_InitStruct->I2C_DutyCycle == I2C_DutyCycle_16_9*/ + { + /* Fast mode speed calculate: Tlow/Thigh = 16/9 */ + result = (uint16_t)(pclk1 / (I2C_InitStruct->I2C_ClockSpeed * 25)); + /* Set DUTY bit */ + result |= I2C_DutyCycle_16_9; + } + + /* Test if CCR value is under 0x1*/ + if ((result & CCR_CCR_Set) == 0) + { + /* Set minimum allowed value */ + result |= (uint16_t)0x0001; + } + /* Set speed value and set F/S bit for fast mode */ + tmpreg |= (uint16_t)(result | CCR_FS_Set); + /* Set Maximum Rise Time for fast mode */ + I2Cx->TRISE = (uint16_t)(((freqrange * (uint16_t)300) / (uint16_t)1000) + (uint16_t)1); + } + + /* Write to I2Cx CCR */ + I2Cx->CCR = tmpreg; + /* Enable the selected I2C peripheral */ + I2Cx->CR1 |= CR1_PE_Set; + +/*---------------------------- I2Cx CR1 Configuration ------------------------*/ + /* Get the I2Cx CR1 value */ + tmpreg = I2Cx->CR1; + /* Clear ACK, SMBTYPE and SMBUS bits */ + tmpreg &= CR1_CLEAR_Mask; + /* Configure I2Cx: mode and acknowledgement */ + /* Set SMBTYPE and SMBUS bits according to I2C_Mode value */ + /* Set ACK bit according to I2C_Ack value */ + tmpreg |= (uint16_t)((uint32_t)I2C_InitStruct->I2C_Mode | I2C_InitStruct->I2C_Ack); + /* Write to I2Cx CR1 */ + I2Cx->CR1 = tmpreg; + +/*---------------------------- I2Cx OAR1 Configuration -----------------------*/ + /* Set I2Cx Own Address1 and acknowledged address */ + I2Cx->OAR1 = (I2C_InitStruct->I2C_AcknowledgedAddress | I2C_InitStruct->I2C_OwnAddress1); +} + +/** + * @brief Fills each I2C_InitStruct member with its default value. + * @param I2C_InitStruct: pointer to an I2C_InitTypeDef structure which will be initialized. + * @retval None + */ +void I2C_StructInit(I2C_InitTypeDef* I2C_InitStruct) +{ +/*---------------- Reset I2C init structure parameters values ----------------*/ + /* initialize the I2C_ClockSpeed member */ + I2C_InitStruct->I2C_ClockSpeed = 5000; + /* Initialize the I2C_Mode member */ + I2C_InitStruct->I2C_Mode = I2C_Mode_I2C; + /* Initialize the I2C_DutyCycle member */ + I2C_InitStruct->I2C_DutyCycle = I2C_DutyCycle_2; + /* Initialize the I2C_OwnAddress1 member */ + I2C_InitStruct->I2C_OwnAddress1 = 0; + /* Initialize the I2C_Ack member */ + I2C_InitStruct->I2C_Ack = I2C_Ack_Disable; + /* Initialize the I2C_AcknowledgedAddress member */ + I2C_InitStruct->I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; +} + +/** + * @brief Enables or disables the specified I2C peripheral. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_Cmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C peripheral */ + I2Cx->CR1 |= CR1_PE_Set; + } + else + { + /* Disable the selected I2C peripheral */ + I2Cx->CR1 &= CR1_PE_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C DMA requests. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C DMA transfer. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_DMACmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C DMA requests */ + I2Cx->CR2 |= CR2_DMAEN_Set; + } + else + { + /* Disable the selected I2C DMA requests */ + I2Cx->CR2 &= CR2_DMAEN_Reset; + } +} + +/** + * @brief Specifies if the next DMA transfer will be the last one. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C DMA last transfer. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_DMALastTransferCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Next DMA transfer is the last transfer */ + I2Cx->CR2 |= CR2_LAST_Set; + } + else + { + /* Next DMA transfer is not the last transfer */ + I2Cx->CR2 &= CR2_LAST_Reset; + } +} + +/** + * @brief Generates I2Cx communication START condition. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C START condition generation. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void I2C_GenerateSTART(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Generate a START condition */ + I2Cx->CR1 |= CR1_START_Set; + } + else + { + /* Disable the START condition generation */ + I2Cx->CR1 &= CR1_START_Reset; + } +} + +/** + * @brief Generates I2Cx communication STOP condition. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C STOP condition generation. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void I2C_GenerateSTOP(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Generate a STOP condition */ + I2Cx->CR1 |= CR1_STOP_Set; + } + else + { + /* Disable the STOP condition generation */ + I2Cx->CR1 &= CR1_STOP_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C acknowledge feature. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C Acknowledgement. + * This parameter can be: ENABLE or DISABLE. + * @retval None. + */ +void I2C_AcknowledgeConfig(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the acknowledgement */ + I2Cx->CR1 |= CR1_ACK_Set; + } + else + { + /* Disable the acknowledgement */ + I2Cx->CR1 &= CR1_ACK_Reset; + } +} + +/** + * @brief Configures the specified I2C own address2. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param Address: specifies the 7bit I2C own address2. + * @retval None. + */ +void I2C_OwnAddress2Config(I2C_TypeDef* I2Cx, uint8_t Address) +{ + uint16_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + + /* Get the old register value */ + tmpreg = I2Cx->OAR2; + + /* Reset I2Cx Own address2 bit [7:1] */ + tmpreg &= OAR2_ADD2_Reset; + + /* Set I2Cx Own address2 */ + tmpreg |= (uint16_t)((uint16_t)Address & (uint16_t)0x00FE); + + /* Store the new register value */ + I2Cx->OAR2 = tmpreg; +} + +/** + * @brief Enables or disables the specified I2C dual addressing mode. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C dual addressing mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_DualAddressCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable dual addressing mode */ + I2Cx->OAR2 |= OAR2_ENDUAL_Set; + } + else + { + /* Disable dual addressing mode */ + I2Cx->OAR2 &= OAR2_ENDUAL_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C general call feature. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C General call. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_GeneralCallCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable generall call */ + I2Cx->CR1 |= CR1_ENGC_Set; + } + else + { + /* Disable generall call */ + I2Cx->CR1 &= CR1_ENGC_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C interrupts. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_IT: specifies the I2C interrupts sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg I2C_IT_BUF: Buffer interrupt mask + * @arg I2C_IT_EVT: Event interrupt mask + * @arg I2C_IT_ERR: Error interrupt mask + * @param NewState: new state of the specified I2C interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_ITConfig(I2C_TypeDef* I2Cx, uint16_t I2C_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_I2C_CONFIG_IT(I2C_IT)); + + if (NewState != DISABLE) + { + /* Enable the selected I2C interrupts */ + I2Cx->CR2 |= I2C_IT; + } + else + { + /* Disable the selected I2C interrupts */ + I2Cx->CR2 &= (uint16_t)~I2C_IT; + } +} + +/** + * @brief Sends a data byte through the I2Cx peripheral. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param Data: Byte to be transmitted.. + * @retval None + */ +void I2C_SendData(I2C_TypeDef* I2Cx, uint8_t Data) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + /* Write in the DR register the data to be sent */ + I2Cx->DR = Data; +} + +/** + * @brief Returns the most recent received data by the I2Cx peripheral. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @retval The value of the received data. + */ +uint8_t I2C_ReceiveData(I2C_TypeDef* I2Cx) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + /* Return the data in the DR register */ + return (uint8_t)I2Cx->DR; +} + +/** + * @brief Transmits the address byte to select the slave device. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param Address: specifies the slave address which will be transmitted + * @param I2C_Direction: specifies whether the I2C device will be a + * Transmitter or a Receiver. This parameter can be one of the following values + * @arg I2C_Direction_Transmitter: Transmitter mode + * @arg I2C_Direction_Receiver: Receiver mode + * @retval None. + */ +void I2C_Send7bitAddress(I2C_TypeDef* I2Cx, uint8_t Address, uint8_t I2C_Direction) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_DIRECTION(I2C_Direction)); + /* Test on the direction to set/reset the read/write bit */ + if (I2C_Direction != I2C_Direction_Transmitter) + { + /* Set the address bit0 for read */ + Address |= OAR1_ADD0_Set; + } + else + { + /* Reset the address bit0 for write */ + Address &= OAR1_ADD0_Reset; + } + /* Send the address */ + I2Cx->DR = Address; +} + +/** + * @brief Reads the specified I2C register and returns its value. + * @param I2C_Register: specifies the register to read. + * This parameter can be one of the following values: + * @arg I2C_Register_CR1: CR1 register. + * @arg I2C_Register_CR2: CR2 register. + * @arg I2C_Register_OAR1: OAR1 register. + * @arg I2C_Register_OAR2: OAR2 register. + * @arg I2C_Register_DR: DR register. + * @arg I2C_Register_SR1: SR1 register. + * @arg I2C_Register_SR2: SR2 register. + * @arg I2C_Register_CCR: CCR register. + * @arg I2C_Register_TRISE: TRISE register. + * @retval The value of the read register. + */ +uint16_t I2C_ReadRegister(I2C_TypeDef* I2Cx, uint8_t I2C_Register) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_REGISTER(I2C_Register)); + + tmp = (uint32_t) I2Cx; + tmp += I2C_Register; + + /* Return the selected register value */ + return (*(__IO uint16_t *) tmp); +} + +/** + * @brief Enables or disables the specified I2C software reset. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C software reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_SoftwareResetCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Peripheral under reset */ + I2Cx->CR1 |= CR1_SWRST_Set; + } + else + { + /* Peripheral not under reset */ + I2Cx->CR1 &= CR1_SWRST_Reset; + } +} + +/** + * @brief Selects the specified I2C NACK position in master receiver mode. + * This function is useful in I2C Master Receiver mode when the number + * of data to be received is equal to 2. In this case, this function + * should be called (with parameter I2C_NACKPosition_Next) before data + * reception starts,as described in the 2-byte reception procedure + * recommended in Reference Manual in Section: Master receiver. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_NACKPosition: specifies the NACK position. + * This parameter can be one of the following values: + * @arg I2C_NACKPosition_Next: indicates that the next byte will be the last + * received byte. + * @arg I2C_NACKPosition_Current: indicates that current byte is the last + * received byte. + * + * @note This function configures the same bit (POS) as I2C_PECPositionConfig() + * but is intended to be used in I2C mode while I2C_PECPositionConfig() + * is intended to used in SMBUS mode. + * + * @retval None + */ +void I2C_NACKPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_NACKPosition) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_NACK_POSITION(I2C_NACKPosition)); + + /* Check the input parameter */ + if (I2C_NACKPosition == I2C_NACKPosition_Next) + { + /* Next byte in shift register is the last received byte */ + I2Cx->CR1 |= I2C_NACKPosition_Next; + } + else + { + /* Current byte in shift register is the last received byte */ + I2Cx->CR1 &= I2C_NACKPosition_Current; + } +} + +/** + * @brief Drives the SMBusAlert pin high or low for the specified I2C. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_SMBusAlert: specifies SMBAlert pin level. + * This parameter can be one of the following values: + * @arg I2C_SMBusAlert_Low: SMBAlert pin driven low + * @arg I2C_SMBusAlert_High: SMBAlert pin driven high + * @retval None + */ +void I2C_SMBusAlertConfig(I2C_TypeDef* I2Cx, uint16_t I2C_SMBusAlert) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_SMBUS_ALERT(I2C_SMBusAlert)); + if (I2C_SMBusAlert == I2C_SMBusAlert_Low) + { + /* Drive the SMBusAlert pin Low */ + I2Cx->CR1 |= I2C_SMBusAlert_Low; + } + else + { + /* Drive the SMBusAlert pin High */ + I2Cx->CR1 &= I2C_SMBusAlert_High; + } +} + +/** + * @brief Enables or disables the specified I2C PEC transfer. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2C PEC transmission. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_TransmitPEC(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C PEC transmission */ + I2Cx->CR1 |= CR1_PEC_Set; + } + else + { + /* Disable the selected I2C PEC transmission */ + I2Cx->CR1 &= CR1_PEC_Reset; + } +} + +/** + * @brief Selects the specified I2C PEC position. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_PECPosition: specifies the PEC position. + * This parameter can be one of the following values: + * @arg I2C_PECPosition_Next: indicates that the next byte is PEC + * @arg I2C_PECPosition_Current: indicates that current byte is PEC + * + * @note This function configures the same bit (POS) as I2C_NACKPositionConfig() + * but is intended to be used in SMBUS mode while I2C_NACKPositionConfig() + * is intended to used in I2C mode. + * + * @retval None + */ +void I2C_PECPositionConfig(I2C_TypeDef* I2Cx, uint16_t I2C_PECPosition) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_PEC_POSITION(I2C_PECPosition)); + if (I2C_PECPosition == I2C_PECPosition_Next) + { + /* Next byte in shift register is PEC */ + I2Cx->CR1 |= I2C_PECPosition_Next; + } + else + { + /* Current byte in shift register is PEC */ + I2Cx->CR1 &= I2C_PECPosition_Current; + } +} + +/** + * @brief Enables or disables the PEC value calculation of the transferred bytes. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx PEC value calculation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_CalculatePEC(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C PEC calculation */ + I2Cx->CR1 |= CR1_ENPEC_Set; + } + else + { + /* Disable the selected I2C PEC calculation */ + I2Cx->CR1 &= CR1_ENPEC_Reset; + } +} + +/** + * @brief Returns the PEC value for the specified I2C. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @retval The PEC value. + */ +uint8_t I2C_GetPEC(I2C_TypeDef* I2Cx) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + /* Return the selected I2C PEC value */ + return ((I2Cx->SR2) >> 8); +} + +/** + * @brief Enables or disables the specified I2C ARP. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx ARP. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_ARPCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected I2C ARP */ + I2Cx->CR1 |= CR1_ENARP_Set; + } + else + { + /* Disable the selected I2C ARP */ + I2Cx->CR1 &= CR1_ENARP_Reset; + } +} + +/** + * @brief Enables or disables the specified I2C Clock stretching. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param NewState: new state of the I2Cx Clock stretching. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2C_StretchClockCmd(I2C_TypeDef* I2Cx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState == DISABLE) + { + /* Enable the selected I2C Clock stretching */ + I2Cx->CR1 |= CR1_NOSTRETCH_Set; + } + else + { + /* Disable the selected I2C Clock stretching */ + I2Cx->CR1 &= CR1_NOSTRETCH_Reset; + } +} + +/** + * @brief Selects the specified I2C fast mode duty cycle. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_DutyCycle: specifies the fast mode duty cycle. + * This parameter can be one of the following values: + * @arg I2C_DutyCycle_2: I2C fast mode Tlow/Thigh = 2 + * @arg I2C_DutyCycle_16_9: I2C fast mode Tlow/Thigh = 16/9 + * @retval None + */ +void I2C_FastModeDutyCycleConfig(I2C_TypeDef* I2Cx, uint16_t I2C_DutyCycle) +{ + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_DUTY_CYCLE(I2C_DutyCycle)); + if (I2C_DutyCycle != I2C_DutyCycle_16_9) + { + /* I2C fast mode Tlow/Thigh=2 */ + I2Cx->CCR &= I2C_DutyCycle_2; + } + else + { + /* I2C fast mode Tlow/Thigh=16/9 */ + I2Cx->CCR |= I2C_DutyCycle_16_9; + } +} + + + +/** + * @brief + **************************************************************************************** + * + * I2C State Monitoring Functions + * + **************************************************************************************** + * This I2C driver provides three different ways for I2C state monitoring + * depending on the application requirements and constraints: + * + * + * 1) Basic state monitoring: + * Using I2C_CheckEvent() function: + * It compares the status registers (SR1 and SR2) content to a given event + * (can be the combination of one or more flags). + * It returns SUCCESS if the current status includes the given flags + * and returns ERROR if one or more flags are missing in the current status. + * - When to use: + * - This function is suitable for most applications as well as for startup + * activity since the events are fully described in the product reference manual + * (RM0008). + * - It is also suitable for users who need to define their own events. + * - Limitations: + * - If an error occurs (ie. error flags are set besides to the monitored flags), + * the I2C_CheckEvent() function may return SUCCESS despite the communication + * hold or corrupted real state. + * In this case, it is advised to use error interrupts to monitor the error + * events and handle them in the interrupt IRQ handler. + * + * @note + * For error management, it is advised to use the following functions: + * - I2C_ITConfig() to configure and enable the error interrupts (I2C_IT_ERR). + * - I2Cx_ER_IRQHandler() which is called when the error interrupt occurs. + * Where x is the peripheral instance (I2C1, I2C2 ...) + * - I2C_GetFlagStatus() or I2C_GetITStatus() to be called into I2Cx_ER_IRQHandler() + * in order to determine which error occured. + * - I2C_ClearFlag() or I2C_ClearITPendingBit() and/or I2C_SoftwareResetCmd() + * and/or I2C_GenerateStop() in order to clear the error flag and source, + * and return to correct communication status. + * + * + * 2) Advanced state monitoring: + * Using the function I2C_GetLastEvent() which returns the image of both status + * registers in a single word (uint32_t) (Status Register 2 value is shifted left + * by 16 bits and concatenated to Status Register 1). + * - When to use: + * - This function is suitable for the same applications above but it allows to + * overcome the mentioned limitation of I2C_GetFlagStatus() function. + * The returned value could be compared to events already defined in the + * library (stm32f10x_i2c.h) or to custom values defined by user. + * - This function is suitable when multiple flags are monitored at the same time. + * - At the opposite of I2C_CheckEvent() function, this function allows user to + * choose when an event is accepted (when all events flags are set and no + * other flags are set or just when the needed flags are set like + * I2C_CheckEvent() function). + * - Limitations: + * - User may need to define his own events. + * - Same remark concerning the error management is applicable for this + * function if user decides to check only regular communication flags (and + * ignores error flags). + * + * + * 3) Flag-based state monitoring: + * Using the function I2C_GetFlagStatus() which simply returns the status of + * one single flag (ie. I2C_FLAG_RXNE ...). + * - When to use: + * - This function could be used for specific applications or in debug phase. + * - It is suitable when only one flag checking is needed (most I2C events + * are monitored through multiple flags). + * - Limitations: + * - When calling this function, the Status register is accessed. Some flags are + * cleared when the status register is accessed. So checking the status + * of one Flag, may clear other ones. + * - Function may need to be called twice or more in order to monitor one + * single event. + * + * For detailed description of Events, please refer to section I2C_Events in + * stm32f10x_i2c.h file. + * + */ + +/** + * + * 1) Basic state monitoring + ******************************************************************************* + */ + +/** + * @brief Checks whether the last I2Cx Event is equal to the one passed + * as parameter. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_EVENT: specifies the event to be checked. + * This parameter can be one of the following values: + * @arg I2C_EVENT_SLAVE_TRANSMITTER_ADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_RECEIVER_ADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_TRANSMITTER_SECONDADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_RECEIVER_SECONDADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_GENERALCALLADDRESS_MATCHED : EV1 + * @arg I2C_EVENT_SLAVE_BYTE_RECEIVED : EV2 + * @arg (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_DUALF) : EV2 + * @arg (I2C_EVENT_SLAVE_BYTE_RECEIVED | I2C_FLAG_GENCALL) : EV2 + * @arg I2C_EVENT_SLAVE_BYTE_TRANSMITTED : EV3 + * @arg (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_DUALF) : EV3 + * @arg (I2C_EVENT_SLAVE_BYTE_TRANSMITTED | I2C_FLAG_GENCALL) : EV3 + * @arg I2C_EVENT_SLAVE_ACK_FAILURE : EV3_2 + * @arg I2C_EVENT_SLAVE_STOP_DETECTED : EV4 + * @arg I2C_EVENT_MASTER_MODE_SELECT : EV5 + * @arg I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED : EV6 + * @arg I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED : EV6 + * @arg I2C_EVENT_MASTER_BYTE_RECEIVED : EV7 + * @arg I2C_EVENT_MASTER_BYTE_TRANSMITTING : EV8 + * @arg I2C_EVENT_MASTER_BYTE_TRANSMITTED : EV8_2 + * @arg I2C_EVENT_MASTER_MODE_ADDRESS10 : EV9 + * + * @note: For detailed description of Events, please refer to section + * I2C_Events in stm32f10x_i2c.h file. + * + * @retval An ErrorStatus enumeration value: + * - SUCCESS: Last event is equal to the I2C_EVENT + * - ERROR: Last event is different from the I2C_EVENT + */ +ErrorStatus I2C_CheckEvent(I2C_TypeDef* I2Cx, uint32_t I2C_EVENT) +{ + uint32_t lastevent = 0; + uint32_t flag1 = 0, flag2 = 0; + ErrorStatus status = ERROR; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_EVENT(I2C_EVENT)); + + /* Read the I2Cx status register */ + flag1 = I2Cx->SR1; + flag2 = I2Cx->SR2; + flag2 = flag2 << 16; + + /* Get the last event value from I2C status register */ + lastevent = (flag1 | flag2) & FLAG_Mask; + + /* Check whether the last event contains the I2C_EVENT */ + if ((lastevent & I2C_EVENT) == I2C_EVENT) + { + /* SUCCESS: last event is equal to I2C_EVENT */ + status = SUCCESS; + } + else + { + /* ERROR: last event is different from I2C_EVENT */ + status = ERROR; + } + /* Return status */ + return status; +} + +/** + * + * 2) Advanced state monitoring + ******************************************************************************* + */ + +/** + * @brief Returns the last I2Cx Event. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * + * @note: For detailed description of Events, please refer to section + * I2C_Events in stm32f10x_i2c.h file. + * + * @retval The last event + */ +uint32_t I2C_GetLastEvent(I2C_TypeDef* I2Cx) +{ + uint32_t lastevent = 0; + uint32_t flag1 = 0, flag2 = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + + /* Read the I2Cx status register */ + flag1 = I2Cx->SR1; + flag2 = I2Cx->SR2; + flag2 = flag2 << 16; + + /* Get the last event value from I2C status register */ + lastevent = (flag1 | flag2) & FLAG_Mask; + + /* Return status */ + return lastevent; +} + +/** + * + * 3) Flag-based state monitoring + ******************************************************************************* + */ + +/** + * @brief Checks whether the specified I2C flag is set or not. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg I2C_FLAG_DUALF: Dual flag (Slave mode) + * @arg I2C_FLAG_SMBHOST: SMBus host header (Slave mode) + * @arg I2C_FLAG_SMBDEFAULT: SMBus default header (Slave mode) + * @arg I2C_FLAG_GENCALL: General call header flag (Slave mode) + * @arg I2C_FLAG_TRA: Transmitter/Receiver flag + * @arg I2C_FLAG_BUSY: Bus busy flag + * @arg I2C_FLAG_MSL: Master/Slave flag + * @arg I2C_FLAG_SMBALERT: SMBus Alert flag + * @arg I2C_FLAG_TIMEOUT: Timeout or Tlow error flag + * @arg I2C_FLAG_PECERR: PEC error in reception flag + * @arg I2C_FLAG_OVR: Overrun/Underrun flag (Slave mode) + * @arg I2C_FLAG_AF: Acknowledge failure flag + * @arg I2C_FLAG_ARLO: Arbitration lost flag (Master mode) + * @arg I2C_FLAG_BERR: Bus error flag + * @arg I2C_FLAG_TXE: Data register empty flag (Transmitter) + * @arg I2C_FLAG_RXNE: Data register not empty (Receiver) flag + * @arg I2C_FLAG_STOPF: Stop detection flag (Slave mode) + * @arg I2C_FLAG_ADD10: 10-bit header sent flag (Master mode) + * @arg I2C_FLAG_BTF: Byte transfer finished flag + * @arg I2C_FLAG_ADDR: Address sent flag (Master mode) "ADSL" + * Address matched flag (Slave mode)"ENDA" + * @arg I2C_FLAG_SB: Start bit flag (Master mode) + * @retval The new state of I2C_FLAG (SET or RESET). + */ +FlagStatus I2C_GetFlagStatus(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG) +{ + FlagStatus bitstatus = RESET; + __IO uint32_t i2creg = 0, i2cxbase = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_GET_FLAG(I2C_FLAG)); + + /* Get the I2Cx peripheral base address */ + i2cxbase = (uint32_t)I2Cx; + + /* Read flag register index */ + i2creg = I2C_FLAG >> 28; + + /* Get bit[23:0] of the flag */ + I2C_FLAG &= FLAG_Mask; + + if(i2creg != 0) + { + /* Get the I2Cx SR1 register address */ + i2cxbase += 0x14; + } + else + { + /* Flag in I2Cx SR2 Register */ + I2C_FLAG = (uint32_t)(I2C_FLAG >> 16); + /* Get the I2Cx SR2 register address */ + i2cxbase += 0x18; + } + + if(((*(__IO uint32_t *)i2cxbase) & I2C_FLAG) != (uint32_t)RESET) + { + /* I2C_FLAG is set */ + bitstatus = SET; + } + else + { + /* I2C_FLAG is reset */ + bitstatus = RESET; + } + + /* Return the I2C_FLAG status */ + return bitstatus; +} + + + +/** + * @brief Clears the I2Cx's pending flags. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg I2C_FLAG_SMBALERT: SMBus Alert flag + * @arg I2C_FLAG_TIMEOUT: Timeout or Tlow error flag + * @arg I2C_FLAG_PECERR: PEC error in reception flag + * @arg I2C_FLAG_OVR: Overrun/Underrun flag (Slave mode) + * @arg I2C_FLAG_AF: Acknowledge failure flag + * @arg I2C_FLAG_ARLO: Arbitration lost flag (Master mode) + * @arg I2C_FLAG_BERR: Bus error flag + * + * @note + * - STOPF (STOP detection) is cleared by software sequence: a read operation + * to I2C_SR1 register (I2C_GetFlagStatus()) followed by a write operation + * to I2C_CR1 register (I2C_Cmd() to re-enable the I2C peripheral). + * - ADD10 (10-bit header sent) is cleared by software sequence: a read + * operation to I2C_SR1 (I2C_GetFlagStatus()) followed by writing the + * second byte of the address in DR register. + * - BTF (Byte Transfer Finished) is cleared by software sequence: a read + * operation to I2C_SR1 register (I2C_GetFlagStatus()) followed by a + * read/write to I2C_DR register (I2C_SendData()). + * - ADDR (Address sent) is cleared by software sequence: a read operation to + * I2C_SR1 register (I2C_GetFlagStatus()) followed by a read operation to + * I2C_SR2 register ((void)(I2Cx->SR2)). + * - SB (Start Bit) is cleared software sequence: a read operation to I2C_SR1 + * register (I2C_GetFlagStatus()) followed by a write operation to I2C_DR + * register (I2C_SendData()). + * @retval None + */ +void I2C_ClearFlag(I2C_TypeDef* I2Cx, uint32_t I2C_FLAG) +{ + uint32_t flagpos = 0; + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_CLEAR_FLAG(I2C_FLAG)); + /* Get the I2C flag position */ + flagpos = I2C_FLAG & FLAG_Mask; + /* Clear the selected I2C flag */ + I2Cx->SR1 = (uint16_t)~flagpos; +} + +/** + * @brief Checks whether the specified I2C interrupt has occurred or not. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_IT: specifies the interrupt source to check. + * This parameter can be one of the following values: + * @arg I2C_IT_SMBALERT: SMBus Alert flag + * @arg I2C_IT_TIMEOUT: Timeout or Tlow error flag + * @arg I2C_IT_PECERR: PEC error in reception flag + * @arg I2C_IT_OVR: Overrun/Underrun flag (Slave mode) + * @arg I2C_IT_AF: Acknowledge failure flag + * @arg I2C_IT_ARLO: Arbitration lost flag (Master mode) + * @arg I2C_IT_BERR: Bus error flag + * @arg I2C_IT_TXE: Data register empty flag (Transmitter) + * @arg I2C_IT_RXNE: Data register not empty (Receiver) flag + * @arg I2C_IT_STOPF: Stop detection flag (Slave mode) + * @arg I2C_IT_ADD10: 10-bit header sent flag (Master mode) + * @arg I2C_IT_BTF: Byte transfer finished flag + * @arg I2C_IT_ADDR: Address sent flag (Master mode) "ADSL" + * Address matched flag (Slave mode)"ENDAD" + * @arg I2C_IT_SB: Start bit flag (Master mode) + * @retval The new state of I2C_IT (SET or RESET). + */ +ITStatus I2C_GetITStatus(I2C_TypeDef* I2Cx, uint32_t I2C_IT) +{ + ITStatus bitstatus = RESET; + uint32_t enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_GET_IT(I2C_IT)); + + /* Check if the interrupt source is enabled or not */ + enablestatus = (uint32_t)(((I2C_IT & ITEN_Mask) >> 16) & (I2Cx->CR2)) ; + + /* Get bit[23:0] of the flag */ + I2C_IT &= FLAG_Mask; + + /* Check the status of the specified I2C flag */ + if (((I2Cx->SR1 & I2C_IT) != (uint32_t)RESET) && enablestatus) + { + /* I2C_IT is set */ + bitstatus = SET; + } + else + { + /* I2C_IT is reset */ + bitstatus = RESET; + } + /* Return the I2C_IT status */ + return bitstatus; +} + +/** + * @brief Clears the I2Cxs interrupt pending bits. + * @param I2Cx: where x can be 1 or 2 to select the I2C peripheral. + * @param I2C_IT: specifies the interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg I2C_IT_SMBALERT: SMBus Alert interrupt + * @arg I2C_IT_TIMEOUT: Timeout or Tlow error interrupt + * @arg I2C_IT_PECERR: PEC error in reception interrupt + * @arg I2C_IT_OVR: Overrun/Underrun interrupt (Slave mode) + * @arg I2C_IT_AF: Acknowledge failure interrupt + * @arg I2C_IT_ARLO: Arbitration lost interrupt (Master mode) + * @arg I2C_IT_BERR: Bus error interrupt + * + * @note + * - STOPF (STOP detection) is cleared by software sequence: a read operation + * to I2C_SR1 register (I2C_GetITStatus()) followed by a write operation to + * I2C_CR1 register (I2C_Cmd() to re-enable the I2C peripheral). + * - ADD10 (10-bit header sent) is cleared by software sequence: a read + * operation to I2C_SR1 (I2C_GetITStatus()) followed by writing the second + * byte of the address in I2C_DR register. + * - BTF (Byte Transfer Finished) is cleared by software sequence: a read + * operation to I2C_SR1 register (I2C_GetITStatus()) followed by a + * read/write to I2C_DR register (I2C_SendData()). + * - ADDR (Address sent) is cleared by software sequence: a read operation to + * I2C_SR1 register (I2C_GetITStatus()) followed by a read operation to + * I2C_SR2 register ((void)(I2Cx->SR2)). + * - SB (Start Bit) is cleared by software sequence: a read operation to + * I2C_SR1 register (I2C_GetITStatus()) followed by a write operation to + * I2C_DR register (I2C_SendData()). + * @retval None + */ +void I2C_ClearITPendingBit(I2C_TypeDef* I2Cx, uint32_t I2C_IT) +{ + uint32_t flagpos = 0; + /* Check the parameters */ + assert_param(IS_I2C_ALL_PERIPH(I2Cx)); + assert_param(IS_I2C_CLEAR_IT(I2C_IT)); + /* Get the I2C flag position */ + flagpos = I2C_IT & FLAG_Mask; + /* Clear the selected I2C flag */ + I2Cx->SR1 = (uint16_t)~flagpos; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_iwdg.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_iwdg.c new file mode 100644 index 0000000..c7cbf7e --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_iwdg.c @@ -0,0 +1,190 @@ +/** + ****************************************************************************** + * @file stm32f10x_iwdg.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the IWDG firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_iwdg.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup IWDG + * @brief IWDG driver modules + * @{ + */ + +/** @defgroup IWDG_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_Defines + * @{ + */ + +/* ---------------------- IWDG registers bit mask ----------------------------*/ + +/* KR register bit mask */ +#define KR_KEY_Reload ((uint16_t)0xAAAA) +#define KR_KEY_Enable ((uint16_t)0xCCCC) + +/** + * @} + */ + +/** @defgroup IWDG_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup IWDG_Private_Functions + * @{ + */ + +/** + * @brief Enables or disables write access to IWDG_PR and IWDG_RLR registers. + * @param IWDG_WriteAccess: new state of write access to IWDG_PR and IWDG_RLR registers. + * This parameter can be one of the following values: + * @arg IWDG_WriteAccess_Enable: Enable write access to IWDG_PR and IWDG_RLR registers + * @arg IWDG_WriteAccess_Disable: Disable write access to IWDG_PR and IWDG_RLR registers + * @retval None + */ +void IWDG_WriteAccessCmd(uint16_t IWDG_WriteAccess) +{ + /* Check the parameters */ + assert_param(IS_IWDG_WRITE_ACCESS(IWDG_WriteAccess)); + IWDG->KR = IWDG_WriteAccess; +} + +/** + * @brief Sets IWDG Prescaler value. + * @param IWDG_Prescaler: specifies the IWDG Prescaler value. + * This parameter can be one of the following values: + * @arg IWDG_Prescaler_4: IWDG prescaler set to 4 + * @arg IWDG_Prescaler_8: IWDG prescaler set to 8 + * @arg IWDG_Prescaler_16: IWDG prescaler set to 16 + * @arg IWDG_Prescaler_32: IWDG prescaler set to 32 + * @arg IWDG_Prescaler_64: IWDG prescaler set to 64 + * @arg IWDG_Prescaler_128: IWDG prescaler set to 128 + * @arg IWDG_Prescaler_256: IWDG prescaler set to 256 + * @retval None + */ +void IWDG_SetPrescaler(uint8_t IWDG_Prescaler) +{ + /* Check the parameters */ + assert_param(IS_IWDG_PRESCALER(IWDG_Prescaler)); + IWDG->PR = IWDG_Prescaler; +} + +/** + * @brief Sets IWDG Reload value. + * @param Reload: specifies the IWDG Reload value. + * This parameter must be a number between 0 and 0x0FFF. + * @retval None + */ +void IWDG_SetReload(uint16_t Reload) +{ + /* Check the parameters */ + assert_param(IS_IWDG_RELOAD(Reload)); + IWDG->RLR = Reload; +} + +/** + * @brief Reloads IWDG counter with value defined in the reload register + * (write access to IWDG_PR and IWDG_RLR registers disabled). + * @param None + * @retval None + */ +void IWDG_ReloadCounter(void) +{ + IWDG->KR = KR_KEY_Reload; +} + +/** + * @brief Enables IWDG (write access to IWDG_PR and IWDG_RLR registers disabled). + * @param None + * @retval None + */ +void IWDG_Enable(void) +{ + IWDG->KR = KR_KEY_Enable; +} + +/** + * @brief Checks whether the specified IWDG flag is set or not. + * @param IWDG_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg IWDG_FLAG_PVU: Prescaler Value Update on going + * @arg IWDG_FLAG_RVU: Reload Value Update on going + * @retval The new state of IWDG_FLAG (SET or RESET). + */ +FlagStatus IWDG_GetFlagStatus(uint16_t IWDG_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_IWDG_FLAG(IWDG_FLAG)); + if ((IWDG->SR & IWDG_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the flag status */ + return bitstatus; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_pwr.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_pwr.c new file mode 100644 index 0000000..a5a5c57 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_pwr.c @@ -0,0 +1,307 @@ +/** + ****************************************************************************** + * @file stm32f10x_pwr.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the PWR firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_pwr.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup PWR + * @brief PWR driver modules + * @{ + */ + +/** @defgroup PWR_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_Defines + * @{ + */ + +/* --------- PWR registers bit address in the alias region ---------- */ +#define PWR_OFFSET (PWR_BASE - PERIPH_BASE) + +/* --- CR Register ---*/ + +/* Alias word address of DBP bit */ +#define CR_OFFSET (PWR_OFFSET + 0x00) +#define DBP_BitNumber 0x08 +#define CR_DBP_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (DBP_BitNumber * 4)) + +/* Alias word address of PVDE bit */ +#define PVDE_BitNumber 0x04 +#define CR_PVDE_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PVDE_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of EWUP bit */ +#define CSR_OFFSET (PWR_OFFSET + 0x04) +#define EWUP_BitNumber 0x08 +#define CSR_EWUP_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (EWUP_BitNumber * 4)) + +/* ------------------ PWR registers bit mask ------------------------ */ + +/* CR register bit mask */ +#define CR_DS_MASK ((uint32_t)0xFFFFFFFC) +#define CR_PLS_MASK ((uint32_t)0xFFFFFF1F) + + +/** + * @} + */ + +/** @defgroup PWR_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup PWR_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the PWR peripheral registers to their default reset values. + * @param None + * @retval None + */ +void PWR_DeInit(void) +{ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_PWR, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_PWR, DISABLE); +} + +/** + * @brief Enables or disables access to the RTC and backup registers. + * @param NewState: new state of the access to the RTC and backup registers. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void PWR_BackupAccessCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_DBP_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the Power Voltage Detector(PVD). + * @param NewState: new state of the PVD. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void PWR_PVDCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_PVDE_BB = (uint32_t)NewState; +} + +/** + * @brief Configures the voltage threshold detected by the Power Voltage Detector(PVD). + * @param PWR_PVDLevel: specifies the PVD detection level + * This parameter can be one of the following values: + * @arg PWR_PVDLevel_2V2: PVD detection level set to 2.2V + * @arg PWR_PVDLevel_2V3: PVD detection level set to 2.3V + * @arg PWR_PVDLevel_2V4: PVD detection level set to 2.4V + * @arg PWR_PVDLevel_2V5: PVD detection level set to 2.5V + * @arg PWR_PVDLevel_2V6: PVD detection level set to 2.6V + * @arg PWR_PVDLevel_2V7: PVD detection level set to 2.7V + * @arg PWR_PVDLevel_2V8: PVD detection level set to 2.8V + * @arg PWR_PVDLevel_2V9: PVD detection level set to 2.9V + * @retval None + */ +void PWR_PVDLevelConfig(uint32_t PWR_PVDLevel) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_PWR_PVD_LEVEL(PWR_PVDLevel)); + tmpreg = PWR->CR; + /* Clear PLS[7:5] bits */ + tmpreg &= CR_PLS_MASK; + /* Set PLS[7:5] bits according to PWR_PVDLevel value */ + tmpreg |= PWR_PVDLevel; + /* Store the new value */ + PWR->CR = tmpreg; +} + +/** + * @brief Enables or disables the WakeUp Pin functionality. + * @param NewState: new state of the WakeUp Pin functionality. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void PWR_WakeUpPinCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CSR_EWUP_BB = (uint32_t)NewState; +} + +/** + * @brief Enters STOP mode. + * @param PWR_Regulator: specifies the regulator state in STOP mode. + * This parameter can be one of the following values: + * @arg PWR_Regulator_ON: STOP mode with regulator ON + * @arg PWR_Regulator_LowPower: STOP mode with regulator in low power mode + * @param PWR_STOPEntry: specifies if STOP mode in entered with WFI or WFE instruction. + * This parameter can be one of the following values: + * @arg PWR_STOPEntry_WFI: enter STOP mode with WFI instruction + * @arg PWR_STOPEntry_WFE: enter STOP mode with WFE instruction + * @retval None + */ +void PWR_EnterSTOPMode(uint32_t PWR_Regulator, uint8_t PWR_STOPEntry) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_PWR_REGULATOR(PWR_Regulator)); + assert_param(IS_PWR_STOP_ENTRY(PWR_STOPEntry)); + + /* Select the regulator state in STOP mode ---------------------------------*/ + tmpreg = PWR->CR; + /* Clear PDDS and LPDS bits */ + tmpreg &= CR_DS_MASK; + /* Set LPDS bit according to PWR_Regulator value */ + tmpreg |= PWR_Regulator; + /* Store the new value */ + PWR->CR = tmpreg; + /* Set SLEEPDEEP bit of Cortex System Control Register */ + SCB->SCR |= SCB_SCR_SLEEPDEEP; + + /* Select STOP mode entry --------------------------------------------------*/ + if(PWR_STOPEntry == PWR_STOPEntry_WFI) + { + /* Request Wait For Interrupt */ + __WFI(); + } + else + { + /* Request Wait For Event */ + __WFE(); + } + + /* Reset SLEEPDEEP bit of Cortex System Control Register */ + SCB->SCR &= (uint32_t)~((uint32_t)SCB_SCR_SLEEPDEEP); +} + +/** + * @brief Enters STANDBY mode. + * @param None + * @retval None + */ +void PWR_EnterSTANDBYMode(void) +{ + /* Clear Wake-up flag */ + PWR->CR |= PWR_CR_CWUF; + /* Select STANDBY mode */ + PWR->CR |= PWR_CR_PDDS; + /* Set SLEEPDEEP bit of Cortex System Control Register */ + SCB->SCR |= SCB_SCR_SLEEPDEEP; +/* This option is used to ensure that store operations are completed */ +#if defined ( __CC_ARM ) + __force_stores(); +#endif + /* Request Wait For Interrupt */ + __WFI(); +} + +/** + * @brief Checks whether the specified PWR flag is set or not. + * @param PWR_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg PWR_FLAG_WU: Wake Up flag + * @arg PWR_FLAG_SB: StandBy flag + * @arg PWR_FLAG_PVDO: PVD Output + * @retval The new state of PWR_FLAG (SET or RESET). + */ +FlagStatus PWR_GetFlagStatus(uint32_t PWR_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_PWR_GET_FLAG(PWR_FLAG)); + + if ((PWR->CSR & PWR_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + /* Return the flag status */ + return bitstatus; +} + +/** + * @brief Clears the PWR's pending flags. + * @param PWR_FLAG: specifies the flag to clear. + * This parameter can be one of the following values: + * @arg PWR_FLAG_WU: Wake Up flag + * @arg PWR_FLAG_SB: StandBy flag + * @retval None + */ +void PWR_ClearFlag(uint32_t PWR_FLAG) +{ + /* Check the parameters */ + assert_param(IS_PWR_CLEAR_FLAG(PWR_FLAG)); + + PWR->CR |= PWR_FLAG << 2; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_rcc.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_rcc.c new file mode 100644 index 0000000..a29034b --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_rcc.c @@ -0,0 +1,1470 @@ +/** + ****************************************************************************** + * @file stm32f10x_rcc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the RCC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup RCC + * @brief RCC driver modules + * @{ + */ + +/** @defgroup RCC_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Private_Defines + * @{ + */ + +/* ------------ RCC registers bit address in the alias region ----------- */ +#define RCC_OFFSET (RCC_BASE - PERIPH_BASE) + +/* --- CR Register ---*/ + +/* Alias word address of HSION bit */ +#define CR_OFFSET (RCC_OFFSET + 0x00) +#define HSION_BitNumber 0x00 +#define CR_HSION_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (HSION_BitNumber * 4)) + +/* Alias word address of PLLON bit */ +#define PLLON_BitNumber 0x18 +#define CR_PLLON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PLLON_BitNumber * 4)) + +#ifdef STM32F10X_CL + /* Alias word address of PLL2ON bit */ + #define PLL2ON_BitNumber 0x1A + #define CR_PLL2ON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PLL2ON_BitNumber * 4)) + + /* Alias word address of PLL3ON bit */ + #define PLL3ON_BitNumber 0x1C + #define CR_PLL3ON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (PLL3ON_BitNumber * 4)) +#endif /* STM32F10X_CL */ + +/* Alias word address of CSSON bit */ +#define CSSON_BitNumber 0x13 +#define CR_CSSON_BB (PERIPH_BB_BASE + (CR_OFFSET * 32) + (CSSON_BitNumber * 4)) + +/* --- CFGR Register ---*/ + +/* Alias word address of USBPRE bit */ +#define CFGR_OFFSET (RCC_OFFSET + 0x04) + +#ifndef STM32F10X_CL + #define USBPRE_BitNumber 0x16 + #define CFGR_USBPRE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (USBPRE_BitNumber * 4)) +#else + #define OTGFSPRE_BitNumber 0x16 + #define CFGR_OTGFSPRE_BB (PERIPH_BB_BASE + (CFGR_OFFSET * 32) + (OTGFSPRE_BitNumber * 4)) +#endif /* STM32F10X_CL */ + +/* --- BDCR Register ---*/ + +/* Alias word address of RTCEN bit */ +#define BDCR_OFFSET (RCC_OFFSET + 0x20) +#define RTCEN_BitNumber 0x0F +#define BDCR_RTCEN_BB (PERIPH_BB_BASE + (BDCR_OFFSET * 32) + (RTCEN_BitNumber * 4)) + +/* Alias word address of BDRST bit */ +#define BDRST_BitNumber 0x10 +#define BDCR_BDRST_BB (PERIPH_BB_BASE + (BDCR_OFFSET * 32) + (BDRST_BitNumber * 4)) + +/* --- CSR Register ---*/ + +/* Alias word address of LSION bit */ +#define CSR_OFFSET (RCC_OFFSET + 0x24) +#define LSION_BitNumber 0x00 +#define CSR_LSION_BB (PERIPH_BB_BASE + (CSR_OFFSET * 32) + (LSION_BitNumber * 4)) + +#ifdef STM32F10X_CL +/* --- CFGR2 Register ---*/ + + /* Alias word address of I2S2SRC bit */ + #define CFGR2_OFFSET (RCC_OFFSET + 0x2C) + #define I2S2SRC_BitNumber 0x11 + #define CFGR2_I2S2SRC_BB (PERIPH_BB_BASE + (CFGR2_OFFSET * 32) + (I2S2SRC_BitNumber * 4)) + + /* Alias word address of I2S3SRC bit */ + #define I2S3SRC_BitNumber 0x12 + #define CFGR2_I2S3SRC_BB (PERIPH_BB_BASE + (CFGR2_OFFSET * 32) + (I2S3SRC_BitNumber * 4)) +#endif /* STM32F10X_CL */ + +/* ---------------------- RCC registers bit mask ------------------------ */ + +/* CR register bit mask */ +#define CR_HSEBYP_Reset ((uint32_t)0xFFFBFFFF) +#define CR_HSEBYP_Set ((uint32_t)0x00040000) +#define CR_HSEON_Reset ((uint32_t)0xFFFEFFFF) +#define CR_HSEON_Set ((uint32_t)0x00010000) +#define CR_HSITRIM_Mask ((uint32_t)0xFFFFFF07) + +/* CFGR register bit mask */ +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) + #define CFGR_PLL_Mask ((uint32_t)0xFFC2FFFF) +#else + #define CFGR_PLL_Mask ((uint32_t)0xFFC0FFFF) +#endif /* STM32F10X_CL */ + +#define CFGR_PLLMull_Mask ((uint32_t)0x003C0000) +#define CFGR_PLLSRC_Mask ((uint32_t)0x00010000) +#define CFGR_PLLXTPRE_Mask ((uint32_t)0x00020000) +#define CFGR_SWS_Mask ((uint32_t)0x0000000C) +#define CFGR_SW_Mask ((uint32_t)0xFFFFFFFC) +#define CFGR_HPRE_Reset_Mask ((uint32_t)0xFFFFFF0F) +#define CFGR_HPRE_Set_Mask ((uint32_t)0x000000F0) +#define CFGR_PPRE1_Reset_Mask ((uint32_t)0xFFFFF8FF) +#define CFGR_PPRE1_Set_Mask ((uint32_t)0x00000700) +#define CFGR_PPRE2_Reset_Mask ((uint32_t)0xFFFFC7FF) +#define CFGR_PPRE2_Set_Mask ((uint32_t)0x00003800) +#define CFGR_ADCPRE_Reset_Mask ((uint32_t)0xFFFF3FFF) +#define CFGR_ADCPRE_Set_Mask ((uint32_t)0x0000C000) + +/* CSR register bit mask */ +#define CSR_RMVF_Set ((uint32_t)0x01000000) + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) +/* CFGR2 register bit mask */ + #define CFGR2_PREDIV1SRC ((uint32_t)0x00010000) + #define CFGR2_PREDIV1 ((uint32_t)0x0000000F) +#endif +#ifdef STM32F10X_CL + #define CFGR2_PREDIV2 ((uint32_t)0x000000F0) + #define CFGR2_PLL2MUL ((uint32_t)0x00000F00) + #define CFGR2_PLL3MUL ((uint32_t)0x0000F000) +#endif /* STM32F10X_CL */ + +/* RCC Flag Mask */ +#define FLAG_Mask ((uint8_t)0x1F) + +/* CIR register byte 2 (Bits[15:8]) base address */ +#define CIR_BYTE2_ADDRESS ((uint32_t)0x40021009) + +/* CIR register byte 3 (Bits[23:16]) base address */ +#define CIR_BYTE3_ADDRESS ((uint32_t)0x4002100A) + +/* CFGR register byte 4 (Bits[31:24]) base address */ +#define CFGR_BYTE4_ADDRESS ((uint32_t)0x40021007) + +/* BDCR register base address */ +#define BDCR_ADDRESS (PERIPH_BASE + BDCR_OFFSET) + +/** + * @} + */ + +/** @defgroup RCC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Private_Variables + * @{ + */ + +static __I uint8_t APBAHBPrescTable[16] = {0, 0, 0, 0, 1, 2, 3, 4, 1, 2, 3, 4, 6, 7, 8, 9}; +static __I uint8_t ADCPrescTable[4] = {2, 4, 6, 8}; + +/** + * @} + */ + +/** @defgroup RCC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup RCC_Private_Functions + * @{ + */ + +/** + * @brief Resets the RCC clock configuration to the default reset state. + * @param None + * @retval None + */ +void RCC_DeInit(void) +{ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset SW, HPRE, PPRE1, PPRE2, ADCPRE and MCO bits */ +#ifndef STM32F10X_CL + RCC->CFGR &= (uint32_t)0xF8FF0000; +#else + RCC->CFGR &= (uint32_t)0xF0FF0000; +#endif /* STM32F10X_CL */ + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE/OTGFSPRE bits */ + RCC->CFGR &= (uint32_t)0xFF80FFFF; + +#ifdef STM32F10X_CL + /* Reset PLL2ON and PLL3ON bits */ + RCC->CR &= (uint32_t)0xEBFFFFFF; + + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x00FF0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#elif defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; + + /* Reset CFGR2 register */ + RCC->CFGR2 = 0x00000000; +#else + /* Disable all interrupts and clear pending bits */ + RCC->CIR = 0x009F0000; +#endif /* STM32F10X_CL */ + +} + +/** + * @brief Configures the External High Speed oscillator (HSE). + * @note HSE can not be stopped if it is used directly or through the PLL as system clock. + * @param RCC_HSE: specifies the new state of the HSE. + * This parameter can be one of the following values: + * @arg RCC_HSE_OFF: HSE oscillator OFF + * @arg RCC_HSE_ON: HSE oscillator ON + * @arg RCC_HSE_Bypass: HSE oscillator bypassed with external clock + * @retval None + */ +void RCC_HSEConfig(uint32_t RCC_HSE) +{ + /* Check the parameters */ + assert_param(IS_RCC_HSE(RCC_HSE)); + /* Reset HSEON and HSEBYP bits before configuring the HSE ------------------*/ + /* Reset HSEON bit */ + RCC->CR &= CR_HSEON_Reset; + /* Reset HSEBYP bit */ + RCC->CR &= CR_HSEBYP_Reset; + /* Configure HSE (RCC_HSE_OFF is already covered by the code section above) */ + switch(RCC_HSE) + { + case RCC_HSE_ON: + /* Set HSEON bit */ + RCC->CR |= CR_HSEON_Set; + break; + + case RCC_HSE_Bypass: + /* Set HSEBYP and HSEON bits */ + RCC->CR |= CR_HSEBYP_Set | CR_HSEON_Set; + break; + + default: + break; + } +} + +/** + * @brief Waits for HSE start-up. + * @param None + * @retval An ErrorStatus enumuration value: + * - SUCCESS: HSE oscillator is stable and ready to use + * - ERROR: HSE oscillator not yet ready + */ +ErrorStatus RCC_WaitForHSEStartUp(void) +{ + __IO uint32_t StartUpCounter = 0; + ErrorStatus status = ERROR; + FlagStatus HSEStatus = RESET; + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC_GetFlagStatus(RCC_FLAG_HSERDY); + StartUpCounter++; + } while((StartUpCounter != HSE_STARTUP_TIMEOUT) && (HSEStatus == RESET)); + + if (RCC_GetFlagStatus(RCC_FLAG_HSERDY) != RESET) + { + status = SUCCESS; + } + else + { + status = ERROR; + } + return (status); +} + +/** + * @brief Adjusts the Internal High Speed oscillator (HSI) calibration value. + * @param HSICalibrationValue: specifies the calibration trimming value. + * This parameter must be a number between 0 and 0x1F. + * @retval None + */ +void RCC_AdjustHSICalibrationValue(uint8_t HSICalibrationValue) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_CALIBRATION_VALUE(HSICalibrationValue)); + tmpreg = RCC->CR; + /* Clear HSITRIM[4:0] bits */ + tmpreg &= CR_HSITRIM_Mask; + /* Set the HSITRIM[4:0] bits according to HSICalibrationValue value */ + tmpreg |= (uint32_t)HSICalibrationValue << 3; + /* Store the new value */ + RCC->CR = tmpreg; +} + +/** + * @brief Enables or disables the Internal High Speed oscillator (HSI). + * @note HSI can not be stopped if it is used directly or through the PLL as system clock. + * @param NewState: new state of the HSI. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_HSICmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_HSION_BB = (uint32_t)NewState; +} + +/** + * @brief Configures the PLL clock source and multiplication factor. + * @note This function must be used only when the PLL is disabled. + * @param RCC_PLLSource: specifies the PLL entry clock source. + * For @b STM32_Connectivity_line_devices or @b STM32_Value_line_devices, + * this parameter can be one of the following values: + * @arg RCC_PLLSource_HSI_Div2: HSI oscillator clock divided by 2 selected as PLL clock entry + * @arg RCC_PLLSource_PREDIV1: PREDIV1 clock selected as PLL clock entry + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_PLLSource_HSI_Div2: HSI oscillator clock divided by 2 selected as PLL clock entry + * @arg RCC_PLLSource_HSE_Div1: HSE oscillator clock selected as PLL clock entry + * @arg RCC_PLLSource_HSE_Div2: HSE oscillator clock divided by 2 selected as PLL clock entry + * @param RCC_PLLMul: specifies the PLL multiplication factor. + * For @b STM32_Connectivity_line_devices, this parameter can be RCC_PLLMul_x where x:{[4,9], 6_5} + * For @b other_STM32_devices, this parameter can be RCC_PLLMul_x where x:[2,16] + * @retval None + */ +void RCC_PLLConfig(uint32_t RCC_PLLSource, uint32_t RCC_PLLMul) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PLL_SOURCE(RCC_PLLSource)); + assert_param(IS_RCC_PLL_MUL(RCC_PLLMul)); + + tmpreg = RCC->CFGR; + /* Clear PLLSRC, PLLXTPRE and PLLMUL[3:0] bits */ + tmpreg &= CFGR_PLL_Mask; + /* Set the PLL configuration bits */ + tmpreg |= RCC_PLLSource | RCC_PLLMul; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Enables or disables the PLL. + * @note The PLL can not be disabled if it is used as system clock. + * @param NewState: new state of the PLL. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_PLLCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CR_PLLON_BB = (uint32_t)NewState; +} + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) || defined (STM32F10X_CL) +/** + * @brief Configures the PREDIV1 division factor. + * @note + * - This function must be used only when the PLL is disabled. + * - This function applies only to STM32 Connectivity line and Value line + * devices. + * @param RCC_PREDIV1_Source: specifies the PREDIV1 clock source. + * This parameter can be one of the following values: + * @arg RCC_PREDIV1_Source_HSE: HSE selected as PREDIV1 clock + * @arg RCC_PREDIV1_Source_PLL2: PLL2 selected as PREDIV1 clock + * @note + * For @b STM32_Value_line_devices this parameter is always RCC_PREDIV1_Source_HSE + * @param RCC_PREDIV1_Div: specifies the PREDIV1 clock division factor. + * This parameter can be RCC_PREDIV1_Divx where x:[1,16] + * @retval None + */ +void RCC_PREDIV1Config(uint32_t RCC_PREDIV1_Source, uint32_t RCC_PREDIV1_Div) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PREDIV1_SOURCE(RCC_PREDIV1_Source)); + assert_param(IS_RCC_PREDIV1(RCC_PREDIV1_Div)); + + tmpreg = RCC->CFGR2; + /* Clear PREDIV1[3:0] and PREDIV1SRC bits */ + tmpreg &= ~(CFGR2_PREDIV1 | CFGR2_PREDIV1SRC); + /* Set the PREDIV1 clock source and division factor */ + tmpreg |= RCC_PREDIV1_Source | RCC_PREDIV1_Div ; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} +#endif + +#ifdef STM32F10X_CL +/** + * @brief Configures the PREDIV2 division factor. + * @note + * - This function must be used only when both PLL2 and PLL3 are disabled. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_PREDIV2_Div: specifies the PREDIV2 clock division factor. + * This parameter can be RCC_PREDIV2_Divx where x:[1,16] + * @retval None + */ +void RCC_PREDIV2Config(uint32_t RCC_PREDIV2_Div) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PREDIV2(RCC_PREDIV2_Div)); + + tmpreg = RCC->CFGR2; + /* Clear PREDIV2[3:0] bits */ + tmpreg &= ~CFGR2_PREDIV2; + /* Set the PREDIV2 division factor */ + tmpreg |= RCC_PREDIV2_Div; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} + +/** + * @brief Configures the PLL2 multiplication factor. + * @note + * - This function must be used only when the PLL2 is disabled. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_PLL2Mul: specifies the PLL2 multiplication factor. + * This parameter can be RCC_PLL2Mul_x where x:{[8,14], 16, 20} + * @retval None + */ +void RCC_PLL2Config(uint32_t RCC_PLL2Mul) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PLL2_MUL(RCC_PLL2Mul)); + + tmpreg = RCC->CFGR2; + /* Clear PLL2Mul[3:0] bits */ + tmpreg &= ~CFGR2_PLL2MUL; + /* Set the PLL2 configuration bits */ + tmpreg |= RCC_PLL2Mul; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} + + +/** + * @brief Enables or disables the PLL2. + * @note + * - The PLL2 can not be disabled if it is used indirectly as system clock + * (i.e. it is used as PLL clock entry that is used as System clock). + * - This function applies only to STM32 Connectivity line devices. + * @param NewState: new state of the PLL2. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_PLL2Cmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CR_PLL2ON_BB = (uint32_t)NewState; +} + + +/** + * @brief Configures the PLL3 multiplication factor. + * @note + * - This function must be used only when the PLL3 is disabled. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_PLL3Mul: specifies the PLL3 multiplication factor. + * This parameter can be RCC_PLL3Mul_x where x:{[8,14], 16, 20} + * @retval None + */ +void RCC_PLL3Config(uint32_t RCC_PLL3Mul) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_RCC_PLL3_MUL(RCC_PLL3Mul)); + + tmpreg = RCC->CFGR2; + /* Clear PLL3Mul[3:0] bits */ + tmpreg &= ~CFGR2_PLL3MUL; + /* Set the PLL3 configuration bits */ + tmpreg |= RCC_PLL3Mul; + /* Store the new value */ + RCC->CFGR2 = tmpreg; +} + + +/** + * @brief Enables or disables the PLL3. + * @note This function applies only to STM32 Connectivity line devices. + * @param NewState: new state of the PLL3. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_PLL3Cmd(FunctionalState NewState) +{ + /* Check the parameters */ + + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_PLL3ON_BB = (uint32_t)NewState; +} +#endif /* STM32F10X_CL */ + +/** + * @brief Configures the system clock (SYSCLK). + * @param RCC_SYSCLKSource: specifies the clock source used as system clock. + * This parameter can be one of the following values: + * @arg RCC_SYSCLKSource_HSI: HSI selected as system clock + * @arg RCC_SYSCLKSource_HSE: HSE selected as system clock + * @arg RCC_SYSCLKSource_PLLCLK: PLL selected as system clock + * @retval None + */ +void RCC_SYSCLKConfig(uint32_t RCC_SYSCLKSource) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_SYSCLK_SOURCE(RCC_SYSCLKSource)); + tmpreg = RCC->CFGR; + /* Clear SW[1:0] bits */ + tmpreg &= CFGR_SW_Mask; + /* Set SW[1:0] bits according to RCC_SYSCLKSource value */ + tmpreg |= RCC_SYSCLKSource; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Returns the clock source used as system clock. + * @param None + * @retval The clock source used as system clock. The returned value can + * be one of the following: + * - 0x00: HSI used as system clock + * - 0x04: HSE used as system clock + * - 0x08: PLL used as system clock + */ +uint8_t RCC_GetSYSCLKSource(void) +{ + return ((uint8_t)(RCC->CFGR & CFGR_SWS_Mask)); +} + +/** + * @brief Configures the AHB clock (HCLK). + * @param RCC_SYSCLK: defines the AHB clock divider. This clock is derived from + * the system clock (SYSCLK). + * This parameter can be one of the following values: + * @arg RCC_SYSCLK_Div1: AHB clock = SYSCLK + * @arg RCC_SYSCLK_Div2: AHB clock = SYSCLK/2 + * @arg RCC_SYSCLK_Div4: AHB clock = SYSCLK/4 + * @arg RCC_SYSCLK_Div8: AHB clock = SYSCLK/8 + * @arg RCC_SYSCLK_Div16: AHB clock = SYSCLK/16 + * @arg RCC_SYSCLK_Div64: AHB clock = SYSCLK/64 + * @arg RCC_SYSCLK_Div128: AHB clock = SYSCLK/128 + * @arg RCC_SYSCLK_Div256: AHB clock = SYSCLK/256 + * @arg RCC_SYSCLK_Div512: AHB clock = SYSCLK/512 + * @retval None + */ +void RCC_HCLKConfig(uint32_t RCC_SYSCLK) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_HCLK(RCC_SYSCLK)); + tmpreg = RCC->CFGR; + /* Clear HPRE[3:0] bits */ + tmpreg &= CFGR_HPRE_Reset_Mask; + /* Set HPRE[3:0] bits according to RCC_SYSCLK value */ + tmpreg |= RCC_SYSCLK; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Configures the Low Speed APB clock (PCLK1). + * @param RCC_HCLK: defines the APB1 clock divider. This clock is derived from + * the AHB clock (HCLK). + * This parameter can be one of the following values: + * @arg RCC_HCLK_Div1: APB1 clock = HCLK + * @arg RCC_HCLK_Div2: APB1 clock = HCLK/2 + * @arg RCC_HCLK_Div4: APB1 clock = HCLK/4 + * @arg RCC_HCLK_Div8: APB1 clock = HCLK/8 + * @arg RCC_HCLK_Div16: APB1 clock = HCLK/16 + * @retval None + */ +void RCC_PCLK1Config(uint32_t RCC_HCLK) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_PCLK(RCC_HCLK)); + tmpreg = RCC->CFGR; + /* Clear PPRE1[2:0] bits */ + tmpreg &= CFGR_PPRE1_Reset_Mask; + /* Set PPRE1[2:0] bits according to RCC_HCLK value */ + tmpreg |= RCC_HCLK; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Configures the High Speed APB clock (PCLK2). + * @param RCC_HCLK: defines the APB2 clock divider. This clock is derived from + * the AHB clock (HCLK). + * This parameter can be one of the following values: + * @arg RCC_HCLK_Div1: APB2 clock = HCLK + * @arg RCC_HCLK_Div2: APB2 clock = HCLK/2 + * @arg RCC_HCLK_Div4: APB2 clock = HCLK/4 + * @arg RCC_HCLK_Div8: APB2 clock = HCLK/8 + * @arg RCC_HCLK_Div16: APB2 clock = HCLK/16 + * @retval None + */ +void RCC_PCLK2Config(uint32_t RCC_HCLK) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_PCLK(RCC_HCLK)); + tmpreg = RCC->CFGR; + /* Clear PPRE2[2:0] bits */ + tmpreg &= CFGR_PPRE2_Reset_Mask; + /* Set PPRE2[2:0] bits according to RCC_HCLK value */ + tmpreg |= RCC_HCLK << 3; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +/** + * @brief Enables or disables the specified RCC interrupts. + * @param RCC_IT: specifies the RCC interrupt sources to be enabled or disabled. + * + * For @b STM32_Connectivity_line_devices, this parameter can be any combination + * of the following values + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_PLL2RDY: PLL2 ready interrupt + * @arg RCC_IT_PLL3RDY: PLL3 ready interrupt + * + * For @b other_STM32_devices, this parameter can be any combination of the + * following values + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * + * @param NewState: new state of the specified RCC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_ITConfig(uint8_t RCC_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_IT(RCC_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Perform Byte access to RCC_CIR bits to enable the selected interrupts */ + *(__IO uint8_t *) CIR_BYTE2_ADDRESS |= RCC_IT; + } + else + { + /* Perform Byte access to RCC_CIR bits to disable the selected interrupts */ + *(__IO uint8_t *) CIR_BYTE2_ADDRESS &= (uint8_t)~RCC_IT; + } +} + +#ifndef STM32F10X_CL +/** + * @brief Configures the USB clock (USBCLK). + * @param RCC_USBCLKSource: specifies the USB clock source. This clock is + * derived from the PLL output. + * This parameter can be one of the following values: + * @arg RCC_USBCLKSource_PLLCLK_1Div5: PLL clock divided by 1,5 selected as USB + * clock source + * @arg RCC_USBCLKSource_PLLCLK_Div1: PLL clock selected as USB clock source + * @retval None + */ +void RCC_USBCLKConfig(uint32_t RCC_USBCLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_USBCLK_SOURCE(RCC_USBCLKSource)); + + *(__IO uint32_t *) CFGR_USBPRE_BB = RCC_USBCLKSource; +} +#else +/** + * @brief Configures the USB OTG FS clock (OTGFSCLK). + * This function applies only to STM32 Connectivity line devices. + * @param RCC_OTGFSCLKSource: specifies the USB OTG FS clock source. + * This clock is derived from the PLL output. + * This parameter can be one of the following values: + * @arg RCC_OTGFSCLKSource_PLLVCO_Div3: PLL VCO clock divided by 2 selected as USB OTG FS clock source + * @arg RCC_OTGFSCLKSource_PLLVCO_Div2: PLL VCO clock divided by 2 selected as USB OTG FS clock source + * @retval None + */ +void RCC_OTGFSCLKConfig(uint32_t RCC_OTGFSCLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_OTGFSCLK_SOURCE(RCC_OTGFSCLKSource)); + + *(__IO uint32_t *) CFGR_OTGFSPRE_BB = RCC_OTGFSCLKSource; +} +#endif /* STM32F10X_CL */ + +/** + * @brief Configures the ADC clock (ADCCLK). + * @param RCC_PCLK2: defines the ADC clock divider. This clock is derived from + * the APB2 clock (PCLK2). + * This parameter can be one of the following values: + * @arg RCC_PCLK2_Div2: ADC clock = PCLK2/2 + * @arg RCC_PCLK2_Div4: ADC clock = PCLK2/4 + * @arg RCC_PCLK2_Div6: ADC clock = PCLK2/6 + * @arg RCC_PCLK2_Div8: ADC clock = PCLK2/8 + * @retval None + */ +void RCC_ADCCLKConfig(uint32_t RCC_PCLK2) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_RCC_ADCCLK(RCC_PCLK2)); + tmpreg = RCC->CFGR; + /* Clear ADCPRE[1:0] bits */ + tmpreg &= CFGR_ADCPRE_Reset_Mask; + /* Set ADCPRE[1:0] bits according to RCC_PCLK2 value */ + tmpreg |= RCC_PCLK2; + /* Store the new value */ + RCC->CFGR = tmpreg; +} + +#ifdef STM32F10X_CL +/** + * @brief Configures the I2S2 clock source(I2S2CLK). + * @note + * - This function must be called before enabling I2S2 APB clock. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_I2S2CLKSource: specifies the I2S2 clock source. + * This parameter can be one of the following values: + * @arg RCC_I2S2CLKSource_SYSCLK: system clock selected as I2S2 clock entry + * @arg RCC_I2S2CLKSource_PLL3_VCO: PLL3 VCO clock selected as I2S2 clock entry + * @retval None + */ +void RCC_I2S2CLKConfig(uint32_t RCC_I2S2CLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_I2S2CLK_SOURCE(RCC_I2S2CLKSource)); + + *(__IO uint32_t *) CFGR2_I2S2SRC_BB = RCC_I2S2CLKSource; +} + +/** + * @brief Configures the I2S3 clock source(I2S2CLK). + * @note + * - This function must be called before enabling I2S3 APB clock. + * - This function applies only to STM32 Connectivity line devices. + * @param RCC_I2S3CLKSource: specifies the I2S3 clock source. + * This parameter can be one of the following values: + * @arg RCC_I2S3CLKSource_SYSCLK: system clock selected as I2S3 clock entry + * @arg RCC_I2S3CLKSource_PLL3_VCO: PLL3 VCO clock selected as I2S3 clock entry + * @retval None + */ +void RCC_I2S3CLKConfig(uint32_t RCC_I2S3CLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_I2S3CLK_SOURCE(RCC_I2S3CLKSource)); + + *(__IO uint32_t *) CFGR2_I2S3SRC_BB = RCC_I2S3CLKSource; +} +#endif /* STM32F10X_CL */ + +/** + * @brief Configures the External Low Speed oscillator (LSE). + * @param RCC_LSE: specifies the new state of the LSE. + * This parameter can be one of the following values: + * @arg RCC_LSE_OFF: LSE oscillator OFF + * @arg RCC_LSE_ON: LSE oscillator ON + * @arg RCC_LSE_Bypass: LSE oscillator bypassed with external clock + * @retval None + */ +void RCC_LSEConfig(uint8_t RCC_LSE) +{ + /* Check the parameters */ + assert_param(IS_RCC_LSE(RCC_LSE)); + /* Reset LSEON and LSEBYP bits before configuring the LSE ------------------*/ + /* Reset LSEON bit */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_OFF; + /* Reset LSEBYP bit */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_OFF; + /* Configure LSE (RCC_LSE_OFF is already covered by the code section above) */ + switch(RCC_LSE) + { + case RCC_LSE_ON: + /* Set LSEON bit */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_ON; + break; + + case RCC_LSE_Bypass: + /* Set LSEBYP and LSEON bits */ + *(__IO uint8_t *) BDCR_ADDRESS = RCC_LSE_Bypass | RCC_LSE_ON; + break; + + default: + break; + } +} + +/** + * @brief Enables or disables the Internal Low Speed oscillator (LSI). + * @note LSI can not be disabled if the IWDG is running. + * @param NewState: new state of the LSI. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_LSICmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CSR_LSION_BB = (uint32_t)NewState; +} + +/** + * @brief Configures the RTC clock (RTCCLK). + * @note Once the RTC clock is selected it can't be changed unless the Backup domain is reset. + * @param RCC_RTCCLKSource: specifies the RTC clock source. + * This parameter can be one of the following values: + * @arg RCC_RTCCLKSource_LSE: LSE selected as RTC clock + * @arg RCC_RTCCLKSource_LSI: LSI selected as RTC clock + * @arg RCC_RTCCLKSource_HSE_Div128: HSE clock divided by 128 selected as RTC clock + * @retval None + */ +void RCC_RTCCLKConfig(uint32_t RCC_RTCCLKSource) +{ + /* Check the parameters */ + assert_param(IS_RCC_RTCCLK_SOURCE(RCC_RTCCLKSource)); + /* Select the RTC clock source */ + RCC->BDCR |= RCC_RTCCLKSource; +} + +/** + * @brief Enables or disables the RTC clock. + * @note This function must be used only after the RTC clock was selected using the RCC_RTCCLKConfig function. + * @param NewState: new state of the RTC clock. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_RTCCLKCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) BDCR_RTCEN_BB = (uint32_t)NewState; +} + +/** + * @brief Returns the frequencies of different on chip clocks. + * @param RCC_Clocks: pointer to a RCC_ClocksTypeDef structure which will hold + * the clocks frequencies. + * @note The result of this function could be not correct when using + * fractional value for HSE crystal. + * @retval None + */ +void RCC_GetClocksFreq(RCC_ClocksTypeDef* RCC_Clocks) +{ + uint32_t tmp = 0, pllmull = 0, pllsource = 0, presc = 0; + +#ifdef STM32F10X_CL + uint32_t prediv1source = 0, prediv1factor = 0, prediv2factor = 0, pll2mull = 0; +#endif /* STM32F10X_CL */ + +#if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + uint32_t prediv1factor = 0; +#endif + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & CFGR_SWS_Mask; + + switch (tmp) + { + case 0x00: /* HSI used as system clock */ + RCC_Clocks->SYSCLK_Frequency = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock */ + RCC_Clocks->SYSCLK_Frequency = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock */ + + /* Get PLL clock source and multiplication factor ----------------------*/ + pllmull = RCC->CFGR & CFGR_PLLMull_Mask; + pllsource = RCC->CFGR & CFGR_PLLSRC_Mask; + +#ifndef STM32F10X_CL + pllmull = ( pllmull >> 18) + 2; + + if (pllsource == 0x00) + {/* HSI oscillator clock divided by 2 selected as PLL clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSI_VALUE >> 1) * pllmull; + } + else + { + #if defined (STM32F10X_LD_VL) || defined (STM32F10X_MD_VL) || defined (STM32F10X_HD_VL) + prediv1factor = (RCC->CFGR2 & CFGR2_PREDIV1) + 1; + /* HSE oscillator clock selected as PREDIV1 clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE / prediv1factor) * pllmull; + #else + /* HSE selected as PLL clock entry */ + if ((RCC->CFGR & CFGR_PLLXTPRE_Mask) != (uint32_t)RESET) + {/* HSE oscillator clock divided by 2 */ + RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE >> 1) * pllmull; + } + else + { + RCC_Clocks->SYSCLK_Frequency = HSE_VALUE * pllmull; + } + #endif + } +#else + pllmull = pllmull >> 18; + + if (pllmull != 0x0D) + { + pllmull += 2; + } + else + { /* PLL multiplication factor = PLL input clock * 6.5 */ + pllmull = 13 / 2; + } + + if (pllsource == 0x00) + {/* HSI oscillator clock divided by 2 selected as PLL clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSI_VALUE >> 1) * pllmull; + } + else + {/* PREDIV1 selected as PLL clock entry */ + + /* Get PREDIV1 clock source and division factor */ + prediv1source = RCC->CFGR2 & CFGR2_PREDIV1SRC; + prediv1factor = (RCC->CFGR2 & CFGR2_PREDIV1) + 1; + + if (prediv1source == 0) + { /* HSE oscillator clock selected as PREDIV1 clock entry */ + RCC_Clocks->SYSCLK_Frequency = (HSE_VALUE / prediv1factor) * pllmull; + } + else + {/* PLL2 clock selected as PREDIV1 clock entry */ + + /* Get PREDIV2 division factor and PLL2 multiplication factor */ + prediv2factor = ((RCC->CFGR2 & CFGR2_PREDIV2) >> 4) + 1; + pll2mull = ((RCC->CFGR2 & CFGR2_PLL2MUL) >> 8 ) + 2; + RCC_Clocks->SYSCLK_Frequency = (((HSE_VALUE / prediv2factor) * pll2mull) / prediv1factor) * pllmull; + } + } +#endif /* STM32F10X_CL */ + break; + + default: + RCC_Clocks->SYSCLK_Frequency = HSI_VALUE; + break; + } + + /* Compute HCLK, PCLK1, PCLK2 and ADCCLK clocks frequencies ----------------*/ + /* Get HCLK prescaler */ + tmp = RCC->CFGR & CFGR_HPRE_Set_Mask; + tmp = tmp >> 4; + presc = APBAHBPrescTable[tmp]; + /* HCLK clock frequency */ + RCC_Clocks->HCLK_Frequency = RCC_Clocks->SYSCLK_Frequency >> presc; + /* Get PCLK1 prescaler */ + tmp = RCC->CFGR & CFGR_PPRE1_Set_Mask; + tmp = tmp >> 8; + presc = APBAHBPrescTable[tmp]; + /* PCLK1 clock frequency */ + RCC_Clocks->PCLK1_Frequency = RCC_Clocks->HCLK_Frequency >> presc; + /* Get PCLK2 prescaler */ + tmp = RCC->CFGR & CFGR_PPRE2_Set_Mask; + tmp = tmp >> 11; + presc = APBAHBPrescTable[tmp]; + /* PCLK2 clock frequency */ + RCC_Clocks->PCLK2_Frequency = RCC_Clocks->HCLK_Frequency >> presc; + /* Get ADCCLK prescaler */ + tmp = RCC->CFGR & CFGR_ADCPRE_Set_Mask; + tmp = tmp >> 14; + presc = ADCPrescTable[tmp]; + /* ADCCLK clock frequency */ + RCC_Clocks->ADCCLK_Frequency = RCC_Clocks->PCLK2_Frequency / presc; +} + +/** + * @brief Enables or disables the AHB peripheral clock. + * @param RCC_AHBPeriph: specifies the AHB peripheral to gates its clock. + * + * For @b STM32_Connectivity_line_devices, this parameter can be any combination + * of the following values: + * @arg RCC_AHBPeriph_DMA1 + * @arg RCC_AHBPeriph_DMA2 + * @arg RCC_AHBPeriph_SRAM + * @arg RCC_AHBPeriph_FLITF + * @arg RCC_AHBPeriph_CRC + * @arg RCC_AHBPeriph_OTG_FS + * @arg RCC_AHBPeriph_ETH_MAC + * @arg RCC_AHBPeriph_ETH_MAC_Tx + * @arg RCC_AHBPeriph_ETH_MAC_Rx + * + * For @b other_STM32_devices, this parameter can be any combination of the + * following values: + * @arg RCC_AHBPeriph_DMA1 + * @arg RCC_AHBPeriph_DMA2 + * @arg RCC_AHBPeriph_SRAM + * @arg RCC_AHBPeriph_FLITF + * @arg RCC_AHBPeriph_CRC + * @arg RCC_AHBPeriph_FSMC + * @arg RCC_AHBPeriph_SDIO + * + * @note SRAM and FLITF clock can be disabled only during sleep mode. + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_AHBPeriphClockCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_AHB_PERIPH(RCC_AHBPeriph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + RCC->AHBENR |= RCC_AHBPeriph; + } + else + { + RCC->AHBENR &= ~RCC_AHBPeriph; + } +} + +/** + * @brief Enables or disables the High Speed APB (APB2) peripheral clock. + * @param RCC_APB2Periph: specifies the APB2 peripheral to gates its clock. + * This parameter can be any combination of the following values: + * @arg RCC_APB2Periph_AFIO, RCC_APB2Periph_GPIOA, RCC_APB2Periph_GPIOB, + * RCC_APB2Periph_GPIOC, RCC_APB2Periph_GPIOD, RCC_APB2Periph_GPIOE, + * RCC_APB2Periph_GPIOF, RCC_APB2Periph_GPIOG, RCC_APB2Periph_ADC1, + * RCC_APB2Periph_ADC2, RCC_APB2Periph_TIM1, RCC_APB2Periph_SPI1, + * RCC_APB2Periph_TIM8, RCC_APB2Periph_USART1, RCC_APB2Periph_ADC3, + * RCC_APB2Periph_TIM15, RCC_APB2Periph_TIM16, RCC_APB2Periph_TIM17, + * RCC_APB2Periph_TIM9, RCC_APB2Periph_TIM10, RCC_APB2Periph_TIM11 + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB2PeriphClockCmd(uint32_t RCC_APB2Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB2_PERIPH(RCC_APB2Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB2ENR |= RCC_APB2Periph; + } + else + { + RCC->APB2ENR &= ~RCC_APB2Periph; + } +} + +/** + * @brief Enables or disables the Low Speed APB (APB1) peripheral clock. + * @param RCC_APB1Periph: specifies the APB1 peripheral to gates its clock. + * This parameter can be any combination of the following values: + * @arg RCC_APB1Periph_TIM2, RCC_APB1Periph_TIM3, RCC_APB1Periph_TIM4, + * RCC_APB1Periph_TIM5, RCC_APB1Periph_TIM6, RCC_APB1Periph_TIM7, + * RCC_APB1Periph_WWDG, RCC_APB1Periph_SPI2, RCC_APB1Periph_SPI3, + * RCC_APB1Periph_USART2, RCC_APB1Periph_USART3, RCC_APB1Periph_USART4, + * RCC_APB1Periph_USART5, RCC_APB1Periph_I2C1, RCC_APB1Periph_I2C2, + * RCC_APB1Periph_USB, RCC_APB1Periph_CAN1, RCC_APB1Periph_BKP, + * RCC_APB1Periph_PWR, RCC_APB1Periph_DAC, RCC_APB1Periph_CEC, + * RCC_APB1Periph_TIM12, RCC_APB1Periph_TIM13, RCC_APB1Periph_TIM14 + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB1PeriphClockCmd(uint32_t RCC_APB1Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB1_PERIPH(RCC_APB1Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB1ENR |= RCC_APB1Periph; + } + else + { + RCC->APB1ENR &= ~RCC_APB1Periph; + } +} + +#ifdef STM32F10X_CL +/** + * @brief Forces or releases AHB peripheral reset. + * @note This function applies only to STM32 Connectivity line devices. + * @param RCC_AHBPeriph: specifies the AHB peripheral to reset. + * This parameter can be any combination of the following values: + * @arg RCC_AHBPeriph_OTG_FS + * @arg RCC_AHBPeriph_ETH_MAC + * @param NewState: new state of the specified peripheral reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_AHBPeriphResetCmd(uint32_t RCC_AHBPeriph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_AHB_PERIPH_RESET(RCC_AHBPeriph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + RCC->AHBRSTR |= RCC_AHBPeriph; + } + else + { + RCC->AHBRSTR &= ~RCC_AHBPeriph; + } +} +#endif /* STM32F10X_CL */ + +/** + * @brief Forces or releases High Speed APB (APB2) peripheral reset. + * @param RCC_APB2Periph: specifies the APB2 peripheral to reset. + * This parameter can be any combination of the following values: + * @arg RCC_APB2Periph_AFIO, RCC_APB2Periph_GPIOA, RCC_APB2Periph_GPIOB, + * RCC_APB2Periph_GPIOC, RCC_APB2Periph_GPIOD, RCC_APB2Periph_GPIOE, + * RCC_APB2Periph_GPIOF, RCC_APB2Periph_GPIOG, RCC_APB2Periph_ADC1, + * RCC_APB2Periph_ADC2, RCC_APB2Periph_TIM1, RCC_APB2Periph_SPI1, + * RCC_APB2Periph_TIM8, RCC_APB2Periph_USART1, RCC_APB2Periph_ADC3, + * RCC_APB2Periph_TIM15, RCC_APB2Periph_TIM16, RCC_APB2Periph_TIM17, + * RCC_APB2Periph_TIM9, RCC_APB2Periph_TIM10, RCC_APB2Periph_TIM11 + * @param NewState: new state of the specified peripheral reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB2PeriphResetCmd(uint32_t RCC_APB2Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB2_PERIPH(RCC_APB2Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB2RSTR |= RCC_APB2Periph; + } + else + { + RCC->APB2RSTR &= ~RCC_APB2Periph; + } +} + +/** + * @brief Forces or releases Low Speed APB (APB1) peripheral reset. + * @param RCC_APB1Periph: specifies the APB1 peripheral to reset. + * This parameter can be any combination of the following values: + * @arg RCC_APB1Periph_TIM2, RCC_APB1Periph_TIM3, RCC_APB1Periph_TIM4, + * RCC_APB1Periph_TIM5, RCC_APB1Periph_TIM6, RCC_APB1Periph_TIM7, + * RCC_APB1Periph_WWDG, RCC_APB1Periph_SPI2, RCC_APB1Periph_SPI3, + * RCC_APB1Periph_USART2, RCC_APB1Periph_USART3, RCC_APB1Periph_USART4, + * RCC_APB1Periph_USART5, RCC_APB1Periph_I2C1, RCC_APB1Periph_I2C2, + * RCC_APB1Periph_USB, RCC_APB1Periph_CAN1, RCC_APB1Periph_BKP, + * RCC_APB1Periph_PWR, RCC_APB1Periph_DAC, RCC_APB1Periph_CEC, + * RCC_APB1Periph_TIM12, RCC_APB1Periph_TIM13, RCC_APB1Periph_TIM14 + * @param NewState: new state of the specified peripheral clock. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_APB1PeriphResetCmd(uint32_t RCC_APB1Periph, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RCC_APB1_PERIPH(RCC_APB1Periph)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + RCC->APB1RSTR |= RCC_APB1Periph; + } + else + { + RCC->APB1RSTR &= ~RCC_APB1Periph; + } +} + +/** + * @brief Forces or releases the Backup domain reset. + * @param NewState: new state of the Backup domain reset. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_BackupResetCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) BDCR_BDRST_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the Clock Security System. + * @param NewState: new state of the Clock Security System.. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RCC_ClockSecuritySystemCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + *(__IO uint32_t *) CR_CSSON_BB = (uint32_t)NewState; +} + +/** + * @brief Selects the clock source to output on MCO pin. + * @param RCC_MCO: specifies the clock source to output. + * + * For @b STM32_Connectivity_line_devices, this parameter can be one of the + * following values: + * @arg RCC_MCO_NoClock: No clock selected + * @arg RCC_MCO_SYSCLK: System clock selected + * @arg RCC_MCO_HSI: HSI oscillator clock selected + * @arg RCC_MCO_HSE: HSE oscillator clock selected + * @arg RCC_MCO_PLLCLK_Div2: PLL clock divided by 2 selected + * @arg RCC_MCO_PLL2CLK: PLL2 clock selected + * @arg RCC_MCO_PLL3CLK_Div2: PLL3 clock divided by 2 selected + * @arg RCC_MCO_XT1: External 3-25 MHz oscillator clock selected + * @arg RCC_MCO_PLL3CLK: PLL3 clock selected + * + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_MCO_NoClock: No clock selected + * @arg RCC_MCO_SYSCLK: System clock selected + * @arg RCC_MCO_HSI: HSI oscillator clock selected + * @arg RCC_MCO_HSE: HSE oscillator clock selected + * @arg RCC_MCO_PLLCLK_Div2: PLL clock divided by 2 selected + * + * @retval None + */ +void RCC_MCOConfig(uint8_t RCC_MCO) +{ + /* Check the parameters */ + assert_param(IS_RCC_MCO(RCC_MCO)); + + /* Perform Byte access to MCO bits to select the MCO source */ + *(__IO uint8_t *) CFGR_BYTE4_ADDRESS = RCC_MCO; +} + +/** + * @brief Checks whether the specified RCC flag is set or not. + * @param RCC_FLAG: specifies the flag to check. + * + * For @b STM32_Connectivity_line_devices, this parameter can be one of the + * following values: + * @arg RCC_FLAG_HSIRDY: HSI oscillator clock ready + * @arg RCC_FLAG_HSERDY: HSE oscillator clock ready + * @arg RCC_FLAG_PLLRDY: PLL clock ready + * @arg RCC_FLAG_PLL2RDY: PLL2 clock ready + * @arg RCC_FLAG_PLL3RDY: PLL3 clock ready + * @arg RCC_FLAG_LSERDY: LSE oscillator clock ready + * @arg RCC_FLAG_LSIRDY: LSI oscillator clock ready + * @arg RCC_FLAG_PINRST: Pin reset + * @arg RCC_FLAG_PORRST: POR/PDR reset + * @arg RCC_FLAG_SFTRST: Software reset + * @arg RCC_FLAG_IWDGRST: Independent Watchdog reset + * @arg RCC_FLAG_WWDGRST: Window Watchdog reset + * @arg RCC_FLAG_LPWRRST: Low Power reset + * + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_FLAG_HSIRDY: HSI oscillator clock ready + * @arg RCC_FLAG_HSERDY: HSE oscillator clock ready + * @arg RCC_FLAG_PLLRDY: PLL clock ready + * @arg RCC_FLAG_LSERDY: LSE oscillator clock ready + * @arg RCC_FLAG_LSIRDY: LSI oscillator clock ready + * @arg RCC_FLAG_PINRST: Pin reset + * @arg RCC_FLAG_PORRST: POR/PDR reset + * @arg RCC_FLAG_SFTRST: Software reset + * @arg RCC_FLAG_IWDGRST: Independent Watchdog reset + * @arg RCC_FLAG_WWDGRST: Window Watchdog reset + * @arg RCC_FLAG_LPWRRST: Low Power reset + * + * @retval The new state of RCC_FLAG (SET or RESET). + */ +FlagStatus RCC_GetFlagStatus(uint8_t RCC_FLAG) +{ + uint32_t tmp = 0; + uint32_t statusreg = 0; + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_RCC_FLAG(RCC_FLAG)); + + /* Get the RCC register index */ + tmp = RCC_FLAG >> 5; + if (tmp == 1) /* The flag to check is in CR register */ + { + statusreg = RCC->CR; + } + else if (tmp == 2) /* The flag to check is in BDCR register */ + { + statusreg = RCC->BDCR; + } + else /* The flag to check is in CSR register */ + { + statusreg = RCC->CSR; + } + + /* Get the flag position */ + tmp = RCC_FLAG & FLAG_Mask; + if ((statusreg & ((uint32_t)1 << tmp)) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + + /* Return the flag status */ + return bitstatus; +} + +/** + * @brief Clears the RCC reset flags. + * @note The reset flags are: RCC_FLAG_PINRST, RCC_FLAG_PORRST, RCC_FLAG_SFTRST, + * RCC_FLAG_IWDGRST, RCC_FLAG_WWDGRST, RCC_FLAG_LPWRRST + * @param None + * @retval None + */ +void RCC_ClearFlag(void) +{ + /* Set RMVF bit to clear the reset flags */ + RCC->CSR |= CSR_RMVF_Set; +} + +/** + * @brief Checks whether the specified RCC interrupt has occurred or not. + * @param RCC_IT: specifies the RCC interrupt source to check. + * + * For @b STM32_Connectivity_line_devices, this parameter can be one of the + * following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_PLL2RDY: PLL2 ready interrupt + * @arg RCC_IT_PLL3RDY: PLL3 ready interrupt + * @arg RCC_IT_CSS: Clock Security System interrupt + * + * For @b other_STM32_devices, this parameter can be one of the following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_CSS: Clock Security System interrupt + * + * @retval The new state of RCC_IT (SET or RESET). + */ +ITStatus RCC_GetITStatus(uint8_t RCC_IT) +{ + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_RCC_GET_IT(RCC_IT)); + + /* Check the status of the specified RCC interrupt */ + if ((RCC->CIR & RCC_IT) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + + /* Return the RCC_IT status */ + return bitstatus; +} + +/** + * @brief Clears the RCC's interrupt pending bits. + * @param RCC_IT: specifies the interrupt pending bit to clear. + * + * For @b STM32_Connectivity_line_devices, this parameter can be any combination + * of the following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * @arg RCC_IT_PLL2RDY: PLL2 ready interrupt + * @arg RCC_IT_PLL3RDY: PLL3 ready interrupt + * @arg RCC_IT_CSS: Clock Security System interrupt + * + * For @b other_STM32_devices, this parameter can be any combination of the + * following values: + * @arg RCC_IT_LSIRDY: LSI ready interrupt + * @arg RCC_IT_LSERDY: LSE ready interrupt + * @arg RCC_IT_HSIRDY: HSI ready interrupt + * @arg RCC_IT_HSERDY: HSE ready interrupt + * @arg RCC_IT_PLLRDY: PLL ready interrupt + * + * @arg RCC_IT_CSS: Clock Security System interrupt + * @retval None + */ +void RCC_ClearITPendingBit(uint8_t RCC_IT) +{ + /* Check the parameters */ + assert_param(IS_RCC_CLEAR_IT(RCC_IT)); + + /* Perform Byte access to RCC_CIR[23:16] bits to clear the selected interrupt + pending bits */ + *(__IO uint8_t *) CIR_BYTE3_ADDRESS = RCC_IT; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_rtc.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_rtc.c new file mode 100644 index 0000000..f05aef5 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_rtc.c @@ -0,0 +1,339 @@ +/** + ****************************************************************************** + * @file stm32f10x_rtc.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the RTC firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_rtc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup RTC + * @brief RTC driver modules + * @{ + */ + +/** @defgroup RTC_Private_TypesDefinitions + * @{ + */ +/** + * @} + */ + +/** @defgroup RTC_Private_Defines + * @{ + */ +#define RTC_LSB_MASK ((uint32_t)0x0000FFFF) /*!< RTC LSB Mask */ +#define PRLH_MSB_MASK ((uint32_t)0x000F0000) /*!< RTC Prescaler MSB Mask */ + +/** + * @} + */ + +/** @defgroup RTC_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup RTC_Private_Functions + * @{ + */ + +/** + * @brief Enables or disables the specified RTC interrupts. + * @param RTC_IT: specifies the RTC interrupts sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg RTC_IT_OW: Overflow interrupt + * @arg RTC_IT_ALR: Alarm interrupt + * @arg RTC_IT_SEC: Second interrupt + * @param NewState: new state of the specified RTC interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void RTC_ITConfig(uint16_t RTC_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_RTC_IT(RTC_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + RTC->CRH |= RTC_IT; + } + else + { + RTC->CRH &= (uint16_t)~RTC_IT; + } +} + +/** + * @brief Enters the RTC configuration mode. + * @param None + * @retval None + */ +void RTC_EnterConfigMode(void) +{ + /* Set the CNF flag to enter in the Configuration Mode */ + RTC->CRL |= RTC_CRL_CNF; +} + +/** + * @brief Exits from the RTC configuration mode. + * @param None + * @retval None + */ +void RTC_ExitConfigMode(void) +{ + /* Reset the CNF flag to exit from the Configuration Mode */ + RTC->CRL &= (uint16_t)~((uint16_t)RTC_CRL_CNF); +} + +/** + * @brief Gets the RTC counter value. + * @param None + * @retval RTC counter value. + */ +uint32_t RTC_GetCounter(void) +{ + uint16_t tmp = 0; + tmp = RTC->CNTL; + return (((uint32_t)RTC->CNTH << 16 ) | tmp) ; +} + +/** + * @brief Sets the RTC counter value. + * @param CounterValue: RTC counter new value. + * @retval None + */ +void RTC_SetCounter(uint32_t CounterValue) +{ + RTC_EnterConfigMode(); + /* Set RTC COUNTER MSB word */ + RTC->CNTH = CounterValue >> 16; + /* Set RTC COUNTER LSB word */ + RTC->CNTL = (CounterValue & RTC_LSB_MASK); + RTC_ExitConfigMode(); +} + +/** + * @brief Sets the RTC prescaler value. + * @param PrescalerValue: RTC prescaler new value. + * @retval None + */ +void RTC_SetPrescaler(uint32_t PrescalerValue) +{ + /* Check the parameters */ + assert_param(IS_RTC_PRESCALER(PrescalerValue)); + + RTC_EnterConfigMode(); + /* Set RTC PRESCALER MSB word */ + RTC->PRLH = (PrescalerValue & PRLH_MSB_MASK) >> 16; + /* Set RTC PRESCALER LSB word */ + RTC->PRLL = (PrescalerValue & RTC_LSB_MASK); + RTC_ExitConfigMode(); +} + +/** + * @brief Sets the RTC alarm value. + * @param AlarmValue: RTC alarm new value. + * @retval None + */ +void RTC_SetAlarm(uint32_t AlarmValue) +{ + RTC_EnterConfigMode(); + /* Set the ALARM MSB word */ + RTC->ALRH = AlarmValue >> 16; + /* Set the ALARM LSB word */ + RTC->ALRL = (AlarmValue & RTC_LSB_MASK); + RTC_ExitConfigMode(); +} + +/** + * @brief Gets the RTC divider value. + * @param None + * @retval RTC Divider value. + */ +uint32_t RTC_GetDivider(void) +{ + uint32_t tmp = 0x00; + tmp = ((uint32_t)RTC->DIVH & (uint32_t)0x000F) << 16; + tmp |= RTC->DIVL; + return tmp; +} + +/** + * @brief Waits until last write operation on RTC registers has finished. + * @note This function must be called before any write to RTC registers. + * @param None + * @retval None + */ +void RTC_WaitForLastTask(void) +{ + /* Loop until RTOFF flag is set */ + while ((RTC->CRL & RTC_FLAG_RTOFF) == (uint16_t)RESET) + { + } +} + +/** + * @brief Waits until the RTC registers (RTC_CNT, RTC_ALR and RTC_PRL) + * are synchronized with RTC APB clock. + * @note This function must be called before any read operation after an APB reset + * or an APB clock stop. + * @param None + * @retval None + */ +void RTC_WaitForSynchro(void) +{ + /* Clear RSF flag */ + RTC->CRL &= (uint16_t)~RTC_FLAG_RSF; + /* Loop until RSF flag is set */ + while ((RTC->CRL & RTC_FLAG_RSF) == (uint16_t)RESET) + { + } +} + +/** + * @brief Checks whether the specified RTC flag is set or not. + * @param RTC_FLAG: specifies the flag to check. + * This parameter can be one the following values: + * @arg RTC_FLAG_RTOFF: RTC Operation OFF flag + * @arg RTC_FLAG_RSF: Registers Synchronized flag + * @arg RTC_FLAG_OW: Overflow flag + * @arg RTC_FLAG_ALR: Alarm flag + * @arg RTC_FLAG_SEC: Second flag + * @retval The new state of RTC_FLAG (SET or RESET). + */ +FlagStatus RTC_GetFlagStatus(uint16_t RTC_FLAG) +{ + FlagStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_RTC_GET_FLAG(RTC_FLAG)); + + if ((RTC->CRL & RTC_FLAG) != (uint16_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the RTC's pending flags. + * @param RTC_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg RTC_FLAG_RSF: Registers Synchronized flag. This flag is cleared only after + * an APB reset or an APB Clock stop. + * @arg RTC_FLAG_OW: Overflow flag + * @arg RTC_FLAG_ALR: Alarm flag + * @arg RTC_FLAG_SEC: Second flag + * @retval None + */ +void RTC_ClearFlag(uint16_t RTC_FLAG) +{ + /* Check the parameters */ + assert_param(IS_RTC_CLEAR_FLAG(RTC_FLAG)); + + /* Clear the corresponding RTC flag */ + RTC->CRL &= (uint16_t)~RTC_FLAG; +} + +/** + * @brief Checks whether the specified RTC interrupt has occurred or not. + * @param RTC_IT: specifies the RTC interrupts sources to check. + * This parameter can be one of the following values: + * @arg RTC_IT_OW: Overflow interrupt + * @arg RTC_IT_ALR: Alarm interrupt + * @arg RTC_IT_SEC: Second interrupt + * @retval The new state of the RTC_IT (SET or RESET). + */ +ITStatus RTC_GetITStatus(uint16_t RTC_IT) +{ + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_RTC_GET_IT(RTC_IT)); + + bitstatus = (ITStatus)(RTC->CRL & RTC_IT); + if (((RTC->CRH & RTC_IT) != (uint16_t)RESET) && (bitstatus != (uint16_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the RTC's interrupt pending bits. + * @param RTC_IT: specifies the interrupt pending bit to clear. + * This parameter can be any combination of the following values: + * @arg RTC_IT_OW: Overflow interrupt + * @arg RTC_IT_ALR: Alarm interrupt + * @arg RTC_IT_SEC: Second interrupt + * @retval None + */ +void RTC_ClearITPendingBit(uint16_t RTC_IT) +{ + /* Check the parameters */ + assert_param(IS_RTC_IT(RTC_IT)); + + /* Clear the corresponding RTC pending bit */ + RTC->CRL &= (uint16_t)~RTC_IT; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_sdio.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_sdio.c new file mode 100644 index 0000000..bc1719d --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_sdio.c @@ -0,0 +1,799 @@ +/** + ****************************************************************************** + * @file stm32f10x_sdio.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the SDIO firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_sdio.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup SDIO + * @brief SDIO driver modules + * @{ + */ + +/** @defgroup SDIO_Private_TypesDefinitions + * @{ + */ + +/* ------------ SDIO registers bit address in the alias region ----------- */ +#define SDIO_OFFSET (SDIO_BASE - PERIPH_BASE) + +/* --- CLKCR Register ---*/ + +/* Alias word address of CLKEN bit */ +#define CLKCR_OFFSET (SDIO_OFFSET + 0x04) +#define CLKEN_BitNumber 0x08 +#define CLKCR_CLKEN_BB (PERIPH_BB_BASE + (CLKCR_OFFSET * 32) + (CLKEN_BitNumber * 4)) + +/* --- CMD Register ---*/ + +/* Alias word address of SDIOSUSPEND bit */ +#define CMD_OFFSET (SDIO_OFFSET + 0x0C) +#define SDIOSUSPEND_BitNumber 0x0B +#define CMD_SDIOSUSPEND_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (SDIOSUSPEND_BitNumber * 4)) + +/* Alias word address of ENCMDCOMPL bit */ +#define ENCMDCOMPL_BitNumber 0x0C +#define CMD_ENCMDCOMPL_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (ENCMDCOMPL_BitNumber * 4)) + +/* Alias word address of NIEN bit */ +#define NIEN_BitNumber 0x0D +#define CMD_NIEN_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (NIEN_BitNumber * 4)) + +/* Alias word address of ATACMD bit */ +#define ATACMD_BitNumber 0x0E +#define CMD_ATACMD_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32) + (ATACMD_BitNumber * 4)) + +/* --- DCTRL Register ---*/ + +/* Alias word address of DMAEN bit */ +#define DCTRL_OFFSET (SDIO_OFFSET + 0x2C) +#define DMAEN_BitNumber 0x03 +#define DCTRL_DMAEN_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (DMAEN_BitNumber * 4)) + +/* Alias word address of RWSTART bit */ +#define RWSTART_BitNumber 0x08 +#define DCTRL_RWSTART_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (RWSTART_BitNumber * 4)) + +/* Alias word address of RWSTOP bit */ +#define RWSTOP_BitNumber 0x09 +#define DCTRL_RWSTOP_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (RWSTOP_BitNumber * 4)) + +/* Alias word address of RWMOD bit */ +#define RWMOD_BitNumber 0x0A +#define DCTRL_RWMOD_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (RWMOD_BitNumber * 4)) + +/* Alias word address of SDIOEN bit */ +#define SDIOEN_BitNumber 0x0B +#define DCTRL_SDIOEN_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32) + (SDIOEN_BitNumber * 4)) + +/* ---------------------- SDIO registers bit mask ------------------------ */ + +/* --- CLKCR Register ---*/ + +/* CLKCR register clear mask */ +#define CLKCR_CLEAR_MASK ((uint32_t)0xFFFF8100) + +/* --- PWRCTRL Register ---*/ + +/* SDIO PWRCTRL Mask */ +#define PWR_PWRCTRL_MASK ((uint32_t)0xFFFFFFFC) + +/* --- DCTRL Register ---*/ + +/* SDIO DCTRL Clear Mask */ +#define DCTRL_CLEAR_MASK ((uint32_t)0xFFFFFF08) + +/* --- CMD Register ---*/ + +/* CMD Register clear mask */ +#define CMD_CLEAR_MASK ((uint32_t)0xFFFFF800) + +/* SDIO RESP Registers Address */ +#define SDIO_RESP_ADDR ((uint32_t)(SDIO_BASE + 0x14)) + +/** + * @} + */ + +/** @defgroup SDIO_Private_Defines + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup SDIO_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the SDIO peripheral registers to their default reset values. + * @param None + * @retval None + */ +void SDIO_DeInit(void) +{ + SDIO->POWER = 0x00000000; + SDIO->CLKCR = 0x00000000; + SDIO->ARG = 0x00000000; + SDIO->CMD = 0x00000000; + SDIO->DTIMER = 0x00000000; + SDIO->DLEN = 0x00000000; + SDIO->DCTRL = 0x00000000; + SDIO->ICR = 0x00C007FF; + SDIO->MASK = 0x00000000; +} + +/** + * @brief Initializes the SDIO peripheral according to the specified + * parameters in the SDIO_InitStruct. + * @param SDIO_InitStruct : pointer to a SDIO_InitTypeDef structure + * that contains the configuration information for the SDIO peripheral. + * @retval None + */ +void SDIO_Init(SDIO_InitTypeDef* SDIO_InitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_CLOCK_EDGE(SDIO_InitStruct->SDIO_ClockEdge)); + assert_param(IS_SDIO_CLOCK_BYPASS(SDIO_InitStruct->SDIO_ClockBypass)); + assert_param(IS_SDIO_CLOCK_POWER_SAVE(SDIO_InitStruct->SDIO_ClockPowerSave)); + assert_param(IS_SDIO_BUS_WIDE(SDIO_InitStruct->SDIO_BusWide)); + assert_param(IS_SDIO_HARDWARE_FLOW_CONTROL(SDIO_InitStruct->SDIO_HardwareFlowControl)); + +/*---------------------------- SDIO CLKCR Configuration ------------------------*/ + /* Get the SDIO CLKCR value */ + tmpreg = SDIO->CLKCR; + + /* Clear CLKDIV, PWRSAV, BYPASS, WIDBUS, NEGEDGE, HWFC_EN bits */ + tmpreg &= CLKCR_CLEAR_MASK; + + /* Set CLKDIV bits according to SDIO_ClockDiv value */ + /* Set PWRSAV bit according to SDIO_ClockPowerSave value */ + /* Set BYPASS bit according to SDIO_ClockBypass value */ + /* Set WIDBUS bits according to SDIO_BusWide value */ + /* Set NEGEDGE bits according to SDIO_ClockEdge value */ + /* Set HWFC_EN bits according to SDIO_HardwareFlowControl value */ + tmpreg |= (SDIO_InitStruct->SDIO_ClockDiv | SDIO_InitStruct->SDIO_ClockPowerSave | + SDIO_InitStruct->SDIO_ClockBypass | SDIO_InitStruct->SDIO_BusWide | + SDIO_InitStruct->SDIO_ClockEdge | SDIO_InitStruct->SDIO_HardwareFlowControl); + + /* Write to SDIO CLKCR */ + SDIO->CLKCR = tmpreg; +} + +/** + * @brief Fills each SDIO_InitStruct member with its default value. + * @param SDIO_InitStruct: pointer to an SDIO_InitTypeDef structure which + * will be initialized. + * @retval None + */ +void SDIO_StructInit(SDIO_InitTypeDef* SDIO_InitStruct) +{ + /* SDIO_InitStruct members default value */ + SDIO_InitStruct->SDIO_ClockDiv = 0x00; + SDIO_InitStruct->SDIO_ClockEdge = SDIO_ClockEdge_Rising; + SDIO_InitStruct->SDIO_ClockBypass = SDIO_ClockBypass_Disable; + SDIO_InitStruct->SDIO_ClockPowerSave = SDIO_ClockPowerSave_Disable; + SDIO_InitStruct->SDIO_BusWide = SDIO_BusWide_1b; + SDIO_InitStruct->SDIO_HardwareFlowControl = SDIO_HardwareFlowControl_Disable; +} + +/** + * @brief Enables or disables the SDIO Clock. + * @param NewState: new state of the SDIO Clock. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_ClockCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CLKCR_CLKEN_BB = (uint32_t)NewState; +} + +/** + * @brief Sets the power status of the controller. + * @param SDIO_PowerState: new state of the Power state. + * This parameter can be one of the following values: + * @arg SDIO_PowerState_OFF + * @arg SDIO_PowerState_ON + * @retval None + */ +void SDIO_SetPowerState(uint32_t SDIO_PowerState) +{ + /* Check the parameters */ + assert_param(IS_SDIO_POWER_STATE(SDIO_PowerState)); + + SDIO->POWER &= PWR_PWRCTRL_MASK; + SDIO->POWER |= SDIO_PowerState; +} + +/** + * @brief Gets the power status of the controller. + * @param None + * @retval Power status of the controller. The returned value can + * be one of the following: + * - 0x00: Power OFF + * - 0x02: Power UP + * - 0x03: Power ON + */ +uint32_t SDIO_GetPowerState(void) +{ + return (SDIO->POWER & (~PWR_PWRCTRL_MASK)); +} + +/** + * @brief Enables or disables the SDIO interrupts. + * @param SDIO_IT: specifies the SDIO interrupt sources to be enabled or disabled. + * This parameter can be one or a combination of the following values: + * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt + * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt + * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt + * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt + * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt + * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt + * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt + * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt + * @arg SDIO_IT_DATAEND: Data end (data counter, SDIDCOUNT, is zero) interrupt + * @arg SDIO_IT_STBITERR: Start bit not detected on all data signals in wide + * bus mode interrupt + * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt + * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt + * @arg SDIO_IT_TXACT: Data transmit in progress interrupt + * @arg SDIO_IT_RXACT: Data receive in progress interrupt + * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt + * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt + * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt + * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt + * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt + * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt + * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt + * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt + * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt + * @arg SDIO_IT_CEATAEND: CE-ATA command completion signal received for CMD61 interrupt + * @param NewState: new state of the specified SDIO interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_ITConfig(uint32_t SDIO_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SDIO_IT(SDIO_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the SDIO interrupts */ + SDIO->MASK |= SDIO_IT; + } + else + { + /* Disable the SDIO interrupts */ + SDIO->MASK &= ~SDIO_IT; + } +} + +/** + * @brief Enables or disables the SDIO DMA request. + * @param NewState: new state of the selected SDIO DMA request. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_DMACmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_DMAEN_BB = (uint32_t)NewState; +} + +/** + * @brief Initializes the SDIO Command according to the specified + * parameters in the SDIO_CmdInitStruct and send the command. + * @param SDIO_CmdInitStruct : pointer to a SDIO_CmdInitTypeDef + * structure that contains the configuration information for the SDIO command. + * @retval None + */ +void SDIO_SendCommand(SDIO_CmdInitTypeDef *SDIO_CmdInitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_CMD_INDEX(SDIO_CmdInitStruct->SDIO_CmdIndex)); + assert_param(IS_SDIO_RESPONSE(SDIO_CmdInitStruct->SDIO_Response)); + assert_param(IS_SDIO_WAIT(SDIO_CmdInitStruct->SDIO_Wait)); + assert_param(IS_SDIO_CPSM(SDIO_CmdInitStruct->SDIO_CPSM)); + +/*---------------------------- SDIO ARG Configuration ------------------------*/ + /* Set the SDIO Argument value */ + SDIO->ARG = SDIO_CmdInitStruct->SDIO_Argument; + +/*---------------------------- SDIO CMD Configuration ------------------------*/ + /* Get the SDIO CMD value */ + tmpreg = SDIO->CMD; + /* Clear CMDINDEX, WAITRESP, WAITINT, WAITPEND, CPSMEN bits */ + tmpreg &= CMD_CLEAR_MASK; + /* Set CMDINDEX bits according to SDIO_CmdIndex value */ + /* Set WAITRESP bits according to SDIO_Response value */ + /* Set WAITINT and WAITPEND bits according to SDIO_Wait value */ + /* Set CPSMEN bits according to SDIO_CPSM value */ + tmpreg |= (uint32_t)SDIO_CmdInitStruct->SDIO_CmdIndex | SDIO_CmdInitStruct->SDIO_Response + | SDIO_CmdInitStruct->SDIO_Wait | SDIO_CmdInitStruct->SDIO_CPSM; + + /* Write to SDIO CMD */ + SDIO->CMD = tmpreg; +} + +/** + * @brief Fills each SDIO_CmdInitStruct member with its default value. + * @param SDIO_CmdInitStruct: pointer to an SDIO_CmdInitTypeDef + * structure which will be initialized. + * @retval None + */ +void SDIO_CmdStructInit(SDIO_CmdInitTypeDef* SDIO_CmdInitStruct) +{ + /* SDIO_CmdInitStruct members default value */ + SDIO_CmdInitStruct->SDIO_Argument = 0x00; + SDIO_CmdInitStruct->SDIO_CmdIndex = 0x00; + SDIO_CmdInitStruct->SDIO_Response = SDIO_Response_No; + SDIO_CmdInitStruct->SDIO_Wait = SDIO_Wait_No; + SDIO_CmdInitStruct->SDIO_CPSM = SDIO_CPSM_Disable; +} + +/** + * @brief Returns command index of last command for which response received. + * @param None + * @retval Returns the command index of the last command response received. + */ +uint8_t SDIO_GetCommandResponse(void) +{ + return (uint8_t)(SDIO->RESPCMD); +} + +/** + * @brief Returns response received from the card for the last command. + * @param SDIO_RESP: Specifies the SDIO response register. + * This parameter can be one of the following values: + * @arg SDIO_RESP1: Response Register 1 + * @arg SDIO_RESP2: Response Register 2 + * @arg SDIO_RESP3: Response Register 3 + * @arg SDIO_RESP4: Response Register 4 + * @retval The Corresponding response register value. + */ +uint32_t SDIO_GetResponse(uint32_t SDIO_RESP) +{ + __IO uint32_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_RESP(SDIO_RESP)); + + tmp = SDIO_RESP_ADDR + SDIO_RESP; + + return (*(__IO uint32_t *) tmp); +} + +/** + * @brief Initializes the SDIO data path according to the specified + * parameters in the SDIO_DataInitStruct. + * @param SDIO_DataInitStruct : pointer to a SDIO_DataInitTypeDef structure that + * contains the configuration information for the SDIO command. + * @retval None + */ +void SDIO_DataConfig(SDIO_DataInitTypeDef* SDIO_DataInitStruct) +{ + uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_SDIO_DATA_LENGTH(SDIO_DataInitStruct->SDIO_DataLength)); + assert_param(IS_SDIO_BLOCK_SIZE(SDIO_DataInitStruct->SDIO_DataBlockSize)); + assert_param(IS_SDIO_TRANSFER_DIR(SDIO_DataInitStruct->SDIO_TransferDir)); + assert_param(IS_SDIO_TRANSFER_MODE(SDIO_DataInitStruct->SDIO_TransferMode)); + assert_param(IS_SDIO_DPSM(SDIO_DataInitStruct->SDIO_DPSM)); + +/*---------------------------- SDIO DTIMER Configuration ---------------------*/ + /* Set the SDIO Data TimeOut value */ + SDIO->DTIMER = SDIO_DataInitStruct->SDIO_DataTimeOut; + +/*---------------------------- SDIO DLEN Configuration -----------------------*/ + /* Set the SDIO DataLength value */ + SDIO->DLEN = SDIO_DataInitStruct->SDIO_DataLength; + +/*---------------------------- SDIO DCTRL Configuration ----------------------*/ + /* Get the SDIO DCTRL value */ + tmpreg = SDIO->DCTRL; + /* Clear DEN, DTMODE, DTDIR and DBCKSIZE bits */ + tmpreg &= DCTRL_CLEAR_MASK; + /* Set DEN bit according to SDIO_DPSM value */ + /* Set DTMODE bit according to SDIO_TransferMode value */ + /* Set DTDIR bit according to SDIO_TransferDir value */ + /* Set DBCKSIZE bits according to SDIO_DataBlockSize value */ + tmpreg |= (uint32_t)SDIO_DataInitStruct->SDIO_DataBlockSize | SDIO_DataInitStruct->SDIO_TransferDir + | SDIO_DataInitStruct->SDIO_TransferMode | SDIO_DataInitStruct->SDIO_DPSM; + + /* Write to SDIO DCTRL */ + SDIO->DCTRL = tmpreg; +} + +/** + * @brief Fills each SDIO_DataInitStruct member with its default value. + * @param SDIO_DataInitStruct: pointer to an SDIO_DataInitTypeDef structure which + * will be initialized. + * @retval None + */ +void SDIO_DataStructInit(SDIO_DataInitTypeDef* SDIO_DataInitStruct) +{ + /* SDIO_DataInitStruct members default value */ + SDIO_DataInitStruct->SDIO_DataTimeOut = 0xFFFFFFFF; + SDIO_DataInitStruct->SDIO_DataLength = 0x00; + SDIO_DataInitStruct->SDIO_DataBlockSize = SDIO_DataBlockSize_1b; + SDIO_DataInitStruct->SDIO_TransferDir = SDIO_TransferDir_ToCard; + SDIO_DataInitStruct->SDIO_TransferMode = SDIO_TransferMode_Block; + SDIO_DataInitStruct->SDIO_DPSM = SDIO_DPSM_Disable; +} + +/** + * @brief Returns number of remaining data bytes to be transferred. + * @param None + * @retval Number of remaining data bytes to be transferred + */ +uint32_t SDIO_GetDataCounter(void) +{ + return SDIO->DCOUNT; +} + +/** + * @brief Read one data word from Rx FIFO. + * @param None + * @retval Data received + */ +uint32_t SDIO_ReadData(void) +{ + return SDIO->FIFO; +} + +/** + * @brief Write one data word to Tx FIFO. + * @param Data: 32-bit data word to write. + * @retval None + */ +void SDIO_WriteData(uint32_t Data) +{ + SDIO->FIFO = Data; +} + +/** + * @brief Returns the number of words left to be written to or read from FIFO. + * @param None + * @retval Remaining number of words. + */ +uint32_t SDIO_GetFIFOCount(void) +{ + return SDIO->FIFOCNT; +} + +/** + * @brief Starts the SD I/O Read Wait operation. + * @param NewState: new state of the Start SDIO Read Wait operation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_StartSDIOReadWait(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_RWSTART_BB = (uint32_t) NewState; +} + +/** + * @brief Stops the SD I/O Read Wait operation. + * @param NewState: new state of the Stop SDIO Read Wait operation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_StopSDIOReadWait(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_RWSTOP_BB = (uint32_t) NewState; +} + +/** + * @brief Sets one of the two options of inserting read wait interval. + * @param SDIO_ReadWaitMode: SD I/O Read Wait operation mode. + * This parameter can be: + * @arg SDIO_ReadWaitMode_CLK: Read Wait control by stopping SDIOCLK + * @arg SDIO_ReadWaitMode_DATA2: Read Wait control using SDIO_DATA2 + * @retval None + */ +void SDIO_SetSDIOReadWaitMode(uint32_t SDIO_ReadWaitMode) +{ + /* Check the parameters */ + assert_param(IS_SDIO_READWAIT_MODE(SDIO_ReadWaitMode)); + + *(__IO uint32_t *) DCTRL_RWMOD_BB = SDIO_ReadWaitMode; +} + +/** + * @brief Enables or disables the SD I/O Mode Operation. + * @param NewState: new state of SDIO specific operation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_SetSDIOOperation(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) DCTRL_SDIOEN_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the SD I/O Mode suspend command sending. + * @param NewState: new state of the SD I/O Mode suspend command. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_SendSDIOSuspendCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_SDIOSUSPEND_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the command completion signal. + * @param NewState: new state of command completion signal. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_CommandCompletionCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_ENCMDCOMPL_BB = (uint32_t)NewState; +} + +/** + * @brief Enables or disables the CE-ATA interrupt. + * @param NewState: new state of CE-ATA interrupt. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_CEATAITCmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_NIEN_BB = (uint32_t)((~((uint32_t)NewState)) & ((uint32_t)0x1)); +} + +/** + * @brief Sends CE-ATA command (CMD61). + * @param NewState: new state of CE-ATA command. This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SDIO_SendCEATACmd(FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + *(__IO uint32_t *) CMD_ATACMD_BB = (uint32_t)NewState; +} + +/** + * @brief Checks whether the specified SDIO flag is set or not. + * @param SDIO_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) + * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) + * @arg SDIO_FLAG_CTIMEOUT: Command response timeout + * @arg SDIO_FLAG_DTIMEOUT: Data timeout + * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error + * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error + * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) + * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) + * @arg SDIO_FLAG_DATAEND: Data end (data counter, SDIDCOUNT, is zero) + * @arg SDIO_FLAG_STBITERR: Start bit not detected on all data signals in wide + * bus mode. + * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) + * @arg SDIO_FLAG_CMDACT: Command transfer in progress + * @arg SDIO_FLAG_TXACT: Data transmit in progress + * @arg SDIO_FLAG_RXACT: Data receive in progress + * @arg SDIO_FLAG_TXFIFOHE: Transmit FIFO Half Empty + * @arg SDIO_FLAG_RXFIFOHF: Receive FIFO Half Full + * @arg SDIO_FLAG_TXFIFOF: Transmit FIFO full + * @arg SDIO_FLAG_RXFIFOF: Receive FIFO full + * @arg SDIO_FLAG_TXFIFOE: Transmit FIFO empty + * @arg SDIO_FLAG_RXFIFOE: Receive FIFO empty + * @arg SDIO_FLAG_TXDAVL: Data available in transmit FIFO + * @arg SDIO_FLAG_RXDAVL: Data available in receive FIFO + * @arg SDIO_FLAG_SDIOIT: SD I/O interrupt received + * @arg SDIO_FLAG_CEATAEND: CE-ATA command completion signal received for CMD61 + * @retval The new state of SDIO_FLAG (SET or RESET). + */ +FlagStatus SDIO_GetFlagStatus(uint32_t SDIO_FLAG) +{ + FlagStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_SDIO_FLAG(SDIO_FLAG)); + + if ((SDIO->STA & SDIO_FLAG) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the SDIO's pending flags. + * @param SDIO_FLAG: specifies the flag to clear. + * This parameter can be one or a combination of the following values: + * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) + * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) + * @arg SDIO_FLAG_CTIMEOUT: Command response timeout + * @arg SDIO_FLAG_DTIMEOUT: Data timeout + * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error + * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error + * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) + * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) + * @arg SDIO_FLAG_DATAEND: Data end (data counter, SDIDCOUNT, is zero) + * @arg SDIO_FLAG_STBITERR: Start bit not detected on all data signals in wide + * bus mode + * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) + * @arg SDIO_FLAG_SDIOIT: SD I/O interrupt received + * @arg SDIO_FLAG_CEATAEND: CE-ATA command completion signal received for CMD61 + * @retval None + */ +void SDIO_ClearFlag(uint32_t SDIO_FLAG) +{ + /* Check the parameters */ + assert_param(IS_SDIO_CLEAR_FLAG(SDIO_FLAG)); + + SDIO->ICR = SDIO_FLAG; +} + +/** + * @brief Checks whether the specified SDIO interrupt has occurred or not. + * @param SDIO_IT: specifies the SDIO interrupt source to check. + * This parameter can be one of the following values: + * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt + * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt + * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt + * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt + * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt + * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt + * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt + * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt + * @arg SDIO_IT_DATAEND: Data end (data counter, SDIDCOUNT, is zero) interrupt + * @arg SDIO_IT_STBITERR: Start bit not detected on all data signals in wide + * bus mode interrupt + * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt + * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt + * @arg SDIO_IT_TXACT: Data transmit in progress interrupt + * @arg SDIO_IT_RXACT: Data receive in progress interrupt + * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt + * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt + * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt + * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt + * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt + * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt + * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt + * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt + * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt + * @arg SDIO_IT_CEATAEND: CE-ATA command completion signal received for CMD61 interrupt + * @retval The new state of SDIO_IT (SET or RESET). + */ +ITStatus SDIO_GetITStatus(uint32_t SDIO_IT) +{ + ITStatus bitstatus = RESET; + + /* Check the parameters */ + assert_param(IS_SDIO_GET_IT(SDIO_IT)); + if ((SDIO->STA & SDIO_IT) != (uint32_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the SDIO's interrupt pending bits. + * @param SDIO_IT: specifies the interrupt pending bit to clear. + * This parameter can be one or a combination of the following values: + * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt + * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt + * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt + * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt + * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt + * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt + * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt + * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt + * @arg SDIO_IT_DATAEND: Data end (data counter, SDIDCOUNT, is zero) interrupt + * @arg SDIO_IT_STBITERR: Start bit not detected on all data signals in wide + * bus mode interrupt + * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt + * @arg SDIO_IT_CEATAEND: CE-ATA command completion signal received for CMD61 + * @retval None + */ +void SDIO_ClearITPendingBit(uint32_t SDIO_IT) +{ + /* Check the parameters */ + assert_param(IS_SDIO_CLEAR_IT(SDIO_IT)); + + SDIO->ICR = SDIO_IT; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_spi.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_spi.c new file mode 100644 index 0000000..4ec65b2 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_spi.c @@ -0,0 +1,908 @@ +/** + ****************************************************************************** + * @file stm32f10x_spi.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the SPI firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_spi.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup SPI + * @brief SPI driver modules + * @{ + */ + +/** @defgroup SPI_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + + +/** @defgroup SPI_Private_Defines + * @{ + */ + +/* SPI SPE mask */ +#define CR1_SPE_Set ((uint16_t)0x0040) +#define CR1_SPE_Reset ((uint16_t)0xFFBF) + +/* I2S I2SE mask */ +#define I2SCFGR_I2SE_Set ((uint16_t)0x0400) +#define I2SCFGR_I2SE_Reset ((uint16_t)0xFBFF) + +/* SPI CRCNext mask */ +#define CR1_CRCNext_Set ((uint16_t)0x1000) + +/* SPI CRCEN mask */ +#define CR1_CRCEN_Set ((uint16_t)0x2000) +#define CR1_CRCEN_Reset ((uint16_t)0xDFFF) + +/* SPI SSOE mask */ +#define CR2_SSOE_Set ((uint16_t)0x0004) +#define CR2_SSOE_Reset ((uint16_t)0xFFFB) + +/* SPI registers Masks */ +#define CR1_CLEAR_Mask ((uint16_t)0x3040) +#define I2SCFGR_CLEAR_Mask ((uint16_t)0xF040) + +/* SPI or I2S mode selection masks */ +#define SPI_Mode_Select ((uint16_t)0xF7FF) +#define I2S_Mode_Select ((uint16_t)0x0800) + +/* I2S clock source selection masks */ +#define I2S2_CLOCK_SRC ((uint32_t)(0x00020000)) +#define I2S3_CLOCK_SRC ((uint32_t)(0x00040000)) +#define I2S_MUL_MASK ((uint32_t)(0x0000F000)) +#define I2S_DIV_MASK ((uint32_t)(0x000000F0)) + +/** + * @} + */ + +/** @defgroup SPI_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup SPI_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the SPIx peripheral registers to their default + * reset values (Affects also the I2Ss). + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @retval None + */ +void SPI_I2S_DeInit(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + if (SPIx == SPI1) + { + /* Enable SPI1 reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, ENABLE); + /* Release SPI1 from reset state */ + RCC_APB2PeriphResetCmd(RCC_APB2Periph_SPI1, DISABLE); + } + else if (SPIx == SPI2) + { + /* Enable SPI2 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, ENABLE); + /* Release SPI2 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI2, DISABLE); + } + else + { + if (SPIx == SPI3) + { + /* Enable SPI3 reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, ENABLE); + /* Release SPI3 from reset state */ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_SPI3, DISABLE); + } + } +} + +/** + * @brief Initializes the SPIx peripheral according to the specified + * parameters in the SPI_InitStruct. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_InitStruct: pointer to a SPI_InitTypeDef structure that + * contains the configuration information for the specified SPI peripheral. + * @retval None + */ +void SPI_Init(SPI_TypeDef* SPIx, SPI_InitTypeDef* SPI_InitStruct) +{ + uint16_t tmpreg = 0; + + /* check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Check the SPI parameters */ + assert_param(IS_SPI_DIRECTION_MODE(SPI_InitStruct->SPI_Direction)); + assert_param(IS_SPI_MODE(SPI_InitStruct->SPI_Mode)); + assert_param(IS_SPI_DATASIZE(SPI_InitStruct->SPI_DataSize)); + assert_param(IS_SPI_CPOL(SPI_InitStruct->SPI_CPOL)); + assert_param(IS_SPI_CPHA(SPI_InitStruct->SPI_CPHA)); + assert_param(IS_SPI_NSS(SPI_InitStruct->SPI_NSS)); + assert_param(IS_SPI_BAUDRATE_PRESCALER(SPI_InitStruct->SPI_BaudRatePrescaler)); + assert_param(IS_SPI_FIRST_BIT(SPI_InitStruct->SPI_FirstBit)); + assert_param(IS_SPI_CRC_POLYNOMIAL(SPI_InitStruct->SPI_CRCPolynomial)); + +/*---------------------------- SPIx CR1 Configuration ------------------------*/ + /* Get the SPIx CR1 value */ + tmpreg = SPIx->CR1; + /* Clear BIDIMode, BIDIOE, RxONLY, SSM, SSI, LSBFirst, BR, MSTR, CPOL and CPHA bits */ + tmpreg &= CR1_CLEAR_Mask; + /* Configure SPIx: direction, NSS management, first transmitted bit, BaudRate prescaler + master/salve mode, CPOL and CPHA */ + /* Set BIDImode, BIDIOE and RxONLY bits according to SPI_Direction value */ + /* Set SSM, SSI and MSTR bits according to SPI_Mode and SPI_NSS values */ + /* Set LSBFirst bit according to SPI_FirstBit value */ + /* Set BR bits according to SPI_BaudRatePrescaler value */ + /* Set CPOL bit according to SPI_CPOL value */ + /* Set CPHA bit according to SPI_CPHA value */ + tmpreg |= (uint16_t)((uint32_t)SPI_InitStruct->SPI_Direction | SPI_InitStruct->SPI_Mode | + SPI_InitStruct->SPI_DataSize | SPI_InitStruct->SPI_CPOL | + SPI_InitStruct->SPI_CPHA | SPI_InitStruct->SPI_NSS | + SPI_InitStruct->SPI_BaudRatePrescaler | SPI_InitStruct->SPI_FirstBit); + /* Write to SPIx CR1 */ + SPIx->CR1 = tmpreg; + + /* Activate the SPI mode (Reset I2SMOD bit in I2SCFGR register) */ + SPIx->I2SCFGR &= SPI_Mode_Select; + +/*---------------------------- SPIx CRCPOLY Configuration --------------------*/ + /* Write to SPIx CRCPOLY */ + SPIx->CRCPR = SPI_InitStruct->SPI_CRCPolynomial; +} + +/** + * @brief Initializes the SPIx peripheral according to the specified + * parameters in the I2S_InitStruct. + * @param SPIx: where x can be 2 or 3 to select the SPI peripheral + * (configured in I2S mode). + * @param I2S_InitStruct: pointer to an I2S_InitTypeDef structure that + * contains the configuration information for the specified SPI peripheral + * configured in I2S mode. + * @note + * The function calculates the optimal prescaler needed to obtain the most + * accurate audio frequency (depending on the I2S clock source, the PLL values + * and the product configuration). But in case the prescaler value is greater + * than 511, the default value (0x02) will be configured instead. * + * @retval None + */ +void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct) +{ + uint16_t tmpreg = 0, i2sdiv = 2, i2sodd = 0, packetlength = 1; + uint32_t tmp = 0; + RCC_ClocksTypeDef RCC_Clocks; + uint32_t sourceclock = 0; + + /* Check the I2S parameters */ + assert_param(IS_SPI_23_PERIPH(SPIx)); + assert_param(IS_I2S_MODE(I2S_InitStruct->I2S_Mode)); + assert_param(IS_I2S_STANDARD(I2S_InitStruct->I2S_Standard)); + assert_param(IS_I2S_DATA_FORMAT(I2S_InitStruct->I2S_DataFormat)); + assert_param(IS_I2S_MCLK_OUTPUT(I2S_InitStruct->I2S_MCLKOutput)); + assert_param(IS_I2S_AUDIO_FREQ(I2S_InitStruct->I2S_AudioFreq)); + assert_param(IS_I2S_CPOL(I2S_InitStruct->I2S_CPOL)); + +/*----------------------- SPIx I2SCFGR & I2SPR Configuration -----------------*/ + /* Clear I2SMOD, I2SE, I2SCFG, PCMSYNC, I2SSTD, CKPOL, DATLEN and CHLEN bits */ + SPIx->I2SCFGR &= I2SCFGR_CLEAR_Mask; + SPIx->I2SPR = 0x0002; + + /* Get the I2SCFGR register value */ + tmpreg = SPIx->I2SCFGR; + + /* If the default value has to be written, reinitialize i2sdiv and i2sodd*/ + if(I2S_InitStruct->I2S_AudioFreq == I2S_AudioFreq_Default) + { + i2sodd = (uint16_t)0; + i2sdiv = (uint16_t)2; + } + /* If the requested audio frequency is not the default, compute the prescaler */ + else + { + /* Check the frame length (For the Prescaler computing) */ + if(I2S_InitStruct->I2S_DataFormat == I2S_DataFormat_16b) + { + /* Packet length is 16 bits */ + packetlength = 1; + } + else + { + /* Packet length is 32 bits */ + packetlength = 2; + } + + /* Get the I2S clock source mask depending on the peripheral number */ + if(((uint32_t)SPIx) == SPI2_BASE) + { + /* The mask is relative to I2S2 */ + tmp = I2S2_CLOCK_SRC; + } + else + { + /* The mask is relative to I2S3 */ + tmp = I2S3_CLOCK_SRC; + } + + /* Check the I2S clock source configuration depending on the Device: + Only Connectivity line devices have the PLL3 VCO clock */ +#ifdef STM32F10X_CL + if((RCC->CFGR2 & tmp) != 0) + { + /* Get the configuration bits of RCC PLL3 multiplier */ + tmp = (uint32_t)((RCC->CFGR2 & I2S_MUL_MASK) >> 12); + + /* Get the value of the PLL3 multiplier */ + if((tmp > 5) && (tmp < 15)) + { + /* Multiplier is between 8 and 14 (value 15 is forbidden) */ + tmp += 2; + } + else + { + if (tmp == 15) + { + /* Multiplier is 20 */ + tmp = 20; + } + } + /* Get the PREDIV2 value */ + sourceclock = (uint32_t)(((RCC->CFGR2 & I2S_DIV_MASK) >> 4) + 1); + + /* Calculate the Source Clock frequency based on PLL3 and PREDIV2 values */ + sourceclock = (uint32_t) ((HSE_Value / sourceclock) * tmp * 2); + } + else + { + /* I2S Clock source is System clock: Get System Clock frequency */ + RCC_GetClocksFreq(&RCC_Clocks); + + /* Get the source clock value: based on System Clock value */ + sourceclock = RCC_Clocks.SYSCLK_Frequency; + } +#else /* STM32F10X_HD */ + /* I2S Clock source is System clock: Get System Clock frequency */ + RCC_GetClocksFreq(&RCC_Clocks); + + /* Get the source clock value: based on System Clock value */ + sourceclock = RCC_Clocks.SYSCLK_Frequency; +#endif /* STM32F10X_CL */ + + /* Compute the Real divider depending on the MCLK output state with a floating point */ + if(I2S_InitStruct->I2S_MCLKOutput == I2S_MCLKOutput_Enable) + { + /* MCLK output is enabled */ + tmp = (uint16_t)(((((sourceclock / 256) * 10) / I2S_InitStruct->I2S_AudioFreq)) + 5); + } + else + { + /* MCLK output is disabled */ + tmp = (uint16_t)(((((sourceclock / (32 * packetlength)) *10 ) / I2S_InitStruct->I2S_AudioFreq)) + 5); + } + + /* Remove the floating point */ + tmp = tmp / 10; + + /* Check the parity of the divider */ + i2sodd = (uint16_t)(tmp & (uint16_t)0x0001); + + /* Compute the i2sdiv prescaler */ + i2sdiv = (uint16_t)((tmp - i2sodd) / 2); + + /* Get the Mask for the Odd bit (SPI_I2SPR[8]) register */ + i2sodd = (uint16_t) (i2sodd << 8); + } + + /* Test if the divider is 1 or 0 or greater than 0xFF */ + if ((i2sdiv < 2) || (i2sdiv > 0xFF)) + { + /* Set the default values */ + i2sdiv = 2; + i2sodd = 0; + } + + /* Write to SPIx I2SPR register the computed value */ + SPIx->I2SPR = (uint16_t)(i2sdiv | (uint16_t)(i2sodd | (uint16_t)I2S_InitStruct->I2S_MCLKOutput)); + + /* Configure the I2S with the SPI_InitStruct values */ + tmpreg |= (uint16_t)(I2S_Mode_Select | (uint16_t)(I2S_InitStruct->I2S_Mode | \ + (uint16_t)(I2S_InitStruct->I2S_Standard | (uint16_t)(I2S_InitStruct->I2S_DataFormat | \ + (uint16_t)I2S_InitStruct->I2S_CPOL)))); + + /* Write to SPIx I2SCFGR */ + SPIx->I2SCFGR = tmpreg; +} + +/** + * @brief Fills each SPI_InitStruct member with its default value. + * @param SPI_InitStruct : pointer to a SPI_InitTypeDef structure which will be initialized. + * @retval None + */ +void SPI_StructInit(SPI_InitTypeDef* SPI_InitStruct) +{ +/*--------------- Reset SPI init structure parameters values -----------------*/ + /* Initialize the SPI_Direction member */ + SPI_InitStruct->SPI_Direction = SPI_Direction_2Lines_FullDuplex; + /* initialize the SPI_Mode member */ + SPI_InitStruct->SPI_Mode = SPI_Mode_Slave; + /* initialize the SPI_DataSize member */ + SPI_InitStruct->SPI_DataSize = SPI_DataSize_8b; + /* Initialize the SPI_CPOL member */ + SPI_InitStruct->SPI_CPOL = SPI_CPOL_Low; + /* Initialize the SPI_CPHA member */ + SPI_InitStruct->SPI_CPHA = SPI_CPHA_1Edge; + /* Initialize the SPI_NSS member */ + SPI_InitStruct->SPI_NSS = SPI_NSS_Hard; + /* Initialize the SPI_BaudRatePrescaler member */ + SPI_InitStruct->SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2; + /* Initialize the SPI_FirstBit member */ + SPI_InitStruct->SPI_FirstBit = SPI_FirstBit_MSB; + /* Initialize the SPI_CRCPolynomial member */ + SPI_InitStruct->SPI_CRCPolynomial = 7; +} + +/** + * @brief Fills each I2S_InitStruct member with its default value. + * @param I2S_InitStruct : pointer to a I2S_InitTypeDef structure which will be initialized. + * @retval None + */ +void I2S_StructInit(I2S_InitTypeDef* I2S_InitStruct) +{ +/*--------------- Reset I2S init structure parameters values -----------------*/ + /* Initialize the I2S_Mode member */ + I2S_InitStruct->I2S_Mode = I2S_Mode_SlaveTx; + + /* Initialize the I2S_Standard member */ + I2S_InitStruct->I2S_Standard = I2S_Standard_Phillips; + + /* Initialize the I2S_DataFormat member */ + I2S_InitStruct->I2S_DataFormat = I2S_DataFormat_16b; + + /* Initialize the I2S_MCLKOutput member */ + I2S_InitStruct->I2S_MCLKOutput = I2S_MCLKOutput_Disable; + + /* Initialize the I2S_AudioFreq member */ + I2S_InitStruct->I2S_AudioFreq = I2S_AudioFreq_Default; + + /* Initialize the I2S_CPOL member */ + I2S_InitStruct->I2S_CPOL = I2S_CPOL_Low; +} + +/** + * @brief Enables or disables the specified SPI peripheral. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI peripheral */ + SPIx->CR1 |= CR1_SPE_Set; + } + else + { + /* Disable the selected SPI peripheral */ + SPIx->CR1 &= CR1_SPE_Reset; + } +} + +/** + * @brief Enables or disables the specified SPI peripheral (in I2S mode). + * @param SPIx: where x can be 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void I2S_Cmd(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_23_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI peripheral (in I2S mode) */ + SPIx->I2SCFGR |= I2SCFGR_I2SE_Set; + } + else + { + /* Disable the selected SPI peripheral (in I2S mode) */ + SPIx->I2SCFGR &= I2SCFGR_I2SE_Reset; + } +} + +/** + * @brief Enables or disables the specified SPI/I2S interrupts. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_IT: specifies the SPI/I2S interrupt source to be enabled or disabled. + * This parameter can be one of the following values: + * @arg SPI_I2S_IT_TXE: Tx buffer empty interrupt mask + * @arg SPI_I2S_IT_RXNE: Rx buffer not empty interrupt mask + * @arg SPI_I2S_IT_ERR: Error interrupt mask + * @param NewState: new state of the specified SPI/I2S interrupt. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_I2S_ITConfig(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT, FunctionalState NewState) +{ + uint16_t itpos = 0, itmask = 0 ; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_SPI_I2S_CONFIG_IT(SPI_I2S_IT)); + + /* Get the SPI/I2S IT index */ + itpos = SPI_I2S_IT >> 4; + + /* Set the IT mask */ + itmask = (uint16_t)1 << (uint16_t)itpos; + + if (NewState != DISABLE) + { + /* Enable the selected SPI/I2S interrupt */ + SPIx->CR2 |= itmask; + } + else + { + /* Disable the selected SPI/I2S interrupt */ + SPIx->CR2 &= (uint16_t)~itmask; + } +} + +/** + * @brief Enables or disables the SPIx/I2Sx DMA interface. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_DMAReq: specifies the SPI/I2S DMA transfer request to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg SPI_I2S_DMAReq_Tx: Tx buffer DMA transfer request + * @arg SPI_I2S_DMAReq_Rx: Rx buffer DMA transfer request + * @param NewState: new state of the selected SPI/I2S DMA transfer request. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_I2S_DMACmd(SPI_TypeDef* SPIx, uint16_t SPI_I2S_DMAReq, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + assert_param(IS_SPI_I2S_DMAREQ(SPI_I2S_DMAReq)); + if (NewState != DISABLE) + { + /* Enable the selected SPI/I2S DMA requests */ + SPIx->CR2 |= SPI_I2S_DMAReq; + } + else + { + /* Disable the selected SPI/I2S DMA requests */ + SPIx->CR2 &= (uint16_t)~SPI_I2S_DMAReq; + } +} + +/** + * @brief Transmits a Data through the SPIx/I2Sx peripheral. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param Data : Data to be transmitted. + * @retval None + */ +void SPI_I2S_SendData(SPI_TypeDef* SPIx, uint16_t Data) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Write in the DR register the data to be sent */ + SPIx->DR = Data; +} + +/** + * @brief Returns the most recent received data by the SPIx/I2Sx peripheral. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @retval The value of the received data. + */ +uint16_t SPI_I2S_ReceiveData(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Return the data in the DR register */ + return SPIx->DR; +} + +/** + * @brief Configures internally by software the NSS pin for the selected SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_NSSInternalSoft: specifies the SPI NSS internal state. + * This parameter can be one of the following values: + * @arg SPI_NSSInternalSoft_Set: Set NSS pin internally + * @arg SPI_NSSInternalSoft_Reset: Reset NSS pin internally + * @retval None + */ +void SPI_NSSInternalSoftwareConfig(SPI_TypeDef* SPIx, uint16_t SPI_NSSInternalSoft) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_NSS_INTERNAL(SPI_NSSInternalSoft)); + if (SPI_NSSInternalSoft != SPI_NSSInternalSoft_Reset) + { + /* Set NSS pin internally by software */ + SPIx->CR1 |= SPI_NSSInternalSoft_Set; + } + else + { + /* Reset NSS pin internally by software */ + SPIx->CR1 &= SPI_NSSInternalSoft_Reset; + } +} + +/** + * @brief Enables or disables the SS output for the selected SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx SS output. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_SSOutputCmd(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI SS output */ + SPIx->CR2 |= CR2_SSOE_Set; + } + else + { + /* Disable the selected SPI SS output */ + SPIx->CR2 &= CR2_SSOE_Reset; + } +} + +/** + * @brief Configures the data size for the selected SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_DataSize: specifies the SPI data size. + * This parameter can be one of the following values: + * @arg SPI_DataSize_16b: Set data frame format to 16bit + * @arg SPI_DataSize_8b: Set data frame format to 8bit + * @retval None + */ +void SPI_DataSizeConfig(SPI_TypeDef* SPIx, uint16_t SPI_DataSize) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_DATASIZE(SPI_DataSize)); + /* Clear DFF bit */ + SPIx->CR1 &= (uint16_t)~SPI_DataSize_16b; + /* Set new DFF bit value */ + SPIx->CR1 |= SPI_DataSize; +} + +/** + * @brief Transmit the SPIx CRC value. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @retval None + */ +void SPI_TransmitCRC(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Enable the selected SPI CRC transmission */ + SPIx->CR1 |= CR1_CRCNext_Set; +} + +/** + * @brief Enables or disables the CRC value calculation of the transferred bytes. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param NewState: new state of the SPIx CRC value calculation. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void SPI_CalculateCRC(SPI_TypeDef* SPIx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the selected SPI CRC calculation */ + SPIx->CR1 |= CR1_CRCEN_Set; + } + else + { + /* Disable the selected SPI CRC calculation */ + SPIx->CR1 &= CR1_CRCEN_Reset; + } +} + +/** + * @brief Returns the transmit or the receive CRC register value for the specified SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_CRC: specifies the CRC register to be read. + * This parameter can be one of the following values: + * @arg SPI_CRC_Tx: Selects Tx CRC register + * @arg SPI_CRC_Rx: Selects Rx CRC register + * @retval The selected CRC register value.. + */ +uint16_t SPI_GetCRC(SPI_TypeDef* SPIx, uint8_t SPI_CRC) +{ + uint16_t crcreg = 0; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_CRC(SPI_CRC)); + if (SPI_CRC != SPI_CRC_Rx) + { + /* Get the Tx CRC register */ + crcreg = SPIx->TXCRCR; + } + else + { + /* Get the Rx CRC register */ + crcreg = SPIx->RXCRCR; + } + /* Return the selected CRC register */ + return crcreg; +} + +/** + * @brief Returns the CRC Polynomial register value for the specified SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @retval The CRC Polynomial register value. + */ +uint16_t SPI_GetCRCPolynomial(SPI_TypeDef* SPIx) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + + /* Return the CRC polynomial register */ + return SPIx->CRCPR; +} + +/** + * @brief Selects the data transfer direction in bi-directional mode for the specified SPI. + * @param SPIx: where x can be 1, 2 or 3 to select the SPI peripheral. + * @param SPI_Direction: specifies the data transfer direction in bi-directional mode. + * This parameter can be one of the following values: + * @arg SPI_Direction_Tx: Selects Tx transmission direction + * @arg SPI_Direction_Rx: Selects Rx receive direction + * @retval None + */ +void SPI_BiDirectionalLineConfig(SPI_TypeDef* SPIx, uint16_t SPI_Direction) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_DIRECTION(SPI_Direction)); + if (SPI_Direction == SPI_Direction_Tx) + { + /* Set the Tx only mode */ + SPIx->CR1 |= SPI_Direction_Tx; + } + else + { + /* Set the Rx only mode */ + SPIx->CR1 &= SPI_Direction_Rx; + } +} + +/** + * @brief Checks whether the specified SPI/I2S flag is set or not. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_FLAG: specifies the SPI/I2S flag to check. + * This parameter can be one of the following values: + * @arg SPI_I2S_FLAG_TXE: Transmit buffer empty flag. + * @arg SPI_I2S_FLAG_RXNE: Receive buffer not empty flag. + * @arg SPI_I2S_FLAG_BSY: Busy flag. + * @arg SPI_I2S_FLAG_OVR: Overrun flag. + * @arg SPI_FLAG_MODF: Mode Fault flag. + * @arg SPI_FLAG_CRCERR: CRC Error flag. + * @arg I2S_FLAG_UDR: Underrun Error flag. + * @arg I2S_FLAG_CHSIDE: Channel Side flag. + * @retval The new state of SPI_I2S_FLAG (SET or RESET). + */ +FlagStatus SPI_I2S_GetFlagStatus(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_GET_FLAG(SPI_I2S_FLAG)); + /* Check the status of the specified SPI/I2S flag */ + if ((SPIx->SR & SPI_I2S_FLAG) != (uint16_t)RESET) + { + /* SPI_I2S_FLAG is set */ + bitstatus = SET; + } + else + { + /* SPI_I2S_FLAG is reset */ + bitstatus = RESET; + } + /* Return the SPI_I2S_FLAG status */ + return bitstatus; +} + +/** + * @brief Clears the SPIx CRC Error (CRCERR) flag. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * @param SPI_I2S_FLAG: specifies the SPI flag to clear. + * This function clears only CRCERR flag. + * @note + * - OVR (OverRun error) flag is cleared by software sequence: a read + * operation to SPI_DR register (SPI_I2S_ReceiveData()) followed by a read + * operation to SPI_SR register (SPI_I2S_GetFlagStatus()). + * - UDR (UnderRun error) flag is cleared by a read operation to + * SPI_SR register (SPI_I2S_GetFlagStatus()). + * - MODF (Mode Fault) flag is cleared by software sequence: a read/write + * operation to SPI_SR register (SPI_I2S_GetFlagStatus()) followed by a + * write operation to SPI_CR1 register (SPI_Cmd() to enable the SPI). + * @retval None + */ +void SPI_I2S_ClearFlag(SPI_TypeDef* SPIx, uint16_t SPI_I2S_FLAG) +{ + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_CLEAR_FLAG(SPI_I2S_FLAG)); + + /* Clear the selected SPI CRC Error (CRCERR) flag */ + SPIx->SR = (uint16_t)~SPI_I2S_FLAG; +} + +/** + * @brief Checks whether the specified SPI/I2S interrupt has occurred or not. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * - 2 or 3 in I2S mode + * @param SPI_I2S_IT: specifies the SPI/I2S interrupt source to check. + * This parameter can be one of the following values: + * @arg SPI_I2S_IT_TXE: Transmit buffer empty interrupt. + * @arg SPI_I2S_IT_RXNE: Receive buffer not empty interrupt. + * @arg SPI_I2S_IT_OVR: Overrun interrupt. + * @arg SPI_IT_MODF: Mode Fault interrupt. + * @arg SPI_IT_CRCERR: CRC Error interrupt. + * @arg I2S_IT_UDR: Underrun Error interrupt. + * @retval The new state of SPI_I2S_IT (SET or RESET). + */ +ITStatus SPI_I2S_GetITStatus(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT) +{ + ITStatus bitstatus = RESET; + uint16_t itpos = 0, itmask = 0, enablestatus = 0; + + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_GET_IT(SPI_I2S_IT)); + + /* Get the SPI/I2S IT index */ + itpos = 0x01 << (SPI_I2S_IT & 0x0F); + + /* Get the SPI/I2S IT mask */ + itmask = SPI_I2S_IT >> 4; + + /* Set the IT mask */ + itmask = 0x01 << itmask; + + /* Get the SPI_I2S_IT enable bit status */ + enablestatus = (SPIx->CR2 & itmask) ; + + /* Check the status of the specified SPI/I2S interrupt */ + if (((SPIx->SR & itpos) != (uint16_t)RESET) && enablestatus) + { + /* SPI_I2S_IT is set */ + bitstatus = SET; + } + else + { + /* SPI_I2S_IT is reset */ + bitstatus = RESET; + } + /* Return the SPI_I2S_IT status */ + return bitstatus; +} + +/** + * @brief Clears the SPIx CRC Error (CRCERR) interrupt pending bit. + * @param SPIx: where x can be + * - 1, 2 or 3 in SPI mode + * @param SPI_I2S_IT: specifies the SPI interrupt pending bit to clear. + * This function clears only CRCERR interrupt pending bit. + * @note + * - OVR (OverRun Error) interrupt pending bit is cleared by software + * sequence: a read operation to SPI_DR register (SPI_I2S_ReceiveData()) + * followed by a read operation to SPI_SR register (SPI_I2S_GetITStatus()). + * - UDR (UnderRun Error) interrupt pending bit is cleared by a read + * operation to SPI_SR register (SPI_I2S_GetITStatus()). + * - MODF (Mode Fault) interrupt pending bit is cleared by software sequence: + * a read/write operation to SPI_SR register (SPI_I2S_GetITStatus()) + * followed by a write operation to SPI_CR1 register (SPI_Cmd() to enable + * the SPI). + * @retval None + */ +void SPI_I2S_ClearITPendingBit(SPI_TypeDef* SPIx, uint8_t SPI_I2S_IT) +{ + uint16_t itpos = 0; + /* Check the parameters */ + assert_param(IS_SPI_ALL_PERIPH(SPIx)); + assert_param(IS_SPI_I2S_CLEAR_IT(SPI_I2S_IT)); + + /* Get the SPI IT index */ + itpos = 0x01 << (SPI_I2S_IT & 0x0F); + + /* Clear the selected SPI CRC Error (CRCERR) interrupt pending bit */ + SPIx->SR = (uint16_t)~itpos; +} +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_tim.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_tim.c new file mode 100644 index 0000000..bfb4dd1 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_tim.c @@ -0,0 +1,2890 @@ +/** + ****************************************************************************** + * @file stm32f10x_tim.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the TIM firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_tim.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup TIM + * @brief TIM driver modules + * @{ + */ + +/** @defgroup TIM_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Defines + * @{ + */ + +/* ---------------------- TIM registers bit mask ------------------------ */ +#define SMCR_ETR_Mask ((uint16_t)0x00FF) +#define CCMR_Offset ((uint16_t)0x0018) +#define CCER_CCE_Set ((uint16_t)0x0001) +#define CCER_CCNE_Set ((uint16_t)0x0004) + +/** + * @} + */ + +/** @defgroup TIM_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_FunctionPrototypes + * @{ + */ + +static void TI1_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +static void TI2_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +static void TI3_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +static void TI4_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter); +/** + * @} + */ + +/** @defgroup TIM_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup TIM_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the TIMx peripheral registers to their default reset values. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @retval None + */ +void TIM_DeInit(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + + if (TIMx == TIM1) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM1, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM1, DISABLE); + } + else if (TIMx == TIM2) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM2, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM2, DISABLE); + } + else if (TIMx == TIM3) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM3, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM3, DISABLE); + } + else if (TIMx == TIM4) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM4, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM4, DISABLE); + } + else if (TIMx == TIM5) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM5, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM5, DISABLE); + } + else if (TIMx == TIM6) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM6, DISABLE); + } + else if (TIMx == TIM7) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM7, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM7, DISABLE); + } + else if (TIMx == TIM8) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM8, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM8, DISABLE); + } + else if (TIMx == TIM9) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM9, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM9, DISABLE); + } + else if (TIMx == TIM10) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM10, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM10, DISABLE); + } + else if (TIMx == TIM11) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM11, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM11, DISABLE); + } + else if (TIMx == TIM12) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM12, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM12, DISABLE); + } + else if (TIMx == TIM13) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM13, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM13, DISABLE); + } + else if (TIMx == TIM14) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM14, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_TIM14, DISABLE); + } + else if (TIMx == TIM15) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM15, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM15, DISABLE); + } + else if (TIMx == TIM16) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM16, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM16, DISABLE); + } + else + { + if (TIMx == TIM17) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM17, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_TIM17, DISABLE); + } + } +} + +/** + * @brief Initializes the TIMx Time Base Unit peripheral according to + * the specified parameters in the TIM_TimeBaseInitStruct. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_TimeBaseInitStruct: pointer to a TIM_TimeBaseInitTypeDef + * structure that contains the configuration information for the + * specified TIM peripheral. + * @retval None + */ +void TIM_TimeBaseInit(TIM_TypeDef* TIMx, TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) +{ + uint16_t tmpcr1 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_COUNTER_MODE(TIM_TimeBaseInitStruct->TIM_CounterMode)); + assert_param(IS_TIM_CKD_DIV(TIM_TimeBaseInitStruct->TIM_ClockDivision)); + + tmpcr1 = TIMx->CR1; + + if((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM2) || (TIMx == TIM3)|| + (TIMx == TIM4) || (TIMx == TIM5)) + { + /* Select the Counter Mode */ + tmpcr1 &= (uint16_t)(~((uint16_t)(TIM_CR1_DIR | TIM_CR1_CMS))); + tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_CounterMode; + } + + if((TIMx != TIM6) && (TIMx != TIM7)) + { + /* Set the clock division */ + tmpcr1 &= (uint16_t)(~((uint16_t)TIM_CR1_CKD)); + tmpcr1 |= (uint32_t)TIM_TimeBaseInitStruct->TIM_ClockDivision; + } + + TIMx->CR1 = tmpcr1; + + /* Set the Autoreload value */ + TIMx->ARR = TIM_TimeBaseInitStruct->TIM_Period ; + + /* Set the Prescaler value */ + TIMx->PSC = TIM_TimeBaseInitStruct->TIM_Prescaler; + + if ((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM15)|| (TIMx == TIM16) || (TIMx == TIM17)) + { + /* Set the Repetition Counter value */ + TIMx->RCR = TIM_TimeBaseInitStruct->TIM_RepetitionCounter; + } + + /* Generate an update event to reload the Prescaler and the Repetition counter + values immediately */ + TIMx->EGR = TIM_PSCReloadMode_Immediate; +} + +/** + * @brief Initializes the TIMx Channel1 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC1Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 1: Reset the CC1E Bit */ + TIMx->CCER &= (uint16_t)(~(uint16_t)TIM_CCER_CC1E); + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR1 register value */ + tmpccmrx = TIMx->CCMR1; + + /* Reset the Output Compare Mode Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_OC1M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_CC1S)); + + /* Select the Output Compare Mode */ + tmpccmrx |= TIM_OCInitStruct->TIM_OCMode; + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC1P)); + /* Set the Output Compare Polarity */ + tmpccer |= TIM_OCInitStruct->TIM_OCPolarity; + + /* Set the Output State */ + tmpccer |= TIM_OCInitStruct->TIM_OutputState; + + if((TIMx == TIM1) || (TIMx == TIM8)|| (TIMx == TIM15)|| + (TIMx == TIM16)|| (TIMx == TIM17)) + { + assert_param(IS_TIM_OUTPUTN_STATE(TIM_OCInitStruct->TIM_OutputNState)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCInitStruct->TIM_OCNPolarity)); + assert_param(IS_TIM_OCNIDLE_STATE(TIM_OCInitStruct->TIM_OCNIdleState)); + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + + /* Reset the Output N Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC1NP)); + /* Set the Output N Polarity */ + tmpccer |= TIM_OCInitStruct->TIM_OCNPolarity; + + /* Reset the Output N State */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC1NE)); + /* Set the Output N State */ + tmpccer |= TIM_OCInitStruct->TIM_OutputNState; + + /* Reset the Output Compare and Output Compare N IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS1)); + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS1N)); + + /* Set the Output Idle state */ + tmpcr2 |= TIM_OCInitStruct->TIM_OCIdleState; + /* Set the Output N Idle state */ + tmpcr2 |= TIM_OCInitStruct->TIM_OCNIdleState; + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR1 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIMx Channel2 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select + * the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC2Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 2: Reset the CC2E Bit */ + TIMx->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC2E)); + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR1 register value */ + tmpccmrx = TIMx->CCMR1; + + /* Reset the Output Compare mode and Capture/Compare selection Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_OC2M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR1_CC2S)); + + /* Select the Output Compare Mode */ + tmpccmrx |= (uint16_t)(TIM_OCInitStruct->TIM_OCMode << 8); + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC2P)); + /* Set the Output Compare Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCPolarity << 4); + + /* Set the Output State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputState << 4); + + if((TIMx == TIM1) || (TIMx == TIM8)) + { + assert_param(IS_TIM_OUTPUTN_STATE(TIM_OCInitStruct->TIM_OutputNState)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCInitStruct->TIM_OCNPolarity)); + assert_param(IS_TIM_OCNIDLE_STATE(TIM_OCInitStruct->TIM_OCNIdleState)); + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + + /* Reset the Output N Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC2NP)); + /* Set the Output N Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCNPolarity << 4); + + /* Reset the Output N State */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC2NE)); + /* Set the Output N State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputNState << 4); + + /* Reset the Output Compare and Output Compare N IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS2)); + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS2N)); + + /* Set the Output Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCIdleState << 2); + /* Set the Output N Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCNIdleState << 2); + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR2 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIMx Channel3 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC3Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 2: Reset the CC2E Bit */ + TIMx->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC3E)); + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR2 register value */ + tmpccmrx = TIMx->CCMR2; + + /* Reset the Output Compare mode and Capture/Compare selection Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_OC3M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_CC3S)); + /* Select the Output Compare Mode */ + tmpccmrx |= TIM_OCInitStruct->TIM_OCMode; + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC3P)); + /* Set the Output Compare Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCPolarity << 8); + + /* Set the Output State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputState << 8); + + if((TIMx == TIM1) || (TIMx == TIM8)) + { + assert_param(IS_TIM_OUTPUTN_STATE(TIM_OCInitStruct->TIM_OutputNState)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCInitStruct->TIM_OCNPolarity)); + assert_param(IS_TIM_OCNIDLE_STATE(TIM_OCInitStruct->TIM_OCNIdleState)); + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + + /* Reset the Output N Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC3NP)); + /* Set the Output N Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCNPolarity << 8); + /* Reset the Output N State */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC3NE)); + + /* Set the Output N State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputNState << 8); + /* Reset the Output Compare and Output Compare N IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS3)); + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS3N)); + /* Set the Output Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCIdleState << 4); + /* Set the Output N Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCNIdleState << 4); + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR3 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIMx Channel4 according to the specified + * parameters in the TIM_OCInitStruct. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCInitStruct: pointer to a TIM_OCInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_OC4Init(TIM_TypeDef* TIMx, TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + uint16_t tmpccmrx = 0, tmpccer = 0, tmpcr2 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_MODE(TIM_OCInitStruct->TIM_OCMode)); + assert_param(IS_TIM_OUTPUT_STATE(TIM_OCInitStruct->TIM_OutputState)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCInitStruct->TIM_OCPolarity)); + /* Disable the Channel 2: Reset the CC4E Bit */ + TIMx->CCER &= (uint16_t)(~((uint16_t)TIM_CCER_CC4E)); + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + /* Get the TIMx CR2 register value */ + tmpcr2 = TIMx->CR2; + + /* Get the TIMx CCMR2 register value */ + tmpccmrx = TIMx->CCMR2; + + /* Reset the Output Compare mode and Capture/Compare selection Bits */ + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_OC4M)); + tmpccmrx &= (uint16_t)(~((uint16_t)TIM_CCMR2_CC4S)); + + /* Select the Output Compare Mode */ + tmpccmrx |= (uint16_t)(TIM_OCInitStruct->TIM_OCMode << 8); + + /* Reset the Output Polarity level */ + tmpccer &= (uint16_t)(~((uint16_t)TIM_CCER_CC4P)); + /* Set the Output Compare Polarity */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OCPolarity << 12); + + /* Set the Output State */ + tmpccer |= (uint16_t)(TIM_OCInitStruct->TIM_OutputState << 12); + + if((TIMx == TIM1) || (TIMx == TIM8)) + { + assert_param(IS_TIM_OCIDLE_STATE(TIM_OCInitStruct->TIM_OCIdleState)); + /* Reset the Output Compare IDLE State */ + tmpcr2 &= (uint16_t)(~((uint16_t)TIM_CR2_OIS4)); + /* Set the Output Idle state */ + tmpcr2 |= (uint16_t)(TIM_OCInitStruct->TIM_OCIdleState << 6); + } + /* Write to TIMx CR2 */ + TIMx->CR2 = tmpcr2; + + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmrx; + + /* Set the Capture Compare Register value */ + TIMx->CCR4 = TIM_OCInitStruct->TIM_Pulse; + + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Initializes the TIM peripheral according to the specified + * parameters in the TIM_ICInitStruct. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ICInitStruct: pointer to a TIM_ICInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_ICInit(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct) +{ + /* Check the parameters */ + assert_param(IS_TIM_CHANNEL(TIM_ICInitStruct->TIM_Channel)); + assert_param(IS_TIM_IC_SELECTION(TIM_ICInitStruct->TIM_ICSelection)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICInitStruct->TIM_ICPrescaler)); + assert_param(IS_TIM_IC_FILTER(TIM_ICInitStruct->TIM_ICFilter)); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + assert_param(IS_TIM_IC_POLARITY(TIM_ICInitStruct->TIM_ICPolarity)); + } + else + { + assert_param(IS_TIM_IC_POLARITY_LITE(TIM_ICInitStruct->TIM_ICPolarity)); + } + if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_1) + { + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + /* TI1 Configuration */ + TI1_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC1Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_2) + { + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* TI2 Configuration */ + TI2_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC2Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_3) + { + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* TI3 Configuration */ + TI3_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC3Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else + { + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* TI4 Configuration */ + TI4_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, + TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC4Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } +} + +/** + * @brief Configures the TIM peripheral according to the specified + * parameters in the TIM_ICInitStruct to measure an external PWM signal. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ICInitStruct: pointer to a TIM_ICInitTypeDef structure + * that contains the configuration information for the specified TIM peripheral. + * @retval None + */ +void TIM_PWMIConfig(TIM_TypeDef* TIMx, TIM_ICInitTypeDef* TIM_ICInitStruct) +{ + uint16_t icoppositepolarity = TIM_ICPolarity_Rising; + uint16_t icoppositeselection = TIM_ICSelection_DirectTI; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Select the Opposite Input Polarity */ + if (TIM_ICInitStruct->TIM_ICPolarity == TIM_ICPolarity_Rising) + { + icoppositepolarity = TIM_ICPolarity_Falling; + } + else + { + icoppositepolarity = TIM_ICPolarity_Rising; + } + /* Select the Opposite Input */ + if (TIM_ICInitStruct->TIM_ICSelection == TIM_ICSelection_DirectTI) + { + icoppositeselection = TIM_ICSelection_IndirectTI; + } + else + { + icoppositeselection = TIM_ICSelection_DirectTI; + } + if (TIM_ICInitStruct->TIM_Channel == TIM_Channel_1) + { + /* TI1 Configuration */ + TI1_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC1Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + /* TI2 Configuration */ + TI2_Config(TIMx, icoppositepolarity, icoppositeselection, TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC2Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } + else + { + /* TI2 Configuration */ + TI2_Config(TIMx, TIM_ICInitStruct->TIM_ICPolarity, TIM_ICInitStruct->TIM_ICSelection, + TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC2Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + /* TI1 Configuration */ + TI1_Config(TIMx, icoppositepolarity, icoppositeselection, TIM_ICInitStruct->TIM_ICFilter); + /* Set the Input Capture Prescaler value */ + TIM_SetIC1Prescaler(TIMx, TIM_ICInitStruct->TIM_ICPrescaler); + } +} + +/** + * @brief Configures the: Break feature, dead time, Lock level, the OSSI, + * the OSSR State and the AOE(automatic output enable). + * @param TIMx: where x can be 1 or 8 to select the TIM + * @param TIM_BDTRInitStruct: pointer to a TIM_BDTRInitTypeDef structure that + * contains the BDTR Register configuration information for the TIM peripheral. + * @retval None + */ +void TIM_BDTRConfig(TIM_TypeDef* TIMx, TIM_BDTRInitTypeDef *TIM_BDTRInitStruct) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_TIM_OSSR_STATE(TIM_BDTRInitStruct->TIM_OSSRState)); + assert_param(IS_TIM_OSSI_STATE(TIM_BDTRInitStruct->TIM_OSSIState)); + assert_param(IS_TIM_LOCK_LEVEL(TIM_BDTRInitStruct->TIM_LOCKLevel)); + assert_param(IS_TIM_BREAK_STATE(TIM_BDTRInitStruct->TIM_Break)); + assert_param(IS_TIM_BREAK_POLARITY(TIM_BDTRInitStruct->TIM_BreakPolarity)); + assert_param(IS_TIM_AUTOMATIC_OUTPUT_STATE(TIM_BDTRInitStruct->TIM_AutomaticOutput)); + /* Set the Lock level, the Break enable Bit and the Ploarity, the OSSR State, + the OSSI State, the dead time value and the Automatic Output Enable Bit */ + TIMx->BDTR = (uint32_t)TIM_BDTRInitStruct->TIM_OSSRState | TIM_BDTRInitStruct->TIM_OSSIState | + TIM_BDTRInitStruct->TIM_LOCKLevel | TIM_BDTRInitStruct->TIM_DeadTime | + TIM_BDTRInitStruct->TIM_Break | TIM_BDTRInitStruct->TIM_BreakPolarity | + TIM_BDTRInitStruct->TIM_AutomaticOutput; +} + +/** + * @brief Fills each TIM_TimeBaseInitStruct member with its default value. + * @param TIM_TimeBaseInitStruct : pointer to a TIM_TimeBaseInitTypeDef + * structure which will be initialized. + * @retval None + */ +void TIM_TimeBaseStructInit(TIM_TimeBaseInitTypeDef* TIM_TimeBaseInitStruct) +{ + /* Set the default configuration */ + TIM_TimeBaseInitStruct->TIM_Period = 0xFFFF; + TIM_TimeBaseInitStruct->TIM_Prescaler = 0x0000; + TIM_TimeBaseInitStruct->TIM_ClockDivision = TIM_CKD_DIV1; + TIM_TimeBaseInitStruct->TIM_CounterMode = TIM_CounterMode_Up; + TIM_TimeBaseInitStruct->TIM_RepetitionCounter = 0x0000; +} + +/** + * @brief Fills each TIM_OCInitStruct member with its default value. + * @param TIM_OCInitStruct : pointer to a TIM_OCInitTypeDef structure which will + * be initialized. + * @retval None + */ +void TIM_OCStructInit(TIM_OCInitTypeDef* TIM_OCInitStruct) +{ + /* Set the default configuration */ + TIM_OCInitStruct->TIM_OCMode = TIM_OCMode_Timing; + TIM_OCInitStruct->TIM_OutputState = TIM_OutputState_Disable; + TIM_OCInitStruct->TIM_OutputNState = TIM_OutputNState_Disable; + TIM_OCInitStruct->TIM_Pulse = 0x0000; + TIM_OCInitStruct->TIM_OCPolarity = TIM_OCPolarity_High; + TIM_OCInitStruct->TIM_OCNPolarity = TIM_OCPolarity_High; + TIM_OCInitStruct->TIM_OCIdleState = TIM_OCIdleState_Reset; + TIM_OCInitStruct->TIM_OCNIdleState = TIM_OCNIdleState_Reset; +} + +/** + * @brief Fills each TIM_ICInitStruct member with its default value. + * @param TIM_ICInitStruct: pointer to a TIM_ICInitTypeDef structure which will + * be initialized. + * @retval None + */ +void TIM_ICStructInit(TIM_ICInitTypeDef* TIM_ICInitStruct) +{ + /* Set the default configuration */ + TIM_ICInitStruct->TIM_Channel = TIM_Channel_1; + TIM_ICInitStruct->TIM_ICPolarity = TIM_ICPolarity_Rising; + TIM_ICInitStruct->TIM_ICSelection = TIM_ICSelection_DirectTI; + TIM_ICInitStruct->TIM_ICPrescaler = TIM_ICPSC_DIV1; + TIM_ICInitStruct->TIM_ICFilter = 0x00; +} + +/** + * @brief Fills each TIM_BDTRInitStruct member with its default value. + * @param TIM_BDTRInitStruct: pointer to a TIM_BDTRInitTypeDef structure which + * will be initialized. + * @retval None + */ +void TIM_BDTRStructInit(TIM_BDTRInitTypeDef* TIM_BDTRInitStruct) +{ + /* Set the default configuration */ + TIM_BDTRInitStruct->TIM_OSSRState = TIM_OSSRState_Disable; + TIM_BDTRInitStruct->TIM_OSSIState = TIM_OSSIState_Disable; + TIM_BDTRInitStruct->TIM_LOCKLevel = TIM_LOCKLevel_OFF; + TIM_BDTRInitStruct->TIM_DeadTime = 0x00; + TIM_BDTRInitStruct->TIM_Break = TIM_Break_Disable; + TIM_BDTRInitStruct->TIM_BreakPolarity = TIM_BreakPolarity_Low; + TIM_BDTRInitStruct->TIM_AutomaticOutput = TIM_AutomaticOutput_Disable; +} + +/** + * @brief Enables or disables the specified TIM peripheral. + * @param TIMx: where x can be 1 to 17 to select the TIMx peripheral. + * @param NewState: new state of the TIMx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_Cmd(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the TIM Counter */ + TIMx->CR1 |= TIM_CR1_CEN; + } + else + { + /* Disable the TIM Counter */ + TIMx->CR1 &= (uint16_t)(~((uint16_t)TIM_CR1_CEN)); + } +} + +/** + * @brief Enables or disables the TIM peripheral Main Outputs. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIMx peripheral. + * @param NewState: new state of the TIM peripheral Main Outputs. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_CtrlPWMOutputs(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the TIM Main Output */ + TIMx->BDTR |= TIM_BDTR_MOE; + } + else + { + /* Disable the TIM Main Output */ + TIMx->BDTR &= (uint16_t)(~((uint16_t)TIM_BDTR_MOE)); + } +} + +/** + * @brief Enables or disables the specified TIM interrupts. + * @param TIMx: where x can be 1 to 17 to select the TIMx peripheral. + * @param TIM_IT: specifies the TIM interrupts sources to be enabled or disabled. + * This parameter can be any combination of the following values: + * @arg TIM_IT_Update: TIM update Interrupt source + * @arg TIM_IT_CC1: TIM Capture Compare 1 Interrupt source + * @arg TIM_IT_CC2: TIM Capture Compare 2 Interrupt source + * @arg TIM_IT_CC3: TIM Capture Compare 3 Interrupt source + * @arg TIM_IT_CC4: TIM Capture Compare 4 Interrupt source + * @arg TIM_IT_COM: TIM Commutation Interrupt source + * @arg TIM_IT_Trigger: TIM Trigger Interrupt source + * @arg TIM_IT_Break: TIM Break Interrupt source + * @note + * - TIM6 and TIM7 can only generate an update interrupt. + * - TIM9, TIM12 and TIM15 can have only TIM_IT_Update, TIM_IT_CC1, + * TIM_IT_CC2 or TIM_IT_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_IT_Update or TIM_IT_CC1. + * - TIM_IT_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_IT_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @param NewState: new state of the TIM interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_ITConfig(TIM_TypeDef* TIMx, uint16_t TIM_IT, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_IT(TIM_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the Interrupt sources */ + TIMx->DIER |= TIM_IT; + } + else + { + /* Disable the Interrupt sources */ + TIMx->DIER &= (uint16_t)~TIM_IT; + } +} + +/** + * @brief Configures the TIMx event to be generate by software. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_EventSource: specifies the event source. + * This parameter can be one or more of the following values: + * @arg TIM_EventSource_Update: Timer update Event source + * @arg TIM_EventSource_CC1: Timer Capture Compare 1 Event source + * @arg TIM_EventSource_CC2: Timer Capture Compare 2 Event source + * @arg TIM_EventSource_CC3: Timer Capture Compare 3 Event source + * @arg TIM_EventSource_CC4: Timer Capture Compare 4 Event source + * @arg TIM_EventSource_COM: Timer COM event source + * @arg TIM_EventSource_Trigger: Timer Trigger Event source + * @arg TIM_EventSource_Break: Timer Break event source + * @note + * - TIM6 and TIM7 can only generate an update event. + * - TIM_EventSource_COM and TIM_EventSource_Break are used only with TIM1 and TIM8. + * @retval None + */ +void TIM_GenerateEvent(TIM_TypeDef* TIMx, uint16_t TIM_EventSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_EVENT_SOURCE(TIM_EventSource)); + + /* Set the event sources */ + TIMx->EGR = TIM_EventSource; +} + +/** + * @brief Configures the TIMx's DMA interface. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 15, 16 or 17 to select + * the TIM peripheral. + * @param TIM_DMABase: DMA Base address. + * This parameter can be one of the following values: + * @arg TIM_DMABase_CR, TIM_DMABase_CR2, TIM_DMABase_SMCR, + * TIM_DMABase_DIER, TIM1_DMABase_SR, TIM_DMABase_EGR, + * TIM_DMABase_CCMR1, TIM_DMABase_CCMR2, TIM_DMABase_CCER, + * TIM_DMABase_CNT, TIM_DMABase_PSC, TIM_DMABase_ARR, + * TIM_DMABase_RCR, TIM_DMABase_CCR1, TIM_DMABase_CCR2, + * TIM_DMABase_CCR3, TIM_DMABase_CCR4, TIM_DMABase_BDTR, + * TIM_DMABase_DCR. + * @param TIM_DMABurstLength: DMA Burst length. + * This parameter can be one value between: + * TIM_DMABurstLength_1Transfer and TIM_DMABurstLength_18Transfers. + * @retval None + */ +void TIM_DMAConfig(TIM_TypeDef* TIMx, uint16_t TIM_DMABase, uint16_t TIM_DMABurstLength) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST4_PERIPH(TIMx)); + assert_param(IS_TIM_DMA_BASE(TIM_DMABase)); + assert_param(IS_TIM_DMA_LENGTH(TIM_DMABurstLength)); + /* Set the DMA Base and the DMA Burst Length */ + TIMx->DCR = TIM_DMABase | TIM_DMABurstLength; +} + +/** + * @brief Enables or disables the TIMx's DMA Requests. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 6, 7, 8, 15, 16 or 17 + * to select the TIM peripheral. + * @param TIM_DMASource: specifies the DMA Request sources. + * This parameter can be any combination of the following values: + * @arg TIM_DMA_Update: TIM update Interrupt source + * @arg TIM_DMA_CC1: TIM Capture Compare 1 DMA source + * @arg TIM_DMA_CC2: TIM Capture Compare 2 DMA source + * @arg TIM_DMA_CC3: TIM Capture Compare 3 DMA source + * @arg TIM_DMA_CC4: TIM Capture Compare 4 DMA source + * @arg TIM_DMA_COM: TIM Commutation DMA source + * @arg TIM_DMA_Trigger: TIM Trigger DMA source + * @param NewState: new state of the DMA Request sources. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_DMACmd(TIM_TypeDef* TIMx, uint16_t TIM_DMASource, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST9_PERIPH(TIMx)); + assert_param(IS_TIM_DMA_SOURCE(TIM_DMASource)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the DMA sources */ + TIMx->DIER |= TIM_DMASource; + } + else + { + /* Disable the DMA sources */ + TIMx->DIER &= (uint16_t)~TIM_DMASource; + } +} + +/** + * @brief Configures the TIMx internal Clock + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 + * to select the TIM peripheral. + * @retval None + */ +void TIM_InternalClockConfig(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Disable slave mode to clock the prescaler directly with the internal clock */ + TIMx->SMCR &= (uint16_t)(~((uint16_t)TIM_SMCR_SMS)); +} + +/** + * @brief Configures the TIMx Internal Trigger as External Clock + * @param TIMx: where x can be 1, 2, 3, 4, 5, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ITRSource: Trigger source. + * This parameter can be one of the following values: + * @param TIM_TS_ITR0: Internal Trigger 0 + * @param TIM_TS_ITR1: Internal Trigger 1 + * @param TIM_TS_ITR2: Internal Trigger 2 + * @param TIM_TS_ITR3: Internal Trigger 3 + * @retval None + */ +void TIM_ITRxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_INTERNAL_TRIGGER_SELECTION(TIM_InputTriggerSource)); + /* Select the Internal Trigger */ + TIM_SelectInputTrigger(TIMx, TIM_InputTriggerSource); + /* Select the External clock mode1 */ + TIMx->SMCR |= TIM_SlaveMode_External1; +} + +/** + * @brief Configures the TIMx Trigger as External Clock + * @param TIMx: where x can be 1, 2, 3, 4, 5, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_TIxExternalCLKSource: Trigger source. + * This parameter can be one of the following values: + * @arg TIM_TIxExternalCLK1Source_TI1ED: TI1 Edge Detector + * @arg TIM_TIxExternalCLK1Source_TI1: Filtered Timer Input 1 + * @arg TIM_TIxExternalCLK1Source_TI2: Filtered Timer Input 2 + * @param TIM_ICPolarity: specifies the TIx Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param ICFilter : specifies the filter value. + * This parameter must be a value between 0x0 and 0xF. + * @retval None + */ +void TIM_TIxExternalClockConfig(TIM_TypeDef* TIMx, uint16_t TIM_TIxExternalCLKSource, + uint16_t TIM_ICPolarity, uint16_t ICFilter) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_TIXCLK_SOURCE(TIM_TIxExternalCLKSource)); + assert_param(IS_TIM_IC_POLARITY(TIM_ICPolarity)); + assert_param(IS_TIM_IC_FILTER(ICFilter)); + /* Configure the Timer Input Clock Source */ + if (TIM_TIxExternalCLKSource == TIM_TIxExternalCLK1Source_TI2) + { + TI2_Config(TIMx, TIM_ICPolarity, TIM_ICSelection_DirectTI, ICFilter); + } + else + { + TI1_Config(TIMx, TIM_ICPolarity, TIM_ICSelection_DirectTI, ICFilter); + } + /* Select the Trigger source */ + TIM_SelectInputTrigger(TIMx, TIM_TIxExternalCLKSource); + /* Select the External clock mode1 */ + TIMx->SMCR |= TIM_SlaveMode_External1; +} + +/** + * @brief Configures the External clock Mode1 + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ExtTRGPrescaler: The external Trigger Prescaler. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPSC_OFF: ETRP Prescaler OFF. + * @arg TIM_ExtTRGPSC_DIV2: ETRP frequency divided by 2. + * @arg TIM_ExtTRGPSC_DIV4: ETRP frequency divided by 4. + * @arg TIM_ExtTRGPSC_DIV8: ETRP frequency divided by 8. + * @param TIM_ExtTRGPolarity: The external Trigger Polarity. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPolarity_Inverted: active low or falling edge active. + * @arg TIM_ExtTRGPolarity_NonInverted: active high or rising edge active. + * @param ExtTRGFilter: External Trigger Filter. + * This parameter must be a value between 0x00 and 0x0F + * @retval None + */ +void TIM_ETRClockMode1Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter) +{ + uint16_t tmpsmcr = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_EXT_PRESCALER(TIM_ExtTRGPrescaler)); + assert_param(IS_TIM_EXT_POLARITY(TIM_ExtTRGPolarity)); + assert_param(IS_TIM_EXT_FILTER(ExtTRGFilter)); + /* Configure the ETR Clock source */ + TIM_ETRConfig(TIMx, TIM_ExtTRGPrescaler, TIM_ExtTRGPolarity, ExtTRGFilter); + + /* Get the TIMx SMCR register value */ + tmpsmcr = TIMx->SMCR; + /* Reset the SMS Bits */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_SMS)); + /* Select the External clock mode1 */ + tmpsmcr |= TIM_SlaveMode_External1; + /* Select the Trigger selection : ETRF */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_TS)); + tmpsmcr |= TIM_TS_ETRF; + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; +} + +/** + * @brief Configures the External clock Mode2 + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ExtTRGPrescaler: The external Trigger Prescaler. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPSC_OFF: ETRP Prescaler OFF. + * @arg TIM_ExtTRGPSC_DIV2: ETRP frequency divided by 2. + * @arg TIM_ExtTRGPSC_DIV4: ETRP frequency divided by 4. + * @arg TIM_ExtTRGPSC_DIV8: ETRP frequency divided by 8. + * @param TIM_ExtTRGPolarity: The external Trigger Polarity. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPolarity_Inverted: active low or falling edge active. + * @arg TIM_ExtTRGPolarity_NonInverted: active high or rising edge active. + * @param ExtTRGFilter: External Trigger Filter. + * This parameter must be a value between 0x00 and 0x0F + * @retval None + */ +void TIM_ETRClockMode2Config(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, + uint16_t TIM_ExtTRGPolarity, uint16_t ExtTRGFilter) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_EXT_PRESCALER(TIM_ExtTRGPrescaler)); + assert_param(IS_TIM_EXT_POLARITY(TIM_ExtTRGPolarity)); + assert_param(IS_TIM_EXT_FILTER(ExtTRGFilter)); + /* Configure the ETR Clock source */ + TIM_ETRConfig(TIMx, TIM_ExtTRGPrescaler, TIM_ExtTRGPolarity, ExtTRGFilter); + /* Enable the External clock mode2 */ + TIMx->SMCR |= TIM_SMCR_ECE; +} + +/** + * @brief Configures the TIMx External Trigger (ETR). + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ExtTRGPrescaler: The external Trigger Prescaler. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPSC_OFF: ETRP Prescaler OFF. + * @arg TIM_ExtTRGPSC_DIV2: ETRP frequency divided by 2. + * @arg TIM_ExtTRGPSC_DIV4: ETRP frequency divided by 4. + * @arg TIM_ExtTRGPSC_DIV8: ETRP frequency divided by 8. + * @param TIM_ExtTRGPolarity: The external Trigger Polarity. + * This parameter can be one of the following values: + * @arg TIM_ExtTRGPolarity_Inverted: active low or falling edge active. + * @arg TIM_ExtTRGPolarity_NonInverted: active high or rising edge active. + * @param ExtTRGFilter: External Trigger Filter. + * This parameter must be a value between 0x00 and 0x0F + * @retval None + */ +void TIM_ETRConfig(TIM_TypeDef* TIMx, uint16_t TIM_ExtTRGPrescaler, uint16_t TIM_ExtTRGPolarity, + uint16_t ExtTRGFilter) +{ + uint16_t tmpsmcr = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_EXT_PRESCALER(TIM_ExtTRGPrescaler)); + assert_param(IS_TIM_EXT_POLARITY(TIM_ExtTRGPolarity)); + assert_param(IS_TIM_EXT_FILTER(ExtTRGFilter)); + tmpsmcr = TIMx->SMCR; + /* Reset the ETR Bits */ + tmpsmcr &= SMCR_ETR_Mask; + /* Set the Prescaler, the Filter value and the Polarity */ + tmpsmcr |= (uint16_t)(TIM_ExtTRGPrescaler | (uint16_t)(TIM_ExtTRGPolarity | (uint16_t)(ExtTRGFilter << (uint16_t)8))); + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; +} + +/** + * @brief Configures the TIMx Prescaler. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param Prescaler: specifies the Prescaler Register value + * @param TIM_PSCReloadMode: specifies the TIM Prescaler Reload mode + * This parameter can be one of the following values: + * @arg TIM_PSCReloadMode_Update: The Prescaler is loaded at the update event. + * @arg TIM_PSCReloadMode_Immediate: The Prescaler is loaded immediately. + * @retval None + */ +void TIM_PrescalerConfig(TIM_TypeDef* TIMx, uint16_t Prescaler, uint16_t TIM_PSCReloadMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_PRESCALER_RELOAD(TIM_PSCReloadMode)); + /* Set the Prescaler value */ + TIMx->PSC = Prescaler; + /* Set or reset the UG Bit */ + TIMx->EGR = TIM_PSCReloadMode; +} + +/** + * @brief Specifies the TIMx Counter Mode to be used. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_CounterMode: specifies the Counter Mode to be used + * This parameter can be one of the following values: + * @arg TIM_CounterMode_Up: TIM Up Counting Mode + * @arg TIM_CounterMode_Down: TIM Down Counting Mode + * @arg TIM_CounterMode_CenterAligned1: TIM Center Aligned Mode1 + * @arg TIM_CounterMode_CenterAligned2: TIM Center Aligned Mode2 + * @arg TIM_CounterMode_CenterAligned3: TIM Center Aligned Mode3 + * @retval None + */ +void TIM_CounterModeConfig(TIM_TypeDef* TIMx, uint16_t TIM_CounterMode) +{ + uint16_t tmpcr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_COUNTER_MODE(TIM_CounterMode)); + tmpcr1 = TIMx->CR1; + /* Reset the CMS and DIR Bits */ + tmpcr1 &= (uint16_t)(~((uint16_t)(TIM_CR1_DIR | TIM_CR1_CMS))); + /* Set the Counter Mode */ + tmpcr1 |= TIM_CounterMode; + /* Write to TIMx CR1 register */ + TIMx->CR1 = tmpcr1; +} + +/** + * @brief Selects the Input Trigger source + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_InputTriggerSource: The Input Trigger source. + * This parameter can be one of the following values: + * @arg TIM_TS_ITR0: Internal Trigger 0 + * @arg TIM_TS_ITR1: Internal Trigger 1 + * @arg TIM_TS_ITR2: Internal Trigger 2 + * @arg TIM_TS_ITR3: Internal Trigger 3 + * @arg TIM_TS_TI1F_ED: TI1 Edge Detector + * @arg TIM_TS_TI1FP1: Filtered Timer Input 1 + * @arg TIM_TS_TI2FP2: Filtered Timer Input 2 + * @arg TIM_TS_ETRF: External Trigger input + * @retval None + */ +void TIM_SelectInputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_InputTriggerSource) +{ + uint16_t tmpsmcr = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_TRIGGER_SELECTION(TIM_InputTriggerSource)); + /* Get the TIMx SMCR register value */ + tmpsmcr = TIMx->SMCR; + /* Reset the TS Bits */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_TS)); + /* Set the Input Trigger source */ + tmpsmcr |= TIM_InputTriggerSource; + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; +} + +/** + * @brief Configures the TIMx Encoder Interface. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_EncoderMode: specifies the TIMx Encoder Mode. + * This parameter can be one of the following values: + * @arg TIM_EncoderMode_TI1: Counter counts on TI1FP1 edge depending on TI2FP2 level. + * @arg TIM_EncoderMode_TI2: Counter counts on TI2FP2 edge depending on TI1FP1 level. + * @arg TIM_EncoderMode_TI12: Counter counts on both TI1FP1 and TI2FP2 edges depending + * on the level of the other input. + * @param TIM_IC1Polarity: specifies the IC1 Polarity + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Falling: IC Falling edge. + * @arg TIM_ICPolarity_Rising: IC Rising edge. + * @param TIM_IC2Polarity: specifies the IC2 Polarity + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Falling: IC Falling edge. + * @arg TIM_ICPolarity_Rising: IC Rising edge. + * @retval None + */ +void TIM_EncoderInterfaceConfig(TIM_TypeDef* TIMx, uint16_t TIM_EncoderMode, + uint16_t TIM_IC1Polarity, uint16_t TIM_IC2Polarity) +{ + uint16_t tmpsmcr = 0; + uint16_t tmpccmr1 = 0; + uint16_t tmpccer = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST5_PERIPH(TIMx)); + assert_param(IS_TIM_ENCODER_MODE(TIM_EncoderMode)); + assert_param(IS_TIM_IC_POLARITY(TIM_IC1Polarity)); + assert_param(IS_TIM_IC_POLARITY(TIM_IC2Polarity)); + + /* Get the TIMx SMCR register value */ + tmpsmcr = TIMx->SMCR; + + /* Get the TIMx CCMR1 register value */ + tmpccmr1 = TIMx->CCMR1; + + /* Get the TIMx CCER register value */ + tmpccer = TIMx->CCER; + + /* Set the encoder Mode */ + tmpsmcr &= (uint16_t)(~((uint16_t)TIM_SMCR_SMS)); + tmpsmcr |= TIM_EncoderMode; + + /* Select the Capture Compare 1 and the Capture Compare 2 as input */ + tmpccmr1 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR1_CC1S)) & (uint16_t)(~((uint16_t)TIM_CCMR1_CC2S))); + tmpccmr1 |= TIM_CCMR1_CC1S_0 | TIM_CCMR1_CC2S_0; + + /* Set the TI1 and the TI2 Polarities */ + tmpccer &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCER_CC1P)) & ((uint16_t)~((uint16_t)TIM_CCER_CC2P))); + tmpccer |= (uint16_t)(TIM_IC1Polarity | (uint16_t)(TIM_IC2Polarity << (uint16_t)4)); + + /* Write to TIMx SMCR */ + TIMx->SMCR = tmpsmcr; + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmr1; + /* Write to TIMx CCER */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Forces the TIMx output 1 waveform to active or inactive level. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC1REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC1REF. + * @retval None + */ +void TIM_ForcedOC1Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC1M Bits */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1M); + /* Configure The Forced output Mode */ + tmpccmr1 |= TIM_ForcedAction; + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Forces the TIMx output 2 waveform to active or inactive level. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC2REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC2REF. + * @retval None + */ +void TIM_ForcedOC2Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2M Bits */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2M); + /* Configure The Forced output Mode */ + tmpccmr1 |= (uint16_t)(TIM_ForcedAction << 8); + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Forces the TIMx output 3 waveform to active or inactive level. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC3REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC3REF. + * @retval None + */ +void TIM_ForcedOC3Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC1M Bits */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3M); + /* Configure The Forced output Mode */ + tmpccmr2 |= TIM_ForcedAction; + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Forces the TIMx output 4 waveform to active or inactive level. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ForcedAction: specifies the forced Action to be set to the output waveform. + * This parameter can be one of the following values: + * @arg TIM_ForcedAction_Active: Force active level on OC4REF + * @arg TIM_ForcedAction_InActive: Force inactive level on OC4REF. + * @retval None + */ +void TIM_ForcedOC4Config(TIM_TypeDef* TIMx, uint16_t TIM_ForcedAction) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_FORCED_ACTION(TIM_ForcedAction)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC2M Bits */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4M); + /* Configure The Forced output Mode */ + tmpccmr2 |= (uint16_t)(TIM_ForcedAction << 8); + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Enables or disables TIMx peripheral Preload register on ARR. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param NewState: new state of the TIMx peripheral Preload register + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_ARRPreloadConfig(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the ARR Preload Bit */ + TIMx->CR1 |= TIM_CR1_ARPE; + } + else + { + /* Reset the ARR Preload Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_ARPE); + } +} + +/** + * @brief Selects the TIM peripheral Commutation event. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIMx peripheral + * @param NewState: new state of the Commutation event. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_SelectCOM(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the COM Bit */ + TIMx->CR2 |= TIM_CR2_CCUS; + } + else + { + /* Reset the COM Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_CCUS); + } +} + +/** + * @brief Selects the TIMx peripheral Capture Compare DMA source. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 15, 16 or 17 to select + * the TIM peripheral. + * @param NewState: new state of the Capture Compare DMA source + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_SelectCCDMA(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST4_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the CCDS Bit */ + TIMx->CR2 |= TIM_CR2_CCDS; + } + else + { + /* Reset the CCDS Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_CCDS); + } +} + +/** + * @brief Sets or Resets the TIM peripheral Capture Compare Preload Control bit. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8 or 15 + * to select the TIMx peripheral + * @param NewState: new state of the Capture Compare Preload Control bit + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_CCPreloadControl(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST5_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the CCPC Bit */ + TIMx->CR2 |= TIM_CR2_CCPC; + } + else + { + /* Reset the CCPC Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_CCPC); + } +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR1. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC1PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC1PE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr1 |= TIM_OCPreload; + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR2. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select + * the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC2PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2PE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr1 |= (uint16_t)(TIM_OCPreload << 8); + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR3. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC3PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC3PE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr2 |= TIM_OCPreload; + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Enables or disables the TIMx peripheral Preload register on CCR4. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPreload: new state of the TIMx peripheral Preload register + * This parameter can be one of the following values: + * @arg TIM_OCPreload_Enable + * @arg TIM_OCPreload_Disable + * @retval None + */ +void TIM_OC4PreloadConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPreload) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCPRELOAD_STATE(TIM_OCPreload)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC4PE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4PE); + /* Enable or Disable the Output Compare Preload feature */ + tmpccmr2 |= (uint16_t)(TIM_OCPreload << 8); + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Configures the TIMx Output Compare 1 Fast feature. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC1FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR1 register value */ + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC1FE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr1 |= TIM_OCFast; + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Configures the TIMx Output Compare 2 Fast feature. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select + * the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC2FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR1 register value */ + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2FE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr1 |= (uint16_t)(TIM_OCFast << 8); + /* Write to TIMx CCMR1 */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Configures the TIMx Output Compare 3 Fast feature. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC3FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR2 register value */ + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC3FE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr2 |= TIM_OCFast; + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Configures the TIMx Output Compare 4 Fast feature. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCFast: new state of the Output Compare Fast Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCFast_Enable: TIM output compare fast enable + * @arg TIM_OCFast_Disable: TIM output compare fast disable + * @retval None + */ +void TIM_OC4FastConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCFast) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCFAST_STATE(TIM_OCFast)); + /* Get the TIMx CCMR2 register value */ + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC4FE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4FE); + /* Enable or Disable the Output Compare Fast Bit */ + tmpccmr2 |= (uint16_t)(TIM_OCFast << 8); + /* Write to TIMx CCMR2 */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Clears or safeguards the OCREF1 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC1Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + + tmpccmr1 = TIMx->CCMR1; + + /* Reset the OC1CE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC1CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr1 |= TIM_OCClear; + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Clears or safeguards the OCREF2 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC2Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr1 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + tmpccmr1 = TIMx->CCMR1; + /* Reset the OC2CE Bit */ + tmpccmr1 &= (uint16_t)~((uint16_t)TIM_CCMR1_OC2CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr1 |= (uint16_t)(TIM_OCClear << 8); + /* Write to TIMx CCMR1 register */ + TIMx->CCMR1 = tmpccmr1; +} + +/** + * @brief Clears or safeguards the OCREF3 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC3Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC3CE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC3CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr2 |= TIM_OCClear; + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Clears or safeguards the OCREF4 signal on an external event + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCClear: new state of the Output Compare Clear Enable Bit. + * This parameter can be one of the following values: + * @arg TIM_OCClear_Enable: TIM Output clear enable + * @arg TIM_OCClear_Disable: TIM Output clear disable + * @retval None + */ +void TIM_ClearOC4Ref(TIM_TypeDef* TIMx, uint16_t TIM_OCClear) +{ + uint16_t tmpccmr2 = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OCCLEAR_STATE(TIM_OCClear)); + tmpccmr2 = TIMx->CCMR2; + /* Reset the OC4CE Bit */ + tmpccmr2 &= (uint16_t)~((uint16_t)TIM_CCMR2_OC4CE); + /* Enable or Disable the Output Compare Clear Bit */ + tmpccmr2 |= (uint16_t)(TIM_OCClear << 8); + /* Write to TIMx CCMR2 register */ + TIMx->CCMR2 = tmpccmr2; +} + +/** + * @brief Configures the TIMx channel 1 polarity. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC1 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC1PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC1P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC1P); + tmpccer |= TIM_OCPolarity; + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx Channel 1N polarity. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIM peripheral. + * @param TIM_OCNPolarity: specifies the OC1N Polarity + * This parameter can be one of the following values: + * @arg TIM_OCNPolarity_High: Output Compare active high + * @arg TIM_OCNPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC1NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCNPolarity)); + + tmpccer = TIMx->CCER; + /* Set or Reset the CC1NP Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC1NP); + tmpccer |= TIM_OCNPolarity; + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx channel 2 polarity. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC2 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC2PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC2P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC2P); + tmpccer |= (uint16_t)(TIM_OCPolarity << 4); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx Channel 2N polarity. + * @param TIMx: where x can be 1 or 8 to select the TIM peripheral. + * @param TIM_OCNPolarity: specifies the OC2N Polarity + * This parameter can be one of the following values: + * @arg TIM_OCNPolarity_High: Output Compare active high + * @arg TIM_OCNPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC2NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST1_PERIPH(TIMx)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCNPolarity)); + + tmpccer = TIMx->CCER; + /* Set or Reset the CC2NP Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC2NP); + tmpccer |= (uint16_t)(TIM_OCNPolarity << 4); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx channel 3 polarity. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC3 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC3PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC3P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC3P); + tmpccer |= (uint16_t)(TIM_OCPolarity << 8); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx Channel 3N polarity. + * @param TIMx: where x can be 1 or 8 to select the TIM peripheral. + * @param TIM_OCNPolarity: specifies the OC3N Polarity + * This parameter can be one of the following values: + * @arg TIM_OCNPolarity_High: Output Compare active high + * @arg TIM_OCNPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC3NPolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCNPolarity) +{ + uint16_t tmpccer = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST1_PERIPH(TIMx)); + assert_param(IS_TIM_OCN_POLARITY(TIM_OCNPolarity)); + + tmpccer = TIMx->CCER; + /* Set or Reset the CC3NP Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC3NP); + tmpccer |= (uint16_t)(TIM_OCNPolarity << 8); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Configures the TIMx channel 4 polarity. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_OCPolarity: specifies the OC4 Polarity + * This parameter can be one of the following values: + * @arg TIM_OCPolarity_High: Output Compare active high + * @arg TIM_OCPolarity_Low: Output Compare active low + * @retval None + */ +void TIM_OC4PolarityConfig(TIM_TypeDef* TIMx, uint16_t TIM_OCPolarity) +{ + uint16_t tmpccer = 0; + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_OC_POLARITY(TIM_OCPolarity)); + tmpccer = TIMx->CCER; + /* Set or Reset the CC4P Bit */ + tmpccer &= (uint16_t)~((uint16_t)TIM_CCER_CC4P); + tmpccer |= (uint16_t)(TIM_OCPolarity << 12); + /* Write to TIMx CCER register */ + TIMx->CCER = tmpccer; +} + +/** + * @brief Enables or disables the TIM Capture Compare Channel x. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_Channel: specifies the TIM Channel + * This parameter can be one of the following values: + * @arg TIM_Channel_1: TIM Channel 1 + * @arg TIM_Channel_2: TIM Channel 2 + * @arg TIM_Channel_3: TIM Channel 3 + * @arg TIM_Channel_4: TIM Channel 4 + * @param TIM_CCx: specifies the TIM Channel CCxE bit new state. + * This parameter can be: TIM_CCx_Enable or TIM_CCx_Disable. + * @retval None + */ +void TIM_CCxCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCx) +{ + uint16_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_CHANNEL(TIM_Channel)); + assert_param(IS_TIM_CCX(TIM_CCx)); + + tmp = CCER_CCE_Set << TIM_Channel; + + /* Reset the CCxE Bit */ + TIMx->CCER &= (uint16_t)~ tmp; + + /* Set or reset the CCxE Bit */ + TIMx->CCER |= (uint16_t)(TIM_CCx << TIM_Channel); +} + +/** + * @brief Enables or disables the TIM Capture Compare Channel xN. + * @param TIMx: where x can be 1, 8, 15, 16 or 17 to select the TIM peripheral. + * @param TIM_Channel: specifies the TIM Channel + * This parameter can be one of the following values: + * @arg TIM_Channel_1: TIM Channel 1 + * @arg TIM_Channel_2: TIM Channel 2 + * @arg TIM_Channel_3: TIM Channel 3 + * @param TIM_CCxN: specifies the TIM Channel CCxNE bit new state. + * This parameter can be: TIM_CCxN_Enable or TIM_CCxN_Disable. + * @retval None + */ +void TIM_CCxNCmd(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_CCxN) +{ + uint16_t tmp = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST2_PERIPH(TIMx)); + assert_param(IS_TIM_COMPLEMENTARY_CHANNEL(TIM_Channel)); + assert_param(IS_TIM_CCXN(TIM_CCxN)); + + tmp = CCER_CCNE_Set << TIM_Channel; + + /* Reset the CCxNE Bit */ + TIMx->CCER &= (uint16_t) ~tmp; + + /* Set or reset the CCxNE Bit */ + TIMx->CCER |= (uint16_t)(TIM_CCxN << TIM_Channel); +} + +/** + * @brief Selects the TIM Output Compare Mode. + * @note This function disables the selected channel before changing the Output + * Compare Mode. + * User has to enable this channel using TIM_CCxCmd and TIM_CCxNCmd functions. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_Channel: specifies the TIM Channel + * This parameter can be one of the following values: + * @arg TIM_Channel_1: TIM Channel 1 + * @arg TIM_Channel_2: TIM Channel 2 + * @arg TIM_Channel_3: TIM Channel 3 + * @arg TIM_Channel_4: TIM Channel 4 + * @param TIM_OCMode: specifies the TIM Output Compare Mode. + * This parameter can be one of the following values: + * @arg TIM_OCMode_Timing + * @arg TIM_OCMode_Active + * @arg TIM_OCMode_Toggle + * @arg TIM_OCMode_PWM1 + * @arg TIM_OCMode_PWM2 + * @arg TIM_ForcedAction_Active + * @arg TIM_ForcedAction_InActive + * @retval None + */ +void TIM_SelectOCxM(TIM_TypeDef* TIMx, uint16_t TIM_Channel, uint16_t TIM_OCMode) +{ + uint32_t tmp = 0; + uint16_t tmp1 = 0; + + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_CHANNEL(TIM_Channel)); + assert_param(IS_TIM_OCM(TIM_OCMode)); + + tmp = (uint32_t) TIMx; + tmp += CCMR_Offset; + + tmp1 = CCER_CCE_Set << (uint16_t)TIM_Channel; + + /* Disable the Channel: Reset the CCxE Bit */ + TIMx->CCER &= (uint16_t) ~tmp1; + + if((TIM_Channel == TIM_Channel_1) ||(TIM_Channel == TIM_Channel_3)) + { + tmp += (TIM_Channel>>1); + + /* Reset the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC1M); + + /* Configure the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp |= TIM_OCMode; + } + else + { + tmp += (uint16_t)(TIM_Channel - (uint16_t)4)>> (uint16_t)1; + + /* Reset the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp &= (uint32_t)~((uint32_t)TIM_CCMR1_OC2M); + + /* Configure the OCxM bits in the CCMRx register */ + *(__IO uint32_t *) tmp |= (uint16_t)(TIM_OCMode << 8); + } +} + +/** + * @brief Enables or Disables the TIMx Update event. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param NewState: new state of the TIMx UDIS bit + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_UpdateDisableConfig(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the Update Disable Bit */ + TIMx->CR1 |= TIM_CR1_UDIS; + } + else + { + /* Reset the Update Disable Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_UDIS); + } +} + +/** + * @brief Configures the TIMx Update Request Interrupt source. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_UpdateSource: specifies the Update source. + * This parameter can be one of the following values: + * @arg TIM_UpdateSource_Regular: Source of update is the counter overflow/underflow + or the setting of UG bit, or an update generation + through the slave mode controller. + * @arg TIM_UpdateSource_Global: Source of update is counter overflow/underflow. + * @retval None + */ +void TIM_UpdateRequestConfig(TIM_TypeDef* TIMx, uint16_t TIM_UpdateSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_UPDATE_SOURCE(TIM_UpdateSource)); + if (TIM_UpdateSource != TIM_UpdateSource_Global) + { + /* Set the URS Bit */ + TIMx->CR1 |= TIM_CR1_URS; + } + else + { + /* Reset the URS Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_URS); + } +} + +/** + * @brief Enables or disables the TIMx's Hall sensor interface. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param NewState: new state of the TIMx Hall sensor interface. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void TIM_SelectHallSensor(TIM_TypeDef* TIMx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Set the TI1S Bit */ + TIMx->CR2 |= TIM_CR2_TI1S; + } + else + { + /* Reset the TI1S Bit */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_TI1S); + } +} + +/** + * @brief Selects the TIMx's One Pulse Mode. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_OPMode: specifies the OPM Mode to be used. + * This parameter can be one of the following values: + * @arg TIM_OPMode_Single + * @arg TIM_OPMode_Repetitive + * @retval None + */ +void TIM_SelectOnePulseMode(TIM_TypeDef* TIMx, uint16_t TIM_OPMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_OPM_MODE(TIM_OPMode)); + /* Reset the OPM Bit */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_OPM); + /* Configure the OPM Mode */ + TIMx->CR1 |= TIM_OPMode; +} + +/** + * @brief Selects the TIMx Trigger Output Mode. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 6, 7, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_TRGOSource: specifies the Trigger Output source. + * This paramter can be one of the following values: + * + * - For all TIMx + * @arg TIM_TRGOSource_Reset: The UG bit in the TIM_EGR register is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_Enable: The Counter Enable CEN is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_Update: The update event is selected as the trigger output (TRGO). + * + * - For all TIMx except TIM6 and TIM7 + * @arg TIM_TRGOSource_OC1: The trigger output sends a positive pulse when the CC1IF flag + * is to be set, as soon as a capture or compare match occurs (TRGO). + * @arg TIM_TRGOSource_OC1Ref: OC1REF signal is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_OC2Ref: OC2REF signal is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_OC3Ref: OC3REF signal is used as the trigger output (TRGO). + * @arg TIM_TRGOSource_OC4Ref: OC4REF signal is used as the trigger output (TRGO). + * + * @retval None + */ +void TIM_SelectOutputTrigger(TIM_TypeDef* TIMx, uint16_t TIM_TRGOSource) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST7_PERIPH(TIMx)); + assert_param(IS_TIM_TRGO_SOURCE(TIM_TRGOSource)); + /* Reset the MMS Bits */ + TIMx->CR2 &= (uint16_t)~((uint16_t)TIM_CR2_MMS); + /* Select the TRGO source */ + TIMx->CR2 |= TIM_TRGOSource; +} + +/** + * @brief Selects the TIMx Slave Mode. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_SlaveMode: specifies the Timer Slave Mode. + * This parameter can be one of the following values: + * @arg TIM_SlaveMode_Reset: Rising edge of the selected trigger signal (TRGI) re-initializes + * the counter and triggers an update of the registers. + * @arg TIM_SlaveMode_Gated: The counter clock is enabled when the trigger signal (TRGI) is high. + * @arg TIM_SlaveMode_Trigger: The counter starts at a rising edge of the trigger TRGI. + * @arg TIM_SlaveMode_External1: Rising edges of the selected trigger (TRGI) clock the counter. + * @retval None + */ +void TIM_SelectSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_SlaveMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_SLAVE_MODE(TIM_SlaveMode)); + /* Reset the SMS Bits */ + TIMx->SMCR &= (uint16_t)~((uint16_t)TIM_SMCR_SMS); + /* Select the Slave Mode */ + TIMx->SMCR |= TIM_SlaveMode; +} + +/** + * @brief Sets or Resets the TIMx Master/Slave Mode. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_MasterSlaveMode: specifies the Timer Master Slave Mode. + * This parameter can be one of the following values: + * @arg TIM_MasterSlaveMode_Enable: synchronization between the current timer + * and its slaves (through TRGO). + * @arg TIM_MasterSlaveMode_Disable: No action + * @retval None + */ +void TIM_SelectMasterSlaveMode(TIM_TypeDef* TIMx, uint16_t TIM_MasterSlaveMode) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_MSM_STATE(TIM_MasterSlaveMode)); + /* Reset the MSM Bit */ + TIMx->SMCR &= (uint16_t)~((uint16_t)TIM_SMCR_MSM); + + /* Set or Reset the MSM Bit */ + TIMx->SMCR |= TIM_MasterSlaveMode; +} + +/** + * @brief Sets the TIMx Counter Register value + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param Counter: specifies the Counter register new value. + * @retval None + */ +void TIM_SetCounter(TIM_TypeDef* TIMx, uint16_t Counter) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Set the Counter Register value */ + TIMx->CNT = Counter; +} + +/** + * @brief Sets the TIMx Autoreload Register value + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param Autoreload: specifies the Autoreload register new value. + * @retval None + */ +void TIM_SetAutoreload(TIM_TypeDef* TIMx, uint16_t Autoreload) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Set the Autoreload Register value */ + TIMx->ARR = Autoreload; +} + +/** + * @brief Sets the TIMx Capture Compare1 Register value + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param Compare1: specifies the Capture Compare1 register new value. + * @retval None + */ +void TIM_SetCompare1(TIM_TypeDef* TIMx, uint16_t Compare1) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + /* Set the Capture Compare1 Register value */ + TIMx->CCR1 = Compare1; +} + +/** + * @brief Sets the TIMx Capture Compare2 Register value + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param Compare2: specifies the Capture Compare2 register new value. + * @retval None + */ +void TIM_SetCompare2(TIM_TypeDef* TIMx, uint16_t Compare2) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Set the Capture Compare2 Register value */ + TIMx->CCR2 = Compare2; +} + +/** + * @brief Sets the TIMx Capture Compare3 Register value + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param Compare3: specifies the Capture Compare3 register new value. + * @retval None + */ +void TIM_SetCompare3(TIM_TypeDef* TIMx, uint16_t Compare3) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Set the Capture Compare3 Register value */ + TIMx->CCR3 = Compare3; +} + +/** + * @brief Sets the TIMx Capture Compare4 Register value + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param Compare4: specifies the Capture Compare4 register new value. + * @retval None + */ +void TIM_SetCompare4(TIM_TypeDef* TIMx, uint16_t Compare4) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Set the Capture Compare4 Register value */ + TIMx->CCR4 = Compare4; +} + +/** + * @brief Sets the TIMx Input Capture 1 prescaler. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture1 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC1Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC1PSC Bits */ + TIMx->CCMR1 &= (uint16_t)~((uint16_t)TIM_CCMR1_IC1PSC); + /* Set the IC1PSC value */ + TIMx->CCMR1 |= TIM_ICPSC; +} + +/** + * @brief Sets the TIMx Input Capture 2 prescaler. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture2 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC2Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC2PSC Bits */ + TIMx->CCMR1 &= (uint16_t)~((uint16_t)TIM_CCMR1_IC2PSC); + /* Set the IC2PSC value */ + TIMx->CCMR1 |= (uint16_t)(TIM_ICPSC << 8); +} + +/** + * @brief Sets the TIMx Input Capture 3 prescaler. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture3 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC3Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC3PSC Bits */ + TIMx->CCMR2 &= (uint16_t)~((uint16_t)TIM_CCMR2_IC3PSC); + /* Set the IC3PSC value */ + TIMx->CCMR2 |= TIM_ICPSC; +} + +/** + * @brief Sets the TIMx Input Capture 4 prescaler. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPSC: specifies the Input Capture4 prescaler new value. + * This parameter can be one of the following values: + * @arg TIM_ICPSC_DIV1: no prescaler + * @arg TIM_ICPSC_DIV2: capture is done once every 2 events + * @arg TIM_ICPSC_DIV4: capture is done once every 4 events + * @arg TIM_ICPSC_DIV8: capture is done once every 8 events + * @retval None + */ +void TIM_SetIC4Prescaler(TIM_TypeDef* TIMx, uint16_t TIM_ICPSC) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + assert_param(IS_TIM_IC_PRESCALER(TIM_ICPSC)); + /* Reset the IC4PSC Bits */ + TIMx->CCMR2 &= (uint16_t)~((uint16_t)TIM_CCMR2_IC4PSC); + /* Set the IC4PSC value */ + TIMx->CCMR2 |= (uint16_t)(TIM_ICPSC << 8); +} + +/** + * @brief Sets the TIMx Clock Division value. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select + * the TIM peripheral. + * @param TIM_CKD: specifies the clock division value. + * This parameter can be one of the following value: + * @arg TIM_CKD_DIV1: TDTS = Tck_tim + * @arg TIM_CKD_DIV2: TDTS = 2*Tck_tim + * @arg TIM_CKD_DIV4: TDTS = 4*Tck_tim + * @retval None + */ +void TIM_SetClockDivision(TIM_TypeDef* TIMx, uint16_t TIM_CKD) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + assert_param(IS_TIM_CKD_DIV(TIM_CKD)); + /* Reset the CKD Bits */ + TIMx->CR1 &= (uint16_t)~((uint16_t)TIM_CR1_CKD); + /* Set the CKD value */ + TIMx->CR1 |= TIM_CKD; +} + +/** + * @brief Gets the TIMx Input Capture 1 value. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @retval Capture Compare 1 Register value. + */ +uint16_t TIM_GetCapture1(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST8_PERIPH(TIMx)); + /* Get the Capture 1 Register value */ + return TIMx->CCR1; +} + +/** + * @brief Gets the TIMx Input Capture 2 value. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @retval Capture Compare 2 Register value. + */ +uint16_t TIM_GetCapture2(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST6_PERIPH(TIMx)); + /* Get the Capture 2 Register value */ + return TIMx->CCR2; +} + +/** + * @brief Gets the TIMx Input Capture 3 value. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @retval Capture Compare 3 Register value. + */ +uint16_t TIM_GetCapture3(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Get the Capture 3 Register value */ + return TIMx->CCR3; +} + +/** + * @brief Gets the TIMx Input Capture 4 value. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @retval Capture Compare 4 Register value. + */ +uint16_t TIM_GetCapture4(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_LIST3_PERIPH(TIMx)); + /* Get the Capture 4 Register value */ + return TIMx->CCR4; +} + +/** + * @brief Gets the TIMx Counter value. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @retval Counter Register value. + */ +uint16_t TIM_GetCounter(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Get the Counter Register value */ + return TIMx->CNT; +} + +/** + * @brief Gets the TIMx Prescaler value. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @retval Prescaler Register value. + */ +uint16_t TIM_GetPrescaler(TIM_TypeDef* TIMx) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + /* Get the Prescaler Register value */ + return TIMx->PSC; +} + +/** + * @brief Checks whether the specified TIM flag is set or not. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg TIM_FLAG_Update: TIM update Flag + * @arg TIM_FLAG_CC1: TIM Capture Compare 1 Flag + * @arg TIM_FLAG_CC2: TIM Capture Compare 2 Flag + * @arg TIM_FLAG_CC3: TIM Capture Compare 3 Flag + * @arg TIM_FLAG_CC4: TIM Capture Compare 4 Flag + * @arg TIM_FLAG_COM: TIM Commutation Flag + * @arg TIM_FLAG_Trigger: TIM Trigger Flag + * @arg TIM_FLAG_Break: TIM Break Flag + * @arg TIM_FLAG_CC1OF: TIM Capture Compare 1 overcapture Flag + * @arg TIM_FLAG_CC2OF: TIM Capture Compare 2 overcapture Flag + * @arg TIM_FLAG_CC3OF: TIM Capture Compare 3 overcapture Flag + * @arg TIM_FLAG_CC4OF: TIM Capture Compare 4 overcapture Flag + * @note + * - TIM6 and TIM7 can have only one update flag. + * - TIM9, TIM12 and TIM15 can have only TIM_FLAG_Update, TIM_FLAG_CC1, + * TIM_FLAG_CC2 or TIM_FLAG_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_FLAG_Update or TIM_FLAG_CC1. + * - TIM_FLAG_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_FLAG_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval The new state of TIM_FLAG (SET or RESET). + */ +FlagStatus TIM_GetFlagStatus(TIM_TypeDef* TIMx, uint16_t TIM_FLAG) +{ + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_GET_FLAG(TIM_FLAG)); + + if ((TIMx->SR & TIM_FLAG) != (uint16_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the TIMx's pending flags. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_FLAG: specifies the flag bit to clear. + * This parameter can be any combination of the following values: + * @arg TIM_FLAG_Update: TIM update Flag + * @arg TIM_FLAG_CC1: TIM Capture Compare 1 Flag + * @arg TIM_FLAG_CC2: TIM Capture Compare 2 Flag + * @arg TIM_FLAG_CC3: TIM Capture Compare 3 Flag + * @arg TIM_FLAG_CC4: TIM Capture Compare 4 Flag + * @arg TIM_FLAG_COM: TIM Commutation Flag + * @arg TIM_FLAG_Trigger: TIM Trigger Flag + * @arg TIM_FLAG_Break: TIM Break Flag + * @arg TIM_FLAG_CC1OF: TIM Capture Compare 1 overcapture Flag + * @arg TIM_FLAG_CC2OF: TIM Capture Compare 2 overcapture Flag + * @arg TIM_FLAG_CC3OF: TIM Capture Compare 3 overcapture Flag + * @arg TIM_FLAG_CC4OF: TIM Capture Compare 4 overcapture Flag + * @note + * - TIM6 and TIM7 can have only one update flag. + * - TIM9, TIM12 and TIM15 can have only TIM_FLAG_Update, TIM_FLAG_CC1, + * TIM_FLAG_CC2 or TIM_FLAG_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_FLAG_Update or TIM_FLAG_CC1. + * - TIM_FLAG_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_FLAG_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval None + */ +void TIM_ClearFlag(TIM_TypeDef* TIMx, uint16_t TIM_FLAG) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_CLEAR_FLAG(TIM_FLAG)); + + /* Clear the flags */ + TIMx->SR = (uint16_t)~TIM_FLAG; +} + +/** + * @brief Checks whether the TIM interrupt has occurred or not. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_IT: specifies the TIM interrupt source to check. + * This parameter can be one of the following values: + * @arg TIM_IT_Update: TIM update Interrupt source + * @arg TIM_IT_CC1: TIM Capture Compare 1 Interrupt source + * @arg TIM_IT_CC2: TIM Capture Compare 2 Interrupt source + * @arg TIM_IT_CC3: TIM Capture Compare 3 Interrupt source + * @arg TIM_IT_CC4: TIM Capture Compare 4 Interrupt source + * @arg TIM_IT_COM: TIM Commutation Interrupt source + * @arg TIM_IT_Trigger: TIM Trigger Interrupt source + * @arg TIM_IT_Break: TIM Break Interrupt source + * @note + * - TIM6 and TIM7 can generate only an update interrupt. + * - TIM9, TIM12 and TIM15 can have only TIM_IT_Update, TIM_IT_CC1, + * TIM_IT_CC2 or TIM_IT_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_IT_Update or TIM_IT_CC1. + * - TIM_IT_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_IT_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval The new state of the TIM_IT(SET or RESET). + */ +ITStatus TIM_GetITStatus(TIM_TypeDef* TIMx, uint16_t TIM_IT) +{ + ITStatus bitstatus = RESET; + uint16_t itstatus = 0x0, itenable = 0x0; + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_GET_IT(TIM_IT)); + + itstatus = TIMx->SR & TIM_IT; + + itenable = TIMx->DIER & TIM_IT; + if ((itstatus != (uint16_t)RESET) && (itenable != (uint16_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the TIMx's interrupt pending bits. + * @param TIMx: where x can be 1 to 17 to select the TIM peripheral. + * @param TIM_IT: specifies the pending bit to clear. + * This parameter can be any combination of the following values: + * @arg TIM_IT_Update: TIM1 update Interrupt source + * @arg TIM_IT_CC1: TIM Capture Compare 1 Interrupt source + * @arg TIM_IT_CC2: TIM Capture Compare 2 Interrupt source + * @arg TIM_IT_CC3: TIM Capture Compare 3 Interrupt source + * @arg TIM_IT_CC4: TIM Capture Compare 4 Interrupt source + * @arg TIM_IT_COM: TIM Commutation Interrupt source + * @arg TIM_IT_Trigger: TIM Trigger Interrupt source + * @arg TIM_IT_Break: TIM Break Interrupt source + * @note + * - TIM6 and TIM7 can generate only an update interrupt. + * - TIM9, TIM12 and TIM15 can have only TIM_IT_Update, TIM_IT_CC1, + * TIM_IT_CC2 or TIM_IT_Trigger. + * - TIM10, TIM11, TIM13, TIM14, TIM16 and TIM17 can have TIM_IT_Update or TIM_IT_CC1. + * - TIM_IT_Break is used only with TIM1, TIM8 and TIM15. + * - TIM_IT_COM is used only with TIM1, TIM8, TIM15, TIM16 and TIM17. + * @retval None + */ +void TIM_ClearITPendingBit(TIM_TypeDef* TIMx, uint16_t TIM_IT) +{ + /* Check the parameters */ + assert_param(IS_TIM_ALL_PERIPH(TIMx)); + assert_param(IS_TIM_IT(TIM_IT)); + /* Clear the IT pending Bit */ + TIMx->SR = (uint16_t)~TIM_IT; +} + +/** + * @brief Configure the TI1 as Input. + * @param TIMx: where x can be 1 to 17 except 6 and 7 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 1 is selected to be connected to IC1. + * @arg TIM_ICSelection_IndirectTI: TIM Input 1 is selected to be connected to IC2. + * @arg TIM_ICSelection_TRC: TIM Input 1 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI1_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr1 = 0, tmpccer = 0; + /* Disable the Channel 1: Reset the CC1E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC1E); + tmpccmr1 = TIMx->CCMR1; + tmpccer = TIMx->CCER; + /* Select the Input and set the filter */ + tmpccmr1 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR1_CC1S)) & ((uint16_t)~((uint16_t)TIM_CCMR1_IC1F))); + tmpccmr1 |= (uint16_t)(TIM_ICSelection | (uint16_t)(TIM_ICFilter << (uint16_t)4)); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC1E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC1P)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC1E); + } + else + { + /* Select the Polarity and set the CC1E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC1P | TIM_CCER_CC1NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC1E); + } + + /* Write to TIMx CCMR1 and CCER registers */ + TIMx->CCMR1 = tmpccmr1; + TIMx->CCER = tmpccer; +} + +/** + * @brief Configure the TI2 as Input. + * @param TIMx: where x can be 1, 2, 3, 4, 5, 8, 9, 12 or 15 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 2 is selected to be connected to IC2. + * @arg TIM_ICSelection_IndirectTI: TIM Input 2 is selected to be connected to IC1. + * @arg TIM_ICSelection_TRC: TIM Input 2 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI2_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr1 = 0, tmpccer = 0, tmp = 0; + /* Disable the Channel 2: Reset the CC2E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC2E); + tmpccmr1 = TIMx->CCMR1; + tmpccer = TIMx->CCER; + tmp = (uint16_t)(TIM_ICPolarity << 4); + /* Select the Input and set the filter */ + tmpccmr1 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR1_CC2S)) & ((uint16_t)~((uint16_t)TIM_CCMR1_IC2F))); + tmpccmr1 |= (uint16_t)(TIM_ICFilter << 12); + tmpccmr1 |= (uint16_t)(TIM_ICSelection << 8); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC2E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC2P)); + tmpccer |= (uint16_t)(tmp | (uint16_t)TIM_CCER_CC2E); + } + else + { + /* Select the Polarity and set the CC2E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC2P | TIM_CCER_CC2NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC2E); + } + + /* Write to TIMx CCMR1 and CCER registers */ + TIMx->CCMR1 = tmpccmr1 ; + TIMx->CCER = tmpccer; +} + +/** + * @brief Configure the TI3 as Input. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 3 is selected to be connected to IC3. + * @arg TIM_ICSelection_IndirectTI: TIM Input 3 is selected to be connected to IC4. + * @arg TIM_ICSelection_TRC: TIM Input 3 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI3_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr2 = 0, tmpccer = 0, tmp = 0; + /* Disable the Channel 3: Reset the CC3E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC3E); + tmpccmr2 = TIMx->CCMR2; + tmpccer = TIMx->CCER; + tmp = (uint16_t)(TIM_ICPolarity << 8); + /* Select the Input and set the filter */ + tmpccmr2 &= (uint16_t)(((uint16_t)~((uint16_t)TIM_CCMR2_CC3S)) & ((uint16_t)~((uint16_t)TIM_CCMR2_IC3F))); + tmpccmr2 |= (uint16_t)(TIM_ICSelection | (uint16_t)(TIM_ICFilter << (uint16_t)4)); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC3E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC3P)); + tmpccer |= (uint16_t)(tmp | (uint16_t)TIM_CCER_CC3E); + } + else + { + /* Select the Polarity and set the CC3E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC3P | TIM_CCER_CC3NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC3E); + } + + /* Write to TIMx CCMR2 and CCER registers */ + TIMx->CCMR2 = tmpccmr2; + TIMx->CCER = tmpccer; +} + +/** + * @brief Configure the TI4 as Input. + * @param TIMx: where x can be 1, 2, 3, 4, 5 or 8 to select the TIM peripheral. + * @param TIM_ICPolarity : The Input Polarity. + * This parameter can be one of the following values: + * @arg TIM_ICPolarity_Rising + * @arg TIM_ICPolarity_Falling + * @param TIM_ICSelection: specifies the input to be used. + * This parameter can be one of the following values: + * @arg TIM_ICSelection_DirectTI: TIM Input 4 is selected to be connected to IC4. + * @arg TIM_ICSelection_IndirectTI: TIM Input 4 is selected to be connected to IC3. + * @arg TIM_ICSelection_TRC: TIM Input 4 is selected to be connected to TRC. + * @param TIM_ICFilter: Specifies the Input Capture Filter. + * This parameter must be a value between 0x00 and 0x0F. + * @retval None + */ +static void TI4_Config(TIM_TypeDef* TIMx, uint16_t TIM_ICPolarity, uint16_t TIM_ICSelection, + uint16_t TIM_ICFilter) +{ + uint16_t tmpccmr2 = 0, tmpccer = 0, tmp = 0; + + /* Disable the Channel 4: Reset the CC4E Bit */ + TIMx->CCER &= (uint16_t)~((uint16_t)TIM_CCER_CC4E); + tmpccmr2 = TIMx->CCMR2; + tmpccer = TIMx->CCER; + tmp = (uint16_t)(TIM_ICPolarity << 12); + /* Select the Input and set the filter */ + tmpccmr2 &= (uint16_t)((uint16_t)(~(uint16_t)TIM_CCMR2_CC4S) & ((uint16_t)~((uint16_t)TIM_CCMR2_IC4F))); + tmpccmr2 |= (uint16_t)(TIM_ICSelection << 8); + tmpccmr2 |= (uint16_t)(TIM_ICFilter << 12); + + if((TIMx == TIM1) || (TIMx == TIM8) || (TIMx == TIM2) || (TIMx == TIM3) || + (TIMx == TIM4) ||(TIMx == TIM5)) + { + /* Select the Polarity and set the CC4E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC4P)); + tmpccer |= (uint16_t)(tmp | (uint16_t)TIM_CCER_CC4E); + } + else + { + /* Select the Polarity and set the CC4E Bit */ + tmpccer &= (uint16_t)~((uint16_t)(TIM_CCER_CC3P | TIM_CCER_CC4NP)); + tmpccer |= (uint16_t)(TIM_ICPolarity | (uint16_t)TIM_CCER_CC4E); + } + /* Write to TIMx CCMR2 and CCER registers */ + TIMx->CCMR2 = tmpccmr2; + TIMx->CCER = tmpccer; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_usart.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_usart.c new file mode 100644 index 0000000..e794eae --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_usart.c @@ -0,0 +1,1058 @@ +/** + ****************************************************************************** + * @file stm32f10x_usart.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the USART firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_usart.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup USART + * @brief USART driver modules + * @{ + */ + +/** @defgroup USART_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_Defines + * @{ + */ + +#define CR1_UE_Set ((uint16_t)0x2000) /*!< USART Enable Mask */ +#define CR1_UE_Reset ((uint16_t)0xDFFF) /*!< USART Disable Mask */ + +#define CR1_WAKE_Mask ((uint16_t)0xF7FF) /*!< USART WakeUp Method Mask */ + +#define CR1_RWU_Set ((uint16_t)0x0002) /*!< USART mute mode Enable Mask */ +#define CR1_RWU_Reset ((uint16_t)0xFFFD) /*!< USART mute mode Enable Mask */ +#define CR1_SBK_Set ((uint16_t)0x0001) /*!< USART Break Character send Mask */ +#define CR1_CLEAR_Mask ((uint16_t)0xE9F3) /*!< USART CR1 Mask */ +#define CR2_Address_Mask ((uint16_t)0xFFF0) /*!< USART address Mask */ + +#define CR2_LINEN_Set ((uint16_t)0x4000) /*!< USART LIN Enable Mask */ +#define CR2_LINEN_Reset ((uint16_t)0xBFFF) /*!< USART LIN Disable Mask */ + +#define CR2_LBDL_Mask ((uint16_t)0xFFDF) /*!< USART LIN Break detection Mask */ +#define CR2_STOP_CLEAR_Mask ((uint16_t)0xCFFF) /*!< USART CR2 STOP Bits Mask */ +#define CR2_CLOCK_CLEAR_Mask ((uint16_t)0xF0FF) /*!< USART CR2 Clock Mask */ + +#define CR3_SCEN_Set ((uint16_t)0x0020) /*!< USART SC Enable Mask */ +#define CR3_SCEN_Reset ((uint16_t)0xFFDF) /*!< USART SC Disable Mask */ + +#define CR3_NACK_Set ((uint16_t)0x0010) /*!< USART SC NACK Enable Mask */ +#define CR3_NACK_Reset ((uint16_t)0xFFEF) /*!< USART SC NACK Disable Mask */ + +#define CR3_HDSEL_Set ((uint16_t)0x0008) /*!< USART Half-Duplex Enable Mask */ +#define CR3_HDSEL_Reset ((uint16_t)0xFFF7) /*!< USART Half-Duplex Disable Mask */ + +#define CR3_IRLP_Mask ((uint16_t)0xFFFB) /*!< USART IrDA LowPower mode Mask */ +#define CR3_CLEAR_Mask ((uint16_t)0xFCFF) /*!< USART CR3 Mask */ + +#define CR3_IREN_Set ((uint16_t)0x0002) /*!< USART IrDA Enable Mask */ +#define CR3_IREN_Reset ((uint16_t)0xFFFD) /*!< USART IrDA Disable Mask */ +#define GTPR_LSB_Mask ((uint16_t)0x00FF) /*!< Guard Time Register LSB Mask */ +#define GTPR_MSB_Mask ((uint16_t)0xFF00) /*!< Guard Time Register MSB Mask */ +#define IT_Mask ((uint16_t)0x001F) /*!< USART Interrupt Mask */ + +/* USART OverSampling-8 Mask */ +#define CR1_OVER8_Set ((u16)0x8000) /* USART OVER8 mode Enable Mask */ +#define CR1_OVER8_Reset ((u16)0x7FFF) /* USART OVER8 mode Disable Mask */ + +/* USART One Bit Sampling Mask */ +#define CR3_ONEBITE_Set ((u16)0x0800) /* USART ONEBITE mode Enable Mask */ +#define CR3_ONEBITE_Reset ((u16)0xF7FF) /* USART ONEBITE mode Disable Mask */ + +/** + * @} + */ + +/** @defgroup USART_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup USART_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the USARTx peripheral registers to their default reset values. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @retval None + */ +void USART_DeInit(USART_TypeDef* USARTx) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + if (USARTx == USART1) + { + RCC_APB2PeriphResetCmd(RCC_APB2Periph_USART1, ENABLE); + RCC_APB2PeriphResetCmd(RCC_APB2Periph_USART1, DISABLE); + } + else if (USARTx == USART2) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART2, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART2, DISABLE); + } + else if (USARTx == USART3) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART3, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_USART3, DISABLE); + } + else if (USARTx == UART4) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART4, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART4, DISABLE); + } + else + { + if (USARTx == UART5) + { + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART5, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_UART5, DISABLE); + } + } +} + +/** + * @brief Initializes the USARTx peripheral according to the specified + * parameters in the USART_InitStruct . + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_InitStruct: pointer to a USART_InitTypeDef structure + * that contains the configuration information for the specified USART + * peripheral. + * @retval None + */ +void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct) +{ + uint32_t tmpreg = 0x00, apbclock = 0x00; + uint32_t integerdivider = 0x00; + uint32_t fractionaldivider = 0x00; + uint32_t usartxbase = 0; + RCC_ClocksTypeDef RCC_ClocksStatus; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_BAUDRATE(USART_InitStruct->USART_BaudRate)); + assert_param(IS_USART_WORD_LENGTH(USART_InitStruct->USART_WordLength)); + assert_param(IS_USART_STOPBITS(USART_InitStruct->USART_StopBits)); + assert_param(IS_USART_PARITY(USART_InitStruct->USART_Parity)); + assert_param(IS_USART_MODE(USART_InitStruct->USART_Mode)); + assert_param(IS_USART_HARDWARE_FLOW_CONTROL(USART_InitStruct->USART_HardwareFlowControl)); + /* The hardware flow control is available only for USART1, USART2 and USART3 */ + if (USART_InitStruct->USART_HardwareFlowControl != USART_HardwareFlowControl_None) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + usartxbase = (uint32_t)USARTx; + +/*---------------------------- USART CR2 Configuration -----------------------*/ + tmpreg = USARTx->CR2; + /* Clear STOP[13:12] bits */ + tmpreg &= CR2_STOP_CLEAR_Mask; + /* Configure the USART Stop Bits, Clock, CPOL, CPHA and LastBit ------------*/ + /* Set STOP[13:12] bits according to USART_StopBits value */ + tmpreg |= (uint32_t)USART_InitStruct->USART_StopBits; + + /* Write to USART CR2 */ + USARTx->CR2 = (uint16_t)tmpreg; + +/*---------------------------- USART CR1 Configuration -----------------------*/ + tmpreg = USARTx->CR1; + /* Clear M, PCE, PS, TE and RE bits */ + tmpreg &= CR1_CLEAR_Mask; + /* Configure the USART Word Length, Parity and mode ----------------------- */ + /* Set the M bits according to USART_WordLength value */ + /* Set PCE and PS bits according to USART_Parity value */ + /* Set TE and RE bits according to USART_Mode value */ + tmpreg |= (uint32_t)USART_InitStruct->USART_WordLength | USART_InitStruct->USART_Parity | + USART_InitStruct->USART_Mode; + /* Write to USART CR1 */ + USARTx->CR1 = (uint16_t)tmpreg; + +/*---------------------------- USART CR3 Configuration -----------------------*/ + tmpreg = USARTx->CR3; + /* Clear CTSE and RTSE bits */ + tmpreg &= CR3_CLEAR_Mask; + /* Configure the USART HFC -------------------------------------------------*/ + /* Set CTSE and RTSE bits according to USART_HardwareFlowControl value */ + tmpreg |= USART_InitStruct->USART_HardwareFlowControl; + /* Write to USART CR3 */ + USARTx->CR3 = (uint16_t)tmpreg; + +/*---------------------------- USART BRR Configuration -----------------------*/ + /* Configure the USART Baud Rate -------------------------------------------*/ + RCC_GetClocksFreq(&RCC_ClocksStatus); + if (usartxbase == USART1_BASE) + { + apbclock = RCC_ClocksStatus.PCLK2_Frequency; + } + else + { + apbclock = RCC_ClocksStatus.PCLK1_Frequency; + } + + /* Determine the integer part */ + if ((USARTx->CR1 & CR1_OVER8_Set) != 0) + { + /* Integer part computing in case Oversampling mode is 8 Samples */ + integerdivider = ((25 * apbclock) / (2 * (USART_InitStruct->USART_BaudRate))); + } + else /* if ((USARTx->CR1 & CR1_OVER8_Set) == 0) */ + { + /* Integer part computing in case Oversampling mode is 16 Samples */ + integerdivider = ((25 * apbclock) / (4 * (USART_InitStruct->USART_BaudRate))); + } + tmpreg = (integerdivider / 100) << 4; + + /* Determine the fractional part */ + fractionaldivider = integerdivider - (100 * (tmpreg >> 4)); + + /* Implement the fractional part in the register */ + if ((USARTx->CR1 & CR1_OVER8_Set) != 0) + { + tmpreg |= ((((fractionaldivider * 8) + 50) / 100)) & ((uint8_t)0x07); + } + else /* if ((USARTx->CR1 & CR1_OVER8_Set) == 0) */ + { + tmpreg |= ((((fractionaldivider * 16) + 50) / 100)) & ((uint8_t)0x0F); + } + + /* Write to USART BRR */ + USARTx->BRR = (uint16_t)tmpreg; +} + +/** + * @brief Fills each USART_InitStruct member with its default value. + * @param USART_InitStruct: pointer to a USART_InitTypeDef structure + * which will be initialized. + * @retval None + */ +void USART_StructInit(USART_InitTypeDef* USART_InitStruct) +{ + /* USART_InitStruct members default value */ + USART_InitStruct->USART_BaudRate = 9600; + USART_InitStruct->USART_WordLength = USART_WordLength_8b; + USART_InitStruct->USART_StopBits = USART_StopBits_1; + USART_InitStruct->USART_Parity = USART_Parity_No ; + USART_InitStruct->USART_Mode = USART_Mode_Rx | USART_Mode_Tx; + USART_InitStruct->USART_HardwareFlowControl = USART_HardwareFlowControl_None; +} + +/** + * @brief Initializes the USARTx peripheral Clock according to the + * specified parameters in the USART_ClockInitStruct . + * @param USARTx: where x can be 1, 2, 3 to select the USART peripheral. + * @param USART_ClockInitStruct: pointer to a USART_ClockInitTypeDef + * structure that contains the configuration information for the specified + * USART peripheral. + * @note The Smart Card and Synchronous modes are not available for UART4 and UART5. + * @retval None + */ +void USART_ClockInit(USART_TypeDef* USARTx, USART_ClockInitTypeDef* USART_ClockInitStruct) +{ + uint32_t tmpreg = 0x00; + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + assert_param(IS_USART_CLOCK(USART_ClockInitStruct->USART_Clock)); + assert_param(IS_USART_CPOL(USART_ClockInitStruct->USART_CPOL)); + assert_param(IS_USART_CPHA(USART_ClockInitStruct->USART_CPHA)); + assert_param(IS_USART_LASTBIT(USART_ClockInitStruct->USART_LastBit)); + +/*---------------------------- USART CR2 Configuration -----------------------*/ + tmpreg = USARTx->CR2; + /* Clear CLKEN, CPOL, CPHA and LBCL bits */ + tmpreg &= CR2_CLOCK_CLEAR_Mask; + /* Configure the USART Clock, CPOL, CPHA and LastBit ------------*/ + /* Set CLKEN bit according to USART_Clock value */ + /* Set CPOL bit according to USART_CPOL value */ + /* Set CPHA bit according to USART_CPHA value */ + /* Set LBCL bit according to USART_LastBit value */ + tmpreg |= (uint32_t)USART_ClockInitStruct->USART_Clock | USART_ClockInitStruct->USART_CPOL | + USART_ClockInitStruct->USART_CPHA | USART_ClockInitStruct->USART_LastBit; + /* Write to USART CR2 */ + USARTx->CR2 = (uint16_t)tmpreg; +} + +/** + * @brief Fills each USART_ClockInitStruct member with its default value. + * @param USART_ClockInitStruct: pointer to a USART_ClockInitTypeDef + * structure which will be initialized. + * @retval None + */ +void USART_ClockStructInit(USART_ClockInitTypeDef* USART_ClockInitStruct) +{ + /* USART_ClockInitStruct members default value */ + USART_ClockInitStruct->USART_Clock = USART_Clock_Disable; + USART_ClockInitStruct->USART_CPOL = USART_CPOL_Low; + USART_ClockInitStruct->USART_CPHA = USART_CPHA_1Edge; + USART_ClockInitStruct->USART_LastBit = USART_LastBit_Disable; +} + +/** + * @brief Enables or disables the specified USART peripheral. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USARTx peripheral. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_Cmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the selected USART by setting the UE bit in the CR1 register */ + USARTx->CR1 |= CR1_UE_Set; + } + else + { + /* Disable the selected USART by clearing the UE bit in the CR1 register */ + USARTx->CR1 &= CR1_UE_Reset; + } +} + +/** + * @brief Enables or disables the specified USART interrupts. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IT: specifies the USART interrupt sources to be enabled or disabled. + * This parameter can be one of the following values: + * @arg USART_IT_CTS: CTS change interrupt (not available for UART4 and UART5) + * @arg USART_IT_LBD: LIN Break detection interrupt + * @arg USART_IT_TXE: Transmit Data Register empty interrupt + * @arg USART_IT_TC: Transmission complete interrupt + * @arg USART_IT_RXNE: Receive Data register not empty interrupt + * @arg USART_IT_IDLE: Idle line detection interrupt + * @arg USART_IT_PE: Parity Error interrupt + * @arg USART_IT_ERR: Error interrupt(Frame error, noise error, overrun error) + * @param NewState: new state of the specified USARTx interrupts. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_ITConfig(USART_TypeDef* USARTx, uint16_t USART_IT, FunctionalState NewState) +{ + uint32_t usartreg = 0x00, itpos = 0x00, itmask = 0x00; + uint32_t usartxbase = 0x00; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_CONFIG_IT(USART_IT)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + /* The CTS interrupt is not available for UART4 and UART5 */ + if (USART_IT == USART_IT_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + usartxbase = (uint32_t)USARTx; + + /* Get the USART register index */ + usartreg = (((uint8_t)USART_IT) >> 0x05); + + /* Get the interrupt position */ + itpos = USART_IT & IT_Mask; + itmask = (((uint32_t)0x01) << itpos); + + if (usartreg == 0x01) /* The IT is in CR1 register */ + { + usartxbase += 0x0C; + } + else if (usartreg == 0x02) /* The IT is in CR2 register */ + { + usartxbase += 0x10; + } + else /* The IT is in CR3 register */ + { + usartxbase += 0x14; + } + if (NewState != DISABLE) + { + *(__IO uint32_t*)usartxbase |= itmask; + } + else + { + *(__IO uint32_t*)usartxbase &= ~itmask; + } +} + +/** + * @brief Enables or disables the USARTs DMA interface. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_DMAReq: specifies the DMA request. + * This parameter can be any combination of the following values: + * @arg USART_DMAReq_Tx: USART DMA transmit request + * @arg USART_DMAReq_Rx: USART DMA receive request + * @param NewState: new state of the DMA Request sources. + * This parameter can be: ENABLE or DISABLE. + * @note The DMA mode is not available for UART5 except in the STM32 + * High density value line devices(STM32F10X_HD_VL). + * @retval None + */ +void USART_DMACmd(USART_TypeDef* USARTx, uint16_t USART_DMAReq, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_DMAREQ(USART_DMAReq)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the DMA transfer for selected requests by setting the DMAT and/or + DMAR bits in the USART CR3 register */ + USARTx->CR3 |= USART_DMAReq; + } + else + { + /* Disable the DMA transfer for selected requests by clearing the DMAT and/or + DMAR bits in the USART CR3 register */ + USARTx->CR3 &= (uint16_t)~USART_DMAReq; + } +} + +/** + * @brief Sets the address of the USART node. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_Address: Indicates the address of the USART node. + * @retval None + */ +void USART_SetAddress(USART_TypeDef* USARTx, uint8_t USART_Address) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_ADDRESS(USART_Address)); + + /* Clear the USART address */ + USARTx->CR2 &= CR2_Address_Mask; + /* Set the USART address node */ + USARTx->CR2 |= USART_Address; +} + +/** + * @brief Selects the USART WakeUp method. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_WakeUp: specifies the USART wakeup method. + * This parameter can be one of the following values: + * @arg USART_WakeUp_IdleLine: WakeUp by an idle line detection + * @arg USART_WakeUp_AddressMark: WakeUp by an address mark + * @retval None + */ +void USART_WakeUpConfig(USART_TypeDef* USARTx, uint16_t USART_WakeUp) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_WAKEUP(USART_WakeUp)); + + USARTx->CR1 &= CR1_WAKE_Mask; + USARTx->CR1 |= USART_WakeUp; +} + +/** + * @brief Determines if the USART is in mute mode or not. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART mute mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_ReceiverWakeUpCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the USART mute mode by setting the RWU bit in the CR1 register */ + USARTx->CR1 |= CR1_RWU_Set; + } + else + { + /* Disable the USART mute mode by clearing the RWU bit in the CR1 register */ + USARTx->CR1 &= CR1_RWU_Reset; + } +} + +/** + * @brief Sets the USART LIN Break detection length. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_LINBreakDetectLength: specifies the LIN break detection length. + * This parameter can be one of the following values: + * @arg USART_LINBreakDetectLength_10b: 10-bit break detection + * @arg USART_LINBreakDetectLength_11b: 11-bit break detection + * @retval None + */ +void USART_LINBreakDetectLengthConfig(USART_TypeDef* USARTx, uint16_t USART_LINBreakDetectLength) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_LIN_BREAK_DETECT_LENGTH(USART_LINBreakDetectLength)); + + USARTx->CR2 &= CR2_LBDL_Mask; + USARTx->CR2 |= USART_LINBreakDetectLength; +} + +/** + * @brief Enables or disables the USARTs LIN mode. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART LIN mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_LINCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the LIN mode by setting the LINEN bit in the CR2 register */ + USARTx->CR2 |= CR2_LINEN_Set; + } + else + { + /* Disable the LIN mode by clearing the LINEN bit in the CR2 register */ + USARTx->CR2 &= CR2_LINEN_Reset; + } +} + +/** + * @brief Transmits single data through the USARTx peripheral. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param Data: the data to transmit. + * @retval None + */ +void USART_SendData(USART_TypeDef* USARTx, uint16_t Data) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_DATA(Data)); + + /* Transmit Data */ + USARTx->DR = (Data & (uint16_t)0x01FF); +} + +/** + * @brief Returns the most recent received data by the USARTx peripheral. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @retval The received data. + */ +uint16_t USART_ReceiveData(USART_TypeDef* USARTx) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + /* Receive Data */ + return (uint16_t)(USARTx->DR & (uint16_t)0x01FF); +} + +/** + * @brief Transmits break characters. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @retval None + */ +void USART_SendBreak(USART_TypeDef* USARTx) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + /* Send break characters */ + USARTx->CR1 |= CR1_SBK_Set; +} + +/** + * @brief Sets the specified USART guard time. + * @param USARTx: where x can be 1, 2 or 3 to select the USART peripheral. + * @param USART_GuardTime: specifies the guard time. + * @note The guard time bits are not available for UART4 and UART5. + * @retval None + */ +void USART_SetGuardTime(USART_TypeDef* USARTx, uint8_t USART_GuardTime) +{ + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + + /* Clear the USART Guard time */ + USARTx->GTPR &= GTPR_LSB_Mask; + /* Set the USART guard time */ + USARTx->GTPR |= (uint16_t)((uint16_t)USART_GuardTime << 0x08); +} + +/** + * @brief Sets the system clock prescaler. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_Prescaler: specifies the prescaler clock. + * @note The function is used for IrDA mode with UART4 and UART5. + * @retval None + */ +void USART_SetPrescaler(USART_TypeDef* USARTx, uint8_t USART_Prescaler) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + + /* Clear the USART prescaler */ + USARTx->GTPR &= GTPR_MSB_Mask; + /* Set the USART prescaler */ + USARTx->GTPR |= USART_Prescaler; +} + +/** + * @brief Enables or disables the USARTs Smart Card mode. + * @param USARTx: where x can be 1, 2 or 3 to select the USART peripheral. + * @param NewState: new state of the Smart Card mode. + * This parameter can be: ENABLE or DISABLE. + * @note The Smart Card mode is not available for UART4 and UART5. + * @retval None + */ +void USART_SmartCardCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the SC mode by setting the SCEN bit in the CR3 register */ + USARTx->CR3 |= CR3_SCEN_Set; + } + else + { + /* Disable the SC mode by clearing the SCEN bit in the CR3 register */ + USARTx->CR3 &= CR3_SCEN_Reset; + } +} + +/** + * @brief Enables or disables NACK transmission. + * @param USARTx: where x can be 1, 2 or 3 to select the USART peripheral. + * @param NewState: new state of the NACK transmission. + * This parameter can be: ENABLE or DISABLE. + * @note The Smart Card mode is not available for UART4 and UART5. + * @retval None + */ +void USART_SmartCardNACKCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_123_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + if (NewState != DISABLE) + { + /* Enable the NACK transmission by setting the NACK bit in the CR3 register */ + USARTx->CR3 |= CR3_NACK_Set; + } + else + { + /* Disable the NACK transmission by clearing the NACK bit in the CR3 register */ + USARTx->CR3 &= CR3_NACK_Reset; + } +} + +/** + * @brief Enables or disables the USARTs Half Duplex communication. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART Communication. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_HalfDuplexCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the Half-Duplex mode by setting the HDSEL bit in the CR3 register */ + USARTx->CR3 |= CR3_HDSEL_Set; + } + else + { + /* Disable the Half-Duplex mode by clearing the HDSEL bit in the CR3 register */ + USARTx->CR3 &= CR3_HDSEL_Reset; + } +} + + +/** + * @brief Enables or disables the USART's 8x oversampling mode. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART one bit sampling method. + * This parameter can be: ENABLE or DISABLE. + * @note + * This function has to be called before calling USART_Init() + * function in order to have correct baudrate Divider value. + * @retval None + */ +void USART_OverSampling8Cmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the 8x Oversampling mode by setting the OVER8 bit in the CR1 register */ + USARTx->CR1 |= CR1_OVER8_Set; + } + else + { + /* Disable the 8x Oversampling mode by clearing the OVER8 bit in the CR1 register */ + USARTx->CR1 &= CR1_OVER8_Reset; + } +} + +/** + * @brief Enables or disables the USART's one bit sampling method. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the USART one bit sampling method. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_OneBitMethodCmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the one bit method by setting the ONEBITE bit in the CR3 register */ + USARTx->CR3 |= CR3_ONEBITE_Set; + } + else + { + /* Disable tthe one bit method by clearing the ONEBITE bit in the CR3 register */ + USARTx->CR3 &= CR3_ONEBITE_Reset; + } +} + +/** + * @brief Configures the USART's IrDA interface. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IrDAMode: specifies the IrDA mode. + * This parameter can be one of the following values: + * @arg USART_IrDAMode_LowPower + * @arg USART_IrDAMode_Normal + * @retval None + */ +void USART_IrDAConfig(USART_TypeDef* USARTx, uint16_t USART_IrDAMode) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_IRDA_MODE(USART_IrDAMode)); + + USARTx->CR3 &= CR3_IRLP_Mask; + USARTx->CR3 |= USART_IrDAMode; +} + +/** + * @brief Enables or disables the USART's IrDA interface. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param NewState: new state of the IrDA mode. + * This parameter can be: ENABLE or DISABLE. + * @retval None + */ +void USART_IrDACmd(USART_TypeDef* USARTx, FunctionalState NewState) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_FUNCTIONAL_STATE(NewState)); + + if (NewState != DISABLE) + { + /* Enable the IrDA mode by setting the IREN bit in the CR3 register */ + USARTx->CR3 |= CR3_IREN_Set; + } + else + { + /* Disable the IrDA mode by clearing the IREN bit in the CR3 register */ + USARTx->CR3 &= CR3_IREN_Reset; + } +} + +/** + * @brief Checks whether the specified USART flag is set or not. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_FLAG: specifies the flag to check. + * This parameter can be one of the following values: + * @arg USART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5) + * @arg USART_FLAG_LBD: LIN Break detection flag + * @arg USART_FLAG_TXE: Transmit data register empty flag + * @arg USART_FLAG_TC: Transmission Complete flag + * @arg USART_FLAG_RXNE: Receive data register not empty flag + * @arg USART_FLAG_IDLE: Idle Line detection flag + * @arg USART_FLAG_ORE: OverRun Error flag + * @arg USART_FLAG_NE: Noise Error flag + * @arg USART_FLAG_FE: Framing Error flag + * @arg USART_FLAG_PE: Parity Error flag + * @retval The new state of USART_FLAG (SET or RESET). + */ +FlagStatus USART_GetFlagStatus(USART_TypeDef* USARTx, uint16_t USART_FLAG) +{ + FlagStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_FLAG(USART_FLAG)); + /* The CTS flag is not available for UART4 and UART5 */ + if (USART_FLAG == USART_FLAG_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + if ((USARTx->SR & USART_FLAG) != (uint16_t)RESET) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + return bitstatus; +} + +/** + * @brief Clears the USARTx's pending flags. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_FLAG: specifies the flag to clear. + * This parameter can be any combination of the following values: + * @arg USART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5). + * @arg USART_FLAG_LBD: LIN Break detection flag. + * @arg USART_FLAG_TC: Transmission Complete flag. + * @arg USART_FLAG_RXNE: Receive data register not empty flag. + * + * @note + * - PE (Parity error), FE (Framing error), NE (Noise error), ORE (OverRun + * error) and IDLE (Idle line detected) flags are cleared by software + * sequence: a read operation to USART_SR register (USART_GetFlagStatus()) + * followed by a read operation to USART_DR register (USART_ReceiveData()). + * - RXNE flag can be also cleared by a read to the USART_DR register + * (USART_ReceiveData()). + * - TC flag can be also cleared by software sequence: a read operation to + * USART_SR register (USART_GetFlagStatus()) followed by a write operation + * to USART_DR register (USART_SendData()). + * - TXE flag is cleared only by a write to the USART_DR register + * (USART_SendData()). + * @retval None + */ +void USART_ClearFlag(USART_TypeDef* USARTx, uint16_t USART_FLAG) +{ + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_CLEAR_FLAG(USART_FLAG)); + /* The CTS flag is not available for UART4 and UART5 */ + if ((USART_FLAG & USART_FLAG_CTS) == USART_FLAG_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + USARTx->SR = (uint16_t)~USART_FLAG; +} + +/** + * @brief Checks whether the specified USART interrupt has occurred or not. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IT: specifies the USART interrupt source to check. + * This parameter can be one of the following values: + * @arg USART_IT_CTS: CTS change interrupt (not available for UART4 and UART5) + * @arg USART_IT_LBD: LIN Break detection interrupt + * @arg USART_IT_TXE: Tansmit Data Register empty interrupt + * @arg USART_IT_TC: Transmission complete interrupt + * @arg USART_IT_RXNE: Receive Data register not empty interrupt + * @arg USART_IT_IDLE: Idle line detection interrupt + * @arg USART_IT_ORE: OverRun Error interrupt + * @arg USART_IT_NE: Noise Error interrupt + * @arg USART_IT_FE: Framing Error interrupt + * @arg USART_IT_PE: Parity Error interrupt + * @retval The new state of USART_IT (SET or RESET). + */ +ITStatus USART_GetITStatus(USART_TypeDef* USARTx, uint16_t USART_IT) +{ + uint32_t bitpos = 0x00, itmask = 0x00, usartreg = 0x00; + ITStatus bitstatus = RESET; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_GET_IT(USART_IT)); + /* The CTS interrupt is not available for UART4 and UART5 */ + if (USART_IT == USART_IT_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + /* Get the USART register index */ + usartreg = (((uint8_t)USART_IT) >> 0x05); + /* Get the interrupt position */ + itmask = USART_IT & IT_Mask; + itmask = (uint32_t)0x01 << itmask; + + if (usartreg == 0x01) /* The IT is in CR1 register */ + { + itmask &= USARTx->CR1; + } + else if (usartreg == 0x02) /* The IT is in CR2 register */ + { + itmask &= USARTx->CR2; + } + else /* The IT is in CR3 register */ + { + itmask &= USARTx->CR3; + } + + bitpos = USART_IT >> 0x08; + bitpos = (uint32_t)0x01 << bitpos; + bitpos &= USARTx->SR; + if ((itmask != (uint16_t)RESET)&&(bitpos != (uint16_t)RESET)) + { + bitstatus = SET; + } + else + { + bitstatus = RESET; + } + + return bitstatus; +} + +/** + * @brief Clears the USARTx's interrupt pending bits. + * @param USARTx: Select the USART or the UART peripheral. + * This parameter can be one of the following values: + * USART1, USART2, USART3, UART4 or UART5. + * @param USART_IT: specifies the interrupt pending bit to clear. + * This parameter can be one of the following values: + * @arg USART_IT_CTS: CTS change interrupt (not available for UART4 and UART5) + * @arg USART_IT_LBD: LIN Break detection interrupt + * @arg USART_IT_TC: Transmission complete interrupt. + * @arg USART_IT_RXNE: Receive Data register not empty interrupt. + * + * @note + * - PE (Parity error), FE (Framing error), NE (Noise error), ORE (OverRun + * error) and IDLE (Idle line detected) pending bits are cleared by + * software sequence: a read operation to USART_SR register + * (USART_GetITStatus()) followed by a read operation to USART_DR register + * (USART_ReceiveData()). + * - RXNE pending bit can be also cleared by a read to the USART_DR register + * (USART_ReceiveData()). + * - TC pending bit can be also cleared by software sequence: a read + * operation to USART_SR register (USART_GetITStatus()) followed by a write + * operation to USART_DR register (USART_SendData()). + * - TXE pending bit is cleared only by a write to the USART_DR register + * (USART_SendData()). + * @retval None + */ +void USART_ClearITPendingBit(USART_TypeDef* USARTx, uint16_t USART_IT) +{ + uint16_t bitpos = 0x00, itmask = 0x00; + /* Check the parameters */ + assert_param(IS_USART_ALL_PERIPH(USARTx)); + assert_param(IS_USART_CLEAR_IT(USART_IT)); + /* The CTS interrupt is not available for UART4 and UART5 */ + if (USART_IT == USART_IT_CTS) + { + assert_param(IS_USART_123_PERIPH(USARTx)); + } + + bitpos = USART_IT >> 0x08; + itmask = ((uint16_t)0x01 << (uint16_t)bitpos); + USARTx->SR = (uint16_t)~itmask; +} +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_wwdg.c b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_wwdg.c new file mode 100644 index 0000000..4a901e4 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Libraries/FWlib/src/stm32f10x_wwdg.c @@ -0,0 +1,224 @@ +/** + ****************************************************************************** + * @file stm32f10x_wwdg.c + * @author MCD Application Team + * @version V3.5.0 + * @date 11-March-2011 + * @brief This file provides all the WWDG firmware functions. + ****************************************************************************** + * @attention + * + * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS + * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE + * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY + * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING + * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE + * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS. + * + *

© COPYRIGHT 2011 STMicroelectronics

+ ****************************************************************************** + */ + +/* Includes ------------------------------------------------------------------*/ +#include "stm32f10x_wwdg.h" +#include "stm32f10x_rcc.h" + +/** @addtogroup STM32F10x_StdPeriph_Driver + * @{ + */ + +/** @defgroup WWDG + * @brief WWDG driver modules + * @{ + */ + +/** @defgroup WWDG_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_Defines + * @{ + */ + +/* ----------- WWDG registers bit address in the alias region ----------- */ +#define WWDG_OFFSET (WWDG_BASE - PERIPH_BASE) + +/* Alias word address of EWI bit */ +#define CFR_OFFSET (WWDG_OFFSET + 0x04) +#define EWI_BitNumber 0x09 +#define CFR_EWI_BB (PERIPH_BB_BASE + (CFR_OFFSET * 32) + (EWI_BitNumber * 4)) + +/* --------------------- WWDG registers bit mask ------------------------ */ + +/* CR register bit mask */ +#define CR_WDGA_Set ((uint32_t)0x00000080) + +/* CFR register bit mask */ +#define CFR_WDGTB_Mask ((uint32_t)0xFFFFFE7F) +#define CFR_W_Mask ((uint32_t)0xFFFFFF80) +#define BIT_Mask ((uint8_t)0x7F) + +/** + * @} + */ + +/** @defgroup WWDG_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_Variables + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_FunctionPrototypes + * @{ + */ + +/** + * @} + */ + +/** @defgroup WWDG_Private_Functions + * @{ + */ + +/** + * @brief Deinitializes the WWDG peripheral registers to their default reset values. + * @param None + * @retval None + */ +void WWDG_DeInit(void) +{ + RCC_APB1PeriphResetCmd(RCC_APB1Periph_WWDG, ENABLE); + RCC_APB1PeriphResetCmd(RCC_APB1Periph_WWDG, DISABLE); +} + +/** + * @brief Sets the WWDG Prescaler. + * @param WWDG_Prescaler: specifies the WWDG Prescaler. + * This parameter can be one of the following values: + * @arg WWDG_Prescaler_1: WWDG counter clock = (PCLK1/4096)/1 + * @arg WWDG_Prescaler_2: WWDG counter clock = (PCLK1/4096)/2 + * @arg WWDG_Prescaler_4: WWDG counter clock = (PCLK1/4096)/4 + * @arg WWDG_Prescaler_8: WWDG counter clock = (PCLK1/4096)/8 + * @retval None + */ +void WWDG_SetPrescaler(uint32_t WWDG_Prescaler) +{ + uint32_t tmpreg = 0; + /* Check the parameters */ + assert_param(IS_WWDG_PRESCALER(WWDG_Prescaler)); + /* Clear WDGTB[1:0] bits */ + tmpreg = WWDG->CFR & CFR_WDGTB_Mask; + /* Set WDGTB[1:0] bits according to WWDG_Prescaler value */ + tmpreg |= WWDG_Prescaler; + /* Store the new value */ + WWDG->CFR = tmpreg; +} + +/** + * @brief Sets the WWDG window value. + * @param WindowValue: specifies the window value to be compared to the downcounter. + * This parameter value must be lower than 0x80. + * @retval None + */ +void WWDG_SetWindowValue(uint8_t WindowValue) +{ + __IO uint32_t tmpreg = 0; + + /* Check the parameters */ + assert_param(IS_WWDG_WINDOW_VALUE(WindowValue)); + /* Clear W[6:0] bits */ + + tmpreg = WWDG->CFR & CFR_W_Mask; + + /* Set W[6:0] bits according to WindowValue value */ + tmpreg |= WindowValue & (uint32_t) BIT_Mask; + + /* Store the new value */ + WWDG->CFR = tmpreg; +} + +/** + * @brief Enables the WWDG Early Wakeup interrupt(EWI). + * @param None + * @retval None + */ +void WWDG_EnableIT(void) +{ + *(__IO uint32_t *) CFR_EWI_BB = (uint32_t)ENABLE; +} + +/** + * @brief Sets the WWDG counter value. + * @param Counter: specifies the watchdog counter value. + * This parameter must be a number between 0x40 and 0x7F. + * @retval None + */ +void WWDG_SetCounter(uint8_t Counter) +{ + /* Check the parameters */ + assert_param(IS_WWDG_COUNTER(Counter)); + /* Write to T[6:0] bits to configure the counter value, no need to do + a read-modify-write; writing a 0 to WDGA bit does nothing */ + WWDG->CR = Counter & BIT_Mask; +} + +/** + * @brief Enables WWDG and load the counter value. + * @param Counter: specifies the watchdog counter value. + * This parameter must be a number between 0x40 and 0x7F. + * @retval None + */ +void WWDG_Enable(uint8_t Counter) +{ + /* Check the parameters */ + assert_param(IS_WWDG_COUNTER(Counter)); + WWDG->CR = CR_WDGA_Set | Counter; +} + +/** + * @brief Checks whether the Early Wakeup interrupt flag is set or not. + * @param None + * @retval The new state of the Early Wakeup interrupt flag (SET or RESET) + */ +FlagStatus WWDG_GetFlagStatus(void) +{ + return (FlagStatus)(WWDG->SR); +} + +/** + * @brief Clears Early Wakeup interrupt flag. + * @param None + * @retval None + */ +void WWDG_ClearFlag(void) +{ + WWDG->SR = (uint32_t)RESET; +} + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ + +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/GeBalanceBot_Firmware v1.0/Listing/Project.map b/GeBalanceBot_Firmware v1.0/Listing/Project.map new file mode 100644 index 0000000..4fa5b81 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Listing/Project.map @@ -0,0 +1,2024 @@ +Component: ARM Compiler 5.06 update 3 (build 300) Tool: armlink [4d35c9] + +============================================================================== + +Section Cross References + + startup_stm32f10x_hd.o(STACK) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_hd.o(HEAP) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_hd.o(RESET) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_hd.o(RESET) refers to startup_stm32f10x_hd.o(STACK) for __initial_sp + startup_stm32f10x_hd.o(RESET) refers to startup_stm32f10x_hd.o(.text) for Reset_Handler + startup_stm32f10x_hd.o(RESET) refers to stm32f10x_it.o(.text) for NMI_Handler + startup_stm32f10x_hd.o(RESET) refers to bsp_timer.o(.text) for TIM2_IRQHandler + startup_stm32f10x_hd.o(RESET) refers to bsp_usart.o(.text) for USART1_IRQHandler + startup_stm32f10x_hd.o(RESET) refers to bluetooth.o(.text) for USART2_IRQHandler + startup_stm32f10x_hd.o(RESET) refers to control.o(.text) for EXTI15_10_IRQHandler + startup_stm32f10x_hd.o(RESET) refers to car.o(.text) for TIM6_IRQHandler + startup_stm32f10x_hd.o(.text) refers (Special) to heapauxi.o(.text) for __use_two_region_memory + startup_stm32f10x_hd.o(.text) refers to system_stm32f10x.o(.text) for SystemInit + startup_stm32f10x_hd.o(.text) refers to __main.o(!!!main) for __main + startup_stm32f10x_hd.o(.text) refers to startup_stm32f10x_hd.o(HEAP) for Heap_Mem + startup_stm32f10x_hd.o(.text) refers to startup_stm32f10x_hd.o(STACK) for Stack_Mem + system_stm32f10x.o(.text) refers to system_stm32f10x.o(.data) for SystemCoreClock + stm32f10x_adc.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_bkp.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_BackupResetCmd + stm32f10x_can.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_cec.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_dac.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_gpio.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_i2c.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_pwr.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + stm32f10x_rcc.o(.text) refers to stm32f10x_rcc.o(.data) for APBAHBPrescTable + stm32f10x_spi.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_tim.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_usart.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphResetCmd + stm32f10x_wwdg.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphResetCmd + sys.o(.text) refers to sys.o(.emb_text) for WFI_SET + bsp_sys.o(.text) refers to delay.o(.text) for Delay_Init + bsp_sys.o(.text) refers to bsp_nvic.o(.text) for NVIC_Config + bsp_sys.o(.text) refers to bsp_gpio.o(.text) for LED_GPIO_Config + bsp_sys.o(.text) refers to bsp_usart.o(.text) for USART1_Init + bsp_sys.o(.text) refers to bsp_iic.o(.text) for IIC_Init + bsp_sys.o(.text) refers to motor.o(.text) for Motor_Init + bsp_sys.o(.text) refers to bsp_timer.o(.text) for MOTO_PWM_Init + bsp_sys.o(.text) refers to oled.o(.text) for OLED_Init + bsp_gpio.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + bsp_gpio.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + bsp_gpio.o(.text) refers to bsp_gpio.o(.data) for temp + bsp_usart.o(.text) refers (Special) to use_no_semi_2.o(.text) for __use_no_semihosting + bsp_usart.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + bsp_usart.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + bsp_usart.o(.text) refers to stm32f10x_usart.o(.text) for USART_Init + bsp_usart.o(.text) refers to bsp_usart.o(.data) for rx_count + bsp_usart.o(.data) refers (Special) to use_no_semi_2.o(.text) for __use_no_semihosting + delay.o(.text) refers to misc.o(.text) for SysTick_CLKSourceConfig + delay.o(.text) refers to delay.o(.data) for fac_us + bsp_iic.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_SetBits + bsp_iic.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + bsp_timer.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB1PeriphClockCmd + bsp_timer.o(.text) refers to stm32f10x_tim.o(.text) for TIM_TimeBaseInit + bsp_timer.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + bsp_timer.o(.text) refers to misc.o(.text) for NVIC_PriorityGroupConfig + oled.o(.text) refers to bsp_iic.o(.text) for IIC_Start + oled.o(.text) refers to delay.o(.text) for Delay_ms + oled.o(.text) refers to oled.o(.constdata) for F8X16 + oled.o(.text) refers to oled.o(.data) for Hzk + pid.o(.text) refers to _printf_pad.o(.text) for _printf_pre_padding + pid.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + pid.o(.text) refers to _printf_f.o(.ARM.Collect$$_printf_percent$$00000003) for _printf_f + pid.o(.text) refers to printf1.o(x$fpl$printf1) for _printf_fp_dec + pid.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + pid.o(.text) refers to noretval__2sprintf.o(.text) for __2sprintf + pid.o(.text) refers to oled.o(.text) for OLED_ShowString + pid.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f + pid.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + pid.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub + pid.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd + pid.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + pid.o(.text) refers to pid.o(.data) for Proportion + car.o(.text) refers to _printf_pad.o(.text) for _printf_pre_padding + car.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + car.o(.text) refers to _printf_f.o(.ARM.Collect$$_printf_percent$$00000003) for _printf_f + car.o(.text) refers to printf1.o(x$fpl$printf1) for _printf_fp_dec + car.o(.text) refers to stm32f10x_tim.o(.text) for TIM_GetFlagStatus + car.o(.text) refers to bsp_gpio.o(.text) for LED_Flash + car.o(.text) refers to bsp_timer.o(.text) for Read_Encoder + car.o(.text) refers to dflt_clz.o(x$fpl$dflt) for __aeabi_i2d + car.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + car.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f + car.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + car.o(.text) refers to noretval__2sprintf.o(.text) for __2sprintf + car.o(.text) refers to oled.o(.text) for OLED_ShowString + car.o(.text) refers to pid.o(.text) for PID_Calc_Left + car.o(.text) refers to car.o(.data) for Encoder_Left + bluetooth.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + bluetooth.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + bluetooth.o(.text) refers to stm32f10x_usart.o(.text) for USART_Init + bluetooth.o(.text) refers to misc.o(.text) for NVIC_PriorityGroupConfig + bluetooth.o(.text) refers to bluetooth.o(.data) for rx2_count + motor.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + motor.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + ioi2c.o(.text) refers to stm32f10x_rcc.o(.text) for RCC_APB2PeriphClockCmd + ioi2c.o(.text) refers to stm32f10x_gpio.o(.text) for GPIO_Init + ioi2c.o(.text) refers to delay.o(.text) for Delay_us + show.o(.text) refers to oled.o(.text) for OLED_Display_On + show.o(.text) refers to car.o(.data) for Encoder_Left + mpu6050.o(.text) refers to inv_mpu.o(.text) for mpu_run_self_test + mpu6050.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f + mpu6050.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + mpu6050.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + mpu6050.o(.text) refers to inv_mpu_dmp_motion_driver.o(.text) for dmp_set_gyro_bias + mpu6050.o(.text) refers to noretval__2printf.o(.text) for __2printf + mpu6050.o(.text) refers to ioi2c.o(.text) for IICwriteBits + mpu6050.o(.text) refers to fdiv.o(x$fpl$fdiv) for __aeabi_fdiv + mpu6050.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub + mpu6050.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd + mpu6050.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + mpu6050.o(.text) refers to mpu6050.o(.bss) for MPU6050_FIFO + mpu6050.o(.text) refers to mpu6050.o(.data) for gyro_orientation + mpu6050.o(.text) refers to atan2.o(i.atan2) for atan2 + mpu6050.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + mpu6050.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f + inv_mpu.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + inv_mpu.o(.text) refers to _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) for _printf_d + inv_mpu.o(.text) refers to _printf_dec.o(.text) for _printf_int_dec + inv_mpu.o(.text) refers to ioi2c.o(.text) for i2cWrite + inv_mpu.o(.text) refers to delay.o(.text) for Delay_ms + inv_mpu.o(.text) refers to inv_mpu.o(.data) for st + inv_mpu.o(.text) refers to noretval__2printf.o(.text) for __2printf + inv_mpu.o(.text) refers to fflt_clz.o(x$fpl$ffltu) for __aeabi_ui2f + inv_mpu.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f + inv_mpu.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub + inv_mpu.o(.text) refers to fdiv.o(x$fpl$fdiv) for __aeabi_fdiv + inv_mpu.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd + inv_mpu.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + inv_mpu.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + inv_mpu.o(.text) refers to inv_mpu.o(.conststring) for .conststring + inv_mpu.o(.text) refers to feqf.o(x$fpl$feqf) for __aeabi_cfcmpeq + inv_mpu.o(.text) refers to frleqf.o(x$fpl$frleqf) for __aeabi_cfrcmple + inv_mpu.o(.text) refers to fleqf.o(x$fpl$fleqf) for __aeabi_cfcmple + inv_mpu.o(.text) refers to inv_mpu.o(.constdata) for test + inv_mpu.o(.text) refers to llsdiv.o(.text) for __aeabi_ldivmod + inv_mpu.o(.text) refers to memcmp.o(.text) for memcmp + inv_mpu.o(.data) refers to inv_mpu.o(.constdata) for reg + inv_mpu_dmp_motion_driver.o(.text) refers to inv_mpu.o(.text) for mpu_load_firmware + inv_mpu_dmp_motion_driver.o(.text) refers to inv_mpu_dmp_motion_driver.o(.constdata) for dmp_memory + inv_mpu_dmp_motion_driver.o(.text) refers to inv_mpu_dmp_motion_driver.o(.bss) for dmp + inv_mpu_dmp_motion_driver.o(.text) refers to fflt_clz.o(x$fpl$ffltu) for __aeabi_ui2f + inv_mpu_dmp_motion_driver.o(.text) refers to fdiv.o(x$fpl$fdiv) for __aeabi_fdiv + inv_mpu_dmp_motion_driver.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + inv_mpu_dmp_motion_driver.o(.text) refers to ffixu.o(x$fpl$ffixu) for __aeabi_f2uiz + inv_mpu_dmp_motion_driver.o(.text) refers to aeabi_memset.o(.text) for __aeabi_memset + control.o(.text) refers to fleqf.o(x$fpl$fleqf) for __aeabi_cfcmple + control.o(.text) refers to frleqf.o(x$fpl$frleqf) for __aeabi_cfrcmple + control.o(.text) refers to fflt_clz.o(x$fpl$fflt) for __aeabi_i2f + control.o(.text) refers to f2d.o(x$fpl$f2d) for __aeabi_f2d + control.o(.text) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + control.o(.text) refers to d2f.o(x$fpl$d2f) for __aeabi_d2f + control.o(.text) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + control.o(.text) refers to faddsub_clz.o(x$fpl$fadd) for __aeabi_fadd + control.o(.text) refers to fmul.o(x$fpl$fmul) for __aeabi_fmul + control.o(.text) refers to faddsub_clz.o(x$fpl$fsub) for __aeabi_fsub + control.o(.text) refers to ffix.o(x$fpl$ffix) for __aeabi_f2iz + control.o(.text) refers to faddsub_clz.o(x$fpl$frsb) for __aeabi_frsub + control.o(.text) refers to mpu6050.o(.text) for Read_DMP + control.o(.text) refers to control.o(.data) for Flag_Stop + control.o(.text) refers to mpu6050.o(.data) for Pitch + control.o(.text) refers to car.o(.data) for Encoder_Right + main.o(.text) refers to bsp_sys.o(.text) for System_Init + main.o(.text) refers to bluetooth.o(.text) for Bluetooth_Init + main.o(.text) refers to motor.o(.text) for Car_Stop + main.o(.text) refers to delay.o(.text) for Delay_ms + main.o(.text) refers to main.o(.bss) for BLE_RX + use_no_semi_2.o(.text) refers (Special) to use_no_semi.o(.text) for __use_no_semihosting_swi + llsdiv.o(.text) refers to lludivv7m.o(.text) for __aeabi_uldivmod + __2printf.o(.text) refers to _printf_char_file.o(.text) for _printf_char_file + __2printf.o(.text) refers to bsp_usart.o(.data) for __stdout + __2sprintf.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common + __2sprintf.o(.text) refers to _sputc.o(.text) for _sputc + noretval__2printf.o(.text) refers to _printf_char_file.o(.text) for _printf_char_file + noretval__2printf.o(.text) refers to bsp_usart.o(.data) for __stdout + noretval__2sprintf.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common + noretval__2sprintf.o(.text) refers to _sputc.o(.text) for _sputc + __printf.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + _printf_dec.o(.text) refers to _printf_intcommon.o(.text) for _printf_int_common + __printf_flags.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags.o(.text) refers to __printf_flags.o(.constdata) for .constdata + __printf_ss.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss.o(.text) refers to __printf_flags_ss.o(.constdata) for .constdata + __printf_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_flags_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_wp.o(.text) refers to __printf_flags_wp.o(.constdata) for .constdata + __printf_ss_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_ss_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss_wp.o(.text) refers to __printf_wp.o(i._is_digit) for _is_digit + __printf_flags_ss_wp.o(.text) refers to _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) for _printf_percent + __printf_flags_ss_wp.o(.text) refers to __printf_flags_ss_wp.o(.constdata) for .constdata + _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) refers (Weak) to _printf_dec.o(.text) for _printf_int_dec + _printf_f.o(.ARM.Collect$$_printf_percent$$00000003) refers (Weak) to printf1.o(x$fpl$printf1) for _printf_fp_dec + _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) refers (Special) to _printf_percent_end.o(.ARM.Collect$$_printf_percent$$00000017) for _printf_percent_end + aeabi_memset.o(.text) refers to rt_memclr.o(.text) for _memset + __main.o(!!!main) refers to __rtentry.o(.ARM.Collect$$rtentry$$00000000) for __rt_entry + d2f.o(x$fpl$d2f) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + d2f.o(x$fpl$d2f) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + d2f.o(x$fpl$d2f) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + daddsub_clz.o(x$fpl$dadd) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + daddsub_clz.o(x$fpl$dadd) refers to daddsub_clz.o(x$fpl$dsub) for _dsub1 + daddsub_clz.o(x$fpl$dadd) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + daddsub_clz.o(x$fpl$dadd) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + daddsub_clz.o(x$fpl$drsb) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + daddsub_clz.o(x$fpl$drsb) refers to daddsub_clz.o(x$fpl$dadd) for _dadd1 + daddsub_clz.o(x$fpl$drsb) refers to daddsub_clz.o(x$fpl$dsub) for _dsub1 + daddsub_clz.o(x$fpl$dsub) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + daddsub_clz.o(x$fpl$dsub) refers to daddsub_clz.o(x$fpl$dadd) for _dadd1 + daddsub_clz.o(x$fpl$dsub) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + dflt_clz.o(x$fpl$dfltu) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dflt_clz.o(x$fpl$dflt) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dflt_clz.o(x$fpl$dfltn) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dmul.o(x$fpl$dmul) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dmul.o(x$fpl$dmul) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + dmul.o(x$fpl$dmul) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + f2d.o(x$fpl$f2d) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + f2d.o(x$fpl$f2d) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + f2d.o(x$fpl$f2d) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + faddsub_clz.o(x$fpl$fadd) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + faddsub_clz.o(x$fpl$fadd) refers to faddsub_clz.o(x$fpl$fsub) for _fsub1 + faddsub_clz.o(x$fpl$fadd) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + faddsub_clz.o(x$fpl$fadd) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + faddsub_clz.o(x$fpl$frsb) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + faddsub_clz.o(x$fpl$frsb) refers to faddsub_clz.o(x$fpl$fadd) for _fadd1 + faddsub_clz.o(x$fpl$frsb) refers to faddsub_clz.o(x$fpl$fsub) for _fsub1 + faddsub_clz.o(x$fpl$fsub) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + faddsub_clz.o(x$fpl$fsub) refers to faddsub_clz.o(x$fpl$fadd) for _fadd1 + faddsub_clz.o(x$fpl$fsub) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + fdiv.o(x$fpl$frdiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fdiv.o(x$fpl$frdiv) refers to fdiv.o(x$fpl$fdiv) for _fdiv1 + fdiv.o(x$fpl$fdiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fdiv.o(x$fpl$fdiv) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + fdiv.o(x$fpl$fdiv) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + feqf.o(x$fpl$feqf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + feqf.o(x$fpl$feqf) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + feqf.o(x$fpl$feqf) refers to fcmpi.o(x$fpl$fcmpinf) for __fpl_fcmp_Inf + ffix.o(x$fpl$ffix) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffix.o(x$fpl$ffix) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + ffix.o(x$fpl$ffixr) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffix.o(x$fpl$ffixr) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + ffixu.o(x$fpl$ffixu) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffixu.o(x$fpl$ffixu) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + ffixu.o(x$fpl$ffixur) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ffixu.o(x$fpl$ffixur) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + fflt_clz.o(x$fpl$ffltu) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fflt_clz.o(x$fpl$fflt) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fflt_clz.o(x$fpl$ffltn) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fleqf.o(x$fpl$fleqf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fleqf.o(x$fpl$fleqf) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + fleqf.o(x$fpl$fleqf) refers to fcmpi.o(x$fpl$fcmpinf) for __fpl_fcmp_Inf + fmul.o(x$fpl$fmul) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fmul.o(x$fpl$fmul) refers to fretinf.o(x$fpl$fretinf) for __fpl_fretinf + fmul.o(x$fpl$fmul) refers to fnaninf.o(x$fpl$fnaninf) for __fpl_fnaninf + frleqf.o(x$fpl$frleqf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + frleqf.o(x$fpl$frleqf) refers to fleqf.o(x$fpl$fleqf) for __fpl_fcmple_InfNaN + printf1.o(x$fpl$printf1) refers to _printf_fp_dec.o(.text) for _printf_fp_dec_real + atan2.o(i.__softfp_atan2) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2.o(i.__softfp_atan2) refers to atan2.o(i.atan2) for atan2 + atan2.o(i.atan2) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2.o(i.atan2) refers to dunder.o(i.__mathlib_dbl_infnan2) for __mathlib_dbl_infnan2 + atan2.o(i.atan2) refers to atan.o(i.atan) for atan + atan2.o(i.atan2) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan2.o(i.atan2) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan2.o(i.atan2) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan2.o(i.atan2) refers to qnan.o(.constdata) for __mathlib_zero + atan2_x.o(i.____softfp_atan2$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2_x.o(i.____softfp_atan2$lsc) refers to atan2_x.o(i.__atan2$lsc) for __atan2$lsc + atan2_x.o(i.__atan2$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan2_x.o(i.__atan2$lsc) refers to dunder.o(i.__mathlib_dbl_infnan2) for __mathlib_dbl_infnan2 + atan2_x.o(i.__atan2$lsc) refers to atan.o(i.atan) for atan + atan2_x.o(i.__atan2$lsc) refers to _rserrno.o(.text) for __set_errno + atan2_x.o(i.__atan2$lsc) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan2_x.o(i.__atan2$lsc) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan2_x.o(i.__atan2$lsc) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan2_x.o(i.__atan2$lsc) refers to qnan.o(.constdata) for __mathlib_zero + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) for __rt_entry_li + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) for __rt_entry_main + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$0000000C) for __rt_entry_postli_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$00000009) for __rt_entry_postsh_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry2.o(.ARM.Collect$$rtentry$$00000002) for __rt_entry_presh_1 + __rtentry.o(.ARM.Collect$$rtentry$$00000000) refers (Special) to __rtentry4.o(.ARM.Collect$$rtentry$$00000004) for __rt_entry_sh + _rserrno.o(.text) refers to rt_errno_addr_intlibspace.o(.text) for __aeabi_errno_addr + _printf_intcommon.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_pre_padding + _printf_intcommon.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_pre_padding + _printf_intcommon.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_post_padding + _printf_fp_dec.o(.text) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + _printf_fp_dec.o(.text) refers (Special) to lc_numeric_c.o(locale$$code) for _get_lc_numeric + _printf_fp_dec.o(.text) refers to bigflt0.o(.text) for _btod_etento + _printf_fp_dec.o(.text) refers to btod.o(CL$$btod_d2e) for _btod_d2e + _printf_fp_dec.o(.text) refers to btod.o(CL$$btod_ediv) for _btod_ediv + _printf_fp_dec.o(.text) refers to btod.o(CL$$btod_emul) for _btod_emul + _printf_fp_dec.o(.text) refers to lludiv10.o(.text) for _ll_udiv10 + _printf_fp_dec.o(.text) refers to fpclassify.o(i.__ARM_fpclassify) for __ARM_fpclassify + _printf_fp_dec.o(.text) refers to _printf_fp_infnan.o(.text) for _printf_fp_infnan + _printf_fp_dec.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_pre_padding + _printf_fp_dec.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_pre_padding + _printf_fp_dec.o(.text) refers to rt_locale_intlibspace.o(.text) for __rt_locale + _printf_fp_dec.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_post_padding + _printf_char_common.o(.text) refers to __printf_wp.o(.text) for __printf + _printf_char_file.o(.text) refers to _printf_char_common.o(.text) for _printf_char_common + _printf_char_file.o(.text) refers to ferror.o(.text) for ferror + _printf_char_file.o(.text) refers to bsp_usart.o(.text) for fputc + rt_memclr.o(.text) refers to rt_memclr_w.o(.text) for _memset_w + ddiv.o(x$fpl$drdiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ddiv.o(x$fpl$drdiv) refers to ddiv.o(x$fpl$ddiv) for ddiv_entry + ddiv.o(x$fpl$ddiv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + ddiv.o(x$fpl$ddiv) refers to dretinf.o(x$fpl$dretinf) for __fpl_dretinf + ddiv.o(x$fpl$ddiv) refers to dnaninf.o(x$fpl$dnaninf) for __fpl_dnaninf + dnaninf.o(x$fpl$dnaninf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dretinf.o(x$fpl$dretinf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fcmpi.o(x$fpl$fcmpinf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fnaninf.o(x$fpl$fnaninf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + fretinf.o(x$fpl$fretinf) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan.o(i.__softfp_atan) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan.o(i.__softfp_atan) refers to atan.o(i.atan) for atan + atan.o(i.atan) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan.o(i.atan) refers to dunder.o(i.__mathlib_dbl_infnan) for __mathlib_dbl_infnan + atan.o(i.atan) refers to fpclassify.o(i.__ARM_fpclassify) for __ARM_fpclassify + atan.o(i.atan) refers to dunder.o(i.__mathlib_dbl_underflow) for __mathlib_dbl_underflow + atan.o(i.atan) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + atan.o(i.atan) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + atan.o(i.atan) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan.o(i.atan) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan.o(i.atan) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + atan.o(i.atan) refers to poly.o(i.__kernel_poly) for __kernel_poly + atan.o(i.atan) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan.o(i.atan) refers to atan.o(.constdata) for .constdata + atan.o(.constdata) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan_x.o(i.____softfp_atan$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan_x.o(i.____softfp_atan$lsc) refers to atan_x.o(i.__atan$lsc) for __atan$lsc + atan_x.o(i.__atan$lsc) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + atan_x.o(i.__atan$lsc) refers to dunder.o(i.__mathlib_dbl_infnan) for __mathlib_dbl_infnan + atan_x.o(i.__atan$lsc) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + atan_x.o(i.__atan$lsc) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + atan_x.o(i.__atan$lsc) refers to daddsub_clz.o(x$fpl$dsub) for __aeabi_dsub + atan_x.o(i.__atan$lsc) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + atan_x.o(i.__atan$lsc) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + atan_x.o(i.__atan$lsc) refers to poly.o(i.__kernel_poly) for __kernel_poly + atan_x.o(i.__atan$lsc) refers to daddsub_clz.o(x$fpl$drsb) for __aeabi_drsub + atan_x.o(i.__atan$lsc) refers to atan_x.o(.constdata) for .constdata + atan_x.o(.constdata) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dunder.o(i.__mathlib_dbl_divzero) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + dunder.o(i.__mathlib_dbl_infnan) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + dunder.o(i.__mathlib_dbl_infnan2) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + dunder.o(i.__mathlib_dbl_invalid) refers to ddiv.o(x$fpl$ddiv) for __aeabi_ddiv + dunder.o(i.__mathlib_dbl_overflow) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + dunder.o(i.__mathlib_dbl_posinfnan) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + dunder.o(i.__mathlib_dbl_underflow) refers to scalbn.o(x$fpl$scalbn) for __ARM_scalbn + qnan.o(.constdata) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + __rtentry2.o(.ARM.Collect$$rtentry$$00000008) refers to boardinit2.o(.text) for _platform_post_stackheap_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) refers to libinit.o(.ARM.Collect$$libinit$$00000000) for __rt_lib_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000B) refers to boardinit3.o(.text) for _platform_post_lib_init + __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to main.o(.text) for main + __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) refers to exit.o(.text) for exit + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000001) for .ARM.Collect$$rtentry$$00000001 + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$00000008) for .ARM.Collect$$rtentry$$00000008 + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) for .ARM.Collect$$rtentry$$0000000A + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000B) for .ARM.Collect$$rtentry$$0000000B + __rtentry2.o(.ARM.exidx) refers to __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) for .ARM.Collect$$rtentry$$0000000D + __rtentry4.o(.ARM.Collect$$rtentry$$00000004) refers to sys_stackheap_outer.o(.text) for __user_setup_stackheap + __rtentry4.o(.ARM.exidx) refers to __rtentry4.o(.ARM.Collect$$rtentry$$00000004) for .ARM.Collect$$rtentry$$00000004 + aeabi_ldiv0_sigfpe.o(.text) refers to rt_div0.o(.text) for __rt_div0 + rt_locale.o(.text) refers to rt_locale.o(.bss) for __rt_locale_data + rt_locale_intlibspace.o(.text) refers to libspace.o(.bss) for __libspace_start + rt_errno_addr.o(.text) refers to rt_errno_addr.o(.bss) for __aeabi_errno_addr_data + rt_errno_addr_intlibspace.o(.text) refers to libspace.o(.bss) for __libspace_start + _printf_fp_infnan.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_pre_padding + _printf_fp_infnan.o(.text) refers (Weak) to _printf_pad.o(.text) for _printf_post_padding + bigflt0.o(.text) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + bigflt0.o(.text) refers to btod.o(CL$$btod_emul) for _btod_emul + bigflt0.o(.text) refers to btod.o(CL$$btod_ediv) for _btod_ediv + bigflt0.o(.text) refers to bigflt0.o(.constdata) for .constdata + bigflt0.o(.constdata) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_d2e) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_d2e) refers to btod.o(CL$$btod_d2e_norm_op1) for _d2e_norm_op1 + btod.o(CL$$btod_d2e_norm_op1) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_d2e_norm_op1) refers to btod.o(CL$$btod_d2e_denorm_low) for _d2e_denorm_low + btod.o(CL$$btod_d2e_denorm_low) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_emul) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_emul) refers to btod.o(CL$$btod_mult_common) for __btod_mult_common + btod.o(CL$$btod_emul) refers to btod.o(CL$$btod_e2e) for _e2e + btod.o(CL$$btod_ediv) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_ediv) refers to btod.o(CL$$btod_div_common) for __btod_div_common + btod.o(CL$$btod_ediv) refers to btod.o(CL$$btod_e2e) for _e2e + btod.o(CL$$btod_emuld) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_emuld) refers to btod.o(CL$$btod_mult_common) for __btod_mult_common + btod.o(CL$$btod_emuld) refers to btod.o(CL$$btod_e2d) for _e2d + btod.o(CL$$btod_edivd) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_edivd) refers to btod.o(CL$$btod_div_common) for __btod_div_common + btod.o(CL$$btod_edivd) refers to btod.o(CL$$btod_e2d) for _e2d + btod.o(CL$$btod_e2e) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_e2d) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_e2d) refers to btod.o(CL$$btod_e2e) for _e2e + btod.o(CL$$btod_mult_common) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + btod.o(CL$$btod_div_common) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + lc_numeric_c.o(locale$$data) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000016) for __rt_lib_init_lc_numeric_2 + lc_numeric_c.o(locale$$code) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000016) for __rt_lib_init_lc_numeric_2 + lc_numeric_c.o(locale$$code) refers to strcmpv7m.o(.text) for strcmp + lc_numeric_c.o(locale$$code) refers to lc_numeric_c.o(locale$$data) for __lcnum_c_name + istatus.o(x$fpl$ieeestatus) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + scalbn.o(x$fpl$scalbn) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + scalbn.o(x$fpl$scalbn) refers to dcheck1.o(x$fpl$dcheck1) for __fpl_dcheck_NaN1 + fpclassify.o(i.__ARM_fpclassify) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + poly.o(i.__kernel_poly) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + poly.o(i.__kernel_poly) refers to dmul.o(x$fpl$dmul) for __aeabi_dmul + poly.o(i.__kernel_poly) refers to daddsub_clz.o(x$fpl$dadd) for __aeabi_dadd + libspace.o(.text) refers to libspace.o(.bss) for __libspace_start + sys_stackheap_outer.o(.text) refers to libspace.o(.text) for __user_perproc_libspace + sys_stackheap_outer.o(.text) refers to startup_stm32f10x_hd.o(.text) for __user_initial_stackheap + rt_div0.o(.text) refers to defsig_fpe_outer.o(.text) for __rt_SIGFPE + exit.o(.text) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for __rt_exit + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002E) for __rt_lib_init_alloca_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000002C) for __rt_lib_init_argv_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001B) for __rt_lib_init_atexit_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000021) for __rt_lib_init_clock_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000032) for __rt_lib_init_cpp_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000030) for __rt_lib_init_exceptions_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000002) for __rt_lib_init_fp_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001F) for __rt_lib_init_fp_trap_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000023) for __rt_lib_init_getenv_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000A) for __rt_lib_init_heap_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000011) for __rt_lib_init_lc_collate_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000013) for __rt_lib_init_lc_ctype_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000015) for __rt_lib_init_lc_monetary_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000017) for __rt_lib_init_lc_numeric_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000019) for __rt_lib_init_lc_time_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000004) for __rt_lib_init_preinit_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000E) for __rt_lib_init_rand_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000033) for __rt_lib_init_return + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000001D) for __rt_lib_init_signal_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$00000025) for __rt_lib_init_stdio_1 + libinit.o(.ARM.Collect$$libinit$$00000000) refers (Special) to libinit2.o(.ARM.Collect$$libinit$$0000000C) for __rt_lib_init_user_alloc_1 + libinit2.o(.ARM.Collect$$libinit$$0000000F) refers (Weak) to rt_locale_intlibspace.o(.text) for __rt_locale + libinit2.o(.ARM.Collect$$libinit$$00000010) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000012) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000014) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000016) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000016) refers (Weak) to lc_numeric_c.o(locale$$code) for _get_lc_numeric + libinit2.o(.ARM.Collect$$libinit$$00000018) refers to libinit2.o(.ARM.Collect$$libinit$$0000000F) for .ARM.Collect$$libinit$$0000000F + libinit2.o(.ARM.Collect$$libinit$$00000026) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer + libinit2.o(.ARM.Collect$$libinit$$00000027) refers to argv_veneer.o(.emb_text) for __ARM_argv_veneer + dcheck1.o(x$fpl$dcheck1) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + dcheck1.o(x$fpl$dcheck1) refers to retnan.o(x$fpl$retnan) for __fpl_return_NaN + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for __rt_exit_exit + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls + rtexit.o(.ARM.Collect$$rtexit$$00000000) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000002) for __rt_exit_prels_1 + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for __rt_exit_exit + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for __rt_exit_ls + rtexit.o(.ARM.exidx) refers (Special) to rtexit2.o(.ARM.Collect$$rtexit$$00000002) for __rt_exit_prels_1 + rtexit.o(.ARM.exidx) refers to rtexit.o(.ARM.Collect$$rtexit$$00000000) for .ARM.Collect$$rtexit$$00000000 + defsig_fpe_outer.o(.text) refers to defsig_fpe_inner.o(.text) for __rt_SIGFPE_inner + defsig_fpe_outer.o(.text) refers to defsig_exit.o(.text) for __sig_exit + defsig_fpe_formal.o(.text) refers to rt_raise.o(.text) for __rt_raise + argv_veneer.o(.emb_text) refers to no_argv.o(.text) for __ARM_get_argv + retnan.o(x$fpl$retnan) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + retnan.o(x$fpl$retnan) refers to trapv.o(x$fpl$trapveneer) for __fpl_cmpreturn + rtexit2.o(.ARM.Collect$$rtexit$$00000003) refers to libshutdown.o(.ARM.Collect$$libshutdown$$00000000) for __rt_lib_shutdown + rtexit2.o(.ARM.Collect$$rtexit$$00000004) refers to bsp_usart.o(.text) for _sys_exit + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000001) for .ARM.Collect$$rtexit$$00000001 + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000003) for .ARM.Collect$$rtexit$$00000003 + rtexit2.o(.ARM.exidx) refers to rtexit2.o(.ARM.Collect$$rtexit$$00000004) for .ARM.Collect$$rtexit$$00000004 + rt_raise.o(.text) refers to __raise.o(.text) for __raise + rt_raise.o(.text) refers to bsp_usart.o(.text) for _sys_exit + defsig_exit.o(.text) refers to bsp_usart.o(.text) for _sys_exit + defsig_fpe_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + _get_argv_nomalloc.o(.text) refers (Special) to hrguard.o(.text) for __heap_region$guard + _get_argv_nomalloc.o(.text) refers to defsig_rtmem_outer.o(.text) for __rt_SIGRTMEM + _get_argv_nomalloc.o(.text) refers to sys_command.o(.text) for _sys_command_string + trapv.o(x$fpl$trapveneer) refers (Special) to usenofp.o(x$fpl$usenofp) for __I$use$fp + sys_command.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting + sys_command.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function + __raise.o(.text) refers to defsig.o(CL$$defsig) for __default_signal_handler + defsig_general.o(.text) refers to sys_wrch.o(.text) for _ttywrch + defsig_rtmem_outer.o(.text) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner + defsig_rtmem_outer.o(.text) refers to defsig_exit.o(.text) for __sig_exit + defsig_rtmem_formal.o(.text) refers to rt_raise.o(.text) for __rt_raise + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) for __rt_lib_shutdown_cpp_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) for __rt_lib_shutdown_fp_trap_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) for __rt_lib_shutdown_heap_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) for __rt_lib_shutdown_return + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) for __rt_lib_shutdown_signal_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) for __rt_lib_shutdown_stdio_1 + libshutdown.o(.ARM.Collect$$libshutdown$$00000000) refers (Special) to libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) for __rt_lib_shutdown_user_alloc_1 + sys_wrch.o(.text) refers (Special) to use_no_semi.o(.text) for __I$use$semihosting + sys_wrch.o(.text) refers (Special) to indicate_semi.o(.text) for __semihosting_library_function + defsig_rtmem_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig.o(CL$$defsig) refers to defsig_fpe_inner.o(.text) for __rt_SIGFPE_inner + defsig.o(CL$$defsig) refers to defsig_rtmem_inner.o(.text) for __rt_SIGRTMEM_inner + defsig_abrt_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_rtred_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_stak_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_pvfn_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_cppl_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_segv_inner.o(.text) refers to defsig_general.o(.text) for __default_signal_display + defsig_other.o(.text) refers to defsig_general.o(.text) for __default_signal_display + + +============================================================================== + +Removing Unused input sections from the image. + + Removing core_cm3.o(.emb_text), (32 bytes). + Removing stm32f10x_adc.o(.text), (1102 bytes). + Removing stm32f10x_bkp.o(.text), (196 bytes). + Removing stm32f10x_can.o(.text), (2544 bytes). + Removing stm32f10x_cec.o(.text), (288 bytes). + Removing stm32f10x_crc.o(.text), (72 bytes). + Removing stm32f10x_dac.o(.text), (396 bytes). + Removing stm32f10x_dbgmcu.o(.text), (48 bytes). + Removing stm32f10x_dma.o(.text), (596 bytes). + Removing stm32f10x_exti.o(.text), (284 bytes). + Removing stm32f10x_flash.o(.text), (1468 bytes). + Removing stm32f10x_fsmc.o(.text), (1548 bytes). + Removing stm32f10x_i2c.o(.text), (1028 bytes). + Removing stm32f10x_iwdg.o(.text), (64 bytes). + Removing stm32f10x_pwr.o(.text), (204 bytes). + Removing stm32f10x_rtc.o(.text), (328 bytes). + Removing stm32f10x_sdio.o(.text), (468 bytes). + Removing stm32f10x_spi.o(.text), (780 bytes). + Removing stm32f10x_wwdg.o(.text), (136 bytes). + Removing sys.o(.emb_text), (12 bytes). + Removing sys.o(.text), (700 bytes). + Removing show.o(.text), (272 bytes). + +22 unused section(s) (total 12566 bytes) removed from the image. + +============================================================================== + +Image Symbol Table + + Local Symbols + + Symbol Name Value Ov Type Size Object(Section) + + ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit1.o ABSOLUTE + ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit2.o ABSOLUTE + ../clib/angel/boardlib.s 0x00000000 Number 0 boardshut.o ABSOLUTE + ../clib/angel/boardlib.s 0x00000000 Number 0 boardinit3.o ABSOLUTE + ../clib/angel/dczerorl2.s 0x00000000 Number 0 __dczerorl2.o ABSOLUTE + ../clib/angel/handlers.s 0x00000000 Number 0 __scatter_zi.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 rtexit.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry2.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry4.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 rtexit2.o ABSOLUTE + ../clib/angel/kernel.s 0x00000000 Number 0 __rtentry.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 aeabi_ldiv0.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 aeabi_ldiv0_sigfpe.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_locale.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_locale_intlibspace.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_raise.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_errno_addr_intlibspace.o ABSOLUTE + ../clib/angel/rt.s 0x00000000 Number 0 rt_div0.o ABSOLUTE + ../clib/angel/scatter.s 0x00000000 Number 0 __scatter.o ABSOLUTE + ../clib/angel/startup.s 0x00000000 Number 0 __main.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 sys_stackheap_outer.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 indicate_semi.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 use_no_semi.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 use_no_semi_2.o ABSOLUTE + ../clib/angel/sys.s 0x00000000 Number 0 libspace.o ABSOLUTE + ../clib/angel/sysapp.c 0x00000000 Number 0 sys_wrch.o ABSOLUTE + ../clib/angel/sysapp.c 0x00000000 Number 0 sys_command.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 argv_veneer.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 _get_argv_nomalloc.o ABSOLUTE + ../clib/armsys.c 0x00000000 Number 0 no_argv.o ABSOLUTE + ../clib/bigflt.c 0x00000000 Number 0 bigflt0.o ABSOLUTE + ../clib/btod.s 0x00000000 Number 0 btod.o ABSOLUTE + ../clib/fenv.c 0x00000000 Number 0 _rserrno.o ABSOLUTE + ../clib/heapalloc.c 0x00000000 Number 0 hrguard.o ABSOLUTE + ../clib/heapaux.c 0x00000000 Number 0 heapauxi.o ABSOLUTE + ../clib/libinit.s 0x00000000 Number 0 libshutdown2.o ABSOLUTE + ../clib/libinit.s 0x00000000 Number 0 libinit.o ABSOLUTE + ../clib/libinit.s 0x00000000 Number 0 libinit2.o ABSOLUTE + ../clib/libinit.s 0x00000000 Number 0 libshutdown.o ABSOLUTE + ../clib/locale.s 0x00000000 Number 0 lc_numeric_c.o ABSOLUTE + ../clib/longlong.s 0x00000000 Number 0 lludivv7m.o ABSOLUTE + ../clib/longlong.s 0x00000000 Number 0 lludiv10.o ABSOLUTE + ../clib/longlong.s 0x00000000 Number 0 llsdiv.o ABSOLUTE + ../clib/memcpset.s 0x00000000 Number 0 rt_memclr.o ABSOLUTE + ../clib/memcpset.s 0x00000000 Number 0 aeabi_memset.o ABSOLUTE + ../clib/memcpset.s 0x00000000 Number 0 rt_memclr_w.o ABSOLUTE + ../clib/memcpset.s 0x00000000 Number 0 strcmpv7m.o ABSOLUTE + ../clib/misc.s 0x00000000 Number 0 printf_stubs.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_ss.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_flags_ss.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_wp.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_ss_wp.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_flags_ss_wp.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_flags_wp.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_char_file.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_intcommon.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_nopercent.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_fp_infnan.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __2printf.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _sputc.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __2sprintf.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_char_common.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 noretval__2printf.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_fp_dec.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 noretval__2sprintf.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_pad.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 _printf_dec.o ABSOLUTE + ../clib/printf.c 0x00000000 Number 0 __printf_flags.o ABSOLUTE + ../clib/printf_percent.s 0x00000000 Number 0 _printf_f.o ABSOLUTE + ../clib/printf_percent.s 0x00000000 Number 0 _printf_d.o ABSOLUTE + ../clib/printf_percent.s 0x00000000 Number 0 _printf_percent.o ABSOLUTE + ../clib/printf_percent.s 0x00000000 Number 0 _printf_percent_end.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_fpe_formal.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_pvfn_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_cppl_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_formal.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_abrt_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_exit.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_fpe_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_general.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_fpe_outer.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_other.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 __raise.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_rtred_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_segv_inner.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_rtmem_outer.o ABSOLUTE + ../clib/signal.c 0x00000000 Number 0 defsig_stak_inner.o ABSOLUTE + ../clib/signal.s 0x00000000 Number 0 defsig.o ABSOLUTE + ../clib/stdio.c 0x00000000 Number 0 ferror.o ABSOLUTE + ../clib/stdio.c 0x00000000 Number 0 ferror_locked.o ABSOLUTE + ../clib/stdlib.c 0x00000000 Number 0 exit.o ABSOLUTE + ../clib/string.c 0x00000000 Number 0 memcmp.o ABSOLUTE + ../fplib/d2f.s 0x00000000 Number 0 d2f.o ABSOLUTE + ../fplib/daddsub.s 0x00000000 Number 0 daddsub_clz.o ABSOLUTE + ../fplib/dcheck1.s 0x00000000 Number 0 dcheck1.o ABSOLUTE + ../fplib/ddiv.s 0x00000000 Number 0 ddiv.o ABSOLUTE + ../fplib/dflt.s 0x00000000 Number 0 dflt_clz.o ABSOLUTE + ../fplib/dmul.s 0x00000000 Number 0 dmul.o ABSOLUTE + ../fplib/dnaninf.s 0x00000000 Number 0 dnaninf.o ABSOLUTE + ../fplib/dretinf.s 0x00000000 Number 0 dretinf.o ABSOLUTE + ../fplib/f2d.s 0x00000000 Number 0 f2d.o ABSOLUTE + ../fplib/faddsub.s 0x00000000 Number 0 faddsub_clz.o ABSOLUTE + ../fplib/fcmpi.s 0x00000000 Number 0 fcmpi.o ABSOLUTE + ../fplib/fdiv.s 0x00000000 Number 0 fdiv.o ABSOLUTE + ../fplib/feqf.s 0x00000000 Number 0 feqf.o ABSOLUTE + ../fplib/ffix.s 0x00000000 Number 0 ffix.o ABSOLUTE + ../fplib/ffixu.s 0x00000000 Number 0 ffixu.o ABSOLUTE + ../fplib/fflt.s 0x00000000 Number 0 fflt_clz.o ABSOLUTE + ../fplib/fleqf.s 0x00000000 Number 0 fleqf.o ABSOLUTE + ../fplib/fmul.s 0x00000000 Number 0 fmul.o ABSOLUTE + ../fplib/fnaninf.s 0x00000000 Number 0 fnaninf.o ABSOLUTE + ../fplib/fpinit.s 0x00000000 Number 0 fpinit.o ABSOLUTE + ../fplib/fretinf.s 0x00000000 Number 0 fretinf.o ABSOLUTE + ../fplib/frleqf.s 0x00000000 Number 0 frleqf.o ABSOLUTE + ../fplib/istatus.s 0x00000000 Number 0 istatus.o ABSOLUTE + ../fplib/printf1.s 0x00000000 Number 0 printf1.o ABSOLUTE + ../fplib/retnan.s 0x00000000 Number 0 retnan.o ABSOLUTE + ../fplib/scalbn.s 0x00000000 Number 0 scalbn.o ABSOLUTE + ../fplib/trapv.s 0x00000000 Number 0 trapv.o ABSOLUTE + ../fplib/usenofp.s 0x00000000 Number 0 usenofp.o ABSOLUTE + ../mathlib/atan.c 0x00000000 Number 0 atan.o ABSOLUTE + ../mathlib/atan.c 0x00000000 Number 0 atan_x.o ABSOLUTE + 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.data 0x20000294 Section 12 bluetooth.o(.data) + .data 0x200002a0 Section 56 mpu6050.o(.data) + gyro_orientation 0x200002c8 Data 9 mpu6050.o(.data) + .data 0x200002d8 Section 44 inv_mpu.o(.data) + st 0x200002d8 Data 44 inv_mpu.o(.data) + .data 0x20000304 Section 28 control.o(.data) + Flag_Target 0x2000030d Data 1 control.o(.data) + velocity 0x20000310 Data 4 control.o(.data) + Encoder_Least 0x20000314 Data 4 control.o(.data) + Encoder_bias 0x20000318 Data 4 control.o(.data) + Encoder_Integral 0x2000031c Data 4 control.o(.data) + .bss 0x20000320 Section 146 mpu6050.o(.bss) + .bss 0x200003b4 Section 16 inv_mpu_dmp_motion_driver.o(.bss) + dmp 0x200003b4 Data 16 inv_mpu_dmp_motion_driver.o(.bss) + .bss 0x200003c4 Section 64 main.o(.bss) + .bss 0x20000404 Section 96 libspace.o(.bss) + HEAP 0x20000468 Section 512 startup_stm32f10x_hd.o(HEAP) + Heap_Mem 0x20000468 Data 512 startup_stm32f10x_hd.o(HEAP) + STACK 0x20000668 Section 1024 startup_stm32f10x_hd.o(STACK) + Stack_Mem 0x20000668 Data 1024 startup_stm32f10x_hd.o(STACK) + __initial_sp 0x20000a68 Data 0 startup_stm32f10x_hd.o(STACK) + + Global Symbols + + Symbol Name Value Ov Type Size Object(Section) + + BuildAttributes$$THM_ISAv4$P$D$K$B$S$PE$A:L22UL41UL21$X:L11$S22US41US21$IEEE1$IW$USESV6$~STKCKD$USESV7$~SHL$OTIME$ROPI$IEEEX$EBA8$UX$STANDARDLIB$REQ8$PRES8$EABIv2 0x00000000 Number 0 anon$$obj.o ABSOLUTE + __ARM_use_no_argv 0x00000000 Number 0 main.o ABSOLUTE + _printf_flags 0x00000000 Number 0 printf_stubs.o ABSOLUTE + _printf_return_value 0x00000000 Number 0 printf_stubs.o ABSOLUTE + _printf_sizespec 0x00000000 Number 0 printf_stubs.o ABSOLUTE + _printf_widthprec 0x00000000 Number 0 printf_stubs.o ABSOLUTE + __ARM_exceptions_init - Undefined Weak Reference + __alloca_initialize - Undefined Weak Reference + __arm_preinit_ - Undefined Weak Reference + __cpp_initialize__aeabi_ - Undefined Weak Reference + __cxa_finalize - Undefined Weak Reference + __sigvec_lookup - Undefined Weak Reference + _atexit_init - Undefined Weak Reference + _call_atexit_fns - Undefined Weak Reference + _clock_init - Undefined Weak Reference + _fp_trap_init - Undefined Weak Reference + _fp_trap_shutdown - Undefined Weak Reference + _get_lc_collate - Undefined Weak Reference + _get_lc_ctype - Undefined Weak Reference + _get_lc_monetary - Undefined Weak Reference + _get_lc_time - Undefined Weak Reference + _getenv_init - Undefined Weak Reference + _handle_redirection - Undefined Weak Reference + _init_alloc - Undefined Weak Reference + _init_user_alloc - Undefined Weak Reference + _initio - Undefined Weak Reference + _mutex_acquire - Undefined Weak Reference + _mutex_release - Undefined Weak Reference + _printf_truncate_signed - Undefined Weak Reference + _printf_truncate_unsigned - Undefined Weak Reference + _rand_init - Undefined Weak Reference + _signal_finish - Undefined Weak Reference + _signal_init - Undefined Weak Reference + _terminate_alloc - Undefined Weak Reference + _terminate_user_alloc - Undefined Weak Reference + _terminateio - Undefined Weak Reference + __Vectors_Size 0x00000130 Number 0 startup_stm32f10x_hd.o ABSOLUTE + __Vectors 0x08000000 Data 4 startup_stm32f10x_hd.o(RESET) + __Vectors_End 0x08000130 Data 0 startup_stm32f10x_hd.o(RESET) + __main 0x08000131 Thumb Code 8 __main.o(!!!main) + __scatterload 0x08000139 Thumb Code 0 __scatter.o(!!!scatter) + __scatterload_rt2 0x08000139 Thumb Code 44 __scatter.o(!!!scatter) + __scatterload_rt2_thumb_only 0x08000139 Thumb Code 0 __scatter.o(!!!scatter) + __scatterload_null 0x08000147 Thumb Code 0 __scatter.o(!!!scatter) + __decompress 0x0800016d Thumb Code 90 __dczerorl2.o(!!dczerorl2) + __decompress1 0x0800016d Thumb Code 0 __dczerorl2.o(!!dczerorl2) + __scatterload_zeroinit 0x080001c9 Thumb Code 28 __scatter_zi.o(!!handler_zi) + _printf_f 0x080001e5 Thumb Code 0 _printf_f.o(.ARM.Collect$$_printf_percent$$00000003) + _printf_percent 0x080001e5 Thumb Code 0 _printf_percent.o(.ARM.Collect$$_printf_percent$$00000000) + _printf_d 0x080001eb Thumb Code 0 _printf_d.o(.ARM.Collect$$_printf_percent$$00000009) + _printf_percent_end 0x080001f1 Thumb Code 0 _printf_percent_end.o(.ARM.Collect$$_printf_percent$$00000017) + __rt_lib_init 0x080001f5 Thumb Code 0 libinit.o(.ARM.Collect$$libinit$$00000000) + __rt_lib_init_fp_1 0x080001f7 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000002) + __rt_lib_init_heap_1 0x080001f7 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000A) + __rt_lib_init_lc_common 0x080001f7 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000F) + __rt_lib_init_preinit_1 0x080001f7 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000004) + __rt_lib_init_rand_1 0x080001f7 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000E) + __rt_lib_init_user_alloc_1 0x080001f7 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000000C) + __rt_lib_init_lc_collate_1 0x080001fd Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000011) + __rt_lib_init_lc_ctype_1 0x080001fd Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000013) + __rt_lib_init_lc_monetary_1 0x080001fd Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000015) + __rt_lib_init_lc_numeric_2 0x080001fd Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000016) + __rt_lib_init_alloca_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002E) + __rt_lib_init_argv_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000002C) + __rt_lib_init_atexit_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001B) + __rt_lib_init_clock_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000021) + __rt_lib_init_cpp_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000032) + __rt_lib_init_exceptions_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000030) + __rt_lib_init_fp_trap_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001F) + __rt_lib_init_getenv_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000023) + __rt_lib_init_lc_numeric_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000017) + __rt_lib_init_lc_time_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000019) + __rt_lib_init_return 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000033) + __rt_lib_init_signal_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$0000001D) + __rt_lib_init_stdio_1 0x08000207 Thumb Code 0 libinit2.o(.ARM.Collect$$libinit$$00000025) + __rt_lib_shutdown 0x08000209 Thumb Code 0 libshutdown.o(.ARM.Collect$$libshutdown$$00000000) + __rt_lib_shutdown_cpp_1 0x0800020b Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000002) + __rt_lib_shutdown_fp_trap_1 0x0800020b Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000007) + __rt_lib_shutdown_heap_1 0x0800020b Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000F) + __rt_lib_shutdown_return 0x0800020b Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000010) + __rt_lib_shutdown_signal_1 0x0800020b Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000A) + __rt_lib_shutdown_stdio_1 0x0800020b Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$00000004) + __rt_lib_shutdown_user_alloc_1 0x0800020b Thumb Code 0 libshutdown2.o(.ARM.Collect$$libshutdown$$0000000C) + __rt_entry 0x0800020d Thumb Code 0 __rtentry.o(.ARM.Collect$$rtentry$$00000000) + __rt_entry_presh_1 0x0800020d Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000002) + __rt_entry_sh 0x0800020d Thumb Code 0 __rtentry4.o(.ARM.Collect$$rtentry$$00000004) + __rt_entry_li 0x08000213 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000A) + __rt_entry_postsh_1 0x08000213 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$00000009) + __rt_entry_main 0x08000217 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000D) + __rt_entry_postli_1 0x08000217 Thumb Code 0 __rtentry2.o(.ARM.Collect$$rtentry$$0000000C) + __rt_exit 0x0800021f Thumb Code 0 rtexit.o(.ARM.Collect$$rtexit$$00000000) + __rt_exit_ls 0x08000221 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000003) + __rt_exit_prels_1 0x08000221 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000002) + __rt_exit_exit 0x08000225 Thumb Code 0 rtexit2.o(.ARM.Collect$$rtexit$$00000004) + Reset_Handler 0x0800022d Thumb Code 8 startup_stm32f10x_hd.o(.text) + SysTick_Handler 0x08000245 Thumb Code 2 startup_stm32f10x_hd.o(.text) + ADC1_2_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + ADC3_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + CAN1_RX1_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + CAN1_SCE_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA1_Channel1_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA1_Channel2_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA1_Channel3_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA1_Channel4_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA1_Channel5_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA1_Channel6_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA1_Channel7_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA2_Channel1_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA2_Channel2_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA2_Channel3_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + DMA2_Channel4_5_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + EXTI0_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + EXTI1_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + EXTI2_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + EXTI3_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + EXTI4_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + EXTI9_5_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + FLASH_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + FSMC_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + I2C1_ER_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + I2C1_EV_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + I2C2_ER_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + I2C2_EV_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + PVD_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + RCC_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + RTCAlarm_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + RTC_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + SDIO_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + SPI1_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + SPI2_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + SPI3_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TAMPER_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM1_BRK_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM1_CC_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM1_TRG_COM_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM1_UP_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM3_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM5_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM7_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM8_BRK_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM8_CC_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM8_TRG_COM_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + TIM8_UP_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + UART4_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + UART5_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + USART3_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + USBWakeUp_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + USB_HP_CAN1_TX_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + USB_LP_CAN1_RX0_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + WWDG_IRQHandler 0x08000247 Thumb Code 0 startup_stm32f10x_hd.o(.text) + __user_initial_stackheap 0x08000249 Thumb Code 0 startup_stm32f10x_hd.o(.text) + SystemInit 0x0800034b Thumb Code 78 system_stm32f10x.o(.text) + SystemCoreClockUpdate 0x08000399 Thumb Code 142 system_stm32f10x.o(.text) + NVIC_PriorityGroupConfig 0x0800044d Thumb Code 10 misc.o(.text) + NVIC_Init 0x08000457 Thumb Code 100 misc.o(.text) + NVIC_SetVectorTable 0x080004bb Thumb Code 14 misc.o(.text) + NVIC_SystemLPConfig 0x080004c9 Thumb Code 34 misc.o(.text) + SysTick_CLKSourceConfig 0x080004eb Thumb Code 40 misc.o(.text) + GPIO_DeInit 0x08000529 Thumb Code 172 stm32f10x_gpio.o(.text) + GPIO_AFIODeInit 0x080005d5 Thumb Code 20 stm32f10x_gpio.o(.text) + GPIO_Init 0x080005e9 Thumb Code 278 stm32f10x_gpio.o(.text) + GPIO_StructInit 0x080006ff Thumb Code 16 stm32f10x_gpio.o(.text) + GPIO_ReadInputDataBit 0x0800070f Thumb Code 18 stm32f10x_gpio.o(.text) + GPIO_ReadInputData 0x08000721 Thumb Code 8 stm32f10x_gpio.o(.text) + GPIO_ReadOutputDataBit 0x08000729 Thumb Code 18 stm32f10x_gpio.o(.text) + GPIO_ReadOutputData 0x0800073b Thumb Code 8 stm32f10x_gpio.o(.text) + GPIO_SetBits 0x08000743 Thumb Code 4 stm32f10x_gpio.o(.text) + GPIO_ResetBits 0x08000747 Thumb Code 4 stm32f10x_gpio.o(.text) + GPIO_WriteBit 0x0800074b Thumb Code 10 stm32f10x_gpio.o(.text) + GPIO_Write 0x08000755 Thumb Code 4 stm32f10x_gpio.o(.text) + GPIO_PinLockConfig 0x08000759 Thumb Code 18 stm32f10x_gpio.o(.text) + GPIO_EventOutputConfig 0x0800076b Thumb Code 26 stm32f10x_gpio.o(.text) + GPIO_EventOutputCmd 0x08000785 Thumb Code 6 stm32f10x_gpio.o(.text) + GPIO_PinRemapConfig 0x0800078b Thumb Code 138 stm32f10x_gpio.o(.text) + GPIO_EXTILineConfig 0x08000815 Thumb Code 66 stm32f10x_gpio.o(.text) + GPIO_ETH_MediaInterfaceConfig 0x08000857 Thumb Code 8 stm32f10x_gpio.o(.text) + RCC_DeInit 0x08000885 Thumb Code 64 stm32f10x_rcc.o(.text) + RCC_HSEConfig 0x080008c5 Thumb Code 70 stm32f10x_rcc.o(.text) + RCC_GetFlagStatus 0x0800090b Thumb Code 56 stm32f10x_rcc.o(.text) + RCC_WaitForHSEStartUp 0x08000943 Thumb Code 56 stm32f10x_rcc.o(.text) + RCC_AdjustHSICalibrationValue 0x0800097b Thumb Code 20 stm32f10x_rcc.o(.text) + RCC_HSICmd 0x0800098f Thumb Code 6 stm32f10x_rcc.o(.text) + RCC_PLLConfig 0x08000995 Thumb Code 24 stm32f10x_rcc.o(.text) + RCC_PLLCmd 0x080009ad Thumb Code 6 stm32f10x_rcc.o(.text) + RCC_SYSCLKConfig 0x080009b3 Thumb Code 18 stm32f10x_rcc.o(.text) + RCC_GetSYSCLKSource 0x080009c5 Thumb Code 10 stm32f10x_rcc.o(.text) + RCC_HCLKConfig 0x080009cf Thumb Code 18 stm32f10x_rcc.o(.text) + RCC_PCLK1Config 0x080009e1 Thumb Code 18 stm32f10x_rcc.o(.text) + RCC_PCLK2Config 0x080009f3 Thumb Code 20 stm32f10x_rcc.o(.text) + RCC_ITConfig 0x08000a07 Thumb Code 26 stm32f10x_rcc.o(.text) + RCC_USBCLKConfig 0x08000a21 Thumb Code 8 stm32f10x_rcc.o(.text) + RCC_ADCCLKConfig 0x08000a29 Thumb Code 18 stm32f10x_rcc.o(.text) + RCC_LSEConfig 0x08000a3b Thumb Code 50 stm32f10x_rcc.o(.text) + RCC_LSICmd 0x08000a6d Thumb Code 6 stm32f10x_rcc.o(.text) + RCC_RTCCLKConfig 0x08000a73 Thumb Code 12 stm32f10x_rcc.o(.text) + RCC_RTCCLKCmd 0x08000a7f Thumb Code 8 stm32f10x_rcc.o(.text) + RCC_GetClocksFreq 0x08000a87 Thumb Code 192 stm32f10x_rcc.o(.text) + RCC_AHBPeriphClockCmd 0x08000b47 Thumb Code 26 stm32f10x_rcc.o(.text) + RCC_APB2PeriphClockCmd 0x08000b61 Thumb Code 26 stm32f10x_rcc.o(.text) + RCC_APB1PeriphClockCmd 0x08000b7b Thumb Code 26 stm32f10x_rcc.o(.text) + RCC_APB2PeriphResetCmd 0x08000b95 Thumb Code 26 stm32f10x_rcc.o(.text) + RCC_APB1PeriphResetCmd 0x08000baf Thumb Code 26 stm32f10x_rcc.o(.text) + RCC_BackupResetCmd 0x08000bc9 Thumb Code 8 stm32f10x_rcc.o(.text) + RCC_ClockSecuritySystemCmd 0x08000bd1 Thumb Code 6 stm32f10x_rcc.o(.text) + RCC_MCOConfig 0x08000bd7 Thumb Code 6 stm32f10x_rcc.o(.text) + RCC_ClearFlag 0x08000bdd Thumb Code 14 stm32f10x_rcc.o(.text) + RCC_GetITStatus 0x08000beb Thumb Code 20 stm32f10x_rcc.o(.text) + RCC_ClearITPendingBit 0x08000bff Thumb Code 6 stm32f10x_rcc.o(.text) + TIM_DeInit 0x08000c29 Thumb Code 424 stm32f10x_tim.o(.text) + TIM_TimeBaseInit 0x08000dd1 Thumb Code 122 stm32f10x_tim.o(.text) + TIM_OC1Init 0x08000e4b Thumb Code 132 stm32f10x_tim.o(.text) + TIM_OC2Init 0x08000ecf Thumb Code 154 stm32f10x_tim.o(.text) + TIM_OC3Init 0x08000f69 Thumb Code 150 stm32f10x_tim.o(.text) + TIM_OC4Init 0x08000fff Thumb Code 182 stm32f10x_tim.o(.text) + TIM_SetIC4Prescaler 0x080010b5 Thumb Code 26 stm32f10x_tim.o(.text) + TIM_SetIC3Prescaler 0x08001151 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_SetIC2Prescaler 0x080011dd Thumb Code 26 stm32f10x_tim.o(.text) + TIM_SetIC1Prescaler 0x08001279 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_ICInit 0x080012f7 Thumb Code 150 stm32f10x_tim.o(.text) + TIM_PWMIConfig 0x0800138d Thumb Code 124 stm32f10x_tim.o(.text) + TIM_BDTRConfig 0x08001409 Thumb Code 32 stm32f10x_tim.o(.text) + TIM_TimeBaseStructInit 0x08001429 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_OCStructInit 0x0800143b Thumb Code 20 stm32f10x_tim.o(.text) + TIM_ICStructInit 0x0800144f Thumb Code 18 stm32f10x_tim.o(.text) + TIM_BDTRStructInit 0x08001461 Thumb Code 40 stm32f10x_tim.o(.text) + TIM_Cmd 0x08001489 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_CtrlPWMOutputs 0x080014a1 Thumb Code 30 stm32f10x_tim.o(.text) + TIM_ITConfig 0x080014bf Thumb Code 18 stm32f10x_tim.o(.text) + TIM_GenerateEvent 0x080014d1 Thumb Code 4 stm32f10x_tim.o(.text) + TIM_DMAConfig 0x080014d5 Thumb Code 10 stm32f10x_tim.o(.text) + TIM_DMACmd 0x080014df Thumb Code 18 stm32f10x_tim.o(.text) + TIM_InternalClockConfig 0x080014f1 Thumb Code 12 stm32f10x_tim.o(.text) + TIM_SelectInputTrigger 0x080014fd Thumb Code 18 stm32f10x_tim.o(.text) + TIM_ITRxExternalClockConfig 0x0800150f Thumb Code 24 stm32f10x_tim.o(.text) + TIM_TIxExternalClockConfig 0x08001527 Thumb Code 62 stm32f10x_tim.o(.text) + TIM_ETRConfig 0x08001565 Thumb Code 28 stm32f10x_tim.o(.text) + TIM_ETRClockMode1Config 0x08001581 Thumb Code 54 stm32f10x_tim.o(.text) + TIM_ETRClockMode2Config 0x080015b7 Thumb Code 32 stm32f10x_tim.o(.text) + TIM_PrescalerConfig 0x080015d7 Thumb Code 6 stm32f10x_tim.o(.text) + TIM_CounterModeConfig 0x080015dd Thumb Code 18 stm32f10x_tim.o(.text) + TIM_EncoderInterfaceConfig 0x080015ef Thumb Code 66 stm32f10x_tim.o(.text) + TIM_ForcedOC1Config 0x08001631 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_ForcedOC2Config 0x08001643 Thumb Code 26 stm32f10x_tim.o(.text) + TIM_ForcedOC3Config 0x0800165d Thumb Code 18 stm32f10x_tim.o(.text) + TIM_ForcedOC4Config 0x0800166f Thumb Code 26 stm32f10x_tim.o(.text) + TIM_ARRPreloadConfig 0x08001689 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_SelectCOM 0x080016a1 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_SelectCCDMA 0x080016b9 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_CCPreloadControl 0x080016d1 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_OC1PreloadConfig 0x080016e9 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_OC2PreloadConfig 0x080016fb Thumb Code 26 stm32f10x_tim.o(.text) + TIM_OC3PreloadConfig 0x08001715 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_OC4PreloadConfig 0x08001727 Thumb Code 26 stm32f10x_tim.o(.text) + TIM_OC1FastConfig 0x08001741 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_OC2FastConfig 0x08001753 Thumb Code 26 stm32f10x_tim.o(.text) + TIM_OC3FastConfig 0x0800176d Thumb Code 18 stm32f10x_tim.o(.text) + TIM_OC4FastConfig 0x0800177f Thumb Code 26 stm32f10x_tim.o(.text) + TIM_ClearOC1Ref 0x08001799 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_ClearOC2Ref 0x080017ab Thumb Code 24 stm32f10x_tim.o(.text) + TIM_ClearOC3Ref 0x080017c3 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_ClearOC4Ref 0x080017d5 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_OC1PolarityConfig 0x080017ed Thumb Code 18 stm32f10x_tim.o(.text) + TIM_OC1NPolarityConfig 0x080017ff Thumb Code 18 stm32f10x_tim.o(.text) + TIM_OC2PolarityConfig 0x08001811 Thumb Code 26 stm32f10x_tim.o(.text) + TIM_OC2NPolarityConfig 0x0800182b Thumb Code 26 stm32f10x_tim.o(.text) + TIM_OC3PolarityConfig 0x08001845 Thumb Code 26 stm32f10x_tim.o(.text) + TIM_OC3NPolarityConfig 0x0800185f Thumb Code 26 stm32f10x_tim.o(.text) + TIM_OC4PolarityConfig 0x08001879 Thumb Code 26 stm32f10x_tim.o(.text) + TIM_CCxCmd 0x08001893 Thumb Code 30 stm32f10x_tim.o(.text) + TIM_CCxNCmd 0x080018b1 Thumb Code 30 stm32f10x_tim.o(.text) + TIM_SelectOCxM 0x080018cf Thumb Code 82 stm32f10x_tim.o(.text) + TIM_UpdateDisableConfig 0x08001921 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_UpdateRequestConfig 0x08001939 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_SelectHallSensor 0x08001951 Thumb Code 24 stm32f10x_tim.o(.text) + TIM_SelectOnePulseMode 0x08001969 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_SelectOutputTrigger 0x0800197b Thumb Code 18 stm32f10x_tim.o(.text) + TIM_SelectSlaveMode 0x0800198d Thumb Code 18 stm32f10x_tim.o(.text) + TIM_SelectMasterSlaveMode 0x0800199f Thumb Code 18 stm32f10x_tim.o(.text) + TIM_SetCounter 0x080019b1 Thumb Code 4 stm32f10x_tim.o(.text) + TIM_SetAutoreload 0x080019b5 Thumb Code 4 stm32f10x_tim.o(.text) + TIM_SetCompare1 0x080019b9 Thumb Code 4 stm32f10x_tim.o(.text) + TIM_SetCompare2 0x080019bd Thumb Code 4 stm32f10x_tim.o(.text) + TIM_SetCompare3 0x080019c1 Thumb Code 4 stm32f10x_tim.o(.text) + TIM_SetCompare4 0x080019c5 Thumb Code 6 stm32f10x_tim.o(.text) + TIM_SetClockDivision 0x080019cb Thumb Code 18 stm32f10x_tim.o(.text) + TIM_GetCapture1 0x080019dd Thumb Code 6 stm32f10x_tim.o(.text) + TIM_GetCapture2 0x080019e3 Thumb Code 6 stm32f10x_tim.o(.text) + TIM_GetCapture3 0x080019e9 Thumb Code 6 stm32f10x_tim.o(.text) + TIM_GetCapture4 0x080019ef Thumb Code 8 stm32f10x_tim.o(.text) + TIM_GetCounter 0x080019f7 Thumb Code 6 stm32f10x_tim.o(.text) + TIM_GetPrescaler 0x080019fd Thumb Code 6 stm32f10x_tim.o(.text) + TIM_GetFlagStatus 0x08001a03 Thumb Code 18 stm32f10x_tim.o(.text) + TIM_ClearFlag 0x08001a15 Thumb Code 6 stm32f10x_tim.o(.text) + TIM_GetITStatus 0x08001a1b Thumb Code 34 stm32f10x_tim.o(.text) + TIM_ClearITPendingBit 0x08001a3d Thumb Code 6 stm32f10x_tim.o(.text) + USART_DeInit 0x08001a45 Thumb Code 134 stm32f10x_usart.o(.text) + USART_Init 0x08001acb Thumb Code 210 stm32f10x_usart.o(.text) + USART_StructInit 0x08001b9d Thumb Code 24 stm32f10x_usart.o(.text) + USART_ClockInit 0x08001bb5 Thumb Code 34 stm32f10x_usart.o(.text) + USART_ClockStructInit 0x08001bd7 Thumb Code 12 stm32f10x_usart.o(.text) + USART_Cmd 0x08001be3 Thumb Code 24 stm32f10x_usart.o(.text) + USART_ITConfig 0x08001bfb Thumb Code 74 stm32f10x_usart.o(.text) + USART_DMACmd 0x08001c45 Thumb Code 18 stm32f10x_usart.o(.text) + USART_SetAddress 0x08001c57 Thumb Code 18 stm32f10x_usart.o(.text) + USART_WakeUpConfig 0x08001c69 Thumb Code 18 stm32f10x_usart.o(.text) + USART_ReceiverWakeUpCmd 0x08001c7b Thumb Code 24 stm32f10x_usart.o(.text) + USART_LINBreakDetectLengthConfig 0x08001c93 Thumb Code 18 stm32f10x_usart.o(.text) + USART_LINCmd 0x08001ca5 Thumb Code 24 stm32f10x_usart.o(.text) + USART_SendData 0x08001cbd Thumb Code 8 stm32f10x_usart.o(.text) + USART_ReceiveData 0x08001cc5 Thumb Code 10 stm32f10x_usart.o(.text) + USART_SendBreak 0x08001ccf Thumb Code 10 stm32f10x_usart.o(.text) + USART_SetGuardTime 0x08001cd9 Thumb Code 16 stm32f10x_usart.o(.text) + USART_SetPrescaler 0x08001ce9 Thumb Code 16 stm32f10x_usart.o(.text) + USART_SmartCardCmd 0x08001cf9 Thumb Code 24 stm32f10x_usart.o(.text) + USART_SmartCardNACKCmd 0x08001d11 Thumb Code 24 stm32f10x_usart.o(.text) + USART_HalfDuplexCmd 0x08001d29 Thumb Code 24 stm32f10x_usart.o(.text) + USART_OverSampling8Cmd 0x08001d41 Thumb Code 22 stm32f10x_usart.o(.text) + USART_OneBitMethodCmd 0x08001d57 Thumb Code 24 stm32f10x_usart.o(.text) + USART_IrDAConfig 0x08001d6f Thumb Code 18 stm32f10x_usart.o(.text) + USART_IrDACmd 0x08001d81 Thumb Code 24 stm32f10x_usart.o(.text) + USART_GetFlagStatus 0x08001d99 Thumb Code 26 stm32f10x_usart.o(.text) + USART_ClearFlag 0x08001db3 Thumb Code 18 stm32f10x_usart.o(.text) + USART_GetITStatus 0x08001dc5 Thumb Code 84 stm32f10x_usart.o(.text) + USART_ClearITPendingBit 0x08001e19 Thumb Code 52 stm32f10x_usart.o(.text) + System_Init 0x08001e4d Thumb Code 202 bsp_sys.o(.text) + LED_GPIO_Config 0x08001f79 Thumb Code 40 bsp_gpio.o(.text) + LED_Flash 0x08001fa1 Thumb Code 54 bsp_gpio.o(.text) + NVIC_Config 0x08001fe1 Thumb Code 2 bsp_nvic.o(.text) + USART1_Init 0x08001fe5 Thumb Code 124 bsp_usart.o(.text) + _sys_exit 0x08002061 Thumb Code 4 bsp_usart.o(.text) + fputc 0x08002065 Thumb Code 32 bsp_usart.o(.text) + fgetc 0x08002085 Thumb Code 26 bsp_usart.o(.text) + USART1_Send 0x0800209f Thumb Code 74 bsp_usart.o(.text) + USART1_Receive 0x080020e9 Thumb Code 16 bsp_usart.o(.text) + USART1_IRQHandler 0x080020f9 Thumb Code 72 bsp_usart.o(.text) + Delay_Init 0x08002155 Thumb Code 52 delay.o(.text) + Delay_ms 0x08002189 Thumb Code 56 delay.o(.text) + Delay_us 0x080021c1 Thumb Code 56 delay.o(.text) + i2c_Delay 0x08002201 Thumb Code 14 bsp_iic.o(.text) + IIC_Start 0x0800220f Thumb Code 56 bsp_iic.o(.text) + IIC_Stop 0x08002247 Thumb Code 38 bsp_iic.o(.text) + IIC_Send_Byte 0x0800226d Thumb Code 96 bsp_iic.o(.text) + IIC_Ack 0x080022cd Thumb Code 56 bsp_iic.o(.text) + IIC_NAck 0x08002305 Thumb Code 46 bsp_iic.o(.text) + IIC_Read_Byte 0x08002333 Thumb Code 82 bsp_iic.o(.text) + IIC_Wait_Ack 0x08002385 Thumb Code 66 bsp_iic.o(.text) + IIC_Init 0x080023c7 Thumb Code 44 bsp_iic.o(.text) + i2c_CheckDevice 0x080023f3 Thumb Code 32 bsp_iic.o(.text) + MOTO_PWM_Init 0x08002419 Thumb Code 196 bsp_timer.o(.text) + Motor_PWMOut 0x080024dd Thumb Code 68 bsp_timer.o(.text) + Timer6_Init 0x08002521 Thumb Code 114 bsp_timer.o(.text) + Encoder_Init_TIM2 0x08002593 Thumb Code 154 bsp_timer.o(.text) + Encoder_Init_TIM4 0x0800262d Thumb Code 148 bsp_timer.o(.text) + Read_Encoder 0x080026c1 Thumb Code 84 bsp_timer.o(.text) + TIM4_IRQHandler 0x08002715 Thumb Code 24 bsp_timer.o(.text) + TIM2_IRQHandler 0x0800272d Thumb Code 24 bsp_timer.o(.text) + Write_IIC_Command 0x08002759 Thumb Code 44 oled.o(.text) + Write_IIC_Data 0x08002785 Thumb Code 44 oled.o(.text) + OLED_WR_Byte 0x080027b1 Thumb Code 24 oled.o(.text) + fill_picture 0x080027c9 Thumb Code 64 oled.o(.text) + Delay_50ms 0x08002809 Thumb Code 22 oled.o(.text) + Delay_1ms 0x0800281f Thumb Code 26 oled.o(.text) + OLED_Set_Pos 0x08002839 Thumb Code 40 oled.o(.text) + OLED_Display_On 0x08002861 Thumb Code 28 oled.o(.text) + OLED_Display_Off 0x0800287d Thumb Code 28 oled.o(.text) + OLED_Clear 0x08002899 Thumb Code 62 oled.o(.text) + OLED_On 0x080028d7 Thumb Code 62 oled.o(.text) + OLED_ShowChar 0x08002915 Thumb Code 154 oled.o(.text) + oled_pow 0x080029af Thumb Code 22 oled.o(.text) + OLED_ShowNum 0x080029c5 Thumb Code 136 oled.o(.text) + OLED_ShowString 0x08002a4d Thumb Code 58 oled.o(.text) + OLED_ShowCHinese 0x08002a87 Thumb Code 98 oled.o(.text) + OLED_DrawBMP 0x08002ae9 Thumb Code 118 oled.o(.text) + OLED_Init 0x08002b5f Thumb Code 232 oled.o(.text) + showPID 0x08002c55 Thumb Code 118 pid.o(.text) + PID_Calc_Left 0x08002ccb Thumb Code 114 pid.o(.text) + PID_Calc_Right 0x08002d3d Thumb Code 114 pid.o(.text) + TIM6_IRQHandler 0x08002dd5 Thumb Code 506 car.o(.text) + Bluetooth_Init 0x0800301d Thumb Code 162 bluetooth.o(.text) + USART2_Send 0x080030bf Thumb Code 74 bluetooth.o(.text) + USART2_Receive 0x08003109 Thumb Code 16 bluetooth.o(.text) + USART2_IRQHandler 0x08003119 Thumb Code 72 bluetooth.o(.text) + Motor_Init 0x08003175 Thumb Code 40 motor.o(.text) + Motor_CtlLeft 0x0800319d Thumb Code 68 motor.o(.text) + Motor_CtlRight 0x080031e1 Thumb Code 68 motor.o(.text) + Car_Go 0x08003225 Thumb Code 16 motor.o(.text) + Car_Back 0x08003235 Thumb Code 16 motor.o(.text) + Car_TurnLeft 0x08003245 Thumb Code 16 motor.o(.text) + Car_TurnRight 0x08003255 Thumb Code 16 motor.o(.text) + Car_Stop 0x08003265 Thumb Code 16 motor.o(.text) + IIC_MPU6050_Init 0x08003279 Thumb Code 40 ioi2c.o(.text) + i2cWrite 0x08003491 Thumb Code 96 ioi2c.o(.text) + i2cRead 0x08003559 Thumb Code 118 ioi2c.o(.text) + I2C_ReadOneByte 0x080035cf Thumb Code 70 ioi2c.o(.text) + IICreadBytes 0x08003615 Thumb Code 112 ioi2c.o(.text) + IICwriteBytes 0x08003685 Thumb Code 70 ioi2c.o(.text) + IICreadByte 0x080036cb Thumb Code 22 ioi2c.o(.text) + IICwriteByte 0x080036e1 Thumb Code 20 ioi2c.o(.text) + IICwriteBits 0x080036f5 Thumb Code 106 ioi2c.o(.text) + IICwriteBit 0x0800375f Thumb Code 64 ioi2c.o(.text) + MPU6050_newValues 0x080038ad Thumb Code 494 mpu6050.o(.text) + MPU6050_setClockSource 0x08003a9b Thumb Code 20 mpu6050.o(.text) + MPU6050_setFullScaleGyroRange 0x08003aaf Thumb Code 20 mpu6050.o(.text) + MPU6050_setFullScaleAccelRange 0x08003ac3 Thumb Code 20 mpu6050.o(.text) + MPU6050_setSleepEnabled 0x08003ad7 Thumb Code 18 mpu6050.o(.text) + MPU6050_getDeviceID 0x08003ae9 Thumb Code 20 mpu6050.o(.text) + MPU6050_testConnection 0x08003afd Thumb Code 18 mpu6050.o(.text) + MPU6050_setI2CMasterModeEnabled 0x08003b0f Thumb Code 18 mpu6050.o(.text) + MPU6050_setI2CBypassEnabled 0x08003b21 Thumb Code 18 mpu6050.o(.text) + MPU6050_initialize 0x08003b33 Thumb Code 40 mpu6050.o(.text) + DMP_Init 0x08003b5b Thumb Code 122 mpu6050.o(.text) + Read_DMP 0x08003bd5 Thumb Code 388 mpu6050.o(.text) + mpu_reg_dump 0x08003df7 Thumb Code 72 inv_mpu.o(.text) + mpu_read_reg 0x08003e3f Thumb Code 66 inv_mpu.o(.text) + mpu_set_int_latched 0x08003e81 Thumb Code 102 inv_mpu.o(.text) + mpu_set_sensors 0x08003ee7 Thumb Code 202 inv_mpu.o(.text) + mpu_set_bypass 0x08003fb1 Thumb Code 328 inv_mpu.o(.text) + mpu_reset_fifo 0x080040f9 Thumb Code 444 inv_mpu.o(.text) + mpu_configure_fifo 0x080042b5 Thumb Code 106 inv_mpu.o(.text) + mpu_set_lpf 0x0800431f Thumb Code 126 inv_mpu.o(.text) + mpu_lp_accel_mode 0x0800439d Thumb Code 218 inv_mpu.o(.text) + mpu_set_sample_rate 0x08004477 Thumb Code 152 inv_mpu.o(.text) + mpu_set_accel_fsr 0x0800450f Thumb Code 132 inv_mpu.o(.text) + mpu_set_gyro_fsr 0x08004593 Thumb Code 132 inv_mpu.o(.text) + mpu_init 0x08004617 Thumb Code 416 inv_mpu.o(.text) + myget_ms 0x080047b7 Thumb Code 2 inv_mpu.o(.text) + mpu_get_gyro_reg 0x080047b9 Thumb Code 110 inv_mpu.o(.text) + mpu_get_accel_reg 0x08004827 Thumb Code 110 inv_mpu.o(.text) + mpu_get_temperature 0x08004895 Thumb Code 150 inv_mpu.o(.text) + mpu_set_accel_bias 0x0800492b Thumb Code 468 inv_mpu.o(.text) + mpu_get_gyro_fsr 0x08004aff Thumb Code 64 inv_mpu.o(.text) + mpu_get_accel_fsr 0x08004b3f Thumb Code 72 inv_mpu.o(.text) + mpu_get_lpf 0x08004b87 Thumb Code 74 inv_mpu.o(.text) + mpu_get_sample_rate 0x08004bd1 Thumb Code 26 inv_mpu.o(.text) + mpu_get_compass_sample_rate 0x08004beb Thumb Code 10 inv_mpu.o(.text) + mpu_set_compass_sample_rate 0x08004bf5 Thumb Code 8 inv_mpu.o(.text) + mpu_get_gyro_sens 0x08004bfd Thumb Code 58 inv_mpu.o(.text) + mpu_get_accel_sens 0x08004c37 Thumb Code 78 inv_mpu.o(.text) + mpu_get_fifo_config 0x08004c85 Thumb Code 12 inv_mpu.o(.text) + mpu_get_power_state 0x08004c91 Thumb Code 22 inv_mpu.o(.text) + mpu_get_int_status 0x08004ca7 Thumb Code 64 inv_mpu.o(.text) + mpu_read_fifo 0x08004ce7 Thumb Code 520 inv_mpu.o(.text) + mpu_read_fifo_stream 0x08004eef Thumb Code 186 inv_mpu.o(.text) + mpu_set_int_level 0x08004fa9 Thumb Code 12 inv_mpu.o(.text) + mpu_set_dmp_state 0x08005689 Thumb Code 138 inv_mpu.o(.text) + mpu_run_self_test 0x08005713 Thumb Code 278 inv_mpu.o(.text) + mpu_write_mem 0x08005829 Thumb Code 122 inv_mpu.o(.text) + mpu_read_mem 0x080058a3 Thumb Code 122 inv_mpu.o(.text) + mpu_load_firmware 0x0800591d Thumb Code 190 inv_mpu.o(.text) + mpu_get_dmp_state 0x080059db Thumb Code 14 inv_mpu.o(.text) + mpu_get_compass_reg 0x080059e9 Thumb Code 8 inv_mpu.o(.text) + mpu_get_compass_fsr 0x080059f1 Thumb Code 8 inv_mpu.o(.text) + mpu_lp_motion_interrupt 0x080059f9 Thumb Code 512 inv_mpu.o(.text) + dmp_load_motion_driver_firmware 0x08005bfd Thumb Code 20 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_orientation 0x08005c11 Thumb Code 290 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_gyro_bias 0x08005d33 Thumb Code 294 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_accel_bias 0x08005e59 Thumb Code 300 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_fifo_rate 0x08005f85 Thumb Code 136 inv_mpu_dmp_motion_driver.o(.text) + dmp_get_fifo_rate 0x0800600d Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_tap_thresh 0x08006019 Thumb Code 396 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_tap_axes 0x080061a5 Thumb Code 70 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_tap_count 0x080061eb Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_tap_time 0x08006211 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_tap_time_multi 0x08006237 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_shake_reject_thresh 0x0800625d Thumb Code 56 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_shake_reject_time 0x08006295 Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_shake_reject_timeout 0x080062bb Thumb Code 38 inv_mpu_dmp_motion_driver.o(.text) + dmp_get_pedometer_step_count 0x080062e1 Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_pedometer_step_count 0x08006323 Thumb Code 42 inv_mpu_dmp_motion_driver.o(.text) + dmp_get_pedometer_walk_time 0x0800634d Thumb Code 72 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_pedometer_walk_time 0x08006395 Thumb Code 48 inv_mpu_dmp_motion_driver.o(.text) + dmp_enable_6x_lp_quat 0x080063c5 Thumb Code 84 inv_mpu_dmp_motion_driver.o(.text) + dmp_enable_lp_quat 0x08006419 Thumb Code 60 inv_mpu_dmp_motion_driver.o(.text) + dmp_enable_gyro_cal 0x08006455 Thumb Code 62 inv_mpu_dmp_motion_driver.o(.text) + dmp_enable_feature 0x08006493 Thumb Code 530 inv_mpu_dmp_motion_driver.o(.text) + dmp_get_enabled_features 0x080066a5 Thumb Code 12 inv_mpu_dmp_motion_driver.o(.text) + dmp_set_interrupt_mode 0x0800670f Thumb Code 66 inv_mpu_dmp_motion_driver.o(.text) + dmp_read_fifo 0x08006751 Thumb Code 514 inv_mpu_dmp_motion_driver.o(.text) + dmp_register_tap_cb 0x08006953 Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text) + dmp_register_android_orient_cb 0x0800695d Thumb Code 10 inv_mpu_dmp_motion_driver.o(.text) + Set_Pwm 0x0800696d Thumb Code 2 control.o(.text) + Turn_Off 0x0800696f Thumb Code 42 control.o(.text) + PWM_Limit 0x08006999 Thumb Code 18 control.o(.text) + Velocity 0x080069ab Thumb Code 242 control.o(.text) + Balance 0x08006a9d Thumb Code 76 control.o(.text) + Get_Angle 0x08006ae9 Thumb Code 30 control.o(.text) + EXTI15_10_IRQHandler 0x08006b07 Thumb Code 124 control.o(.text) + Key 0x08006b83 Thumb Code 22 control.o(.text) + myabs 0x08006b99 Thumb Code 14 control.o(.text) + main 0x08006c0d Thumb Code 222 main.o(.text) + NMI_Handler 0x08006cf1 Thumb Code 2 stm32f10x_it.o(.text) + HardFault_Handler 0x08006cf3 Thumb Code 4 stm32f10x_it.o(.text) + MemManage_Handler 0x08006cf7 Thumb Code 4 stm32f10x_it.o(.text) + BusFault_Handler 0x08006cfb Thumb Code 4 stm32f10x_it.o(.text) + UsageFault_Handler 0x08006cff Thumb Code 4 stm32f10x_it.o(.text) + SVC_Handler 0x08006d03 Thumb Code 2 stm32f10x_it.o(.text) + DebugMon_Handler 0x08006d05 Thumb Code 2 stm32f10x_it.o(.text) + PendSV_Handler 0x08006d07 Thumb Code 2 stm32f10x_it.o(.text) + __use_no_semihosting 0x08006d09 Thumb Code 2 use_no_semi_2.o(.text) + __aeabi_ldivmod 0x08006d0b Thumb Code 0 llsdiv.o(.text) + _ll_sdiv 0x08006d0b Thumb Code 72 llsdiv.o(.text) + __2printf 0x08006d55 Thumb Code 20 noretval__2printf.o(.text) + __2sprintf 0x08006d6d Thumb Code 34 noretval__2sprintf.o(.text) + _printf_pre_padding 0x08006d95 Thumb Code 44 _printf_pad.o(.text) + _printf_post_padding 0x08006dc1 Thumb Code 34 _printf_pad.o(.text) + _printf_int_dec 0x08006de5 Thumb Code 104 _printf_dec.o(.text) + __printf 0x08006e5d Thumb Code 270 __printf_wp.o(.text) + memcmp 0x08006f6b Thumb Code 88 memcmp.o(.text) + __aeabi_memset 0x08006fc3 Thumb Code 16 aeabi_memset.o(.text) + __use_two_region_memory 0x08006fd3 Thumb Code 2 heapauxi.o(.text) + __rt_heap_escrow$2region 0x08006fd5 Thumb Code 2 heapauxi.o(.text) + __rt_heap_expand$2region 0x08006fd7 Thumb Code 2 heapauxi.o(.text) + __I$use$semihosting 0x08006fd9 Thumb Code 0 use_no_semi.o(.text) + __use_no_semihosting_swi 0x08006fd9 Thumb Code 2 use_no_semi.o(.text) + __aeabi_uldivmod 0x08006fdb Thumb Code 0 lludivv7m.o(.text) + _ll_udiv 0x08006fdb Thumb Code 238 lludivv7m.o(.text) + _printf_int_common 0x080070c9 Thumb Code 178 _printf_intcommon.o(.text) + __lib_sel_fp_printf 0x0800717b Thumb Code 2 _printf_fp_dec.o(.text) + _printf_fp_dec_real 0x08007329 Thumb Code 620 _printf_fp_dec.o(.text) + _printf_char_common 0x0800759f Thumb Code 32 _printf_char_common.o(.text) + _sputc 0x080075c5 Thumb Code 10 _sputc.o(.text) + _printf_char_file 0x080075d1 Thumb Code 32 _printf_char_file.o(.text) + __aeabi_memclr 0x080075f5 Thumb Code 0 rt_memclr.o(.text) + __rt_memclr 0x080075f5 Thumb Code 68 rt_memclr.o(.text) + _memset 0x080075f9 Thumb Code 0 rt_memclr.o(.text) + __rt_locale 0x08007639 Thumb Code 8 rt_locale_intlibspace.o(.text) + _ll_udiv10 0x08007641 Thumb Code 138 lludiv10.o(.text) + _printf_fp_infnan 0x080076cd Thumb Code 112 _printf_fp_infnan.o(.text) + _btod_etento 0x0800774d Thumb Code 216 bigflt0.o(.text) + ferror 0x08007829 Thumb Code 8 ferror.o(.text) + __aeabi_memclr4 0x08007831 Thumb Code 0 rt_memclr_w.o(.text) + __aeabi_memclr8 0x08007831 Thumb Code 0 rt_memclr_w.o(.text) + __rt_memclr_w 0x08007831 Thumb Code 78 rt_memclr_w.o(.text) + _memset_w 0x08007835 Thumb Code 0 rt_memclr_w.o(.text) + __user_libspace 0x08007881 Thumb Code 8 libspace.o(.text) + __user_perproc_libspace 0x08007881 Thumb Code 0 libspace.o(.text) + __user_perthread_libspace 0x08007881 Thumb Code 0 libspace.o(.text) + __user_setup_stackheap 0x08007889 Thumb Code 74 sys_stackheap_outer.o(.text) + exit 0x080078d3 Thumb Code 18 exit.o(.text) + strcmp 0x080078e5 Thumb Code 128 strcmpv7m.o(.text) + _btod_d2e 0x08007965 Thumb Code 62 btod.o(CL$$btod_d2e) + _d2e_denorm_low 0x080079a3 Thumb Code 70 btod.o(CL$$btod_d2e_denorm_low) + _d2e_norm_op1 0x080079e9 Thumb Code 96 btod.o(CL$$btod_d2e_norm_op1) + __btod_div_common 0x08007a49 Thumb Code 696 btod.o(CL$$btod_div_common) + _e2e 0x08007d81 Thumb Code 198 btod.o(CL$$btod_e2e) + _btod_ediv 0x08007e47 Thumb Code 40 btod.o(CL$$btod_ediv) + _btod_emul 0x08007e6f Thumb Code 40 btod.o(CL$$btod_emul) + __btod_mult_common 0x08007e97 Thumb Code 580 btod.o(CL$$btod_mult_common) + __ARM_fpclassify 0x080080db Thumb Code 40 fpclassify.o(i.__ARM_fpclassify) + __kernel_poly 0x08008103 Thumb Code 170 poly.o(i.__kernel_poly) + __mathlib_dbl_infnan 0x080081ad Thumb Code 6 dunder.o(i.__mathlib_dbl_infnan) + __mathlib_dbl_infnan2 0x080081b3 Thumb Code 4 dunder.o(i.__mathlib_dbl_infnan2) + __mathlib_dbl_underflow 0x080081b9 Thumb Code 10 dunder.o(i.__mathlib_dbl_underflow) + _is_digit 0x080081c9 Thumb Code 14 __printf_wp.o(i._is_digit) + atan 0x080081d9 Thumb Code 474 atan.o(i.atan) + atan2 0x080083f9 Thumb Code 346 atan2.o(i.atan2) + _get_lc_numeric 0x08008579 Thumb Code 44 lc_numeric_c.o(locale$$code) + __aeabi_d2f 0x080085a5 Thumb Code 0 d2f.o(x$fpl$d2f) + _d2f 0x080085a5 Thumb Code 98 d2f.o(x$fpl$d2f) + __aeabi_dadd 0x08008609 Thumb Code 0 daddsub_clz.o(x$fpl$dadd) + _dadd 0x08008609 Thumb Code 332 daddsub_clz.o(x$fpl$dadd) + __fpl_dcheck_NaN1 0x08008759 Thumb Code 10 dcheck1.o(x$fpl$dcheck1) + __aeabi_ddiv 0x08008769 Thumb Code 0 ddiv.o(x$fpl$ddiv) + _ddiv 0x08008769 Thumb Code 552 ddiv.o(x$fpl$ddiv) + __aeabi_i2d 0x08008a19 Thumb Code 0 dflt_clz.o(x$fpl$dflt) + _dflt 0x08008a19 Thumb Code 46 dflt_clz.o(x$fpl$dflt) + __aeabi_dmul 0x08008a49 Thumb Code 0 dmul.o(x$fpl$dmul) + _dmul 0x08008a49 Thumb Code 332 dmul.o(x$fpl$dmul) + 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ffix.o(x$fpl$ffix) + __aeabi_f2uiz 0x08009189 Thumb Code 0 ffixu.o(x$fpl$ffixu) + _ffixu 0x08009189 Thumb Code 62 ffixu.o(x$fpl$ffixu) + __aeabi_i2f 0x080091c9 Thumb Code 0 fflt_clz.o(x$fpl$fflt) + _fflt 0x080091c9 Thumb Code 48 fflt_clz.o(x$fpl$fflt) + __aeabi_ui2f 0x080091f9 Thumb Code 0 fflt_clz.o(x$fpl$ffltu) + _ffltu 0x080091f9 Thumb Code 38 fflt_clz.o(x$fpl$ffltu) + __aeabi_cfcmple 0x08009221 Thumb Code 0 fleqf.o(x$fpl$fleqf) + _fcmple 0x08009221 Thumb Code 104 fleqf.o(x$fpl$fleqf) + __fpl_fcmple_InfNaN 0x08009273 Thumb Code 0 fleqf.o(x$fpl$fleqf) + __aeabi_fmul 0x08009289 Thumb Code 0 fmul.o(x$fpl$fmul) + _fmul 0x08009289 Thumb Code 258 fmul.o(x$fpl$fmul) + __fpl_fnaninf 0x0800938b Thumb Code 140 fnaninf.o(x$fpl$fnaninf) + __fpl_fretinf 0x08009417 Thumb Code 10 fretinf.o(x$fpl$fretinf) + __aeabi_cfrcmple 0x08009421 Thumb Code 0 frleqf.o(x$fpl$frleqf) + _frcmple 0x08009421 Thumb Code 98 frleqf.o(x$fpl$frleqf) + __aeabi_frsub 0x08009483 Thumb Code 0 faddsub_clz.o(x$fpl$frsb) + 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bluetooth.o(.data) + rx2_count 0x20000298 Data 4 bluetooth.o(.data) + rx2_length 0x2000029c Data 4 bluetooth.o(.data) + gyro 0x200002a0 Data 6 mpu6050.o(.data) + accel 0x200002a6 Data 6 mpu6050.o(.data) + sensors 0x200002ac Data 2 mpu6050.o(.data) + Roll 0x200002b0 Data 4 mpu6050.o(.data) + Pitch 0x200002b4 Data 4 mpu6050.o(.data) + q0 0x200002b8 Data 4 mpu6050.o(.data) + q1 0x200002bc Data 4 mpu6050.o(.data) + q2 0x200002c0 Data 4 mpu6050.o(.data) + q3 0x200002c4 Data 4 mpu6050.o(.data) + Gx_offset 0x200002d2 Data 2 mpu6050.o(.data) + Gy_offset 0x200002d4 Data 2 mpu6050.o(.data) + Gz_offset 0x200002d6 Data 2 mpu6050.o(.data) + Angle_Balance 0x20000304 Data 4 control.o(.data) + Gyro_Balance 0x20000308 Data 4 control.o(.data) + Flag_Stop 0x2000030c Data 1 control.o(.data) + buffer 0x20000320 Data 14 mpu6050.o(.bss) + MPU6050_FIFO 0x2000032e Data 132 mpu6050.o(.bss) + BLE_RX 0x200003c4 Data 64 main.o(.bss) + __libspace_start 0x20000404 Data 96 libspace.o(.bss) + __temporary_stack_top$libspace 0x20000464 Data 0 libspace.o(.bss) + + + +============================================================================== + +Memory Map of the image + + Image Entry point : 0x08000131 + + Load Region LR_IROM1 (Base: 0x08000000, Size: 0x0000afb8, Max: 0x00040000, ABSOLUTE, COMPRESSED[0x0000adb4]) + + Execution Region ER_IROM1 (Base: 0x08000000, Size: 0x0000ac98, Max: 0x00040000, ABSOLUTE) + + Base Addr Size Type Attr Idx E Section Name Object + + 0x08000000 0x00000130 Data RO 3 RESET startup_stm32f10x_hd.o + 0x08000130 0x00000008 Code RO 869 * !!!main c_w.l(__main.o) + 0x08000138 0x00000034 Code RO 1219 !!!scatter c_w.l(__scatter.o) + 0x0800016c 0x0000005a Code RO 1217 !!dczerorl2 c_w.l(__dczerorl2.o) + 0x080001c6 0x00000002 PAD + 0x080001c8 0x0000001c Code RO 1221 !!handler_zi c_w.l(__scatter_zi.o) + 0x080001e4 0x00000000 Code RO 862 .ARM.Collect$$_printf_percent$$00000000 c_w.l(_printf_percent.o) + 0x080001e4 0x00000006 Code RO 861 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c_w.l(libinit2.o) + 0x08000206 0x00000000 Code RO 1124 .ARM.Collect$$libinit$$0000002E c_w.l(libinit2.o) + 0x08000206 0x00000000 Code RO 1126 .ARM.Collect$$libinit$$00000030 c_w.l(libinit2.o) + 0x08000206 0x00000000 Code RO 1128 .ARM.Collect$$libinit$$00000032 c_w.l(libinit2.o) + 0x08000206 0x00000002 Code RO 1129 .ARM.Collect$$libinit$$00000033 c_w.l(libinit2.o) + 0x08000208 0x00000002 Code RO 1177 .ARM.Collect$$libshutdown$$00000000 c_w.l(libshutdown.o) + 0x0800020a 0x00000000 Code RO 1186 .ARM.Collect$$libshutdown$$00000002 c_w.l(libshutdown2.o) + 0x0800020a 0x00000000 Code RO 1188 .ARM.Collect$$libshutdown$$00000004 c_w.l(libshutdown2.o) + 0x0800020a 0x00000000 Code RO 1191 .ARM.Collect$$libshutdown$$00000007 c_w.l(libshutdown2.o) + 0x0800020a 0x00000000 Code RO 1194 .ARM.Collect$$libshutdown$$0000000A c_w.l(libshutdown2.o) + 0x0800020a 0x00000000 Code RO 1196 .ARM.Collect$$libshutdown$$0000000C c_w.l(libshutdown2.o) + 0x0800020a 0x00000000 Code RO 1199 .ARM.Collect$$libshutdown$$0000000F c_w.l(libshutdown2.o) + 0x0800020a 0x00000002 Code RO 1200 .ARM.Collect$$libshutdown$$00000010 c_w.l(libshutdown2.o) + 0x0800020c 0x00000000 Code RO 933 .ARM.Collect$$rtentry$$00000000 c_w.l(__rtentry.o) + 0x0800020c 0x00000000 Code RO 992 .ARM.Collect$$rtentry$$00000002 c_w.l(__rtentry2.o) + 0x0800020c 0x00000006 Code RO 1004 .ARM.Collect$$rtentry$$00000004 c_w.l(__rtentry4.o) + 0x08000212 0x00000000 Code RO 994 .ARM.Collect$$rtentry$$00000009 c_w.l(__rtentry2.o) + 0x08000212 0x00000004 Code RO 995 .ARM.Collect$$rtentry$$0000000A c_w.l(__rtentry2.o) + 0x08000216 0x00000000 Code RO 997 .ARM.Collect$$rtentry$$0000000C c_w.l(__rtentry2.o) + 0x08000216 0x00000008 Code RO 998 .ARM.Collect$$rtentry$$0000000D c_w.l(__rtentry2.o) + 0x0800021e 0x00000002 Code RO 1132 .ARM.Collect$$rtexit$$00000000 c_w.l(rtexit.o) + 0x08000220 0x00000000 Code RO 1145 .ARM.Collect$$rtexit$$00000002 c_w.l(rtexit2.o) + 0x08000220 0x00000004 Code RO 1146 .ARM.Collect$$rtexit$$00000003 c_w.l(rtexit2.o) + 0x08000224 0x00000006 Code RO 1147 .ARM.Collect$$rtexit$$00000004 c_w.l(rtexit2.o) + 0x0800022a 0x00000002 PAD + 0x0800022c 0x00000040 Code RO 4 .text startup_stm32f10x_hd.o + 0x0800026c 0x000001e0 Code RO 24 .text system_stm32f10x.o + 0x0800044c 0x000000dc Code RO 118 .text misc.o + 0x08000528 0x0000035c Code RO 269 .text stm32f10x_gpio.o + 0x08000884 0x000003a4 Code RO 317 .text stm32f10x_rcc.o + 0x08000c28 0x00000e1a Code RO 367 .text stm32f10x_tim.o + 0x08001a42 0x00000002 PAD + 0x08001a44 0x00000408 Code RO 379 .text stm32f10x_usart.o + 0x08001e4c 0x0000012c Code RO 471 .text bsp_sys.o + 0x08001f78 0x00000068 Code RO 514 .text bsp_gpio.o + 0x08001fe0 0x00000002 Code RO 527 .text bsp_nvic.o + 0x08001fe2 0x00000002 PAD + 0x08001fe4 0x00000170 Code RO 539 .text bsp_usart.o + 0x08002154 0x000000ac Code RO 558 .text delay.o + 0x08002200 0x00000218 Code RO 572 .text bsp_iic.o + 0x08002418 0x00000340 Code RO 584 .text bsp_timer.o + 0x08002758 0x000004fc Code RO 596 .text oled.o + 0x08002c54 0x00000180 Code RO 618 .text pid.o + 0x08002dd4 0x00000248 Code RO 633 .text car.o + 0x0800301c 0x00000158 Code RO 651 .text bluetooth.o + 0x08003174 0x00000104 Code RO 669 .text motor.o + 0x08003278 0x00000526 Code RO 681 .text ioi2c.o + 0x0800379e 0x00000002 PAD + 0x080037a0 0x000005cc Code RO 705 .text mpu6050.o + 0x08003d6c 0x00001e90 Code RO 729 .text inv_mpu.o + 0x08005bfc 0x00000d70 Code RO 753 .text inv_mpu_dmp_motion_driver.o + 0x0800696c 0x000002a0 Code RO 768 .text control.o + 0x08006c0c 0x000000e4 Code RO 790 .text main.o + 0x08006cf0 0x00000018 Code RO 805 .text stm32f10x_it.o + 0x08006d08 0x00000002 Code RO 822 .text c_w.l(use_no_semi_2.o) + 0x08006d0a 0x00000048 Code RO 824 .text c_w.l(llsdiv.o) + 0x08006d52 0x00000002 PAD + 0x08006d54 0x00000018 Code RO 830 .text c_w.l(noretval__2printf.o) + 0x08006d6c 0x00000028 Code RO 832 .text c_w.l(noretval__2sprintf.o) + 0x08006d94 0x0000004e Code RO 836 .text c_w.l(_printf_pad.o) + 0x08006de2 0x00000002 PAD + 0x08006de4 0x00000078 Code RO 838 .text c_w.l(_printf_dec.o) + 0x08006e5c 0x0000010e Code RO 848 .text c_w.l(__printf_wp.o) + 0x08006f6a 0x00000058 Code RO 863 .text c_w.l(memcmp.o) + 0x08006fc2 0x00000010 Code RO 865 .text c_w.l(aeabi_memset.o) + 0x08006fd2 0x00000006 Code RO 867 .text c_w.l(heapauxi.o) + 0x08006fd8 0x00000002 Code RO 931 .text c_w.l(use_no_semi.o) + 0x08006fda 0x000000ee Code RO 934 .text c_w.l(lludivv7m.o) + 0x080070c8 0x000000b2 Code RO 938 .text c_w.l(_printf_intcommon.o) + 0x0800717a 0x0000041a Code RO 940 .text c_w.l(_printf_fp_dec.o) + 0x08007594 0x00000030 Code RO 942 .text c_w.l(_printf_char_common.o) + 0x080075c4 0x0000000a Code RO 944 .text c_w.l(_sputc.o) + 0x080075ce 0x00000002 PAD + 0x080075d0 0x00000024 Code RO 946 .text c_w.l(_printf_char_file.o) + 0x080075f4 0x00000044 Code RO 949 .text c_w.l(rt_memclr.o) + 0x08007638 0x00000008 Code RO 1013 .text c_w.l(rt_locale_intlibspace.o) + 0x08007640 0x0000008a Code RO 1020 .text c_w.l(lludiv10.o) + 0x080076ca 0x00000002 PAD + 0x080076cc 0x00000080 Code RO 1022 .text c_w.l(_printf_fp_infnan.o) + 0x0800774c 0x000000dc Code RO 1026 .text c_w.l(bigflt0.o) + 0x08007828 0x00000008 Code RO 1051 .text c_w.l(ferror.o) + 0x08007830 0x0000004e Code RO 1058 .text c_w.l(rt_memclr_w.o) + 0x0800787e 0x00000002 PAD + 0x08007880 0x00000008 Code RO 1068 .text c_w.l(libspace.o) + 0x08007888 0x0000004a Code RO 1071 .text c_w.l(sys_stackheap_outer.o) + 0x080078d2 0x00000012 Code RO 1075 .text c_w.l(exit.o) + 0x080078e4 0x00000080 Code RO 1077 .text c_w.l(strcmpv7m.o) + 0x08007964 0x0000003e Code RO 1029 CL$$btod_d2e c_w.l(btod.o) + 0x080079a2 0x00000046 Code RO 1031 CL$$btod_d2e_denorm_low c_w.l(btod.o) + 0x080079e8 0x00000060 Code RO 1030 CL$$btod_d2e_norm_op1 c_w.l(btod.o) + 0x08007a48 0x00000338 Code RO 1039 CL$$btod_div_common c_w.l(btod.o) + 0x08007d80 0x000000c6 Code RO 1036 CL$$btod_e2e c_w.l(btod.o) + 0x08007e46 0x00000028 Code RO 1033 CL$$btod_ediv c_w.l(btod.o) + 0x08007e6e 0x00000028 Code RO 1032 CL$$btod_emul c_w.l(btod.o) + 0x08007e96 0x00000244 Code RO 1038 CL$$btod_mult_common c_w.l(btod.o) + 0x080080da 0x00000028 Code RO 1064 i.__ARM_fpclassify m_ws.l(fpclassify.o) + 0x08008102 0x000000aa Code RO 1066 i.__kernel_poly m_ws.l(poly.o) + 0x080081ac 0x00000006 Code RO 977 i.__mathlib_dbl_infnan m_ws.l(dunder.o) + 0x080081b2 0x00000004 Code RO 978 i.__mathlib_dbl_infnan2 m_ws.l(dunder.o) + 0x080081b6 0x00000002 PAD + 0x080081b8 0x00000010 Code RO 982 i.__mathlib_dbl_underflow m_ws.l(dunder.o) + 0x080081c8 0x0000000e Code RO 850 i._is_digit c_w.l(__printf_wp.o) + 0x080081d6 0x00000002 PAD + 0x080081d8 0x00000220 Code RO 967 i.atan m_ws.l(atan.o) + 0x080083f8 0x00000180 Code RO 924 i.atan2 m_ws.l(atan2.o) + 0x08008578 0x0000002c Code RO 1056 locale$$code c_w.l(lc_numeric_c.o) + 0x080085a4 0x00000062 Code RO 871 x$fpl$d2f fz_ws.l(d2f.o) + 0x08008606 0x00000002 PAD + 0x08008608 0x00000150 Code RO 873 x$fpl$dadd fz_ws.l(daddsub_clz.o) + 0x08008758 0x00000010 Code RO 1130 x$fpl$dcheck1 fz_ws.l(dcheck1.o) + 0x08008768 0x000002b0 Code RO 952 x$fpl$ddiv fz_ws.l(ddiv.o) + 0x08008a18 0x0000002e Code RO 880 x$fpl$dflt fz_ws.l(dflt_clz.o) + 0x08008a46 0x00000002 PAD + 0x08008a48 0x00000154 Code RO 885 x$fpl$dmul fz_ws.l(dmul.o) + 0x08008b9c 0x0000009c Code RO 955 x$fpl$dnaninf fz_ws.l(dnaninf.o) + 0x08008c38 0x0000000c Code RO 957 x$fpl$dretinf fz_ws.l(dretinf.o) + 0x08008c44 0x00000016 Code RO 874 x$fpl$drsb fz_ws.l(daddsub_clz.o) + 0x08008c5a 0x00000002 PAD + 0x08008c5c 0x000001d4 Code RO 875 x$fpl$dsub fz_ws.l(daddsub_clz.o) + 0x08008e30 0x00000056 Code RO 887 x$fpl$f2d fz_ws.l(f2d.o) + 0x08008e86 0x00000002 PAD + 0x08008e88 0x000000c4 Code RO 889 x$fpl$fadd fz_ws.l(faddsub_clz.o) + 0x08008f4c 0x00000018 Code RO 959 x$fpl$fcmpinf fz_ws.l(fcmpi.o) + 0x08008f64 0x00000184 Code RO 896 x$fpl$fdiv fz_ws.l(fdiv.o) + 0x080090e8 0x00000068 Code RO 899 x$fpl$feqf fz_ws.l(feqf.o) + 0x08009150 0x00000036 Code RO 901 x$fpl$ffix fz_ws.l(ffix.o) + 0x08009186 0x00000002 PAD + 0x08009188 0x0000003e Code RO 905 x$fpl$ffixu fz_ws.l(ffixu.o) + 0x080091c6 0x00000002 PAD + 0x080091c8 0x00000030 Code RO 910 x$fpl$fflt fz_ws.l(fflt_clz.o) + 0x080091f8 0x00000026 Code RO 909 x$fpl$ffltu fz_ws.l(fflt_clz.o) + 0x0800921e 0x00000002 PAD + 0x08009220 0x00000068 Code RO 915 x$fpl$fleqf fz_ws.l(fleqf.o) + 0x08009288 0x00000102 Code RO 917 x$fpl$fmul fz_ws.l(fmul.o) + 0x0800938a 0x0000008c Code RO 961 x$fpl$fnaninf fz_ws.l(fnaninf.o) + 0x08009416 0x0000000a Code RO 963 x$fpl$fretinf fz_ws.l(fretinf.o) + 0x08009420 0x00000062 Code RO 919 x$fpl$frleqf fz_ws.l(frleqf.o) + 0x08009482 0x00000014 Code RO 890 x$fpl$frsb fz_ws.l(faddsub_clz.o) + 0x08009496 0x00000002 PAD + 0x08009498 0x000000ea Code RO 891 x$fpl$fsub fz_ws.l(faddsub_clz.o) + 0x08009582 0x00000004 Code RO 921 x$fpl$printf1 fz_ws.l(printf1.o) + 0x08009586 0x00000064 Code RO 1142 x$fpl$retnan fz_ws.l(retnan.o) + 0x080095ea 0x0000005c Code RO 1062 x$fpl$scalbn fz_ws.l(scalbn.o) + 0x08009646 0x00000030 Code RO 1161 x$fpl$trapveneer fz_ws.l(trapv.o) + 0x08009676 0x00000000 Code RO 965 x$fpl$usenofp fz_ws.l(usenofp.o) + 0x08009676 0x00000818 Data RO 597 .constdata oled.o + 0x08009e8e 0x00000002 PAD + 0x08009e90 0x00000050 Data RO 730 .constdata inv_mpu.o + 0x08009ee0 0x00000bf6 Data RO 755 .constdata inv_mpu_dmp_motion_driver.o + 0x0800aad6 0x00000002 PAD + 0x0800aad8 0x00000098 Data RO 968 .constdata m_ws.l(atan.o) + 0x0800ab70 0x00000008 Data RO 990 .constdata m_ws.l(qnan.o) + 0x0800ab78 0x00000094 Data RO 1027 .constdata c_w.l(bigflt0.o) + 0x0800ac0c 0x0000004e Data RO 731 .conststring inv_mpu.o + 0x0800ac5a 0x00000002 PAD + 0x0800ac5c 0x00000020 Data RO 1215 Region$$Table anon$$obj.o + 0x0800ac7c 0x0000001c Data RO 1055 locale$$data c_w.l(lc_numeric_c.o) + + + Execution Region RW_IRAM1 (Base: 0x20000000, Size: 0x00000a68, Max: 0x0000c000, ABSOLUTE, COMPRESSED[0x0000011c]) + + Base Addr Size Type Attr Idx E Section Name Object + + 0x20000000 0x00000014 Data RW 25 .data system_stm32f10x.o + 0x20000014 0x00000014 Data RW 318 .data stm32f10x_rcc.o + 0x20000028 0x00000004 Data RW 515 .data bsp_gpio.o + 0x2000002c 0x00000010 Data RW 540 .data bsp_usart.o + 0x2000003c 0x00000004 Data RW 559 .data delay.o + 0x20000040 0x00000200 Data RW 598 .data oled.o + 0x20000240 0x0000001c Data RW 619 .data pid.o + 0x2000025c 0x00000036 Data RW 634 .data car.o + 0x20000292 0x00000002 PAD + 0x20000294 0x0000000c Data RW 652 .data bluetooth.o + 0x200002a0 0x00000038 Data RW 707 .data mpu6050.o + 0x200002d8 0x0000002c Data RW 732 .data inv_mpu.o + 0x20000304 0x0000001c Data RW 769 .data control.o + 0x20000320 0x00000092 Zero RW 706 .bss mpu6050.o + 0x200003b2 0x00000002 PAD + 0x200003b4 0x00000010 Zero RW 754 .bss inv_mpu_dmp_motion_driver.o + 0x200003c4 0x00000040 Zero RW 791 .bss main.o + 0x20000404 0x00000060 Zero RW 1069 .bss c_w.l(libspace.o) + 0x20000464 0x00000004 PAD + 0x20000468 0x00000200 Zero RW 2 HEAP startup_stm32f10x_hd.o + 0x20000668 0x00000400 Zero RW 1 STACK startup_stm32f10x_hd.o + + +============================================================================== + +Image component sizes + + + Code (inc. data) RO Data RW Data ZI Data Debug Object Name + + 344 20 0 12 0 1725 bluetooth.o + 104 10 0 4 0 688 bsp_gpio.o + 536 6 0 0 0 2142 bsp_iic.o + 2 0 0 0 0 414 bsp_nvic.o + 300 98 0 0 0 594 bsp_sys.o + 832 20 0 0 0 2454 bsp_timer.o + 368 20 0 16 0 3869 bsp_usart.o + 584 78 0 54 0 1687 car.o + 672 102 0 28 0 3074 control.o + 0 0 0 0 0 4532 core_cm3.o + 172 8 0 4 0 1063 delay.o + 7824 172 158 44 0 21607 inv_mpu.o + 3440 126 3062 0 16 15147 inv_mpu_dmp_motion_driver.o + 1318 12 0 0 0 5657 ioi2c.o + 228 6 0 0 64 1224 main.o + 220 22 0 0 0 1809 misc.o + 260 4 0 0 0 1498 motor.o + 1484 104 0 56 146 20593 mpu6050.o + 1276 14 2072 512 0 6120 oled.o + 384 38 0 28 0 1596 pid.o + 64 26 304 0 1536 876 startup_stm32f10x_hd.o + 860 38 0 0 0 5745 stm32f10x_gpio.o + 24 0 0 0 0 1118 stm32f10x_it.o + 932 36 0 20 0 8932 stm32f10x_rcc.o + 3610 88 0 0 0 22852 stm32f10x_tim.o + 1032 22 0 0 0 8468 stm32f10x_usart.o + 480 38 0 20 0 250275 system_stm32f10x.o + + ---------------------------------------------------------------------- + 27356 1108 5634 800 1764 395759 Object Totals + 0 0 32 0 0 0 (incl. Generated) + 6 0 6 2 2 0 (incl. Padding) + + ---------------------------------------------------------------------- + + Code (inc. data) RO Data RW Data ZI Data Debug Library Member Name + + 90 0 0 0 0 0 __dczerorl2.o + 8 0 0 0 0 68 __main.o + 284 0 0 0 0 156 __printf_wp.o + 0 0 0 0 0 0 __rtentry.o + 12 0 0 0 0 0 __rtentry2.o + 6 0 0 0 0 0 __rtentry4.o + 52 8 0 0 0 0 __scatter.o + 28 0 0 0 0 0 __scatter_zi.o + 48 6 0 0 0 96 _printf_char_common.o + 36 4 0 0 0 80 _printf_char_file.o + 6 0 0 0 0 0 _printf_d.o + 120 16 0 0 0 92 _printf_dec.o + 6 0 0 0 0 0 _printf_f.o + 1050 0 0 0 0 216 _printf_fp_dec.o + 128 16 0 0 0 84 _printf_fp_infnan.o + 178 0 0 0 0 88 _printf_intcommon.o + 78 0 0 0 0 108 _printf_pad.o + 0 0 0 0 0 0 _printf_percent.o + 4 0 0 0 0 0 _printf_percent_end.o + 10 0 0 0 0 68 _sputc.o + 16 0 0 0 0 68 aeabi_memset.o + 220 4 148 0 0 96 bigflt0.o + 1910 128 0 0 0 672 btod.o + 18 0 0 0 0 80 exit.o + 8 0 0 0 0 68 ferror.o + 6 0 0 0 0 152 heapauxi.o + 44 10 28 0 0 76 lc_numeric_c.o + 2 0 0 0 0 0 libinit.o + 18 0 0 0 0 0 libinit2.o + 2 0 0 0 0 0 libshutdown.o + 2 0 0 0 0 0 libshutdown2.o + 8 4 0 0 96 68 libspace.o + 72 0 0 0 0 76 llsdiv.o + 138 0 0 0 0 80 lludiv10.o + 238 0 0 0 0 100 lludivv7m.o + 88 0 0 0 0 76 memcmp.o + 24 4 0 0 0 84 noretval__2printf.o + 40 6 0 0 0 84 noretval__2sprintf.o + 8 4 0 0 0 68 rt_locale_intlibspace.o + 68 0 0 0 0 68 rt_memclr.o + 78 0 0 0 0 80 rt_memclr_w.o + 2 0 0 0 0 0 rtexit.o + 10 0 0 0 0 0 rtexit2.o + 128 0 0 0 0 68 strcmpv7m.o + 74 0 0 0 0 80 sys_stackheap_outer.o + 2 0 0 0 0 68 use_no_semi.o + 2 0 0 0 0 68 use_no_semi_2.o + 98 4 0 0 0 92 d2f.o + 826 16 0 0 0 348 daddsub_clz.o + 16 4 0 0 0 68 dcheck1.o + 688 140 0 0 0 208 ddiv.o + 46 0 0 0 0 68 dflt_clz.o + 340 12 0 0 0 104 dmul.o + 156 4 0 0 0 92 dnaninf.o + 12 0 0 0 0 68 dretinf.o + 86 4 0 0 0 84 f2d.o + 450 8 0 0 0 236 faddsub_clz.o + 24 0 0 0 0 68 fcmpi.o + 388 76 0 0 0 96 fdiv.o + 104 4 0 0 0 84 feqf.o + 54 4 0 0 0 84 ffix.o + 62 4 0 0 0 84 ffixu.o + 86 0 0 0 0 136 fflt_clz.o + 104 4 0 0 0 84 fleqf.o + 258 4 0 0 0 84 fmul.o + 140 4 0 0 0 84 fnaninf.o + 10 0 0 0 0 68 fretinf.o + 98 0 0 0 0 68 frleqf.o + 4 0 0 0 0 68 printf1.o + 100 0 0 0 0 68 retnan.o + 92 0 0 0 0 68 scalbn.o + 48 0 0 0 0 68 trapv.o + 0 0 0 0 0 0 usenofp.o + 544 70 152 0 0 124 atan.o + 384 38 0 0 0 144 atan2.o + 26 6 0 0 0 204 dunder.o + 40 0 0 0 0 68 fpclassify.o + 170 0 0 0 0 96 poly.o + 0 0 8 0 0 0 qnan.o + + ---------------------------------------------------------------------- + 10858 616 336 0 100 6552 Library Totals + 34 0 0 0 4 0 (incl. Padding) + + ---------------------------------------------------------------------- + + Code (inc. data) RO Data RW Data ZI Data Debug Library Name + + 5370 210 176 0 96 3336 c_w.l + 4290 292 0 0 0 2580 fz_ws.l + 1164 114 160 0 0 636 m_ws.l + + ---------------------------------------------------------------------- + 10858 616 336 0 100 6552 Library Totals + + ---------------------------------------------------------------------- + +============================================================================== + + + Code (inc. data) RO Data RW Data ZI Data Debug + + 38214 1724 5970 800 1864 396483 Grand Totals + 38214 1724 5970 284 1864 396483 ELF Image Totals (compressed) + 38214 1724 5970 284 0 0 ROM Totals + +============================================================================== + + Total RO Size (Code + RO Data) 44184 ( 43.15kB) + Total RW Size (RW Data + ZI Data) 2664 ( 2.60kB) + Total ROM Size (Code + RO Data + RW Data) 44468 ( 43.43kB) + +============================================================================== + diff --git a/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_hd.lst b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_hd.lst new file mode 100644 index 0000000..e560b04 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_hd.lst @@ -0,0 +1,1469 @@ + + + +ARM Macro Assembler Page 1 + + + 1 00000000 ;******************** (C) COPYRIGHT 2011 STMicroelectron + ics ******************** + 2 00000000 ;* File Name : startup_stm32f10x_hd.s + 3 00000000 ;* Author : MCD Application Team + 4 00000000 ;* Version : V3.5.0 + 5 00000000 ;* Date : 11-March-2011 + 6 00000000 ;* Description : STM32F10x High Density Devices v + ector table for MDK-ARM + 7 00000000 ;* toolchain. + 8 00000000 ;* This module performs: + 9 00000000 ;* - Set the initial SP + 10 00000000 ;* - Set the initial PC == Reset_Ha + ndler + 11 00000000 ;* - Set the vector table entries w + ith the exceptions ISR address + 12 00000000 ;* - Configure the clock system and + also configure the external + 13 00000000 ;* SRAM mounted on STM3210E-EVAL + board to be used as data + 14 00000000 ;* memory (optional, to be enable + d by user) + 15 00000000 ;* - Branches to __main in the C li + brary (which eventually + 16 00000000 ;* calls main()). + 17 00000000 ;* After Reset the CortexM3 process + or is in Thread mode, + 18 00000000 ;* priority is Privileged, and the + Stack is set to Main. + 19 00000000 ;* <<< Use Configuration Wizard in Context Menu >>> + 20 00000000 ;******************************************************* + ************************ + 21 00000000 ; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS A + T PROVIDING CUSTOMERS + 22 00000000 ; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN OR + DER FOR THEM TO SAVE TIME. + 23 00000000 ; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIAB + LE FOR ANY DIRECT, + 24 00000000 ; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY + CLAIMS ARISING FROM THE + 25 00000000 ; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOM + ERS OF THE CODING + 26 00000000 ; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR + PRODUCTS. + 27 00000000 ;******************************************************* + ************************ + 28 00000000 + 29 00000000 ; Amount of memory (in bytes) allocated for Stack + 30 00000000 ; Tailor this value to your application needs + 31 00000000 ; Stack Configuration + 32 00000000 ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> + 33 00000000 ; + 34 00000000 + 35 00000000 00000400 + Stack_Size + EQU 0x00000400 + 36 00000000 + 37 00000000 AREA STACK, NOINIT, READWRITE, ALIGN +=3 + 38 00000000 Stack_Mem + + + +ARM Macro Assembler Page 2 + + + SPACE Stack_Size + 39 00000400 __initial_sp + 40 00000400 + 41 00000400 ; Heap Configuration + 42 00000400 ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> + 43 00000400 ; + 44 00000400 + 45 00000400 00000200 + Heap_Size + EQU 0x00000200 + 46 00000400 + 47 00000400 AREA HEAP, NOINIT, READWRITE, ALIGN= +3 + 48 00000000 __heap_base + 49 00000000 Heap_Mem + SPACE Heap_Size + 50 00000200 __heap_limit + 51 00000200 + 52 00000200 PRESERVE8 + 53 00000200 THUMB + 54 00000200 + 55 00000200 + 56 00000200 ; Vector Table Mapped to Address 0 at Reset + 57 00000200 AREA RESET, DATA, READONLY + 58 00000000 EXPORT __Vectors + 59 00000000 EXPORT __Vectors_End + 60 00000000 EXPORT __Vectors_Size + 61 00000000 + 62 00000000 00000000 + __Vectors + DCD __initial_sp ; Top of Stack + 63 00000004 00000000 DCD Reset_Handler ; Reset Handler + 64 00000008 00000000 DCD NMI_Handler ; NMI Handler + 65 0000000C 00000000 DCD HardFault_Handler ; Hard Fault + Handler + 66 00000010 00000000 DCD MemManage_Handler + ; MPU Fault Handler + + 67 00000014 00000000 DCD BusFault_Handler + ; Bus Fault Handler + + 68 00000018 00000000 DCD UsageFault_Handler ; Usage Faul + t Handler + 69 0000001C 00000000 DCD 0 ; Reserved + 70 00000020 00000000 DCD 0 ; Reserved + 71 00000024 00000000 DCD 0 ; Reserved + 72 00000028 00000000 DCD 0 ; Reserved + 73 0000002C 00000000 DCD SVC_Handler ; SVCall Handler + 74 00000030 00000000 DCD DebugMon_Handler ; Debug Monito + r Handler + 75 00000034 00000000 DCD 0 ; Reserved + 76 00000038 00000000 DCD PendSV_Handler ; PendSV Handler + + 77 0000003C 00000000 DCD SysTick_Handler + ; SysTick Handler + 78 00000040 + 79 00000040 ; External Interrupts + 80 00000040 00000000 DCD WWDG_IRQHandler + ; Window Watchdog + + + +ARM Macro Assembler Page 3 + + + 81 00000044 00000000 DCD PVD_IRQHandler ; PVD through EX + TI Line detect + 82 00000048 00000000 DCD TAMPER_IRQHandler ; Tamper + 83 0000004C 00000000 DCD RTC_IRQHandler ; RTC + 84 00000050 00000000 DCD FLASH_IRQHandler ; Flash + 85 00000054 00000000 DCD RCC_IRQHandler ; RCC + 86 00000058 00000000 DCD EXTI0_IRQHandler ; EXTI Line 0 + 87 0000005C 00000000 DCD EXTI1_IRQHandler ; EXTI Line 1 + 88 00000060 00000000 DCD EXTI2_IRQHandler ; EXTI Line 2 + 89 00000064 00000000 DCD EXTI3_IRQHandler ; EXTI Line 3 + 90 00000068 00000000 DCD EXTI4_IRQHandler ; EXTI Line 4 + 91 0000006C 00000000 DCD DMA1_Channel1_IRQHandler + ; DMA1 Channel 1 + 92 00000070 00000000 DCD DMA1_Channel2_IRQHandler + ; DMA1 Channel 2 + 93 00000074 00000000 DCD DMA1_Channel3_IRQHandler + ; DMA1 Channel 3 + 94 00000078 00000000 DCD DMA1_Channel4_IRQHandler + ; DMA1 Channel 4 + 95 0000007C 00000000 DCD DMA1_Channel5_IRQHandler + ; DMA1 Channel 5 + 96 00000080 00000000 DCD DMA1_Channel6_IRQHandler + ; DMA1 Channel 6 + 97 00000084 00000000 DCD DMA1_Channel7_IRQHandler + ; DMA1 Channel 7 + 98 00000088 00000000 DCD ADC1_2_IRQHandler ; ADC1 & ADC2 + + 99 0000008C 00000000 DCD USB_HP_CAN1_TX_IRQHandler ; USB + High Priority or C + AN1 TX + 100 00000090 00000000 DCD USB_LP_CAN1_RX0_IRQHandler ; US + B Low Priority or + CAN1 RX0 + 101 00000094 00000000 DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + 102 00000098 00000000 DCD CAN1_SCE_IRQHandler ; CAN1 SCE + 103 0000009C 00000000 DCD EXTI9_5_IRQHandler + ; EXTI Line 9..5 + 104 000000A0 00000000 DCD TIM1_BRK_IRQHandler + ; TIM1 Break + 105 000000A4 00000000 DCD TIM1_UP_IRQHandler + ; TIM1 Update + 106 000000A8 00000000 DCD TIM1_TRG_COM_IRQHandler ; TIM1 + Trigger and Commuta + tion + 107 000000AC 00000000 DCD TIM1_CC_IRQHandler ; TIM1 Captu + re Compare + 108 000000B0 00000000 DCD TIM2_IRQHandler ; TIM2 + 109 000000B4 00000000 DCD TIM3_IRQHandler ; TIM3 + 110 000000B8 00000000 DCD TIM4_IRQHandler ; TIM4 + 111 000000BC 00000000 DCD I2C1_EV_IRQHandler ; I2C1 Event + + 112 000000C0 00000000 DCD I2C1_ER_IRQHandler ; I2C1 Error + + 113 000000C4 00000000 DCD I2C2_EV_IRQHandler ; I2C2 Event + + 114 000000C8 00000000 DCD I2C2_ER_IRQHandler ; I2C2 Error + + 115 000000CC 00000000 DCD SPI1_IRQHandler ; SPI1 + 116 000000D0 00000000 DCD SPI2_IRQHandler ; SPI2 + + + +ARM Macro Assembler Page 4 + + + 117 000000D4 00000000 DCD USART1_IRQHandler ; USART1 + 118 000000D8 00000000 DCD USART2_IRQHandler ; USART2 + 119 000000DC 00000000 DCD USART3_IRQHandler ; USART3 + 120 000000E0 00000000 DCD EXTI15_10_IRQHandler + ; EXTI Line 15..10 + 121 000000E4 00000000 DCD RTCAlarm_IRQHandler ; RTC Alarm + through EXTI Line + 122 000000E8 00000000 DCD USBWakeUp_IRQHandler ; USB Wake + up from suspend + 123 000000EC 00000000 DCD TIM8_BRK_IRQHandler + ; TIM8 Break + 124 000000F0 00000000 DCD TIM8_UP_IRQHandler + ; TIM8 Update + 125 000000F4 00000000 DCD TIM8_TRG_COM_IRQHandler ; TIM8 + Trigger and Commuta + tion + 126 000000F8 00000000 DCD TIM8_CC_IRQHandler ; TIM8 Captu + re Compare + 127 000000FC 00000000 DCD ADC3_IRQHandler ; ADC3 + 128 00000100 00000000 DCD FSMC_IRQHandler ; FSMC + 129 00000104 00000000 DCD SDIO_IRQHandler ; SDIO + 130 00000108 00000000 DCD TIM5_IRQHandler ; TIM5 + 131 0000010C 00000000 DCD SPI3_IRQHandler ; SPI3 + 132 00000110 00000000 DCD UART4_IRQHandler ; UART4 + 133 00000114 00000000 DCD UART5_IRQHandler ; UART5 + 134 00000118 00000000 DCD TIM6_IRQHandler ; TIM6 + 135 0000011C 00000000 DCD TIM7_IRQHandler ; TIM7 + 136 00000120 00000000 DCD DMA2_Channel1_IRQHandler + ; DMA2 Channel1 + 137 00000124 00000000 DCD DMA2_Channel2_IRQHandler + ; DMA2 Channel2 + 138 00000128 00000000 DCD DMA2_Channel3_IRQHandler + ; DMA2 Channel3 + 139 0000012C 00000000 DCD DMA2_Channel4_5_IRQHandler ; DM + A2 Channel4 & Chann + el5 + 140 00000130 __Vectors_End + 141 00000130 + 142 00000130 00000130 + __Vectors_Size + EQU __Vectors_End - __Vectors + 143 00000130 + 144 00000130 AREA |.text|, CODE, READONLY + 145 00000000 + 146 00000000 ; Reset handler + 147 00000000 Reset_Handler + PROC + 148 00000000 EXPORT Reset_Handler [WEAK +] + 149 00000000 IMPORT __main + 150 00000000 IMPORT SystemInit + 151 00000000 4809 LDR R0, =SystemInit + 152 00000002 4780 BLX R0 + 153 00000004 4809 LDR R0, =__main + 154 00000006 4700 BX R0 + 155 00000008 ENDP + 156 00000008 + 157 00000008 ; Dummy Exception Handlers (infinite loops which can be + modified) + + + +ARM Macro Assembler Page 5 + + + 158 00000008 + 159 00000008 NMI_Handler + PROC + 160 00000008 EXPORT NMI_Handler [WEA +K] + 161 00000008 E7FE B . + 162 0000000A ENDP + 164 0000000A HardFault_Handler + PROC + 165 0000000A EXPORT HardFault_Handler [WEA +K] + 166 0000000A E7FE B . + 167 0000000C ENDP + 169 0000000C MemManage_Handler + PROC + 170 0000000C EXPORT MemManage_Handler [WEA +K] + 171 0000000C E7FE B . + 172 0000000E ENDP + 174 0000000E BusFault_Handler + PROC + 175 0000000E EXPORT BusFault_Handler [WEA +K] + 176 0000000E E7FE B . + 177 00000010 ENDP + 179 00000010 UsageFault_Handler + PROC + 180 00000010 EXPORT UsageFault_Handler [WEA +K] + 181 00000010 E7FE B . + 182 00000012 ENDP + 183 00000012 SVC_Handler + PROC + 184 00000012 EXPORT SVC_Handler [WEA +K] + 185 00000012 E7FE B . + 186 00000014 ENDP + 188 00000014 DebugMon_Handler + PROC + 189 00000014 EXPORT DebugMon_Handler [WEA +K] + 190 00000014 E7FE B . + 191 00000016 ENDP + 192 00000016 PendSV_Handler + PROC + 193 00000016 EXPORT PendSV_Handler [WEA +K] + 194 00000016 E7FE B . + 195 00000018 ENDP + 196 00000018 SysTick_Handler + PROC + 197 00000018 EXPORT SysTick_Handler [WEA +K] + 198 00000018 E7FE B . + 199 0000001A ENDP + 200 0000001A + 201 0000001A Default_Handler + PROC + 202 0000001A + + + +ARM Macro Assembler Page 6 + + + 203 0000001A EXPORT WWDG_IRQHandler [WEA +K] + 204 0000001A EXPORT PVD_IRQHandler [WEA +K] + 205 0000001A EXPORT TAMPER_IRQHandler [WEA +K] + 206 0000001A EXPORT RTC_IRQHandler [WEA +K] + 207 0000001A EXPORT FLASH_IRQHandler [WEA +K] + 208 0000001A EXPORT RCC_IRQHandler [WEA +K] + 209 0000001A EXPORT EXTI0_IRQHandler [WEA +K] + 210 0000001A EXPORT EXTI1_IRQHandler [WEA +K] + 211 0000001A EXPORT EXTI2_IRQHandler [WEA +K] + 212 0000001A EXPORT EXTI3_IRQHandler [WEA +K] + 213 0000001A EXPORT EXTI4_IRQHandler [WEA +K] + 214 0000001A EXPORT DMA1_Channel1_IRQHandler [WEA +K] + 215 0000001A EXPORT DMA1_Channel2_IRQHandler [WEA +K] + 216 0000001A EXPORT DMA1_Channel3_IRQHandler [WEA +K] + 217 0000001A EXPORT DMA1_Channel4_IRQHandler [WEA +K] + 218 0000001A EXPORT DMA1_Channel5_IRQHandler [WEA +K] + 219 0000001A EXPORT DMA1_Channel6_IRQHandler [WEA +K] + 220 0000001A EXPORT DMA1_Channel7_IRQHandler [WEA +K] + 221 0000001A EXPORT ADC1_2_IRQHandler [WEA +K] + 222 0000001A EXPORT USB_HP_CAN1_TX_IRQHandler [WEA +K] + 223 0000001A EXPORT USB_LP_CAN1_RX0_IRQHandler [WEA +K] + 224 0000001A EXPORT CAN1_RX1_IRQHandler [WEA +K] + 225 0000001A EXPORT CAN1_SCE_IRQHandler [WEA +K] + 226 0000001A EXPORT EXTI9_5_IRQHandler [WEA +K] + 227 0000001A EXPORT TIM1_BRK_IRQHandler [WEA +K] + 228 0000001A EXPORT TIM1_UP_IRQHandler [WEA +K] + 229 0000001A EXPORT TIM1_TRG_COM_IRQHandler [WEA +K] + 230 0000001A EXPORT TIM1_CC_IRQHandler [WEA +K] + 231 0000001A EXPORT TIM2_IRQHandler [WEA +K] + 232 0000001A EXPORT TIM3_IRQHandler [WEA + + + +ARM Macro Assembler Page 7 + + +K] + 233 0000001A EXPORT TIM4_IRQHandler [WEA +K] + 234 0000001A EXPORT I2C1_EV_IRQHandler [WEA +K] + 235 0000001A EXPORT I2C1_ER_IRQHandler [WEA +K] + 236 0000001A EXPORT I2C2_EV_IRQHandler [WEA +K] + 237 0000001A EXPORT I2C2_ER_IRQHandler [WEA +K] + 238 0000001A EXPORT SPI1_IRQHandler [WEA +K] + 239 0000001A EXPORT SPI2_IRQHandler [WEA +K] + 240 0000001A EXPORT USART1_IRQHandler [WEA +K] + 241 0000001A EXPORT USART2_IRQHandler [WEA +K] + 242 0000001A EXPORT USART3_IRQHandler [WEA +K] + 243 0000001A EXPORT EXTI15_10_IRQHandler [WEA +K] + 244 0000001A EXPORT RTCAlarm_IRQHandler [WEA +K] + 245 0000001A EXPORT USBWakeUp_IRQHandler [WEA +K] + 246 0000001A EXPORT TIM8_BRK_IRQHandler [WEA +K] + 247 0000001A EXPORT TIM8_UP_IRQHandler [WEA +K] + 248 0000001A EXPORT TIM8_TRG_COM_IRQHandler [WEA +K] + 249 0000001A EXPORT TIM8_CC_IRQHandler [WEA +K] + 250 0000001A EXPORT ADC3_IRQHandler [WEA +K] + 251 0000001A EXPORT FSMC_IRQHandler [WEA +K] + 252 0000001A EXPORT SDIO_IRQHandler [WEA +K] + 253 0000001A EXPORT TIM5_IRQHandler [WEA +K] + 254 0000001A EXPORT SPI3_IRQHandler [WEA +K] + 255 0000001A EXPORT UART4_IRQHandler [WEA +K] + 256 0000001A EXPORT UART5_IRQHandler [WEA +K] + 257 0000001A EXPORT TIM6_IRQHandler [WEA +K] + 258 0000001A EXPORT TIM7_IRQHandler [WEA +K] + 259 0000001A EXPORT DMA2_Channel1_IRQHandler [WEA +K] + 260 0000001A EXPORT DMA2_Channel2_IRQHandler [WEA +K] + 261 0000001A EXPORT DMA2_Channel3_IRQHandler [WEA +K] + + + +ARM Macro Assembler Page 8 + + + 262 0000001A EXPORT DMA2_Channel4_5_IRQHandler [WEA +K] + 263 0000001A + 264 0000001A WWDG_IRQHandler + 265 0000001A PVD_IRQHandler + 266 0000001A TAMPER_IRQHandler + 267 0000001A RTC_IRQHandler + 268 0000001A FLASH_IRQHandler + 269 0000001A RCC_IRQHandler + 270 0000001A EXTI0_IRQHandler + 271 0000001A EXTI1_IRQHandler + 272 0000001A EXTI2_IRQHandler + 273 0000001A EXTI3_IRQHandler + 274 0000001A EXTI4_IRQHandler + 275 0000001A DMA1_Channel1_IRQHandler + 276 0000001A DMA1_Channel2_IRQHandler + 277 0000001A DMA1_Channel3_IRQHandler + 278 0000001A DMA1_Channel4_IRQHandler + 279 0000001A DMA1_Channel5_IRQHandler + 280 0000001A DMA1_Channel6_IRQHandler + 281 0000001A DMA1_Channel7_IRQHandler + 282 0000001A ADC1_2_IRQHandler + 283 0000001A USB_HP_CAN1_TX_IRQHandler + 284 0000001A USB_LP_CAN1_RX0_IRQHandler + 285 0000001A CAN1_RX1_IRQHandler + 286 0000001A CAN1_SCE_IRQHandler + 287 0000001A EXTI9_5_IRQHandler + 288 0000001A TIM1_BRK_IRQHandler + 289 0000001A TIM1_UP_IRQHandler + 290 0000001A TIM1_TRG_COM_IRQHandler + 291 0000001A TIM1_CC_IRQHandler + 292 0000001A TIM2_IRQHandler + 293 0000001A TIM3_IRQHandler + 294 0000001A TIM4_IRQHandler + 295 0000001A I2C1_EV_IRQHandler + 296 0000001A I2C1_ER_IRQHandler + 297 0000001A I2C2_EV_IRQHandler + 298 0000001A I2C2_ER_IRQHandler + 299 0000001A SPI1_IRQHandler + 300 0000001A SPI2_IRQHandler + 301 0000001A USART1_IRQHandler + 302 0000001A USART2_IRQHandler + 303 0000001A USART3_IRQHandler + 304 0000001A EXTI15_10_IRQHandler + 305 0000001A RTCAlarm_IRQHandler + 306 0000001A USBWakeUp_IRQHandler + 307 0000001A TIM8_BRK_IRQHandler + 308 0000001A TIM8_UP_IRQHandler + 309 0000001A TIM8_TRG_COM_IRQHandler + 310 0000001A TIM8_CC_IRQHandler + 311 0000001A ADC3_IRQHandler + 312 0000001A FSMC_IRQHandler + 313 0000001A SDIO_IRQHandler + 314 0000001A TIM5_IRQHandler + 315 0000001A SPI3_IRQHandler + 316 0000001A UART4_IRQHandler + 317 0000001A UART5_IRQHandler + 318 0000001A TIM6_IRQHandler + 319 0000001A TIM7_IRQHandler + + + +ARM Macro Assembler Page 9 + + + 320 0000001A DMA2_Channel1_IRQHandler + 321 0000001A DMA2_Channel2_IRQHandler + 322 0000001A DMA2_Channel3_IRQHandler + 323 0000001A DMA2_Channel4_5_IRQHandler + 324 0000001A E7FE B . + 325 0000001C + 326 0000001C ENDP + 327 0000001C + 328 0000001C ALIGN + 329 0000001C + 330 0000001C ;******************************************************* + ************************ + 331 0000001C ; User Stack and Heap initialization + 332 0000001C ;******************************************************* + ************************ + 333 0000001C IF :DEF:__MICROLIB + 340 0000001C + 341 0000001C IMPORT __use_two_region_memory + 342 0000001C EXPORT __user_initial_stackheap + 343 0000001C + 344 0000001C __user_initial_stackheap + 345 0000001C + 346 0000001C 4804 LDR R0, = Heap_Mem + 347 0000001E 4905 LDR R1, =(Stack_Mem + Stack_Size) + 348 00000020 4A05 LDR R2, = (Heap_Mem + Heap_Size) + 349 00000022 4B06 LDR R3, = Stack_Mem + 350 00000024 4770 BX LR + 351 00000026 + 352 00000026 00 00 ALIGN + 353 00000028 + 354 00000028 ENDIF + 355 00000028 + 356 00000028 END + 00000000 + 00000000 + 00000000 + 00000400 + 00000200 + 00000000 +Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw +ork --depend=..\output\startup_stm32f10x_hd.d -o..\output\startup_stm32f10x_hd. +o -I"D:\Hardware Project\GeBalanceBot\GeBalanceBot_Firmware v1.0\Project\RTE" - +I"D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Device\Include" -I" +D:\Program Files\Keilv5\ARM\CMSIS\Include" --predefine="__UVISION_VERSION SETA +521" --predefine="STM32F10X_HD SETA 1" --list=..\listing\startup_stm32f10x_hd.l +st ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +STACK 00000000 + +Symbol: STACK + Definitions + At line 37 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: STACK unused +Stack_Mem 00000000 + +Symbol: Stack_Mem + Definitions + At line 38 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 347 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 349 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +__initial_sp 00000400 + +Symbol: __initial_sp + Definitions + At line 39 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 62 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s +Comment: __initial_sp used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +HEAP 00000000 + +Symbol: HEAP + Definitions + At line 47 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: HEAP unused +Heap_Mem 00000000 + +Symbol: Heap_Mem + Definitions + At line 49 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 346 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 348 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +__heap_base 00000000 + +Symbol: __heap_base + Definitions + At line 48 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: __heap_base unused +__heap_limit 00000200 + +Symbol: __heap_limit + Definitions + At line 50 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: __heap_limit unused +4 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +RESET 00000000 + +Symbol: RESET + Definitions + At line 57 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: RESET unused +__Vectors 00000000 + +Symbol: __Vectors + Definitions + At line 62 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 58 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 142 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +__Vectors_End 00000130 + +Symbol: __Vectors_End + Definitions + At line 140 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 59 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 142 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +.text 00000000 + +Symbol: .text + Definitions + At line 144 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: .text unused +ADC1_2_IRQHandler 0000001A + +Symbol: ADC1_2_IRQHandler + Definitions + At line 282 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 98 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 221 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +ADC3_IRQHandler 0000001A + +Symbol: ADC3_IRQHandler + Definitions + At line 311 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 127 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 250 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +BusFault_Handler 0000000E + +Symbol: BusFault_Handler + Definitions + At line 174 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 67 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 175 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +CAN1_RX1_IRQHandler 0000001A + +Symbol: CAN1_RX1_IRQHandler + Definitions + At line 285 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 101 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 224 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +CAN1_SCE_IRQHandler 0000001A + +Symbol: CAN1_SCE_IRQHandler + Definitions + At line 286 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 102 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 225 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA1_Channel1_IRQHandler 0000001A + +Symbol: DMA1_Channel1_IRQHandler + Definitions + At line 275 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + + + +ARM Macro Assembler Page 2 Alphabetic symbol ordering +Relocatable symbols + + At line 91 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 214 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA1_Channel2_IRQHandler 0000001A + +Symbol: DMA1_Channel2_IRQHandler + Definitions + At line 276 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 92 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 215 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA1_Channel3_IRQHandler 0000001A + +Symbol: DMA1_Channel3_IRQHandler + Definitions + At line 277 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 93 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 216 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA1_Channel4_IRQHandler 0000001A + +Symbol: DMA1_Channel4_IRQHandler + Definitions + At line 278 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 94 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 217 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA1_Channel5_IRQHandler 0000001A + +Symbol: DMA1_Channel5_IRQHandler + Definitions + At line 279 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 95 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 218 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA1_Channel6_IRQHandler 0000001A + +Symbol: DMA1_Channel6_IRQHandler + Definitions + At line 280 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 96 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 219 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA1_Channel7_IRQHandler 0000001A + +Symbol: DMA1_Channel7_IRQHandler + Definitions + At line 281 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 97 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 220 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA2_Channel1_IRQHandler 0000001A + + + + +ARM Macro Assembler Page 3 Alphabetic symbol ordering +Relocatable symbols + +Symbol: DMA2_Channel1_IRQHandler + Definitions + At line 320 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 136 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 259 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA2_Channel2_IRQHandler 0000001A + +Symbol: DMA2_Channel2_IRQHandler + Definitions + At line 321 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 137 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 260 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA2_Channel3_IRQHandler 0000001A + +Symbol: DMA2_Channel3_IRQHandler + Definitions + At line 322 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 138 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 261 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DMA2_Channel4_5_IRQHandler 0000001A + +Symbol: DMA2_Channel4_5_IRQHandler + Definitions + At line 323 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 139 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 262 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +DebugMon_Handler 00000014 + +Symbol: DebugMon_Handler + Definitions + At line 188 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 74 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 189 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +Default_Handler 0000001A + +Symbol: Default_Handler + Definitions + At line 201 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: Default_Handler unused +EXTI0_IRQHandler 0000001A + +Symbol: EXTI0_IRQHandler + Definitions + At line 270 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 86 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 209 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + + + +ARM Macro Assembler Page 4 Alphabetic symbol ordering +Relocatable symbols + + +EXTI15_10_IRQHandler 0000001A + +Symbol: EXTI15_10_IRQHandler + Definitions + At line 304 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 120 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 243 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +EXTI1_IRQHandler 0000001A + +Symbol: EXTI1_IRQHandler + Definitions + At line 271 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 87 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 210 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +EXTI2_IRQHandler 0000001A + +Symbol: EXTI2_IRQHandler + Definitions + At line 272 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 88 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 211 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +EXTI3_IRQHandler 0000001A + +Symbol: EXTI3_IRQHandler + Definitions + At line 273 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 89 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 212 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +EXTI4_IRQHandler 0000001A + +Symbol: EXTI4_IRQHandler + Definitions + At line 274 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 90 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 213 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +EXTI9_5_IRQHandler 0000001A + +Symbol: EXTI9_5_IRQHandler + Definitions + At line 287 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 103 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 226 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +FLASH_IRQHandler 0000001A + +Symbol: FLASH_IRQHandler + Definitions + + + +ARM Macro Assembler Page 5 Alphabetic symbol ordering +Relocatable symbols + + At line 268 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 84 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 207 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +FSMC_IRQHandler 0000001A + +Symbol: FSMC_IRQHandler + Definitions + At line 312 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 128 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 251 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +HardFault_Handler 0000000A + +Symbol: HardFault_Handler + Definitions + At line 164 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 65 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 165 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +I2C1_ER_IRQHandler 0000001A + +Symbol: I2C1_ER_IRQHandler + Definitions + At line 296 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 112 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 235 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +I2C1_EV_IRQHandler 0000001A + +Symbol: I2C1_EV_IRQHandler + Definitions + At line 295 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 111 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 234 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +I2C2_ER_IRQHandler 0000001A + +Symbol: I2C2_ER_IRQHandler + Definitions + At line 298 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 114 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 237 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +I2C2_EV_IRQHandler 0000001A + +Symbol: I2C2_EV_IRQHandler + Definitions + At line 297 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 113 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 236 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + + + + +ARM Macro Assembler Page 6 Alphabetic symbol ordering +Relocatable symbols + +MemManage_Handler 0000000C + +Symbol: MemManage_Handler + Definitions + At line 169 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 66 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 170 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +NMI_Handler 00000008 + +Symbol: NMI_Handler + Definitions + At line 159 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 64 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 160 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +PVD_IRQHandler 0000001A + +Symbol: PVD_IRQHandler + Definitions + At line 265 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 81 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 204 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +PendSV_Handler 00000016 + +Symbol: PendSV_Handler + Definitions + At line 192 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 76 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 193 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +RCC_IRQHandler 0000001A + +Symbol: RCC_IRQHandler + Definitions + At line 269 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 85 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 208 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +RTCAlarm_IRQHandler 0000001A + +Symbol: RTCAlarm_IRQHandler + Definitions + At line 305 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 121 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 244 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +RTC_IRQHandler 0000001A + +Symbol: RTC_IRQHandler + Definitions + At line 267 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + + + +ARM Macro Assembler Page 7 Alphabetic symbol ordering +Relocatable symbols + + Uses + At line 83 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 206 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +Reset_Handler 00000000 + +Symbol: Reset_Handler + Definitions + At line 147 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 63 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 148 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +SDIO_IRQHandler 0000001A + +Symbol: SDIO_IRQHandler + Definitions + At line 313 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 129 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 252 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +SPI1_IRQHandler 0000001A + +Symbol: SPI1_IRQHandler + Definitions + At line 299 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 115 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 238 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +SPI2_IRQHandler 0000001A + +Symbol: SPI2_IRQHandler + Definitions + At line 300 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 116 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 239 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +SPI3_IRQHandler 0000001A + +Symbol: SPI3_IRQHandler + Definitions + At line 315 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 131 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 254 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +SVC_Handler 00000012 + +Symbol: SVC_Handler + Definitions + At line 183 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 73 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 184 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +SysTick_Handler 00000018 + + + +ARM Macro Assembler Page 8 Alphabetic symbol ordering +Relocatable symbols + + +Symbol: SysTick_Handler + Definitions + At line 196 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 77 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 197 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TAMPER_IRQHandler 0000001A + +Symbol: TAMPER_IRQHandler + Definitions + At line 266 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 82 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 205 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM1_BRK_IRQHandler 0000001A + +Symbol: TIM1_BRK_IRQHandler + Definitions + At line 288 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 104 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 227 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM1_CC_IRQHandler 0000001A + +Symbol: TIM1_CC_IRQHandler + Definitions + At line 291 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 107 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 230 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM1_TRG_COM_IRQHandler 0000001A + +Symbol: TIM1_TRG_COM_IRQHandler + Definitions + At line 290 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 106 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 229 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM1_UP_IRQHandler 0000001A + +Symbol: TIM1_UP_IRQHandler + Definitions + At line 289 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 105 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 228 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM2_IRQHandler 0000001A + +Symbol: TIM2_IRQHandler + Definitions + At line 292 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + + + +ARM Macro Assembler Page 9 Alphabetic symbol ordering +Relocatable symbols + + At line 108 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 231 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM3_IRQHandler 0000001A + +Symbol: TIM3_IRQHandler + Definitions + At line 293 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 109 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 232 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM4_IRQHandler 0000001A + +Symbol: TIM4_IRQHandler + Definitions + At line 294 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 110 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 233 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM5_IRQHandler 0000001A + +Symbol: TIM5_IRQHandler + Definitions + At line 314 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 130 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 253 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM6_IRQHandler 0000001A + +Symbol: TIM6_IRQHandler + Definitions + At line 318 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 134 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 257 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM7_IRQHandler 0000001A + +Symbol: TIM7_IRQHandler + Definitions + At line 319 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 135 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 258 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM8_BRK_IRQHandler 0000001A + +Symbol: TIM8_BRK_IRQHandler + Definitions + At line 307 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 123 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 246 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM8_CC_IRQHandler 0000001A + + + + +ARM Macro Assembler Page 10 Alphabetic symbol ordering +Relocatable symbols + +Symbol: TIM8_CC_IRQHandler + Definitions + At line 310 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 126 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 249 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM8_TRG_COM_IRQHandler 0000001A + +Symbol: TIM8_TRG_COM_IRQHandler + Definitions + At line 309 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 125 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 248 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +TIM8_UP_IRQHandler 0000001A + +Symbol: TIM8_UP_IRQHandler + Definitions + At line 308 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 124 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 247 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +UART4_IRQHandler 0000001A + +Symbol: UART4_IRQHandler + Definitions + At line 316 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 132 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 255 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +UART5_IRQHandler 0000001A + +Symbol: UART5_IRQHandler + Definitions + At line 317 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 133 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 256 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +USART1_IRQHandler 0000001A + +Symbol: USART1_IRQHandler + Definitions + At line 301 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 117 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 240 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +USART2_IRQHandler 0000001A + +Symbol: USART2_IRQHandler + Definitions + At line 302 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 118 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + + + +ARM Macro Assembler Page 11 Alphabetic symbol ordering +Relocatable symbols + + At line 241 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +USART3_IRQHandler 0000001A + +Symbol: USART3_IRQHandler + Definitions + At line 303 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 119 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 242 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +USBWakeUp_IRQHandler 0000001A + +Symbol: USBWakeUp_IRQHandler + Definitions + At line 306 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 122 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 245 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +USB_HP_CAN1_TX_IRQHandler 0000001A + +Symbol: USB_HP_CAN1_TX_IRQHandler + Definitions + At line 283 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 99 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 222 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +USB_LP_CAN1_RX0_IRQHandler 0000001A + +Symbol: USB_LP_CAN1_RX0_IRQHandler + Definitions + At line 284 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 100 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 223 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +UsageFault_Handler 00000010 + +Symbol: UsageFault_Handler + Definitions + At line 179 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 68 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 180 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +WWDG_IRQHandler 0000001A + +Symbol: WWDG_IRQHandler + Definitions + At line 264 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 80 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 203 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +__user_initial_stackheap 0000001C + +Symbol: __user_initial_stackheap + + + +ARM Macro Assembler Page 12 Alphabetic symbol ordering +Relocatable symbols + + Definitions + At line 344 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 342 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s +Comment: __user_initial_stackheap used once +73 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Absolute symbols + +Heap_Size 00000200 + +Symbol: Heap_Size + Definitions + At line 45 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 49 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 348 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +Stack_Size 00000400 + +Symbol: Stack_Size + Definitions + At line 35 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 38 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + At line 347 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + +__Vectors_Size 00000130 + +Symbol: __Vectors_Size + Definitions + At line 142 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 60 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s +Comment: __Vectors_Size used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +External symbols + +SystemInit 00000000 + +Symbol: SystemInit + Definitions + At line 150 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 151 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s +Comment: SystemInit used once +__main 00000000 + +Symbol: __main + Definitions + At line 149 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + At line 153 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s +Comment: __main used once +__use_two_region_memory 00000000 + +Symbol: __use_two_region_memory + Definitions + At line 341 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s + Uses + None +Comment: __use_two_region_memory unused +3 symbols +425 symbols in table diff --git a/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_ld.lst b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_ld.lst new file mode 100644 index 0000000..3f0dab7 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_ld.lst @@ -0,0 +1,1140 @@ + + + +ARM Macro Assembler Page 1 + + + 1 00000000 ;******************** (C) COPYRIGHT 2011 STMicroelectron + ics ******************** + 2 00000000 ;* File Name : startup_stm32f10x_ld.s + 3 00000000 ;* Author : MCD Application Team + 4 00000000 ;* Version : V3.5.0 + 5 00000000 ;* Date : 11-March-2011 + 6 00000000 ;* Description : STM32F10x Low Density Devices ve + ctor table for MDK-ARM + 7 00000000 ;* toolchain. + 8 00000000 ;* This module performs: + 9 00000000 ;* - Set the initial SP + 10 00000000 ;* - Set the initial PC == Reset_Ha + ndler + 11 00000000 ;* - Set the vector table entries w + ith the exceptions ISR address + 12 00000000 ;* - Configure the clock system + 13 00000000 ;* - Branches to __main in the C li + brary (which eventually + 14 00000000 ;* calls main()). + 15 00000000 ;* After Reset the CortexM3 process + or is in Thread mode, + 16 00000000 ;* priority is Privileged, and the + Stack is set to Main. + 17 00000000 ;* <<< Use Configuration Wizard in Context Menu >>> + 18 00000000 ;******************************************************* + ************************ + 19 00000000 ; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS A + T PROVIDING CUSTOMERS + 20 00000000 ; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN OR + DER FOR THEM TO SAVE TIME. + 21 00000000 ; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIAB + LE FOR ANY DIRECT, + 22 00000000 ; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY + CLAIMS ARISING FROM THE + 23 00000000 ; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOM + ERS OF THE CODING + 24 00000000 ; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR + PRODUCTS. + 25 00000000 ;******************************************************* + ************************ + 26 00000000 + 27 00000000 ; Amount of memory (in bytes) allocated for Stack + 28 00000000 ; Tailor this value to your application needs + 29 00000000 ; Stack Configuration + 30 00000000 ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> + 31 00000000 ; + 32 00000000 + 33 00000000 00000400 + Stack_Size + EQU 0x00000400 + 34 00000000 + 35 00000000 AREA STACK, NOINIT, READWRITE, ALIGN +=3 + 36 00000000 Stack_Mem + SPACE Stack_Size + 37 00000400 __initial_sp + 38 00000400 + 39 00000400 + 40 00000400 ; Heap Configuration + + + +ARM Macro Assembler Page 2 + + + 41 00000400 ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> + 42 00000400 ; + 43 00000400 + 44 00000400 00000200 + Heap_Size + EQU 0x00000200 + 45 00000400 + 46 00000400 AREA HEAP, NOINIT, READWRITE, ALIGN= +3 + 47 00000000 __heap_base + 48 00000000 Heap_Mem + SPACE Heap_Size + 49 00000200 __heap_limit + 50 00000200 + 51 00000200 PRESERVE8 + 52 00000200 THUMB + 53 00000200 + 54 00000200 + 55 00000200 ; Vector Table Mapped to Address 0 at Reset + 56 00000200 AREA RESET, DATA, READONLY + 57 00000000 EXPORT __Vectors + 58 00000000 EXPORT __Vectors_End + 59 00000000 EXPORT __Vectors_Size + 60 00000000 + 61 00000000 00000000 + __Vectors + DCD __initial_sp ; Top of Stack + 62 00000004 00000000 DCD Reset_Handler ; Reset Handler + 63 00000008 00000000 DCD NMI_Handler ; NMI Handler + 64 0000000C 00000000 DCD HardFault_Handler ; Hard Fault + Handler + 65 00000010 00000000 DCD MemManage_Handler + ; MPU Fault Handler + + 66 00000014 00000000 DCD BusFault_Handler + ; Bus Fault Handler + + 67 00000018 00000000 DCD UsageFault_Handler ; Usage Faul + t Handler + 68 0000001C 00000000 DCD 0 ; Reserved + 69 00000020 00000000 DCD 0 ; Reserved + 70 00000024 00000000 DCD 0 ; Reserved + 71 00000028 00000000 DCD 0 ; Reserved + 72 0000002C 00000000 DCD SVC_Handler ; SVCall Handler + 73 00000030 00000000 DCD DebugMon_Handler ; Debug Monito + r Handler + 74 00000034 00000000 DCD 0 ; Reserved + 75 00000038 00000000 DCD PendSV_Handler ; PendSV Handler + + 76 0000003C 00000000 DCD SysTick_Handler + ; SysTick Handler + 77 00000040 + 78 00000040 ; External Interrupts + 79 00000040 00000000 DCD WWDG_IRQHandler + ; Window Watchdog + 80 00000044 00000000 DCD PVD_IRQHandler ; PVD through EX + TI Line detect + 81 00000048 00000000 DCD TAMPER_IRQHandler ; Tamper + 82 0000004C 00000000 DCD RTC_IRQHandler ; RTC + + + +ARM Macro Assembler Page 3 + + + 83 00000050 00000000 DCD FLASH_IRQHandler ; Flash + 84 00000054 00000000 DCD RCC_IRQHandler ; RCC + 85 00000058 00000000 DCD EXTI0_IRQHandler ; EXTI Line 0 + 86 0000005C 00000000 DCD EXTI1_IRQHandler ; EXTI Line 1 + 87 00000060 00000000 DCD EXTI2_IRQHandler ; EXTI Line 2 + 88 00000064 00000000 DCD EXTI3_IRQHandler ; EXTI Line 3 + 89 00000068 00000000 DCD EXTI4_IRQHandler ; EXTI Line 4 + 90 0000006C 00000000 DCD DMA1_Channel1_IRQHandler + ; DMA1 Channel 1 + 91 00000070 00000000 DCD DMA1_Channel2_IRQHandler + ; DMA1 Channel 2 + 92 00000074 00000000 DCD DMA1_Channel3_IRQHandler + ; DMA1 Channel 3 + 93 00000078 00000000 DCD DMA1_Channel4_IRQHandler + ; DMA1 Channel 4 + 94 0000007C 00000000 DCD DMA1_Channel5_IRQHandler + ; DMA1 Channel 5 + 95 00000080 00000000 DCD DMA1_Channel6_IRQHandler + ; DMA1 Channel 6 + 96 00000084 00000000 DCD DMA1_Channel7_IRQHandler + ; DMA1 Channel 7 + 97 00000088 00000000 DCD ADC1_2_IRQHandler ; ADC1_2 + 98 0000008C 00000000 DCD USB_HP_CAN1_TX_IRQHandler ; USB + High Priority or C + AN1 TX + 99 00000090 00000000 DCD USB_LP_CAN1_RX0_IRQHandler ; US + B Low Priority or + CAN1 RX0 + 100 00000094 00000000 DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + 101 00000098 00000000 DCD CAN1_SCE_IRQHandler ; CAN1 SCE + 102 0000009C 00000000 DCD EXTI9_5_IRQHandler + ; EXTI Line 9..5 + 103 000000A0 00000000 DCD TIM1_BRK_IRQHandler + ; TIM1 Break + 104 000000A4 00000000 DCD TIM1_UP_IRQHandler + ; TIM1 Update + 105 000000A8 00000000 DCD TIM1_TRG_COM_IRQHandler ; TIM1 + Trigger and Commuta + tion + 106 000000AC 00000000 DCD TIM1_CC_IRQHandler ; TIM1 Captu + re Compare + 107 000000B0 00000000 DCD TIM2_IRQHandler ; TIM2 + 108 000000B4 00000000 DCD TIM3_IRQHandler ; TIM3 + 109 000000B8 00000000 DCD 0 ; Reserved + 110 000000BC 00000000 DCD I2C1_EV_IRQHandler ; I2C1 Event + + 111 000000C0 00000000 DCD I2C1_ER_IRQHandler ; I2C1 Error + + 112 000000C4 00000000 DCD 0 ; Reserved + 113 000000C8 00000000 DCD 0 ; Reserved + 114 000000CC 00000000 DCD SPI1_IRQHandler ; SPI1 + 115 000000D0 00000000 DCD 0 ; Reserved + 116 000000D4 00000000 DCD USART1_IRQHandler ; USART1 + 117 000000D8 00000000 DCD USART2_IRQHandler ; USART2 + 118 000000DC 00000000 DCD 0 ; Reserved + 119 000000E0 00000000 DCD EXTI15_10_IRQHandler + ; EXTI Line 15..10 + 120 000000E4 00000000 DCD RTCAlarm_IRQHandler ; RTC Alarm + through EXTI Line + + + +ARM Macro Assembler Page 4 + + + 121 000000E8 00000000 DCD USBWakeUp_IRQHandler ; USB Wake + up from suspend + 122 000000EC __Vectors_End + 123 000000EC + 124 000000EC 000000EC + __Vectors_Size + EQU __Vectors_End - __Vectors + 125 000000EC + 126 000000EC AREA |.text|, CODE, READONLY + 127 00000000 + 128 00000000 ; Reset handler routine + 129 00000000 Reset_Handler + PROC + 130 00000000 EXPORT Reset_Handler [WEAK +] + 131 00000000 IMPORT __main + 132 00000000 IMPORT SystemInit + 133 00000000 4809 LDR R0, =SystemInit + 134 00000002 4780 BLX R0 + 135 00000004 4809 LDR R0, =__main + 136 00000006 4700 BX R0 + 137 00000008 ENDP + 138 00000008 + 139 00000008 ; Dummy Exception Handlers (infinite loops which can be + modified) + 140 00000008 + 141 00000008 NMI_Handler + PROC + 142 00000008 EXPORT NMI_Handler [WEA +K] + 143 00000008 E7FE B . + 144 0000000A ENDP + 146 0000000A HardFault_Handler + PROC + 147 0000000A EXPORT HardFault_Handler [WEA +K] + 148 0000000A E7FE B . + 149 0000000C ENDP + 151 0000000C MemManage_Handler + PROC + 152 0000000C EXPORT MemManage_Handler [WEA +K] + 153 0000000C E7FE B . + 154 0000000E ENDP + 156 0000000E BusFault_Handler + PROC + 157 0000000E EXPORT BusFault_Handler [WEA +K] + 158 0000000E E7FE B . + 159 00000010 ENDP + 161 00000010 UsageFault_Handler + PROC + 162 00000010 EXPORT UsageFault_Handler [WEA +K] + 163 00000010 E7FE B . + 164 00000012 ENDP + 165 00000012 SVC_Handler + PROC + 166 00000012 EXPORT SVC_Handler [WEA + + + +ARM Macro Assembler Page 5 + + +K] + 167 00000012 E7FE B . + 168 00000014 ENDP + 170 00000014 DebugMon_Handler + PROC + 171 00000014 EXPORT DebugMon_Handler [WEA +K] + 172 00000014 E7FE B . + 173 00000016 ENDP + 174 00000016 PendSV_Handler + PROC + 175 00000016 EXPORT PendSV_Handler [WEA +K] + 176 00000016 E7FE B . + 177 00000018 ENDP + 178 00000018 SysTick_Handler + PROC + 179 00000018 EXPORT SysTick_Handler [WEA +K] + 180 00000018 E7FE B . + 181 0000001A ENDP + 182 0000001A + 183 0000001A Default_Handler + PROC + 184 0000001A + 185 0000001A EXPORT WWDG_IRQHandler [WEA +K] + 186 0000001A EXPORT PVD_IRQHandler [WEA +K] + 187 0000001A EXPORT TAMPER_IRQHandler [WEA +K] + 188 0000001A EXPORT RTC_IRQHandler [WEA +K] + 189 0000001A EXPORT FLASH_IRQHandler [WEA +K] + 190 0000001A EXPORT RCC_IRQHandler [WEA +K] + 191 0000001A EXPORT EXTI0_IRQHandler [WEA +K] + 192 0000001A EXPORT EXTI1_IRQHandler [WEA +K] + 193 0000001A EXPORT EXTI2_IRQHandler [WEA +K] + 194 0000001A EXPORT EXTI3_IRQHandler [WEA +K] + 195 0000001A EXPORT EXTI4_IRQHandler [WEA +K] + 196 0000001A EXPORT DMA1_Channel1_IRQHandler [WEA +K] + 197 0000001A EXPORT DMA1_Channel2_IRQHandler [WEA +K] + 198 0000001A EXPORT DMA1_Channel3_IRQHandler [WEA +K] + 199 0000001A EXPORT DMA1_Channel4_IRQHandler [WEA +K] + 200 0000001A EXPORT DMA1_Channel5_IRQHandler [WEA +K] + 201 0000001A EXPORT DMA1_Channel6_IRQHandler [WEA +K] + + + +ARM Macro Assembler Page 6 + + + 202 0000001A EXPORT DMA1_Channel7_IRQHandler [WEA +K] + 203 0000001A EXPORT ADC1_2_IRQHandler [WEA +K] + 204 0000001A EXPORT USB_HP_CAN1_TX_IRQHandler [WEA +K] + 205 0000001A EXPORT USB_LP_CAN1_RX0_IRQHandler [WEA +K] + 206 0000001A EXPORT CAN1_RX1_IRQHandler [WEA +K] + 207 0000001A EXPORT CAN1_SCE_IRQHandler [WEA +K] + 208 0000001A EXPORT EXTI9_5_IRQHandler [WEA +K] + 209 0000001A EXPORT TIM1_BRK_IRQHandler [WEA +K] + 210 0000001A EXPORT TIM1_UP_IRQHandler [WEA +K] + 211 0000001A EXPORT TIM1_TRG_COM_IRQHandler [WEA +K] + 212 0000001A EXPORT TIM1_CC_IRQHandler [WEA +K] + 213 0000001A EXPORT TIM2_IRQHandler [WEA +K] + 214 0000001A EXPORT TIM3_IRQHandler [WEA +K] + 215 0000001A EXPORT I2C1_EV_IRQHandler [WEA +K] + 216 0000001A EXPORT I2C1_ER_IRQHandler [WEA +K] + 217 0000001A EXPORT SPI1_IRQHandler [WEA +K] + 218 0000001A EXPORT USART1_IRQHandler [WEA +K] + 219 0000001A EXPORT USART2_IRQHandler [WEA +K] + 220 0000001A EXPORT EXTI15_10_IRQHandler [WEA +K] + 221 0000001A EXPORT RTCAlarm_IRQHandler [WEA +K] + 222 0000001A EXPORT USBWakeUp_IRQHandler [WEA +K] + 223 0000001A + 224 0000001A WWDG_IRQHandler + 225 0000001A PVD_IRQHandler + 226 0000001A TAMPER_IRQHandler + 227 0000001A RTC_IRQHandler + 228 0000001A FLASH_IRQHandler + 229 0000001A RCC_IRQHandler + 230 0000001A EXTI0_IRQHandler + 231 0000001A EXTI1_IRQHandler + 232 0000001A EXTI2_IRQHandler + 233 0000001A EXTI3_IRQHandler + 234 0000001A EXTI4_IRQHandler + 235 0000001A DMA1_Channel1_IRQHandler + 236 0000001A DMA1_Channel2_IRQHandler + 237 0000001A DMA1_Channel3_IRQHandler + 238 0000001A DMA1_Channel4_IRQHandler + 239 0000001A DMA1_Channel5_IRQHandler + + + +ARM Macro Assembler Page 7 + + + 240 0000001A DMA1_Channel6_IRQHandler + 241 0000001A DMA1_Channel7_IRQHandler + 242 0000001A ADC1_2_IRQHandler + 243 0000001A USB_HP_CAN1_TX_IRQHandler + 244 0000001A USB_LP_CAN1_RX0_IRQHandler + 245 0000001A CAN1_RX1_IRQHandler + 246 0000001A CAN1_SCE_IRQHandler + 247 0000001A EXTI9_5_IRQHandler + 248 0000001A TIM1_BRK_IRQHandler + 249 0000001A TIM1_UP_IRQHandler + 250 0000001A TIM1_TRG_COM_IRQHandler + 251 0000001A TIM1_CC_IRQHandler + 252 0000001A TIM2_IRQHandler + 253 0000001A TIM3_IRQHandler + 254 0000001A I2C1_EV_IRQHandler + 255 0000001A I2C1_ER_IRQHandler + 256 0000001A SPI1_IRQHandler + 257 0000001A USART1_IRQHandler + 258 0000001A USART2_IRQHandler + 259 0000001A EXTI15_10_IRQHandler + 260 0000001A RTCAlarm_IRQHandler + 261 0000001A USBWakeUp_IRQHandler + 262 0000001A + 263 0000001A E7FE B . + 264 0000001C + 265 0000001C ENDP + 266 0000001C + 267 0000001C ALIGN + 268 0000001C + 269 0000001C ;******************************************************* + ************************ + 270 0000001C ; User Stack and Heap initialization + 271 0000001C ;******************************************************* + ************************ + 272 0000001C IF :DEF:__MICROLIB + 279 0000001C + 280 0000001C IMPORT __use_two_region_memory + 281 0000001C EXPORT __user_initial_stackheap + 282 0000001C + 283 0000001C __user_initial_stackheap + 284 0000001C + 285 0000001C 4804 LDR R0, = Heap_Mem + 286 0000001E 4905 LDR R1, =(Stack_Mem + Stack_Size) + 287 00000020 4A05 LDR R2, = (Heap_Mem + Heap_Size) + 288 00000022 4B06 LDR R3, = Stack_Mem + 289 00000024 4770 BX LR + 290 00000026 + 291 00000026 00 00 ALIGN + 292 00000028 + 293 00000028 ENDIF + 294 00000028 + 295 00000028 END + 00000000 + 00000000 + 00000000 + 00000400 + 00000200 + 00000000 +Command Line: --debug --xref --cpu=Cortex-M3 --apcs=interwork --depend=..\Outpu + + + +ARM Macro Assembler Page 8 + + +t\startup_stm32f10x_ld.d -o..\Output\startup_stm32f10x_ld.o -I"E:\Program Files + (x86)\keil\ARM\INC" -I"E:\Program Files (x86)\keil\ARM\INC\ST\STM32F10x" --lis +t=..\Listing\startup_stm32f10x_ld.lst ..\Libraries\CMSIS\startup\startup_stm32f +10x_ld.s + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +STACK 00000000 + +Symbol: STACK + Definitions + At line 35 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: STACK unused +Stack_Mem 00000000 + +Symbol: Stack_Mem + Definitions + At line 36 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 286 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 288 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +__initial_sp 00000400 + +Symbol: __initial_sp + Definitions + At line 37 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 61 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s +Comment: __initial_sp used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +HEAP 00000000 + +Symbol: HEAP + Definitions + At line 46 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: HEAP unused +Heap_Mem 00000000 + +Symbol: Heap_Mem + Definitions + At line 48 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 285 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 287 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +__heap_base 00000000 + +Symbol: __heap_base + Definitions + At line 47 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: __heap_base unused +__heap_limit 00000200 + +Symbol: __heap_limit + Definitions + At line 49 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: __heap_limit unused +4 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +RESET 00000000 + +Symbol: RESET + Definitions + At line 56 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: RESET unused +__Vectors 00000000 + +Symbol: __Vectors + Definitions + At line 61 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 57 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 124 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +__Vectors_End 000000EC + +Symbol: __Vectors_End + Definitions + At line 122 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 58 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 124 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +.text 00000000 + +Symbol: .text + Definitions + At line 126 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: .text unused +ADC1_2_IRQHandler 0000001A + +Symbol: ADC1_2_IRQHandler + Definitions + At line 242 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 97 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 203 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +BusFault_Handler 0000000E + +Symbol: BusFault_Handler + Definitions + At line 156 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 66 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 157 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +CAN1_RX1_IRQHandler 0000001A + +Symbol: CAN1_RX1_IRQHandler + Definitions + At line 245 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 100 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 206 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +CAN1_SCE_IRQHandler 0000001A + +Symbol: CAN1_SCE_IRQHandler + Definitions + At line 246 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 101 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 207 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DMA1_Channel1_IRQHandler 0000001A + +Symbol: DMA1_Channel1_IRQHandler + Definitions + At line 235 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 90 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 196 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DMA1_Channel2_IRQHandler 0000001A + +Symbol: DMA1_Channel2_IRQHandler + Definitions + At line 236 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + + + +ARM Macro Assembler Page 2 Alphabetic symbol ordering +Relocatable symbols + + At line 91 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 197 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DMA1_Channel3_IRQHandler 0000001A + +Symbol: DMA1_Channel3_IRQHandler + Definitions + At line 237 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 92 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 198 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DMA1_Channel4_IRQHandler 0000001A + +Symbol: DMA1_Channel4_IRQHandler + Definitions + At line 238 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 93 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 199 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DMA1_Channel5_IRQHandler 0000001A + +Symbol: DMA1_Channel5_IRQHandler + Definitions + At line 239 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 94 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 200 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DMA1_Channel6_IRQHandler 0000001A + +Symbol: DMA1_Channel6_IRQHandler + Definitions + At line 240 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 95 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 201 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DMA1_Channel7_IRQHandler 0000001A + +Symbol: DMA1_Channel7_IRQHandler + Definitions + At line 241 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 96 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 202 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +DebugMon_Handler 00000014 + +Symbol: DebugMon_Handler + Definitions + At line 170 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 73 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 171 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +Default_Handler 0000001A + + + + +ARM Macro Assembler Page 3 Alphabetic symbol ordering +Relocatable symbols + +Symbol: Default_Handler + Definitions + At line 183 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: Default_Handler unused +EXTI0_IRQHandler 0000001A + +Symbol: EXTI0_IRQHandler + Definitions + At line 230 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 85 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 191 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +EXTI15_10_IRQHandler 0000001A + +Symbol: EXTI15_10_IRQHandler + Definitions + At line 259 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 119 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 220 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +EXTI1_IRQHandler 0000001A + +Symbol: EXTI1_IRQHandler + Definitions + At line 231 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 86 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 192 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +EXTI2_IRQHandler 0000001A + +Symbol: EXTI2_IRQHandler + Definitions + At line 232 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 87 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 193 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +EXTI3_IRQHandler 0000001A + +Symbol: EXTI3_IRQHandler + Definitions + At line 233 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 88 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 194 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +EXTI4_IRQHandler 0000001A + +Symbol: EXTI4_IRQHandler + Definitions + At line 234 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 89 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 195 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + + + +ARM Macro Assembler Page 4 Alphabetic symbol ordering +Relocatable symbols + + +EXTI9_5_IRQHandler 0000001A + +Symbol: EXTI9_5_IRQHandler + Definitions + At line 247 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 102 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 208 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +FLASH_IRQHandler 0000001A + +Symbol: FLASH_IRQHandler + Definitions + At line 228 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 83 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 189 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +HardFault_Handler 0000000A + +Symbol: HardFault_Handler + Definitions + At line 146 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 64 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 147 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +I2C1_ER_IRQHandler 0000001A + +Symbol: I2C1_ER_IRQHandler + Definitions + At line 255 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 111 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 216 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +I2C1_EV_IRQHandler 0000001A + +Symbol: I2C1_EV_IRQHandler + Definitions + At line 254 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 110 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 215 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +MemManage_Handler 0000000C + +Symbol: MemManage_Handler + Definitions + At line 151 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 65 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 152 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +NMI_Handler 00000008 + +Symbol: NMI_Handler + Definitions + + + +ARM Macro Assembler Page 5 Alphabetic symbol ordering +Relocatable symbols + + At line 141 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 63 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 142 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +PVD_IRQHandler 0000001A + +Symbol: PVD_IRQHandler + Definitions + At line 225 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 80 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 186 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +PendSV_Handler 00000016 + +Symbol: PendSV_Handler + Definitions + At line 174 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 75 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 175 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +RCC_IRQHandler 0000001A + +Symbol: RCC_IRQHandler + Definitions + At line 229 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 84 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 190 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +RTCAlarm_IRQHandler 0000001A + +Symbol: RTCAlarm_IRQHandler + Definitions + At line 260 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 120 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 221 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +RTC_IRQHandler 0000001A + +Symbol: RTC_IRQHandler + Definitions + At line 227 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 82 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 188 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +Reset_Handler 00000000 + +Symbol: Reset_Handler + Definitions + At line 129 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 62 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 130 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + + + + +ARM Macro Assembler Page 6 Alphabetic symbol ordering +Relocatable symbols + +SPI1_IRQHandler 0000001A + +Symbol: SPI1_IRQHandler + Definitions + At line 256 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 114 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 217 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +SVC_Handler 00000012 + +Symbol: SVC_Handler + Definitions + At line 165 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 72 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 166 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +SysTick_Handler 00000018 + +Symbol: SysTick_Handler + Definitions + At line 178 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 76 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 179 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +TAMPER_IRQHandler 0000001A + +Symbol: TAMPER_IRQHandler + Definitions + At line 226 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 81 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 187 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +TIM1_BRK_IRQHandler 0000001A + +Symbol: TIM1_BRK_IRQHandler + Definitions + At line 248 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 103 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 209 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +TIM1_CC_IRQHandler 0000001A + +Symbol: TIM1_CC_IRQHandler + Definitions + At line 251 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 106 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 212 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +TIM1_TRG_COM_IRQHandler 0000001A + +Symbol: TIM1_TRG_COM_IRQHandler + Definitions + At line 250 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + + + +ARM Macro Assembler Page 7 Alphabetic symbol ordering +Relocatable symbols + + Uses + At line 105 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 211 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +TIM1_UP_IRQHandler 0000001A + +Symbol: TIM1_UP_IRQHandler + Definitions + At line 249 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 104 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 210 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +TIM2_IRQHandler 0000001A + +Symbol: TIM2_IRQHandler + Definitions + At line 252 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 107 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 213 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +TIM3_IRQHandler 0000001A + +Symbol: TIM3_IRQHandler + Definitions + At line 253 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 108 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 214 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +USART1_IRQHandler 0000001A + +Symbol: USART1_IRQHandler + Definitions + At line 257 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 116 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 218 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +USART2_IRQHandler 0000001A + +Symbol: USART2_IRQHandler + Definitions + At line 258 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 117 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 219 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +USBWakeUp_IRQHandler 0000001A + +Symbol: USBWakeUp_IRQHandler + Definitions + At line 261 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 121 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 222 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +USB_HP_CAN1_TX_IRQHandler 0000001A + + + +ARM Macro Assembler Page 8 Alphabetic symbol ordering +Relocatable symbols + + +Symbol: USB_HP_CAN1_TX_IRQHandler + Definitions + At line 243 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 98 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 204 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +USB_LP_CAN1_RX0_IRQHandler 0000001A + +Symbol: USB_LP_CAN1_RX0_IRQHandler + Definitions + At line 244 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 99 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 205 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +UsageFault_Handler 00000010 + +Symbol: UsageFault_Handler + Definitions + At line 161 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 67 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 162 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +WWDG_IRQHandler 0000001A + +Symbol: WWDG_IRQHandler + Definitions + At line 224 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 79 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 185 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +__user_initial_stackheap 0000001C + +Symbol: __user_initial_stackheap + Definitions + At line 283 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 281 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s +Comment: __user_initial_stackheap used once +51 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Absolute symbols + +Heap_Size 00000200 + +Symbol: Heap_Size + Definitions + At line 44 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 48 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 287 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +Stack_Size 00000400 + +Symbol: Stack_Size + Definitions + At line 33 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 36 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + At line 286 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + +__Vectors_Size 000000EC + +Symbol: __Vectors_Size + Definitions + At line 124 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 59 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s +Comment: __Vectors_Size used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +External symbols + +SystemInit 00000000 + +Symbol: SystemInit + Definitions + At line 132 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 133 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s +Comment: SystemInit used once +__main 00000000 + +Symbol: __main + Definitions + At line 131 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + At line 135 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s +Comment: __main used once +__use_two_region_memory 00000000 + +Symbol: __use_two_region_memory + Definitions + At line 280 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s + Uses + None +Comment: __use_two_region_memory unused +3 symbols +395 symbols in table diff --git a/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_md.lst b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_md.lst new file mode 100644 index 0000000..781fd26 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Listing/startup_stm32f10x_md.lst @@ -0,0 +1,1210 @@ + + + +ARM Macro Assembler Page 1 + + + 1 00000000 ;******************** (C) COPYRIGHT 2011 STMicroelectron + ics ******************** + 2 00000000 ;* File Name : startup_stm32f10x_md.s + 3 00000000 ;* Author : MCD Application Team + 4 00000000 ;* Version : V3.5.0 + 5 00000000 ;* Date : 11-March-2011 + 6 00000000 ;* Description : STM32F10x Medium Density Devices + vector table for MDK-ARM + 7 00000000 ;* toolchain. + 8 00000000 ;* This module performs: + 9 00000000 ;* - Set the initial SP + 10 00000000 ;* - Set the initial PC == Reset_Ha + ndler + 11 00000000 ;* - Set the vector table entries w + ith the exceptions ISR address + 12 00000000 ;* - Configure the clock system + 13 00000000 ;* - Branches to __main in the C li + brary (which eventually + 14 00000000 ;* calls main()). + 15 00000000 ;* After Reset the CortexM3 process + or is in Thread mode, + 16 00000000 ;* priority is Privileged, and the + Stack is set to Main. + 17 00000000 ;* <<< Use Configuration Wizard in Context Menu >>> + 18 00000000 ;******************************************************* + ************************ + 19 00000000 ; THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS A + T PROVIDING CUSTOMERS + 20 00000000 ; WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN OR + DER FOR THEM TO SAVE TIME. + 21 00000000 ; AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIAB + LE FOR ANY DIRECT, + 22 00000000 ; INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY + CLAIMS ARISING FROM THE + 23 00000000 ; CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOM + ERS OF THE CODING + 24 00000000 ; INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR + PRODUCTS. + 25 00000000 ;******************************************************* + ************************ + 26 00000000 + 27 00000000 ; Amount of memory (in bytes) allocated for Stack + 28 00000000 ; Tailor this value to your application needs + 29 00000000 ; Stack Configuration + 30 00000000 ; Stack Size (in Bytes) <0x0-0xFFFFFFFF:8> + 31 00000000 ; + 32 00000000 + 33 00000000 00000400 + Stack_Size + EQU 0x00000400 + 34 00000000 + 35 00000000 AREA STACK, NOINIT, READWRITE, ALIGN +=3 + 36 00000000 Stack_Mem + SPACE Stack_Size + 37 00000400 __initial_sp + 38 00000400 + 39 00000400 + 40 00000400 ; Heap Configuration + + + +ARM Macro Assembler Page 2 + + + 41 00000400 ; Heap Size (in Bytes) <0x0-0xFFFFFFFF:8> + 42 00000400 ; + 43 00000400 + 44 00000400 00000200 + Heap_Size + EQU 0x00000200 + 45 00000400 + 46 00000400 AREA HEAP, NOINIT, READWRITE, ALIGN= +3 + 47 00000000 __heap_base + 48 00000000 Heap_Mem + SPACE Heap_Size + 49 00000200 __heap_limit + 50 00000200 + 51 00000200 PRESERVE8 + 52 00000200 THUMB + 53 00000200 + 54 00000200 + 55 00000200 ; Vector Table Mapped to Address 0 at Reset + 56 00000200 AREA RESET, DATA, READONLY + 57 00000000 EXPORT __Vectors + 58 00000000 EXPORT __Vectors_End + 59 00000000 EXPORT __Vectors_Size + 60 00000000 + 61 00000000 00000000 + __Vectors + DCD __initial_sp ; Top of Stack + 62 00000004 00000000 DCD Reset_Handler ; Reset Handler + 63 00000008 00000000 DCD NMI_Handler ; NMI Handler + 64 0000000C 00000000 DCD HardFault_Handler ; Hard Fault + Handler + 65 00000010 00000000 DCD MemManage_Handler + ; MPU Fault Handler + + 66 00000014 00000000 DCD BusFault_Handler + ; Bus Fault Handler + + 67 00000018 00000000 DCD UsageFault_Handler ; Usage Faul + t Handler + 68 0000001C 00000000 DCD 0 ; Reserved + 69 00000020 00000000 DCD 0 ; Reserved + 70 00000024 00000000 DCD 0 ; Reserved + 71 00000028 00000000 DCD 0 ; Reserved + 72 0000002C 00000000 DCD SVC_Handler ; SVCall Handler + 73 00000030 00000000 DCD DebugMon_Handler ; Debug Monito + r Handler + 74 00000034 00000000 DCD 0 ; Reserved + 75 00000038 00000000 DCD PendSV_Handler ; PendSV Handler + + 76 0000003C 00000000 DCD SysTick_Handler + ; SysTick Handler + 77 00000040 + 78 00000040 ; External Interrupts + 79 00000040 00000000 DCD WWDG_IRQHandler + ; Window Watchdog + 80 00000044 00000000 DCD PVD_IRQHandler ; PVD through EX + TI Line detect + 81 00000048 00000000 DCD TAMPER_IRQHandler ; Tamper + 82 0000004C 00000000 DCD RTC_IRQHandler ; RTC + + + +ARM Macro Assembler Page 3 + + + 83 00000050 00000000 DCD FLASH_IRQHandler ; Flash + 84 00000054 00000000 DCD RCC_IRQHandler ; RCC + 85 00000058 00000000 DCD EXTI0_IRQHandler ; EXTI Line 0 + 86 0000005C 00000000 DCD EXTI1_IRQHandler ; EXTI Line 1 + 87 00000060 00000000 DCD EXTI2_IRQHandler ; EXTI Line 2 + 88 00000064 00000000 DCD EXTI3_IRQHandler ; EXTI Line 3 + 89 00000068 00000000 DCD EXTI4_IRQHandler ; EXTI Line 4 + 90 0000006C 00000000 DCD DMA1_Channel1_IRQHandler + ; DMA1 Channel 1 + 91 00000070 00000000 DCD DMA1_Channel2_IRQHandler + ; DMA1 Channel 2 + 92 00000074 00000000 DCD DMA1_Channel3_IRQHandler + ; DMA1 Channel 3 + 93 00000078 00000000 DCD DMA1_Channel4_IRQHandler + ; DMA1 Channel 4 + 94 0000007C 00000000 DCD DMA1_Channel5_IRQHandler + ; DMA1 Channel 5 + 95 00000080 00000000 DCD DMA1_Channel6_IRQHandler + ; DMA1 Channel 6 + 96 00000084 00000000 DCD DMA1_Channel7_IRQHandler + ; DMA1 Channel 7 + 97 00000088 00000000 DCD ADC1_2_IRQHandler ; ADC1_2 + 98 0000008C 00000000 DCD USB_HP_CAN1_TX_IRQHandler ; USB + High Priority or C + AN1 TX + 99 00000090 00000000 DCD USB_LP_CAN1_RX0_IRQHandler ; US + B Low Priority or + CAN1 RX0 + 100 00000094 00000000 DCD CAN1_RX1_IRQHandler ; CAN1 RX1 + 101 00000098 00000000 DCD CAN1_SCE_IRQHandler ; CAN1 SCE + 102 0000009C 00000000 DCD EXTI9_5_IRQHandler + ; EXTI Line 9..5 + 103 000000A0 00000000 DCD TIM1_BRK_IRQHandler + ; TIM1 Break + 104 000000A4 00000000 DCD TIM1_UP_IRQHandler + ; TIM1 Update + 105 000000A8 00000000 DCD TIM1_TRG_COM_IRQHandler ; TIM1 + Trigger and Commuta + tion + 106 000000AC 00000000 DCD TIM1_CC_IRQHandler ; TIM1 Captu + re Compare + 107 000000B0 00000000 DCD TIM2_IRQHandler ; TIM2 + 108 000000B4 00000000 DCD TIM3_IRQHandler ; TIM3 + 109 000000B8 00000000 DCD TIM4_IRQHandler ; TIM4 + 110 000000BC 00000000 DCD I2C1_EV_IRQHandler ; I2C1 Event + + 111 000000C0 00000000 DCD I2C1_ER_IRQHandler ; I2C1 Error + + 112 000000C4 00000000 DCD I2C2_EV_IRQHandler ; I2C2 Event + + 113 000000C8 00000000 DCD I2C2_ER_IRQHandler ; I2C2 Error + + 114 000000CC 00000000 DCD SPI1_IRQHandler ; SPI1 + 115 000000D0 00000000 DCD SPI2_IRQHandler ; SPI2 + 116 000000D4 00000000 DCD USART1_IRQHandler ; USART1 + 117 000000D8 00000000 DCD USART2_IRQHandler ; USART2 + 118 000000DC 00000000 DCD USART3_IRQHandler ; USART3 + 119 000000E0 00000000 DCD EXTI15_10_IRQHandler + ; EXTI Line 15..10 + + + +ARM Macro Assembler Page 4 + + + 120 000000E4 00000000 DCD RTCAlarm_IRQHandler ; RTC Alarm + through EXTI Line + 121 000000E8 00000000 DCD USBWakeUp_IRQHandler ; USB Wake + up from suspend + 122 000000EC __Vectors_End + 123 000000EC + 124 000000EC 000000EC + __Vectors_Size + EQU __Vectors_End - __Vectors + 125 000000EC + 126 000000EC AREA |.text|, CODE, READONLY + 127 00000000 + 128 00000000 ; Reset handler + 129 00000000 Reset_Handler + PROC + 130 00000000 EXPORT Reset_Handler [WEAK +] + 131 00000000 IMPORT __main + 132 00000000 IMPORT SystemInit + 133 00000000 4809 LDR R0, =SystemInit + 134 00000002 4780 BLX R0 + 135 00000004 4809 LDR R0, =__main + 136 00000006 4700 BX R0 + 137 00000008 ENDP + 138 00000008 + 139 00000008 ; Dummy Exception Handlers (infinite loops which can be + modified) + 140 00000008 + 141 00000008 NMI_Handler + PROC + 142 00000008 EXPORT NMI_Handler [WEA +K] + 143 00000008 E7FE B . + 144 0000000A ENDP + 146 0000000A HardFault_Handler + PROC + 147 0000000A EXPORT HardFault_Handler [WEA +K] + 148 0000000A E7FE B . + 149 0000000C ENDP + 151 0000000C MemManage_Handler + PROC + 152 0000000C EXPORT MemManage_Handler [WEA +K] + 153 0000000C E7FE B . + 154 0000000E ENDP + 156 0000000E BusFault_Handler + PROC + 157 0000000E EXPORT BusFault_Handler [WEA +K] + 158 0000000E E7FE B . + 159 00000010 ENDP + 161 00000010 UsageFault_Handler + PROC + 162 00000010 EXPORT UsageFault_Handler [WEA +K] + 163 00000010 E7FE B . + 164 00000012 ENDP + 165 00000012 SVC_Handler + + + +ARM Macro Assembler Page 5 + + + PROC + 166 00000012 EXPORT SVC_Handler [WEA +K] + 167 00000012 E7FE B . + 168 00000014 ENDP + 170 00000014 DebugMon_Handler + PROC + 171 00000014 EXPORT DebugMon_Handler [WEA +K] + 172 00000014 E7FE B . + 173 00000016 ENDP + 174 00000016 PendSV_Handler + PROC + 175 00000016 EXPORT PendSV_Handler [WEA +K] + 176 00000016 E7FE B . + 177 00000018 ENDP + 178 00000018 SysTick_Handler + PROC + 179 00000018 EXPORT SysTick_Handler [WEA +K] + 180 00000018 E7FE B . + 181 0000001A ENDP + 182 0000001A + 183 0000001A Default_Handler + PROC + 184 0000001A + 185 0000001A EXPORT WWDG_IRQHandler [WEA +K] + 186 0000001A EXPORT PVD_IRQHandler [WEA +K] + 187 0000001A EXPORT TAMPER_IRQHandler [WEA +K] + 188 0000001A EXPORT RTC_IRQHandler [WEA +K] + 189 0000001A EXPORT FLASH_IRQHandler [WEA +K] + 190 0000001A EXPORT RCC_IRQHandler [WEA +K] + 191 0000001A EXPORT EXTI0_IRQHandler [WEA +K] + 192 0000001A EXPORT EXTI1_IRQHandler [WEA +K] + 193 0000001A EXPORT EXTI2_IRQHandler [WEA +K] + 194 0000001A EXPORT EXTI3_IRQHandler [WEA +K] + 195 0000001A EXPORT EXTI4_IRQHandler [WEA +K] + 196 0000001A EXPORT DMA1_Channel1_IRQHandler [WEA +K] + 197 0000001A EXPORT DMA1_Channel2_IRQHandler [WEA +K] + 198 0000001A EXPORT DMA1_Channel3_IRQHandler [WEA +K] + 199 0000001A EXPORT DMA1_Channel4_IRQHandler [WEA +K] + 200 0000001A EXPORT DMA1_Channel5_IRQHandler [WEA +K] + + + +ARM Macro Assembler Page 6 + + + 201 0000001A EXPORT DMA1_Channel6_IRQHandler [WEA +K] + 202 0000001A EXPORT DMA1_Channel7_IRQHandler [WEA +K] + 203 0000001A EXPORT ADC1_2_IRQHandler [WEA +K] + 204 0000001A EXPORT USB_HP_CAN1_TX_IRQHandler [WEA +K] + 205 0000001A EXPORT USB_LP_CAN1_RX0_IRQHandler [WEA +K] + 206 0000001A EXPORT CAN1_RX1_IRQHandler [WEA +K] + 207 0000001A EXPORT CAN1_SCE_IRQHandler [WEA +K] + 208 0000001A EXPORT EXTI9_5_IRQHandler [WEA +K] + 209 0000001A EXPORT TIM1_BRK_IRQHandler [WEA +K] + 210 0000001A EXPORT TIM1_UP_IRQHandler [WEA +K] + 211 0000001A EXPORT TIM1_TRG_COM_IRQHandler [WEA +K] + 212 0000001A EXPORT TIM1_CC_IRQHandler [WEA +K] + 213 0000001A EXPORT TIM2_IRQHandler [WEA +K] + 214 0000001A EXPORT TIM3_IRQHandler [WEA +K] + 215 0000001A EXPORT TIM4_IRQHandler [WEA +K] + 216 0000001A EXPORT I2C1_EV_IRQHandler [WEA +K] + 217 0000001A EXPORT I2C1_ER_IRQHandler [WEA +K] + 218 0000001A EXPORT I2C2_EV_IRQHandler [WEA +K] + 219 0000001A EXPORT I2C2_ER_IRQHandler [WEA +K] + 220 0000001A EXPORT SPI1_IRQHandler [WEA +K] + 221 0000001A EXPORT SPI2_IRQHandler [WEA +K] + 222 0000001A EXPORT USART1_IRQHandler [WEA +K] + 223 0000001A EXPORT USART2_IRQHandler [WEA +K] + 224 0000001A EXPORT USART3_IRQHandler [WEA +K] + 225 0000001A EXPORT EXTI15_10_IRQHandler [WEA +K] + 226 0000001A EXPORT RTCAlarm_IRQHandler [WEA +K] + 227 0000001A EXPORT USBWakeUp_IRQHandler [WEA +K] + 228 0000001A + 229 0000001A WWDG_IRQHandler + 230 0000001A PVD_IRQHandler + 231 0000001A TAMPER_IRQHandler + 232 0000001A RTC_IRQHandler + + + +ARM Macro Assembler Page 7 + + + 233 0000001A FLASH_IRQHandler + 234 0000001A RCC_IRQHandler + 235 0000001A EXTI0_IRQHandler + 236 0000001A EXTI1_IRQHandler + 237 0000001A EXTI2_IRQHandler + 238 0000001A EXTI3_IRQHandler + 239 0000001A EXTI4_IRQHandler + 240 0000001A DMA1_Channel1_IRQHandler + 241 0000001A DMA1_Channel2_IRQHandler + 242 0000001A DMA1_Channel3_IRQHandler + 243 0000001A DMA1_Channel4_IRQHandler + 244 0000001A DMA1_Channel5_IRQHandler + 245 0000001A DMA1_Channel6_IRQHandler + 246 0000001A DMA1_Channel7_IRQHandler + 247 0000001A ADC1_2_IRQHandler + 248 0000001A USB_HP_CAN1_TX_IRQHandler + 249 0000001A USB_LP_CAN1_RX0_IRQHandler + 250 0000001A CAN1_RX1_IRQHandler + 251 0000001A CAN1_SCE_IRQHandler + 252 0000001A EXTI9_5_IRQHandler + 253 0000001A TIM1_BRK_IRQHandler + 254 0000001A TIM1_UP_IRQHandler + 255 0000001A TIM1_TRG_COM_IRQHandler + 256 0000001A TIM1_CC_IRQHandler + 257 0000001A TIM2_IRQHandler + 258 0000001A TIM3_IRQHandler + 259 0000001A TIM4_IRQHandler + 260 0000001A I2C1_EV_IRQHandler + 261 0000001A I2C1_ER_IRQHandler + 262 0000001A I2C2_EV_IRQHandler + 263 0000001A I2C2_ER_IRQHandler + 264 0000001A SPI1_IRQHandler + 265 0000001A SPI2_IRQHandler + 266 0000001A USART1_IRQHandler + 267 0000001A USART2_IRQHandler + 268 0000001A USART3_IRQHandler + 269 0000001A EXTI15_10_IRQHandler + 270 0000001A RTCAlarm_IRQHandler + 271 0000001A USBWakeUp_IRQHandler + 272 0000001A + 273 0000001A E7FE B . + 274 0000001C + 275 0000001C ENDP + 276 0000001C + 277 0000001C ALIGN + 278 0000001C + 279 0000001C ;******************************************************* + ************************ + 280 0000001C ; User Stack and Heap initialization + 281 0000001C ;******************************************************* + ************************ + 282 0000001C IF :DEF:__MICROLIB + 289 0000001C + 290 0000001C IMPORT __use_two_region_memory + 291 0000001C EXPORT __user_initial_stackheap + 292 0000001C + 293 0000001C __user_initial_stackheap + 294 0000001C + 295 0000001C 4804 LDR R0, = Heap_Mem + + + +ARM Macro Assembler Page 8 + + + 296 0000001E 4905 LDR R1, =(Stack_Mem + Stack_Size) + 297 00000020 4A05 LDR R2, = (Heap_Mem + Heap_Size) + 298 00000022 4B06 LDR R3, = Stack_Mem + 299 00000024 4770 BX LR + 300 00000026 + 301 00000026 00 00 ALIGN + 302 00000028 + 303 00000028 ENDIF + 304 00000028 + 305 00000028 END + 00000000 + 00000000 + 00000000 + 00000400 + 00000200 + 00000000 +Command Line: --debug --xref --diag_suppress=9931 --cpu=Cortex-M3 --apcs=interw +ork --depend=..\output\startup_stm32f10x_md.d -o..\output\startup_stm32f10x_md. +o -ID:\ϿƼ\С\ķС\\ɫ4-1\Project\RTE +-IC:\Keil\Keil\STM32F1xx_DFP\1.0.5\Device\Include -IC:\Keil\ARM\CMSIS\Include - +-predefine="__UVISION_VERSION SETA 514" --predefine="STM32F10X_MD SETA 1" --lis +t=..\listing\startup_stm32f10x_md.lst ..\Libraries\CMSIS\startup\startup_stm32f +10x_md.s + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +STACK 00000000 + +Symbol: STACK + Definitions + At line 35 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: STACK unused +Stack_Mem 00000000 + +Symbol: Stack_Mem + Definitions + At line 36 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 296 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 298 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +__initial_sp 00000400 + +Symbol: __initial_sp + Definitions + At line 37 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 61 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s +Comment: __initial_sp used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +HEAP 00000000 + +Symbol: HEAP + Definitions + At line 46 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: HEAP unused +Heap_Mem 00000000 + +Symbol: Heap_Mem + Definitions + At line 48 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 295 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 297 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +__heap_base 00000000 + +Symbol: __heap_base + Definitions + At line 47 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: __heap_base unused +__heap_limit 00000200 + +Symbol: __heap_limit + Definitions + At line 49 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: __heap_limit unused +4 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +RESET 00000000 + +Symbol: RESET + Definitions + At line 56 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: RESET unused +__Vectors 00000000 + +Symbol: __Vectors + Definitions + At line 61 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 57 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 124 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +__Vectors_End 000000EC + +Symbol: __Vectors_End + Definitions + At line 122 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 58 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 124 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Relocatable symbols + +.text 00000000 + +Symbol: .text + Definitions + At line 126 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: .text unused +ADC1_2_IRQHandler 0000001A + +Symbol: ADC1_2_IRQHandler + Definitions + At line 247 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 97 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 203 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +BusFault_Handler 0000000E + +Symbol: BusFault_Handler + Definitions + At line 156 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 66 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 157 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +CAN1_RX1_IRQHandler 0000001A + +Symbol: CAN1_RX1_IRQHandler + Definitions + At line 250 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 100 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 206 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +CAN1_SCE_IRQHandler 0000001A + +Symbol: CAN1_SCE_IRQHandler + Definitions + At line 251 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 101 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 207 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DMA1_Channel1_IRQHandler 0000001A + +Symbol: DMA1_Channel1_IRQHandler + Definitions + At line 240 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 90 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 196 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DMA1_Channel2_IRQHandler 0000001A + +Symbol: DMA1_Channel2_IRQHandler + Definitions + At line 241 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + + + +ARM Macro Assembler Page 2 Alphabetic symbol ordering +Relocatable symbols + + At line 91 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 197 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DMA1_Channel3_IRQHandler 0000001A + +Symbol: DMA1_Channel3_IRQHandler + Definitions + At line 242 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 92 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 198 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DMA1_Channel4_IRQHandler 0000001A + +Symbol: DMA1_Channel4_IRQHandler + Definitions + At line 243 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 93 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 199 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DMA1_Channel5_IRQHandler 0000001A + +Symbol: DMA1_Channel5_IRQHandler + Definitions + At line 244 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 94 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 200 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DMA1_Channel6_IRQHandler 0000001A + +Symbol: DMA1_Channel6_IRQHandler + Definitions + At line 245 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 95 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 201 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DMA1_Channel7_IRQHandler 0000001A + +Symbol: DMA1_Channel7_IRQHandler + Definitions + At line 246 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 96 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 202 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +DebugMon_Handler 00000014 + +Symbol: DebugMon_Handler + Definitions + At line 170 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 73 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 171 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +Default_Handler 0000001A + + + + +ARM Macro Assembler Page 3 Alphabetic symbol ordering +Relocatable symbols + +Symbol: Default_Handler + Definitions + At line 183 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: Default_Handler unused +EXTI0_IRQHandler 0000001A + +Symbol: EXTI0_IRQHandler + Definitions + At line 235 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 85 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 191 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +EXTI15_10_IRQHandler 0000001A + +Symbol: EXTI15_10_IRQHandler + Definitions + At line 269 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 119 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 225 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +EXTI1_IRQHandler 0000001A + +Symbol: EXTI1_IRQHandler + Definitions + At line 236 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 86 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 192 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +EXTI2_IRQHandler 0000001A + +Symbol: EXTI2_IRQHandler + Definitions + At line 237 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 87 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 193 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +EXTI3_IRQHandler 0000001A + +Symbol: EXTI3_IRQHandler + Definitions + At line 238 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 88 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 194 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +EXTI4_IRQHandler 0000001A + +Symbol: EXTI4_IRQHandler + Definitions + At line 239 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 89 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 195 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + + + +ARM Macro Assembler Page 4 Alphabetic symbol ordering +Relocatable symbols + + +EXTI9_5_IRQHandler 0000001A + +Symbol: EXTI9_5_IRQHandler + Definitions + At line 252 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 102 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 208 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +FLASH_IRQHandler 0000001A + +Symbol: FLASH_IRQHandler + Definitions + At line 233 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 83 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 189 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +HardFault_Handler 0000000A + +Symbol: HardFault_Handler + Definitions + At line 146 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 64 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 147 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +I2C1_ER_IRQHandler 0000001A + +Symbol: I2C1_ER_IRQHandler + Definitions + At line 261 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 111 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 217 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +I2C1_EV_IRQHandler 0000001A + +Symbol: I2C1_EV_IRQHandler + Definitions + At line 260 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 110 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 216 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +I2C2_ER_IRQHandler 0000001A + +Symbol: I2C2_ER_IRQHandler + Definitions + At line 263 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 113 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 219 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +I2C2_EV_IRQHandler 0000001A + +Symbol: I2C2_EV_IRQHandler + Definitions + + + +ARM Macro Assembler Page 5 Alphabetic symbol ordering +Relocatable symbols + + At line 262 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 112 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 218 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +MemManage_Handler 0000000C + +Symbol: MemManage_Handler + Definitions + At line 151 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 65 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 152 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +NMI_Handler 00000008 + +Symbol: NMI_Handler + Definitions + At line 141 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 63 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 142 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +PVD_IRQHandler 0000001A + +Symbol: PVD_IRQHandler + Definitions + At line 230 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 80 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 186 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +PendSV_Handler 00000016 + +Symbol: PendSV_Handler + Definitions + At line 174 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 75 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 175 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +RCC_IRQHandler 0000001A + +Symbol: RCC_IRQHandler + Definitions + At line 234 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 84 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 190 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +RTCAlarm_IRQHandler 0000001A + +Symbol: RTCAlarm_IRQHandler + Definitions + At line 270 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 120 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 226 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + + + + +ARM Macro Assembler Page 6 Alphabetic symbol ordering +Relocatable symbols + +RTC_IRQHandler 0000001A + +Symbol: RTC_IRQHandler + Definitions + At line 232 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 82 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 188 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +Reset_Handler 00000000 + +Symbol: Reset_Handler + Definitions + At line 129 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 62 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 130 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +SPI1_IRQHandler 0000001A + +Symbol: SPI1_IRQHandler + Definitions + At line 264 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 114 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 220 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +SPI2_IRQHandler 0000001A + +Symbol: SPI2_IRQHandler + Definitions + At line 265 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 115 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 221 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +SVC_Handler 00000012 + +Symbol: SVC_Handler + Definitions + At line 165 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 72 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 166 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +SysTick_Handler 00000018 + +Symbol: SysTick_Handler + Definitions + At line 178 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 76 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 179 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TAMPER_IRQHandler 0000001A + +Symbol: TAMPER_IRQHandler + Definitions + At line 231 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + + + +ARM Macro Assembler Page 7 Alphabetic symbol ordering +Relocatable symbols + + Uses + At line 81 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 187 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TIM1_BRK_IRQHandler 0000001A + +Symbol: TIM1_BRK_IRQHandler + Definitions + At line 253 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 103 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 209 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TIM1_CC_IRQHandler 0000001A + +Symbol: TIM1_CC_IRQHandler + Definitions + At line 256 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 106 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 212 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TIM1_TRG_COM_IRQHandler 0000001A + +Symbol: TIM1_TRG_COM_IRQHandler + Definitions + At line 255 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 105 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 211 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TIM1_UP_IRQHandler 0000001A + +Symbol: TIM1_UP_IRQHandler + Definitions + At line 254 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 104 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 210 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TIM2_IRQHandler 0000001A + +Symbol: TIM2_IRQHandler + Definitions + At line 257 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 107 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 213 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TIM3_IRQHandler 0000001A + +Symbol: TIM3_IRQHandler + Definitions + At line 258 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 108 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 214 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +TIM4_IRQHandler 0000001A + + + +ARM Macro Assembler Page 8 Alphabetic symbol ordering +Relocatable symbols + + +Symbol: TIM4_IRQHandler + Definitions + At line 259 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 109 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 215 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +USART1_IRQHandler 0000001A + +Symbol: USART1_IRQHandler + Definitions + At line 266 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 116 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 222 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +USART2_IRQHandler 0000001A + +Symbol: USART2_IRQHandler + Definitions + At line 267 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 117 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 223 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +USART3_IRQHandler 0000001A + +Symbol: USART3_IRQHandler + Definitions + At line 268 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 118 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 224 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +USBWakeUp_IRQHandler 0000001A + +Symbol: USBWakeUp_IRQHandler + Definitions + At line 271 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 121 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 227 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +USB_HP_CAN1_TX_IRQHandler 0000001A + +Symbol: USB_HP_CAN1_TX_IRQHandler + Definitions + At line 248 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 98 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 204 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +USB_LP_CAN1_RX0_IRQHandler 0000001A + +Symbol: USB_LP_CAN1_RX0_IRQHandler + Definitions + At line 249 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + + + +ARM Macro Assembler Page 9 Alphabetic symbol ordering +Relocatable symbols + + At line 99 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 205 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +UsageFault_Handler 00000010 + +Symbol: UsageFault_Handler + Definitions + At line 161 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 67 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 162 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +WWDG_IRQHandler 0000001A + +Symbol: WWDG_IRQHandler + Definitions + At line 229 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 79 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 185 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +__user_initial_stackheap 0000001C + +Symbol: __user_initial_stackheap + Definitions + At line 293 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 291 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s +Comment: __user_initial_stackheap used once +56 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +Absolute symbols + +Heap_Size 00000200 + +Symbol: Heap_Size + Definitions + At line 44 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 48 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 297 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +Stack_Size 00000400 + +Symbol: Stack_Size + Definitions + At line 33 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 36 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + At line 296 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + +__Vectors_Size 000000EC + +Symbol: __Vectors_Size + Definitions + At line 124 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 59 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s +Comment: __Vectors_Size used once +3 symbols + + + +ARM Macro Assembler Page 1 Alphabetic symbol ordering +External symbols + +SystemInit 00000000 + +Symbol: SystemInit + Definitions + At line 132 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 133 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s +Comment: SystemInit used once +__main 00000000 + +Symbol: __main + Definitions + At line 131 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + At line 135 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s +Comment: __main used once +__use_two_region_memory 00000000 + +Symbol: __use_two_region_memory + Definitions + At line 290 in file ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s + Uses + None +Comment: __use_two_region_memory unused +3 symbols +408 symbols in table diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/CONTROL/control.c b/GeBalanceBot_Firmware v1.0/MiniBalance/CONTROL/control.c new file mode 100644 index 0000000..17037ec --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/CONTROL/control.c @@ -0,0 +1,208 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : control.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.06 zhanli: Create +* Comments : 平衡车控制代码 +********************************************************************************/ +#include "control.h" +float Angle_Balance,Gyro_Balance; +u8 Flag_Stop=1; +/************************************************************************** +Function: Control function +Input : none +Output : none +函数功能：所有的控制代码都在这里面 + 5ms定时中断由MPU6050的INT引脚触发 + 严格保证采样和数据处理的时间同步 +入口参数：无 +返回 值：无 +**************************************************************************/ +int EXTI15_10_IRQHandler(void) +{ + static u8 Flag_Target; // 控制函数相关变量，提供10ms基准 + int Balance_Pwm,Velocity_Pwm; // 平衡环PWM变量，速度环PWM变量 + int Motor_Left,Motor_Right; // 电机PWM变量 应是Motor的 向Moto致敬 + +// if(INT==0) + { + EXTI->PR=1<<12; // 清除中断标志位 + Flag_Target=!Flag_Target; + Get_Angle(); // 更新姿态 5ms读取一次 +// Encoder_Left = -Read_Encoder(2); // 读取左轮编码器的值，前进为正，后退为负 +// Encoder_Right = -Read_Encoder(4); // 读取右轮编码器的值，前进为正，后退为负 + // 左轮A相接TIM2_CH1,右轮A相接TIM4_CH2,故这里两个编码器的极性相同 + if(Flag_Target==1) // 实际上10ms控制一次 + return 0; + + // 扫描按键状态 单击可启停电机 + // Key(); + + Balance_Pwm = Balance(Angle_Balance,Gyro_Balance); //平衡PID控制 Gyro_Balance平衡角速度极性：前倾为正，后倾为负 + Velocity_Pwm = Velocity(Encoder_Left,Encoder_Right);//速度环PID控制 记住，速度反馈是正反馈，就是小车快的时候要慢下来就需要再跑快一点 + + Motor_Left=Balance_Pwm+Velocity_Pwm; //计算左轮电机最终PWM + Motor_Right=Balance_Pwm+Velocity_Pwm; //计算右轮电机最终PWM + + // PWM限幅 + Motor_Left = PWM_Limit(Motor_Left,6900,-6900); + Motor_Right = PWM_Limit(Motor_Right,6900,-6900); + + if(Turn_Off(Angle_Balance)==0) //如果不存在异常 + Set_Pwm(Motor_Left,Motor_Right); //赋值给PWM寄存器 + } + return 0; +} + +/************************************************************************** +Function: Vertical PD control +Input : Angle:angle；Gyro：angular velocity +Output : none +函数功能：直立PD控制 +入口参数：Angle:角度；Gyro：角速度 +返回 值：无 +**************************************************************************/ +int Balance(float Angle,float Gyro) +{ + float Balance_Kp = 225,Balance_Kd = 1.08;// 直立环PD参数 + float Angle_bias,Gyro_bias; + int balance; + // 求出平衡的角度中值 和机械相关 + Angle_bias = Middle_angle-Angle; + Gyro_bias = 0 - Gyro; + // 计算平衡控制的电机PWM PD控制 kp是P系数 kd是D系数 + balance =-Balance_Kp*Angle_bias-Gyro_bias*Balance_Kd; + return balance; +} + +/************************************************************************** +Function: Speed PI control +Input : encoder_left：Left wheel encoder reading；encoder_right：Right wheel encoder reading +Output : Speed control PWM +函数功能：速度控制PWM +入口参数：encoder_left：左轮编码器读数；encoder_right：右轮编码器读数 +返回 值：速度控制PWM +**************************************************************************/ +int Velocity(int encoder_left,int encoder_right) +{ + float Velocity_Kp=160,Velocity_Ki=0.8;//速度环PI参数 + static float velocity,Encoder_Least,Encoder_bias; + static float Encoder_Integral; + //=============速度PI控制器=======================// + Encoder_Least =0-(encoder_left+encoder_right); //获取最新速度偏差==测量速度（左右编码器之和）-目标速度（此处为零） + Encoder_bias *= 0.8; //一阶低通滤波器 + Encoder_bias += Encoder_Least*0.2; //一阶低通滤波器 + //相当于上次偏差的0.8 + 本次偏差的0.2，减缓速度差值，减少对直立的干扰 + Encoder_Integral +=Encoder_bias; //积分出位移 积分时间：10ms + if(Encoder_Integral>10000) Encoder_Integral=10000; //积分限幅 + if(Encoder_Integral<-10000) Encoder_Integral=-10000; //积分限幅 + velocity=-Encoder_bias*Velocity_Kp-Encoder_Integral*Velocity_Ki; //速度控制 + if(Turn_Off(Angle_Balance)==1||Flag_Stop==1) Encoder_Integral=0; //电机关闭后清除积分 + return velocity; +} + +/************************************************************************** +Function: Assign to PWM register +Input : motor_left：Left wheel PWM；motor_right：Right wheel PWM +Output : none +函数功能：赋值给PWM寄存器 +入口参数：左轮PWM、右轮PWM +返回 值：无 +**************************************************************************/ +void Set_Pwm(int motor_left,int motor_right) +{ +// if(motor_left>0) BIN1=1, BIN2=0; //前进 +// else BIN1=0, BIN2=1; //后退 +// PWMB=myabs(motor_left); +// if(motor_right>0) AIN2=1, AIN1=0; //前进 +// else AIN2=0, AIN1=1; //后退 +// PWMA=myabs(motor_right); +} + +/************************************************************************** +Function: PWM limiting range +Input : IN：Input max：Maximum value min：Minimum value +Output : Output +函数功能：限制PWM赋值 +入口参数：IN：输入参数 max：限幅最大值 min：限幅最小值 +返回 值：限幅后的值 +**************************************************************************/ +int PWM_Limit(int IN,int max,int min) +{ + int OUT = IN; + if(OUT>max) OUT = max; + if(OUT40||1==Flag_Stop)//倾角大于40度关闭电机 + { //Flag_Stop置1关闭电机 + temp=1; +// AIN1=0; +// AIN2=0; +// BIN1=0; +// BIN2=0; + } + else + temp=0; + return temp; +} + +/************************************************************************** +Function: Get angle +Input : way：The algorithm of getting angle 1：DMP 2：kalman 3：Complementary filtering +Output : none +函数功能：获取角度 +入口参数：无 +返回 值：无 +**************************************************************************/ +void Get_Angle(void) +{ + Read_DMP(); //读取加速度、角速度、倾角 + Angle_Balance=Pitch; //更新平衡倾角,前倾为正，后倾为负 + Gyro_Balance=gyro[0]; //更新平衡角速度,前倾为正，后倾为负 +} + +/************************************************************************** +Function: Absolute value function +Input : a：Number to be converted +Output : unsigned int +函数功能：绝对值函数 +入口参数：a：需要计算绝对值的数 +返回 值：无符号整型 +**************************************************************************/ +int myabs(int a) +{ + int temp; + if(a < 0){ + temp = -a; + }else{ + temp = a; + } + return temp; +} diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/CONTROL/control.h b/GeBalanceBot_Firmware v1.0/MiniBalance/CONTROL/control.h new file mode 100644 index 0000000..21104bb --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/CONTROL/control.h @@ -0,0 +1,34 @@ +/*********************************************** +˾ȤƼݸ޹˾ +ƷƣWHEELTEC +wheeltec.net +Ա̣shop114407458.taobao.com +ͨ: https://minibalance.aliexpress.com/store/4455017 +汾5.7 +޸ʱ䣺2021-04-29 + + +Brand: WHEELTEC +Website: wheeltec.net +Taobao shop: shop114407458.taobao.com +Aliexpress: https://minibalance.aliexpress.com/store/4455017 +Version:5.7 +Update2021-04-29 + +All rights reserved +***********************************************/ +#ifndef __CONTROL_H__ +#define __CONTROL_H__ +#include "sys.h" + +#define Middle_angle 0 +int EXTI15_10_IRQHandler(void); +int Balance(float angle,float gyro); +int Velocity(int encoder_left,int encoder_right); +void Set_Pwm(int motor_left,int motor_right); +void Key(void); +int PWM_Limit(int IN,int max,int min); +u8 Turn_Off(float angle); +void Get_Angle(void); +int myabs(int a); +#endif diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/dmpKey.h b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/dmpKey.h new file mode 100644 index 0000000..c8f62a2 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/dmpKey.h @@ -0,0 +1,494 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPKEY_H__ +#define DMPKEY_H__ + +#define KEY_CFG_25 (0) +#define KEY_CFG_24 (KEY_CFG_25 + 1) +#define KEY_CFG_26 (KEY_CFG_24 + 1) +#define KEY_CFG_27 (KEY_CFG_26 + 1) +#define KEY_CFG_21 (KEY_CFG_27 + 1) +#define KEY_CFG_20 (KEY_CFG_21 + 1) +#define KEY_CFG_TAP4 (KEY_CFG_20 + 1) +#define KEY_CFG_TAP5 (KEY_CFG_TAP4 + 1) +#define KEY_CFG_TAP6 (KEY_CFG_TAP5 + 1) +#define KEY_CFG_TAP7 (KEY_CFG_TAP6 + 1) +#define KEY_CFG_TAP0 (KEY_CFG_TAP7 + 1) +#define KEY_CFG_TAP1 (KEY_CFG_TAP0 + 1) +#define KEY_CFG_TAP2 (KEY_CFG_TAP1 + 1) +#define KEY_CFG_TAP3 (KEY_CFG_TAP2 + 1) +#define KEY_CFG_TAP_QUANTIZE (KEY_CFG_TAP3 + 1) +#define KEY_CFG_TAP_JERK (KEY_CFG_TAP_QUANTIZE + 1) +#define KEY_CFG_DR_INT (KEY_CFG_TAP_JERK + 1) +#define KEY_CFG_AUTH (KEY_CFG_DR_INT + 1) +#define KEY_CFG_TAP_SAVE_ACCB (KEY_CFG_AUTH + 1) +#define KEY_CFG_TAP_CLEAR_STICKY (KEY_CFG_TAP_SAVE_ACCB + 1) +#define KEY_CFG_FIFO_ON_EVENT (KEY_CFG_TAP_CLEAR_STICKY + 1) +#define KEY_FCFG_ACCEL_INPUT (KEY_CFG_FIFO_ON_EVENT + 1) +#define KEY_FCFG_ACCEL_INIT (KEY_FCFG_ACCEL_INPUT + 1) +#define KEY_CFG_23 (KEY_FCFG_ACCEL_INIT + 1) +#define KEY_FCFG_1 (KEY_CFG_23 + 1) +#define KEY_FCFG_3 (KEY_FCFG_1 + 1) +#define KEY_FCFG_2 (KEY_FCFG_3 + 1) +#define KEY_CFG_3D (KEY_FCFG_2 + 1) +#define KEY_CFG_3B (KEY_CFG_3D + 1) +#define KEY_CFG_3C (KEY_CFG_3B + 1) +#define KEY_FCFG_5 (KEY_CFG_3C + 1) +#define KEY_FCFG_4 (KEY_FCFG_5 + 1) +#define KEY_FCFG_7 (KEY_FCFG_4 + 1) +#define KEY_FCFG_FSCALE (KEY_FCFG_7 + 1) +#define KEY_FCFG_AZ (KEY_FCFG_FSCALE + 1) +#define KEY_FCFG_6 (KEY_FCFG_AZ + 1) +#define KEY_FCFG_LSB4 (KEY_FCFG_6 + 1) +#define KEY_CFG_12 (KEY_FCFG_LSB4 + 1) +#define KEY_CFG_14 (KEY_CFG_12 + 1) +#define KEY_CFG_15 (KEY_CFG_14 + 1) +#define KEY_CFG_16 (KEY_CFG_15 + 1) +#define KEY_CFG_18 (KEY_CFG_16 + 1) +#define KEY_CFG_6 (KEY_CFG_18 + 1) +#define KEY_CFG_7 (KEY_CFG_6 + 1) +#define KEY_CFG_4 (KEY_CFG_7 + 1) +#define KEY_CFG_5 (KEY_CFG_4 + 1) +#define KEY_CFG_2 (KEY_CFG_5 + 1) +#define KEY_CFG_3 (KEY_CFG_2 + 1) +#define KEY_CFG_1 (KEY_CFG_3 + 1) +#define KEY_CFG_EXTERNAL (KEY_CFG_1 + 1) +#define KEY_CFG_8 (KEY_CFG_EXTERNAL + 1) +#define KEY_CFG_9 (KEY_CFG_8 + 1) +#define KEY_CFG_ORIENT_3 (KEY_CFG_9 + 1) +#define KEY_CFG_ORIENT_2 (KEY_CFG_ORIENT_3 + 1) +#define KEY_CFG_ORIENT_1 (KEY_CFG_ORIENT_2 + 1) +#define KEY_CFG_GYRO_SOURCE (KEY_CFG_ORIENT_1 + 1) +#define KEY_CFG_ORIENT_IRQ_1 (KEY_CFG_GYRO_SOURCE + 1) +#define KEY_CFG_ORIENT_IRQ_2 (KEY_CFG_ORIENT_IRQ_1 + 1) +#define KEY_CFG_ORIENT_IRQ_3 (KEY_CFG_ORIENT_IRQ_2 + 1) +#define KEY_FCFG_MAG_VAL (KEY_CFG_ORIENT_IRQ_3 + 1) +#define KEY_FCFG_MAG_MOV (KEY_FCFG_MAG_VAL + 1) +#define KEY_CFG_LP_QUAT (KEY_FCFG_MAG_MOV + 1) + +/* MPU6050 keys */ +#define KEY_CFG_ACCEL_FILTER (KEY_CFG_LP_QUAT + 1) +#define KEY_CFG_MOTION_BIAS (KEY_CFG_ACCEL_FILTER + 1) +#define KEY_TEMPLABEL (KEY_CFG_MOTION_BIAS + 1) + +#define KEY_D_0_22 (KEY_TEMPLABEL + 1) +#define KEY_D_0_24 (KEY_D_0_22 + 1) +#define KEY_D_0_36 (KEY_D_0_24 + 1) +#define KEY_D_0_52 (KEY_D_0_36 + 1) +#define KEY_D_0_96 (KEY_D_0_52 + 1) +#define KEY_D_0_104 (KEY_D_0_96 + 1) +#define KEY_D_0_108 (KEY_D_0_104 + 1) +#define KEY_D_0_163 (KEY_D_0_108 + 1) +#define KEY_D_0_188 (KEY_D_0_163 + 1) +#define KEY_D_0_192 (KEY_D_0_188 + 1) +#define KEY_D_0_224 (KEY_D_0_192 + 1) +#define KEY_D_0_228 (KEY_D_0_224 + 1) +#define KEY_D_0_232 (KEY_D_0_228 + 1) +#define KEY_D_0_236 (KEY_D_0_232 + 1) + +#define KEY_DMP_PREVPTAT (KEY_D_0_236 + 1) +#define KEY_D_1_2 (KEY_DMP_PREVPTAT + 1) +#define KEY_D_1_4 (KEY_D_1_2 + 1) +#define KEY_D_1_8 (KEY_D_1_4 + 1) +#define KEY_D_1_10 (KEY_D_1_8 + 1) +#define KEY_D_1_24 (KEY_D_1_10 + 1) +#define KEY_D_1_28 (KEY_D_1_24 + 1) +#define KEY_D_1_36 (KEY_D_1_28 + 1) +#define KEY_D_1_40 (KEY_D_1_36 + 1) +#define KEY_D_1_44 (KEY_D_1_40 + 1) +#define KEY_D_1_72 (KEY_D_1_44 + 1) +#define KEY_D_1_74 (KEY_D_1_72 + 1) +#define KEY_D_1_79 (KEY_D_1_74 + 1) +#define KEY_D_1_88 (KEY_D_1_79 + 1) +#define KEY_D_1_90 (KEY_D_1_88 + 1) +#define KEY_D_1_92 (KEY_D_1_90 + 1) +#define KEY_D_1_96 (KEY_D_1_92 + 1) +#define KEY_D_1_98 (KEY_D_1_96 + 1) +#define KEY_D_1_100 (KEY_D_1_98 + 1) +#define KEY_D_1_106 (KEY_D_1_100 + 1) +#define KEY_D_1_108 (KEY_D_1_106 + 1) +#define KEY_D_1_112 (KEY_D_1_108 + 1) +#define KEY_D_1_128 (KEY_D_1_112 + 1) +#define KEY_D_1_152 (KEY_D_1_128 + 1) +#define KEY_D_1_160 (KEY_D_1_152 + 1) +#define KEY_D_1_168 (KEY_D_1_160 + 1) +#define KEY_D_1_175 (KEY_D_1_168 + 1) +#define KEY_D_1_176 (KEY_D_1_175 + 1) +#define KEY_D_1_178 (KEY_D_1_176 + 1) +#define KEY_D_1_179 (KEY_D_1_178 + 1) +#define KEY_D_1_218 (KEY_D_1_179 + 1) +#define KEY_D_1_232 (KEY_D_1_218 + 1) +#define KEY_D_1_236 (KEY_D_1_232 + 1) +#define KEY_D_1_240 (KEY_D_1_236 + 1) +#define KEY_D_1_244 (KEY_D_1_240 + 1) +#define KEY_D_1_250 (KEY_D_1_244 + 1) +#define KEY_D_1_252 (KEY_D_1_250 + 1) +#define KEY_D_2_12 (KEY_D_1_252 + 1) +#define KEY_D_2_96 (KEY_D_2_12 + 1) +#define KEY_D_2_108 (KEY_D_2_96 + 1) +#define KEY_D_2_208 (KEY_D_2_108 + 1) +#define KEY_FLICK_MSG (KEY_D_2_208 + 1) +#define KEY_FLICK_COUNTER (KEY_FLICK_MSG + 1) +#define KEY_FLICK_LOWER (KEY_FLICK_COUNTER + 1) +#define KEY_CFG_FLICK_IN (KEY_FLICK_LOWER + 1) +#define KEY_FLICK_UPPER (KEY_CFG_FLICK_IN + 1) +#define KEY_CGNOTICE_INTR (KEY_FLICK_UPPER + 1) +#define KEY_D_2_224 (KEY_CGNOTICE_INTR + 1) +#define KEY_D_2_244 (KEY_D_2_224 + 1) +#define KEY_D_2_248 (KEY_D_2_244 + 1) +#define KEY_D_2_252 (KEY_D_2_248 + 1) + +#define KEY_D_GYRO_BIAS_X (KEY_D_2_252 + 1) +#define KEY_D_GYRO_BIAS_Y (KEY_D_GYRO_BIAS_X + 1) +#define KEY_D_GYRO_BIAS_Z (KEY_D_GYRO_BIAS_Y + 1) +#define KEY_D_ACC_BIAS_X (KEY_D_GYRO_BIAS_Z + 1) +#define KEY_D_ACC_BIAS_Y (KEY_D_ACC_BIAS_X + 1) +#define KEY_D_ACC_BIAS_Z (KEY_D_ACC_BIAS_Y + 1) +#define KEY_D_GYRO_ENABLE (KEY_D_ACC_BIAS_Z + 1) +#define KEY_D_ACCEL_ENABLE (KEY_D_GYRO_ENABLE + 1) +#define KEY_D_QUAT_ENABLE (KEY_D_ACCEL_ENABLE +1) +#define KEY_D_OUTPUT_ENABLE (KEY_D_QUAT_ENABLE + 1) +#define KEY_D_CR_TIME_G (KEY_D_OUTPUT_ENABLE + 1) +#define KEY_D_CR_TIME_A (KEY_D_CR_TIME_G + 1) +#define KEY_D_CR_TIME_Q (KEY_D_CR_TIME_A + 1) +#define KEY_D_CS_TAX (KEY_D_CR_TIME_Q + 1) +#define KEY_D_CS_TAY (KEY_D_CS_TAX + 1) +#define KEY_D_CS_TAZ (KEY_D_CS_TAY + 1) +#define KEY_D_CS_TGX (KEY_D_CS_TAZ + 1) +#define KEY_D_CS_TGY (KEY_D_CS_TGX + 1) +#define KEY_D_CS_TGZ (KEY_D_CS_TGY + 1) +#define KEY_D_CS_TQ0 (KEY_D_CS_TGZ + 1) +#define KEY_D_CS_TQ1 (KEY_D_CS_TQ0 + 1) +#define KEY_D_CS_TQ2 (KEY_D_CS_TQ1 + 1) +#define KEY_D_CS_TQ3 (KEY_D_CS_TQ2 + 1) + +/* Compass keys */ +#define KEY_CPASS_BIAS_X (KEY_D_CS_TQ3 + 1) +#define KEY_CPASS_BIAS_Y (KEY_CPASS_BIAS_X + 1) +#define KEY_CPASS_BIAS_Z (KEY_CPASS_BIAS_Y + 1) +#define KEY_CPASS_MTX_00 (KEY_CPASS_BIAS_Z + 1) +#define KEY_CPASS_MTX_01 (KEY_CPASS_MTX_00 + 1) +#define KEY_CPASS_MTX_02 (KEY_CPASS_MTX_01 + 1) +#define KEY_CPASS_MTX_10 (KEY_CPASS_MTX_02 + 1) +#define KEY_CPASS_MTX_11 (KEY_CPASS_MTX_10 + 1) +#define KEY_CPASS_MTX_12 (KEY_CPASS_MTX_11 + 1) +#define KEY_CPASS_MTX_20 (KEY_CPASS_MTX_12 + 1) +#define KEY_CPASS_MTX_21 (KEY_CPASS_MTX_20 + 1) +#define KEY_CPASS_MTX_22 (KEY_CPASS_MTX_21 + 1) + +/* Gesture Keys */ +#define KEY_DMP_TAPW_MIN (KEY_CPASS_MTX_22 + 1) +#define KEY_DMP_TAP_THR_X (KEY_DMP_TAPW_MIN + 1) +#define KEY_DMP_TAP_THR_Y (KEY_DMP_TAP_THR_X + 1) +#define KEY_DMP_TAP_THR_Z (KEY_DMP_TAP_THR_Y + 1) +#define KEY_DMP_SH_TH_Y (KEY_DMP_TAP_THR_Z + 1) +#define KEY_DMP_SH_TH_X (KEY_DMP_SH_TH_Y + 1) +#define KEY_DMP_SH_TH_Z (KEY_DMP_SH_TH_X + 1) +#define KEY_DMP_ORIENT (KEY_DMP_SH_TH_Z + 1) +#define KEY_D_ACT0 (KEY_DMP_ORIENT + 1) +#define KEY_D_ACSX (KEY_D_ACT0 + 1) +#define KEY_D_ACSY (KEY_D_ACSX + 1) +#define KEY_D_ACSZ (KEY_D_ACSY + 1) + +#define KEY_X_GRT_Y_TMP (KEY_D_ACSZ + 1) +#define KEY_SKIP_X_GRT_Y_TMP (KEY_X_GRT_Y_TMP + 1) +#define KEY_SKIP_END_COMPARE (KEY_SKIP_X_GRT_Y_TMP + 1) +#define KEY_END_COMPARE_Y_X_TMP2 (KEY_SKIP_END_COMPARE + 1) +#define KEY_CFG_ANDROID_ORIENT_INT (KEY_END_COMPARE_Y_X_TMP2 + 1) +#define KEY_NO_ORIENT_INTERRUPT (KEY_CFG_ANDROID_ORIENT_INT + 1) +#define KEY_END_COMPARE_Y_X_TMP (KEY_NO_ORIENT_INTERRUPT + 1) +#define KEY_END_ORIENT_1 (KEY_END_COMPARE_Y_X_TMP + 1) +#define KEY_END_COMPARE_Y_X (KEY_END_ORIENT_1 + 1) +#define KEY_END_ORIENT (KEY_END_COMPARE_Y_X + 1) +#define KEY_X_GRT_Y (KEY_END_ORIENT + 1) +#define KEY_NOT_TIME_MINUS_1 (KEY_X_GRT_Y + 1) +#define KEY_END_COMPARE_Y_X_TMP3 (KEY_NOT_TIME_MINUS_1 + 1) +#define KEY_X_GRT_Y_TMP2 (KEY_END_COMPARE_Y_X_TMP3 + 1) + +/* Authenticate Keys */ +#define KEY_D_AUTH_OUT (KEY_X_GRT_Y_TMP2 + 1) +#define KEY_D_AUTH_IN (KEY_D_AUTH_OUT + 1) +#define KEY_D_AUTH_A (KEY_D_AUTH_IN + 1) +#define KEY_D_AUTH_B (KEY_D_AUTH_A + 1) + +/* Pedometer standalone only keys */ +#define KEY_D_PEDSTD_BP_B (KEY_D_AUTH_B + 1) +#define KEY_D_PEDSTD_HP_A (KEY_D_PEDSTD_BP_B + 1) +#define KEY_D_PEDSTD_HP_B (KEY_D_PEDSTD_HP_A + 1) +#define KEY_D_PEDSTD_BP_A4 (KEY_D_PEDSTD_HP_B + 1) +#define KEY_D_PEDSTD_BP_A3 (KEY_D_PEDSTD_BP_A4 + 1) +#define KEY_D_PEDSTD_BP_A2 (KEY_D_PEDSTD_BP_A3 + 1) +#define KEY_D_PEDSTD_BP_A1 (KEY_D_PEDSTD_BP_A2 + 1) +#define KEY_D_PEDSTD_INT_THRSH (KEY_D_PEDSTD_BP_A1 + 1) +#define KEY_D_PEDSTD_CLIP (KEY_D_PEDSTD_INT_THRSH + 1) +#define KEY_D_PEDSTD_SB (KEY_D_PEDSTD_CLIP + 1) +#define KEY_D_PEDSTD_SB_TIME (KEY_D_PEDSTD_SB + 1) +#define KEY_D_PEDSTD_PEAKTHRSH (KEY_D_PEDSTD_SB_TIME + 1) +#define KEY_D_PEDSTD_TIML (KEY_D_PEDSTD_PEAKTHRSH + 1) +#define KEY_D_PEDSTD_TIMH (KEY_D_PEDSTD_TIML + 1) +#define KEY_D_PEDSTD_PEAK (KEY_D_PEDSTD_TIMH + 1) +#define KEY_D_PEDSTD_TIMECTR (KEY_D_PEDSTD_PEAK + 1) +#define KEY_D_PEDSTD_STEPCTR (KEY_D_PEDSTD_TIMECTR + 1) +#define KEY_D_PEDSTD_WALKTIME (KEY_D_PEDSTD_STEPCTR + 1) +#define KEY_D_PEDSTD_DECI (KEY_D_PEDSTD_WALKTIME + 1) + +/*Host Based No Motion*/ +#define KEY_D_HOST_NO_MOT (KEY_D_PEDSTD_DECI + 1) + +/* EIS keys */ +#define KEY_P_EIS_FIFO_FOOTER (KEY_D_HOST_NO_MOT + 1) +#define KEY_P_EIS_FIFO_YSHIFT (KEY_P_EIS_FIFO_FOOTER + 1) +#define KEY_P_EIS_DATA_RATE (KEY_P_EIS_FIFO_YSHIFT + 1) +#define KEY_P_EIS_FIFO_XSHIFT (KEY_P_EIS_DATA_RATE + 1) +#define KEY_P_EIS_FIFO_SYNC (KEY_P_EIS_FIFO_XSHIFT + 1) +#define KEY_P_EIS_FIFO_ZSHIFT (KEY_P_EIS_FIFO_SYNC + 1) +#define KEY_P_EIS_FIFO_READY (KEY_P_EIS_FIFO_ZSHIFT + 1) +#define KEY_DMP_FOOTER (KEY_P_EIS_FIFO_READY + 1) +#define KEY_DMP_INTX_HC (KEY_DMP_FOOTER + 1) +#define KEY_DMP_INTX_PH (KEY_DMP_INTX_HC + 1) +#define KEY_DMP_INTX_SH (KEY_DMP_INTX_PH + 1) +#define KEY_DMP_AINV_SH (KEY_DMP_INTX_SH + 1) +#define KEY_DMP_A_INV_XH (KEY_DMP_AINV_SH + 1) +#define KEY_DMP_AINV_PH (KEY_DMP_A_INV_XH + 1) +#define KEY_DMP_CTHX_H (KEY_DMP_AINV_PH + 1) +#define KEY_DMP_CTHY_H (KEY_DMP_CTHX_H + 1) +#define KEY_DMP_CTHZ_H (KEY_DMP_CTHY_H + 1) +#define KEY_DMP_NCTHX_H (KEY_DMP_CTHZ_H + 1) +#define KEY_DMP_NCTHY_H (KEY_DMP_NCTHX_H + 1) +#define KEY_DMP_NCTHZ_H (KEY_DMP_NCTHY_H + 1) +#define KEY_DMP_CTSQ_XH (KEY_DMP_NCTHZ_H + 1) +#define KEY_DMP_CTSQ_YH (KEY_DMP_CTSQ_XH + 1) +#define KEY_DMP_CTSQ_ZH (KEY_DMP_CTSQ_YH + 1) +#define KEY_DMP_INTX_H (KEY_DMP_CTSQ_ZH + 1) +#define KEY_DMP_INTY_H (KEY_DMP_INTX_H + 1) +#define KEY_DMP_INTZ_H (KEY_DMP_INTY_H + 1) +//#define KEY_DMP_HPX_H (KEY_DMP_INTZ_H + 1) +//#define KEY_DMP_HPY_H (KEY_DMP_HPX_H + 1) +//#define KEY_DMP_HPZ_H (KEY_DMP_HPY_H + 1) + +/* Stream keys */ +#define KEY_STREAM_P_GYRO_Z (KEY_DMP_INTZ_H + 1) +#define KEY_STREAM_P_GYRO_Y (KEY_STREAM_P_GYRO_Z + 1) +#define KEY_STREAM_P_GYRO_X (KEY_STREAM_P_GYRO_Y + 1) +#define KEY_STREAM_P_TEMP (KEY_STREAM_P_GYRO_X + 1) +#define KEY_STREAM_P_AUX_Y (KEY_STREAM_P_TEMP + 1) +#define KEY_STREAM_P_AUX_X (KEY_STREAM_P_AUX_Y + 1) +#define KEY_STREAM_P_AUX_Z (KEY_STREAM_P_AUX_X + 1) +#define KEY_STREAM_P_ACCEL_Y (KEY_STREAM_P_AUX_Z + 1) +#define KEY_STREAM_P_ACCEL_X (KEY_STREAM_P_ACCEL_Y + 1) +#define KEY_STREAM_P_FOOTER (KEY_STREAM_P_ACCEL_X + 1) +#define KEY_STREAM_P_ACCEL_Z (KEY_STREAM_P_FOOTER + 1) + +#define NUM_KEYS (KEY_STREAM_P_ACCEL_Z + 1) + +typedef struct { + unsigned short key; + unsigned short addr; +} tKeyLabel; + +#define DINA0A 0x0a +#define DINA22 0x22 +#define DINA42 0x42 +#define DINA5A 0x5a + +#define DINA06 0x06 +#define DINA0E 0x0e +#define DINA16 0x16 +#define DINA1E 0x1e +#define DINA26 0x26 +#define DINA2E 0x2e +#define DINA36 0x36 +#define DINA3E 0x3e +#define DINA46 0x46 +#define DINA4E 0x4e +#define DINA56 0x56 +#define DINA5E 0x5e +#define DINA66 0x66 +#define DINA6E 0x6e +#define DINA76 0x76 +#define DINA7E 0x7e + +#define DINA00 0x00 +#define DINA08 0x08 +#define DINA10 0x10 +#define DINA18 0x18 +#define DINA20 0x20 +#define DINA28 0x28 +#define DINA30 0x30 +#define DINA38 0x38 +#define DINA40 0x40 +#define DINA48 0x48 +#define DINA50 0x50 +#define DINA58 0x58 +#define DINA60 0x60 +#define DINA68 0x68 +#define DINA70 0x70 +#define DINA78 0x78 + +#define DINA04 0x04 +#define DINA0C 0x0c +#define DINA14 0x14 +#define DINA1C 0x1C +#define DINA24 0x24 +#define DINA2C 0x2c +#define DINA34 0x34 +#define DINA3C 0x3c +#define DINA44 0x44 +#define DINA4C 0x4c +#define DINA54 0x54 +#define DINA5C 0x5c +#define DINA64 0x64 +#define DINA6C 0x6c +#define DINA74 0x74 +#define DINA7C 0x7c + +#define DINA01 0x01 +#define DINA09 0x09 +#define DINA11 0x11 +#define DINA19 0x19 +#define DINA21 0x21 +#define DINA29 0x29 +#define DINA31 0x31 +#define DINA39 0x39 +#define DINA41 0x41 +#define DINA49 0x49 +#define DINA51 0x51 +#define DINA59 0x59 +#define DINA61 0x61 +#define DINA69 0x69 +#define DINA71 0x71 +#define DINA79 0x79 + +#define DINA25 0x25 +#define DINA2D 0x2d +#define DINA35 0x35 +#define DINA3D 0x3d +#define DINA4D 0x4d +#define DINA55 0x55 +#define DINA5D 0x5D +#define DINA6D 0x6d +#define DINA75 0x75 +#define DINA7D 0x7d + +#define DINADC 0xdc +#define DINAF2 0xf2 +#define DINAAB 0xab +#define DINAAA 0xaa +#define DINAF1 0xf1 +#define DINADF 0xdf +#define DINADA 0xda +#define DINAB1 0xb1 +#define DINAB9 0xb9 +#define DINAF3 0xf3 +#define DINA8B 0x8b +#define DINAA3 0xa3 +#define DINA91 0x91 +#define DINAB6 0xb6 +#define DINAB4 0xb4 + + +#define DINC00 0x00 +#define DINC01 0x01 +#define DINC02 0x02 +#define DINC03 0x03 +#define DINC08 0x08 +#define DINC09 0x09 +#define DINC0A 0x0a +#define DINC0B 0x0b +#define DINC10 0x10 +#define DINC11 0x11 +#define DINC12 0x12 +#define DINC13 0x13 +#define DINC18 0x18 +#define DINC19 0x19 +#define DINC1A 0x1a +#define DINC1B 0x1b + +#define DINC20 0x20 +#define DINC21 0x21 +#define DINC22 0x22 +#define DINC23 0x23 +#define DINC28 0x28 +#define DINC29 0x29 +#define DINC2A 0x2a +#define DINC2B 0x2b +#define DINC30 0x30 +#define DINC31 0x31 +#define DINC32 0x32 +#define DINC33 0x33 +#define DINC38 0x38 +#define DINC39 0x39 +#define DINC3A 0x3a +#define DINC3B 0x3b + +#define DINC40 0x40 +#define DINC41 0x41 +#define DINC42 0x42 +#define DINC43 0x43 +#define DINC48 0x48 +#define DINC49 0x49 +#define DINC4A 0x4a +#define DINC4B 0x4b +#define DINC50 0x50 +#define DINC51 0x51 +#define DINC52 0x52 +#define DINC53 0x53 +#define DINC58 0x58 +#define DINC59 0x59 +#define DINC5A 0x5a +#define DINC5B 0x5b + +#define DINC60 0x60 +#define DINC61 0x61 +#define DINC62 0x62 +#define DINC63 0x63 +#define DINC68 0x68 +#define DINC69 0x69 +#define DINC6A 0x6a +#define DINC6B 0x6b +#define DINC70 0x70 +#define DINC71 0x71 +#define DINC72 0x72 +#define DINC73 0x73 +#define DINC78 0x78 +#define DINC79 0x79 +#define DINC7A 0x7a +#define DINC7B 0x7b + +#define DIND40 0x40 + + +#define DINA80 0x80 +#define DINA90 0x90 +#define DINAA0 0xa0 +#define DINAC9 0xc9 +#define DINACB 0xcb +#define DINACD 0xcd +#define DINACF 0xcf +#define DINAC8 0xc8 +#define DINACA 0xca +#define DINACC 0xcc +#define DINACE 0xce +#define DINAD8 0xd8 +#define DINADD 0xdd +#define DINAF8 0xf0 +#define DINAFE 0xfe + +#define DINBF8 0xf8 +#define DINAC0 0xb0 +#define DINAC1 0xb1 +#define DINAC2 0xb4 +#define DINAC3 0xb5 +#define DINAC4 0xb8 +#define DINAC5 0xb9 +#define DINBC0 0xc0 +#define DINBC2 0xc2 +#define DINBC4 0xc4 +#define DINBC6 0xc6 + + + +#endif // DMPKEY_H__ diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/dmpmap.h b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/dmpmap.h new file mode 100644 index 0000000..391ba14 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/dmpmap.h @@ -0,0 +1,264 @@ +/* + $License: + Copyright (C) 2011 InvenSense Corporation, All Rights Reserved. + $ + */ +#ifndef DMPMAP_H +#define DMPMAP_H + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define DMP_PTAT 0 +#define DMP_XGYR 2 +#define DMP_YGYR 4 +#define DMP_ZGYR 6 +#define DMP_XACC 8 +#define DMP_YACC 10 +#define DMP_ZACC 12 +#define DMP_ADC1 14 +#define DMP_ADC2 16 +#define DMP_ADC3 18 +#define DMP_BIASUNC 20 +#define DMP_FIFORT 22 +#define DMP_INVGSFH 24 +#define DMP_INVGSFL 26 +#define DMP_1H 28 +#define DMP_1L 30 +#define DMP_BLPFSTCH 32 +#define DMP_BLPFSTCL 34 +#define DMP_BLPFSXH 36 +#define DMP_BLPFSXL 38 +#define DMP_BLPFSYH 40 +#define DMP_BLPFSYL 42 +#define DMP_BLPFSZH 44 +#define DMP_BLPFSZL 46 +#define DMP_BLPFMTC 48 +#define DMP_SMC 50 +#define DMP_BLPFMXH 52 +#define DMP_BLPFMXL 54 +#define DMP_BLPFMYH 56 +#define DMP_BLPFMYL 58 +#define DMP_BLPFMZH 60 +#define DMP_BLPFMZL 62 +#define DMP_BLPFC 64 +#define DMP_SMCTH 66 +#define DMP_0H2 68 +#define DMP_0L2 70 +#define DMP_BERR2H 72 +#define DMP_BERR2L 74 +#define DMP_BERR2NH 76 +#define DMP_SMCINC 78 +#define DMP_ANGVBXH 80 +#define DMP_ANGVBXL 82 +#define DMP_ANGVBYH 84 +#define DMP_ANGVBYL 86 +#define DMP_ANGVBZH 88 +#define DMP_ANGVBZL 90 +#define DMP_BERR1H 92 +#define DMP_BERR1L 94 +#define DMP_ATCH 96 +#define DMP_BIASUNCSF 98 +#define DMP_ACT2H 100 +#define DMP_ACT2L 102 +#define DMP_GSFH 104 +#define DMP_GSFL 106 +#define DMP_GH 108 +#define DMP_GL 110 +#define DMP_0_5H 112 +#define DMP_0_5L 114 +#define DMP_0_0H 116 +#define DMP_0_0L 118 +#define DMP_1_0H 120 +#define DMP_1_0L 122 +#define DMP_1_5H 124 +#define DMP_1_5L 126 +#define DMP_TMP1AH 128 +#define DMP_TMP1AL 130 +#define DMP_TMP2AH 132 +#define DMP_TMP2AL 134 +#define DMP_TMP3AH 136 +#define DMP_TMP3AL 138 +#define DMP_TMP4AH 140 +#define DMP_TMP4AL 142 +#define DMP_XACCW 144 +#define DMP_TMP5 146 +#define DMP_XACCB 148 +#define DMP_TMP8 150 +#define DMP_YACCB 152 +#define DMP_TMP9 154 +#define DMP_ZACCB 156 +#define DMP_TMP10 158 +#define DMP_DZH 160 +#define DMP_DZL 162 +#define DMP_XGCH 164 +#define DMP_XGCL 166 +#define DMP_YGCH 168 +#define DMP_YGCL 170 +#define DMP_ZGCH 172 +#define DMP_ZGCL 174 +#define DMP_YACCW 176 +#define DMP_TMP7 178 +#define DMP_AFB1H 180 +#define DMP_AFB1L 182 +#define DMP_AFB2H 184 +#define DMP_AFB2L 186 +#define DMP_MAGFBH 188 +#define DMP_MAGFBL 190 +#define DMP_QT1H 192 +#define DMP_QT1L 194 +#define DMP_QT2H 196 +#define DMP_QT2L 198 +#define DMP_QT3H 200 +#define DMP_QT3L 202 +#define DMP_QT4H 204 +#define DMP_QT4L 206 +#define DMP_CTRL1H 208 +#define DMP_CTRL1L 210 +#define DMP_CTRL2H 212 +#define DMP_CTRL2L 214 +#define DMP_CTRL3H 216 +#define DMP_CTRL3L 218 +#define DMP_CTRL4H 220 +#define DMP_CTRL4L 222 +#define DMP_CTRLS1 224 +#define DMP_CTRLSF1 226 +#define DMP_CTRLS2 228 +#define DMP_CTRLSF2 230 +#define DMP_CTRLS3 232 +#define DMP_CTRLSFNLL 234 +#define DMP_CTRLS4 236 +#define DMP_CTRLSFNL2 238 +#define DMP_CTRLSFNL 240 +#define DMP_TMP30 242 +#define DMP_CTRLSFJT 244 +#define DMP_TMP31 246 +#define DMP_TMP11 248 +#define DMP_CTRLSF2_2 250 +#define DMP_TMP12 252 +#define DMP_CTRLSF1_2 254 +#define DMP_PREVPTAT 256 +#define DMP_ACCZB 258 +#define DMP_ACCXB 264 +#define DMP_ACCYB 266 +#define DMP_1HB 272 +#define DMP_1LB 274 +#define DMP_0H 276 +#define DMP_0L 278 +#define DMP_ASR22H 280 +#define DMP_ASR22L 282 +#define DMP_ASR6H 284 +#define DMP_ASR6L 286 +#define DMP_TMP13 288 +#define DMP_TMP14 290 +#define DMP_FINTXH 292 +#define DMP_FINTXL 294 +#define DMP_FINTYH 296 +#define DMP_FINTYL 298 +#define DMP_FINTZH 300 +#define DMP_FINTZL 302 +#define DMP_TMP1BH 304 +#define DMP_TMP1BL 306 +#define DMP_TMP2BH 308 +#define DMP_TMP2BL 310 +#define DMP_TMP3BH 312 +#define DMP_TMP3BL 314 +#define DMP_TMP4BH 316 +#define DMP_TMP4BL 318 +#define DMP_STXG 320 +#define DMP_ZCTXG 322 +#define DMP_STYG 324 +#define DMP_ZCTYG 326 +#define DMP_STZG 328 +#define DMP_ZCTZG 330 +#define DMP_CTRLSFJT2 332 +#define DMP_CTRLSFJTCNT 334 +#define DMP_PVXG 336 +#define DMP_TMP15 338 +#define DMP_PVYG 340 +#define DMP_TMP16 342 +#define DMP_PVZG 344 +#define DMP_TMP17 346 +#define DMP_MNMFLAGH 352 +#define DMP_MNMFLAGL 354 +#define DMP_MNMTMH 356 +#define DMP_MNMTML 358 +#define DMP_MNMTMTHRH 360 +#define DMP_MNMTMTHRL 362 +#define DMP_MNMTHRH 364 +#define DMP_MNMTHRL 366 +#define DMP_ACCQD4H 368 +#define DMP_ACCQD4L 370 +#define DMP_ACCQD5H 372 +#define DMP_ACCQD5L 374 +#define DMP_ACCQD6H 376 +#define DMP_ACCQD6L 378 +#define DMP_ACCQD7H 380 +#define DMP_ACCQD7L 382 +#define DMP_ACCQD0H 384 +#define DMP_ACCQD0L 386 +#define DMP_ACCQD1H 388 +#define DMP_ACCQD1L 390 +#define DMP_ACCQD2H 392 +#define DMP_ACCQD2L 394 +#define DMP_ACCQD3H 396 +#define DMP_ACCQD3L 398 +#define DMP_XN2H 400 +#define DMP_XN2L 402 +#define DMP_XN1H 404 +#define DMP_XN1L 406 +#define DMP_YN2H 408 +#define DMP_YN2L 410 +#define DMP_YN1H 412 +#define DMP_YN1L 414 +#define DMP_YH 416 +#define DMP_YL 418 +#define DMP_B0H 420 +#define DMP_B0L 422 +#define DMP_A1H 424 +#define DMP_A1L 426 +#define DMP_A2H 428 +#define DMP_A2L 430 +#define DMP_SEM1 432 +#define DMP_FIFOCNT 434 +#define DMP_SH_TH_X 436 +#define DMP_PACKET 438 +#define DMP_SH_TH_Y 440 +#define DMP_FOOTER 442 +#define DMP_SH_TH_Z 444 +#define DMP_TEMP29 448 +#define DMP_TEMP30 450 +#define DMP_XACCB_PRE 452 +#define DMP_XACCB_PREL 454 +#define DMP_YACCB_PRE 456 +#define DMP_YACCB_PREL 458 +#define DMP_ZACCB_PRE 460 +#define DMP_ZACCB_PREL 462 +#define DMP_TMP22 464 +#define DMP_TAP_TIMER 466 +#define DMP_TAP_THX 468 +#define DMP_TAP_THY 472 +#define DMP_TAP_THZ 476 +#define DMP_TAPW_MIN 478 +#define DMP_TMP25 480 +#define DMP_TMP26 482 +#define DMP_TMP27 484 +#define DMP_TMP28 486 +#define DMP_ORIENT 488 +#define DMP_THRSH 490 +#define DMP_ENDIANH 492 +#define DMP_ENDIANL 494 +#define DMP_BLPFNMTCH 496 +#define DMP_BLPFNMTCL 498 +#define DMP_BLPFNMXH 500 +#define DMP_BLPFNMXL 502 +#define DMP_BLPFNMYH 504 +#define DMP_BLPFNMYL 506 +#define DMP_BLPFNMZH 508 +#define DMP_BLPFNMZL 510 +#ifdef __cplusplus +} +#endif +#endif // DMPMAP_H diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu.c b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu.c new file mode 100644 index 0000000..3548d57 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu.c @@ -0,0 +1,2858 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.c + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ +#include +#include "delay.h" +#include "bsp_usart.h" +#include "ioi2c.h" + +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + * reg_int_cb(void (*cb)(void), unsigned char port, unsigned char pin) + * labs(long x) + * fabsf(float x) + * min(int a, int b) + */ +#define MPU6050 +#define MOTION_DRIVER_TARGET_MSP430 + +#if defined MOTION_DRIVER_TARGET_MSP430 +/*#include "msp430.h" +#include "msp430_i2c.h" +#include "msp430_clock.h" +#include "msp430_interrupt.h" */ + +#define i2c_write i2cWrite +#define i2c_read i2cRead +#define delay_ms delay_ms +#define get_ms myget_ms + +//static int reg_int_cb(struct int_param_s *int_param) +//{ +// /*return msp430_reg_int_cb(int_param->cb, int_param->pin, int_param->lp_exit, +// int_param->active_low);*/ +// return 0; +//} +//#define log_i(...) do {} while (0) +//#define log_e(...) do {} while (0) +#define log_e printf +#define log_i printf +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((acb, int_param->pin, int_param->lp_exit, + int_param->active_low); +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* labs is already defined by TI's toolchain. */ +/* fabs is for doubles. fabsf is for floats. */ +#define fabs fabsf +#define min(a,b) ((apin, int_param->cb, int_param->arg); + return 0; +} +#define log_i MPL_LOGI +#define log_e MPL_LOGE +/* UC3 is a 32-bit processor, so abs and labs are equivalent. */ +#define labs abs +#define fabs(x) (((x)>0)?(x):-(x)) +#else +//#error Gyro driver is missing the system layer implementations. +#endif + +#if !defined MPU6050 && !defined MPU9150 && !defined MPU6500 && !defined MPU9250 +//#error Which gyro are you using? Define MPUxxxx in your compiler options. +#endif + +/* Time for some messy macro work. =] + * #define MPU9150 + * is equivalent to.. + * #define MPU6050 + * #define AK8975_SECONDARY + * + * #define MPU9250 + * is equivalent to.. + * #define MPU6500 + * #define AK8963_SECONDARY + */ +#if defined MPU9150 +#ifndef MPU6050 +#define MPU6050 +#endif /* #ifndef MPU6050 */ +#if defined AK8963_SECONDARY +#error "MPU9150 and AK8963_SECONDARY cannot both be defined." +#elif !defined AK8975_SECONDARY /* #if defined AK8963_SECONDARY */ +#define AK8975_SECONDARY +#endif /* #if defined AK8963_SECONDARY */ +#elif defined MPU9250 /* #if defined MPU9150 */ +#ifndef MPU6500 +#define MPU6500 +#endif /* #ifndef MPU6500 */ +#if defined AK8975_SECONDARY +#error "MPU9250 and AK8975_SECONDARY cannot both be defined." +#elif !defined AK8963_SECONDARY /* #if defined AK8975_SECONDARY */ +#define AK8963_SECONDARY +#endif /* #if defined AK8975_SECONDARY */ +#endif /* #if defined MPU9150 */ + +#if defined AK8975_SECONDARY || defined AK8963_SECONDARY +#define AK89xx_SECONDARY +#else +/* #warning "No compass = less profit for Invensense. Lame." */ +#endif + +static int set_int_enable(unsigned char enable); + +/* Hardware registers needed by driver. */ +struct gyro_reg_s { + unsigned char who_am_i; + unsigned char rate_div; + unsigned char lpf; + unsigned char prod_id; + unsigned char user_ctrl; + unsigned char fifo_en; + unsigned char gyro_cfg; + unsigned char accel_cfg; + + //unsigned char accel_cfg2; + + //unsigned char lp_accel_odr; + + unsigned char motion_thr; + unsigned char motion_dur; + unsigned char fifo_count_h; + unsigned char fifo_r_w; + unsigned char raw_gyro; + unsigned char raw_accel; + unsigned char temp; + unsigned char int_enable; + unsigned char dmp_int_status; + unsigned char int_status; + + //unsigned char accel_intel; + + unsigned char pwr_mgmt_1; + unsigned char pwr_mgmt_2; + unsigned char int_pin_cfg; + unsigned char mem_r_w; + unsigned char accel_offs; + unsigned char i2c_mst; + unsigned char bank_sel; + unsigned char mem_start_addr; + unsigned char prgm_start_h; +#if defined AK89xx_SECONDARY + unsigned char s0_addr; + unsigned char s0_reg; + unsigned char s0_ctrl; + unsigned char s1_addr; + unsigned char s1_reg; + unsigned char s1_ctrl; + unsigned char s4_ctrl; + unsigned char s0_do; + unsigned char s1_do; + unsigned char i2c_delay_ctrl; + unsigned char raw_compass; + /* The I2C_MST_VDDIO bit is in this register. */ + unsigned char yg_offs_tc; +#endif +}; + +/* Information specific to a particular device. */ +struct hw_s { + unsigned char addr; + unsigned short max_fifo; + unsigned char num_reg; + unsigned short temp_sens; + short temp_offset; + unsigned short bank_size; +#if defined AK89xx_SECONDARY + unsigned short compass_fsr; +#endif +}; + +/* When entering motion interrupt mode, the driver keeps track of the + * previous state so that it can be restored at a later time. + * TODO: This is tacky. Fix it. + */ +struct motion_int_cache_s { + unsigned short gyro_fsr; + unsigned char accel_fsr; + unsigned short lpf; + unsigned short sample_rate; + unsigned char sensors_on; + unsigned char fifo_sensors; + unsigned char dmp_on; +}; + +/* Cached chip configuration data. + * TODO: A lot of these can be handled with a bitmask. + */ +struct chip_cfg_s { + /* Matches gyro_cfg >> 3 & 0x03 */ + unsigned char gyro_fsr; + /* Matches accel_cfg >> 3 & 0x03 */ + unsigned char accel_fsr; + /* Enabled sensors. Uses same masks as fifo_en, NOT pwr_mgmt_2. */ + unsigned char sensors; + /* Matches config register. */ + unsigned char lpf; + unsigned char clk_src; + /* Sample rate, NOT rate divider. */ + unsigned short sample_rate; + /* Matches fifo_en register. */ + unsigned char fifo_enable; + /* Matches int enable register. */ + unsigned char int_enable; + /* 1 if devices on auxiliary I2C bus appear on the primary. */ + unsigned char bypass_mode; + /* 1 if half-sensitivity. + * NOTE: This doesn't belong here, but everything else in hw_s is const, + * and this allows us to save some precious RAM. + */ + unsigned char accel_half; + /* 1 if device in low-power accel-only mode. */ + unsigned char lp_accel_mode; + /* 1 if interrupts are only triggered on motion events. */ + unsigned char int_motion_only; + struct motion_int_cache_s cache; + /* 1 for active low interrupts. */ + unsigned char active_low_int; + /* 1 for latched interrupts. */ + unsigned char latched_int; + /* 1 if DMP is enabled. */ + unsigned char dmp_on; + /* Ensures that DMP will only be loaded once. */ + unsigned char dmp_loaded; + /* Sampling rate used when DMP is enabled. */ + unsigned short dmp_sample_rate; +#ifdef AK89xx_SECONDARY + /* Compass sample rate. */ + unsigned short compass_sample_rate; + unsigned char compass_addr; + short mag_sens_adj[3]; +#endif +}; + +/* Information for self-test. */ +struct test_s { + unsigned long gyro_sens; + unsigned long accel_sens; + unsigned char reg_rate_div; + unsigned char reg_lpf; + unsigned char reg_gyro_fsr; + unsigned char reg_accel_fsr; + unsigned short wait_ms; + unsigned char packet_thresh; + float min_dps; + float max_dps; + float max_gyro_var; + float min_g; + float max_g; + float max_accel_var; +}; + +/* Gyro driver state variables. */ +struct gyro_state_s { + const struct gyro_reg_s *reg; + const struct hw_s *hw; + struct chip_cfg_s chip_cfg; + const struct test_s *test; +}; + +/* Filter configurations. */ +enum lpf_e { + INV_FILTER_256HZ_NOLPF2 = 0, + INV_FILTER_188HZ, + INV_FILTER_98HZ, + INV_FILTER_42HZ, + INV_FILTER_20HZ, + INV_FILTER_10HZ, + INV_FILTER_5HZ, + INV_FILTER_2100HZ_NOLPF, + NUM_FILTER +}; + +/* Full scale ranges. */ +enum gyro_fsr_e { + INV_FSR_250DPS = 0, + INV_FSR_500DPS, + INV_FSR_1000DPS, + INV_FSR_2000DPS, + NUM_GYRO_FSR +}; + +/* Full scale ranges. */ +enum accel_fsr_e { + INV_FSR_2G = 0, + INV_FSR_4G, + INV_FSR_8G, + INV_FSR_16G, + NUM_ACCEL_FSR +}; + +/* Clock sources. */ +enum clock_sel_e { + INV_CLK_INTERNAL = 0, + INV_CLK_PLL, + NUM_CLK +}; + +/* Low-power accel wakeup rates. */ +enum lp_accel_rate_e { +#if defined MPU6050 + INV_LPA_1_25HZ, + INV_LPA_5HZ, + INV_LPA_20HZ, + INV_LPA_40HZ +#elif defined MPU6500 + INV_LPA_0_3125HZ, + INV_LPA_0_625HZ, + INV_LPA_1_25HZ, + INV_LPA_2_5HZ, + INV_LPA_5HZ, + INV_LPA_10HZ, + INV_LPA_20HZ, + INV_LPA_40HZ, + INV_LPA_80HZ, + INV_LPA_160HZ, + INV_LPA_320HZ, + INV_LPA_640HZ +#endif +}; + +#define BIT_I2C_MST_VDDIO (0x80) +#define BIT_FIFO_EN (0x40) +#define BIT_DMP_EN (0x80) +#define BIT_FIFO_RST (0x04) +#define BIT_DMP_RST (0x08) +#define BIT_FIFO_OVERFLOW (0x10) +#define BIT_DATA_RDY_EN (0x01) +#define BIT_DMP_INT_EN (0x02) +#define BIT_MOT_INT_EN (0x40) +#define BITS_FSR (0x18) +#define BITS_LPF (0x07) +#define BITS_HPF (0x07) +#define BITS_CLK (0x07) +#define BIT_FIFO_SIZE_1024 (0x40) +#define BIT_FIFO_SIZE_2048 (0x80) +#define BIT_FIFO_SIZE_4096 (0xC0) +#define BIT_RESET (0x80) +#define BIT_SLEEP (0x40) +#define BIT_S0_DELAY_EN (0x01) +#define BIT_S2_DELAY_EN (0x04) +#define BITS_SLAVE_LENGTH (0x0F) +#define BIT_SLAVE_BYTE_SW (0x40) +#define BIT_SLAVE_GROUP (0x10) +#define BIT_SLAVE_EN (0x80) +#define BIT_I2C_READ (0x80) +#define BITS_I2C_MASTER_DLY (0x1F) +#define BIT_AUX_IF_EN (0x20) +#define BIT_ACTL (0x80) +#define BIT_LATCH_EN (0x20) +#define BIT_ANY_RD_CLR (0x10) +#define BIT_BYPASS_EN (0x02) +#define BITS_WOM_EN (0xC0) +#define BIT_LPA_CYCLE (0x20) +#define BIT_STBY_XA (0x20) +#define BIT_STBY_YA (0x10) +#define BIT_STBY_ZA (0x08) +#define BIT_STBY_XG (0x04) +#define BIT_STBY_YG (0x02) +#define BIT_STBY_ZG (0x01) +#define BIT_STBY_XYZA (BIT_STBY_XA | BIT_STBY_YA | BIT_STBY_ZA) +#define BIT_STBY_XYZG (BIT_STBY_XG | BIT_STBY_YG | BIT_STBY_ZG) + +#if defined AK8975_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x00) +#define AK89xx_FSR (9830) +#elif defined AK8963_SECONDARY +#define SUPPORTS_AK89xx_HIGH_SENS (0x10) +#define AK89xx_FSR (4915) +#endif + +#ifdef AK89xx_SECONDARY +#define AKM_REG_WHOAMI (0x00) + +#define AKM_REG_ST1 (0x02) +#define AKM_REG_HXL (0x03) +#define AKM_REG_ST2 (0x09) + +#define AKM_REG_CNTL (0x0A) +#define AKM_REG_ASTC (0x0C) +#define AKM_REG_ASAX (0x10) +#define AKM_REG_ASAY (0x11) +#define AKM_REG_ASAZ (0x12) + +#define AKM_DATA_READY (0x01) +#define AKM_DATA_OVERRUN (0x02) +#define AKM_OVERFLOW (0x80) +#define AKM_DATA_ERROR (0x40) + +#define AKM_BIT_SELF_TEST (0x40) + +#define AKM_POWER_DOWN (0x00 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_SINGLE_MEASUREMENT (0x01 | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_FUSE_ROM_ACCESS (0x0F | SUPPORTS_AK89xx_HIGH_SENS) +#define AKM_MODE_SELF_TEST (0x08 | SUPPORTS_AK89xx_HIGH_SENS) + +#define AKM_WHOAMI (0x48) +#endif + +#if defined MPU6050 +/* +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x06, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .yg_offs_tc = 0x01, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 118, + .temp_sens = 340, + .temp_offset = -521, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; +*/ +const struct hw_s hw={ + 0x68, //addr + 1024, //max_fifo + 118, //num_reg + 340, //temp_sens + -521, //temp_offset + 256 //bank_size +}; +const struct gyro_reg_s reg = { +0x75, //who_am_i +0x19, //rate_div +0x1A, //lpf +0x0C, //prod_id +0x6A, //user_ctrl +0x23, //fifo_en +0x1B, //gyro_cfg +0x1C, //accel_cfg +0x1F, // motion_thr +0x20, // motion_dur +0x72, // fifo_count_h +0x74, // fifo_r_w +0x43, // raw_gyro +0x3B, // raw_accel +0x41, // temp +0x38, // int_enable +0x39, // dmp_int_status +0x3A, // int_status +0x6B, // pwr_mgmt_1 +0x6C, // pwr_mgmt_2 +0x37, // int_pin_cfg +0x6F, // mem_r_w +0x06, // accel_offs +0x24, // i2c_mst +0x6D, // bank_sel +0x6E, // mem_start_addr +0x70 // prgm_start_h +}; + +//const struct test_s test = { +// .gyro_sens = 32768/250, +// .accel_sens = 32768/16, +// .reg_rate_div = 0, /* 1kHz. */ +// .reg_lpf = 1, /* 188Hz. */ +// .reg_gyro_fsr = 0, /* 250dps. */ +// .reg_accel_fsr = 0x18, /* 16g. */ +// .wait_ms = 50, +// .packet_thresh = 5, /* 5% */ +// .min_dps = 10.f, +// .max_dps = 105.f, +// .max_gyro_var = 0.14f, +// .min_g = 0.3f, +// .max_g = 0.95f, +// .max_accel_var = 0.14f +//}; +const struct test_s test={ +32768/250, //gyro_sens +32768/16, // accel_sens +0, // reg_rate_div +1, // reg_lpf +0, // reg_gyro_fsr +0x18, // reg_accel_fsr +50, // wait_ms +5, // packet_thresh +10.0f, // min_dps +105.0f, // max_dps +0.14f, // max_gyro_var +0.3f, // min_g +0.95f, // max_g +0.14f // max_accel_var +}; +/* +static struct gyro_state_s st = { + .reg = ®, + .hw = &hw, + .test = &test +}; */ +static struct gyro_state_s st={ + ®, + &hw, + {0}, + &test +}; +//st.chip_cfg.dmp_on = 1; +//st.dhip_cfg.fifo_enabel = 1; +/* +#elif defined MPU6500 +const struct gyro_reg_s reg = { + .who_am_i = 0x75, + .rate_div = 0x19, + .lpf = 0x1A, + .prod_id = 0x0C, + .user_ctrl = 0x6A, + .fifo_en = 0x23, + .gyro_cfg = 0x1B, + .accel_cfg = 0x1C, + .accel_cfg2 = 0x1D, + .lp_accel_odr = 0x1E, + .motion_thr = 0x1F, + .motion_dur = 0x20, + .fifo_count_h = 0x72, + .fifo_r_w = 0x74, + .raw_gyro = 0x43, + .raw_accel = 0x3B, + .temp = 0x41, + .int_enable = 0x38, + .dmp_int_status = 0x39, + .int_status = 0x3A, + .accel_intel = 0x69, + .pwr_mgmt_1 = 0x6B, + .pwr_mgmt_2 = 0x6C, + .int_pin_cfg = 0x37, + .mem_r_w = 0x6F, + .accel_offs = 0x77, + .i2c_mst = 0x24, + .bank_sel = 0x6D, + .mem_start_addr = 0x6E, + .prgm_start_h = 0x70 +#ifdef AK89xx_SECONDARY + ,.raw_compass = 0x49, + .s0_addr = 0x25, + .s0_reg = 0x26, + .s0_ctrl = 0x27, + .s1_addr = 0x28, + .s1_reg = 0x29, + .s1_ctrl = 0x2A, + .s4_ctrl = 0x34, + .s0_do = 0x63, + .s1_do = 0x64, + .i2c_delay_ctrl = 0x67 +#endif +}; +const struct hw_s hw = { + .addr = 0x68, + .max_fifo = 1024, + .num_reg = 128, + .temp_sens = 321, + .temp_offset = 0, + .bank_size = 256 +#if defined AK89xx_SECONDARY + ,.compass_fsr = AK89xx_FSR +#endif +}; +*/ +//const struct test_s test = { +// .gyro_sens = 32768/250, +// .accel_sens = 32768/16, +// .reg_rate_div = 0, /* 1kHz. */ +// .reg_lpf = 1, /* 188Hz. */ +// .reg_gyro_fsr = 0, /* 250dps. */ +// .reg_accel_fsr = 0x18, /* 16g. */ +// .wait_ms = 50, +// .packet_thresh = 5, /* 5% */ +// .min_dps = 10.f, +// .max_dps = 105.f, +// .max_gyro_var = 0.14f, +// .min_g = 0.3f, +// .max_g = 0.95f, +// .max_accel_var = 0.14f +//}; +// +//static struct gyro_state_s st = { +// .reg = ®, +// .hw = &hw, +// .test = &test +//}; +#endif + +#define MAX_PACKET_LENGTH (12) + +#ifdef AK89xx_SECONDARY +static int setup_compass(void); +#define MAX_COMPASS_SAMPLE_RATE (100) +#endif + +/** + * @brief Enable/disable data ready interrupt. + * If the DMP is on, the DMP interrupt is enabled. Otherwise, the data ready + * interrupt is used. + * @param[in] enable 1 to enable interrupt. + * @return 0 if successful. + */ +static int set_int_enable(unsigned char enable) +{ + unsigned char tmp; + + if (st.chip_cfg.dmp_on) { + if (enable) + tmp = BIT_DMP_INT_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } else { + if (!st.chip_cfg.sensors) + return -1; + if (enable && st.chip_cfg.int_enable) + return 0; + if (enable) + tmp = BIT_DATA_RDY_EN; + else + tmp = 0x00; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &tmp)) + return -1; + st.chip_cfg.int_enable = tmp; + } + return 0; +} + + +/** + * @brief Register dump for testing. + * @return 0 if successful. + */ +int mpu_reg_dump(void) +{ + unsigned char ii; + unsigned char data; + + for (ii = 0; ii < st.hw->num_reg; ii++) { + if (ii == st.reg->fifo_r_w || ii == st.reg->mem_r_w) + continue; + if (i2c_read(st.hw->addr, ii, 1, &data)) + return -1; + //log_i("%#5x: %#5x\r\n", ii, data); + } + return 0; +} + +/** + * @brief Read from a single register. + * NOTE: The memory and FIFO read/write registers cannot be accessed. + * @param[in] reg Register address. + * @param[out] data Register data. + * @return 0 if successful. + */ +int mpu_read_reg(unsigned char reg, unsigned char *data) +{ + if (reg == st.reg->fifo_r_w || reg == st.reg->mem_r_w) + return -1; + if (reg >= st.hw->num_reg) + return -1; + return i2c_read(st.hw->addr, reg, 1, data); +} + +/** + * @brief Initialize hardware. + * Initial configuration:\n + * Gyro FSR: +/- 2000DPS\n + * Accel FSR +/- 2G\n + * DLPF: 42Hz\n + * FIFO rate: 50Hz\n + * Clock source: Gyro PLL\n + * FIFO: Disabled.\n + * Data ready interrupt: Disabled, active low, unlatched. + * @param[in] int_param Platform-specific parameters to interrupt API. + * @return 0 if successful. + */ +int mpu_init(void) +{ + unsigned char data[6], rev; + + /* Reset device. */ + data[0] = 0x80;//BIT_RESET; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0]))) + return -1; + Delay_ms(100); + + /* Wake up chip. */ + data[0] = 0x00; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &(data[0]))) + return -1; + +#if defined MPU6050 + /* Check product revision. */ + if (i2c_read(st.hw->addr, st.reg->accel_offs, 6, data)) + return -1; + rev = ((data[5] & 0x01) << 2) | ((data[3] & 0x01) << 1) | + (data[1] & 0x01); + + if (rev) { + /* Congrats, these parts are better. */ + if (rev == 1) + st.chip_cfg.accel_half = 1; + else if (rev == 2) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\n",rev); + return -1; + } + } else { + if (i2c_read(st.hw->addr, st.reg->prod_id, 1, &(data[0]))) + return -1; + rev = data[0] & 0x0F; + if (!rev) { + log_e("Product ID read as 0 indicates device is either incompatible or an MPU3050.\r\n"); + return -1; + } else if (rev == 4) { + log_i("Half sensitivity part found.\r\n"); + st.chip_cfg.accel_half = 1; + } else + st.chip_cfg.accel_half = 0; + } +#elif defined MPU6500 +#define MPU6500_MEM_REV_ADDR (0x17) + if (mpu_read_mem(MPU6500_MEM_REV_ADDR, 1, &rev)) + return -1; + if (rev == 0x1) + st.chip_cfg.accel_half = 0; + else { + log_e("Unsupported software product rev %d.\r\n", rev); + return -1; + } + + /* MPU6500 shares 4kB of memory between the DMP and the FIFO. Since the + * first 3kB are needed by the DMP, we'll use the last 1kB for the FIFO. + */ + data[0] = BIT_FIFO_SIZE_1024 | 0x8; + if (i2c_write(st.hw->addr, st.reg->accel_cfg2, 1, data)) + return -1; +#endif + + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.bypass_mode = 0xFF; +#ifdef AK89xx_SECONDARY + st.chip_cfg.compass_sample_rate = 0xFFFF; +#endif + /* mpu_set_sensors always preserves this setting. */ + st.chip_cfg.clk_src = INV_CLK_PLL; + /* Handled in next call to mpu_set_bypass. */ + st.chip_cfg.active_low_int = 1; + st.chip_cfg.latched_int = 0; + st.chip_cfg.int_motion_only = 0; + st.chip_cfg.lp_accel_mode = 0; + memset(&st.chip_cfg.cache, 0, sizeof(st.chip_cfg.cache)); + st.chip_cfg.dmp_on = 0; + st.chip_cfg.dmp_loaded = 0; + st.chip_cfg.dmp_sample_rate = 0; + + if (mpu_set_gyro_fsr(2000)) + return -1; + if (mpu_set_accel_fsr(2)) + return -1; + if (mpu_set_lpf(42)) + return -1; + if (mpu_set_sample_rate(50)) + return -1; + if (mpu_configure_fifo(0)) + return -1; + + /*if (int_param) + reg_int_cb(int_param);*/ + +#ifdef AK89xx_SECONDARY + setup_compass(); + if (mpu_set_compass_sample_rate(10)) + return -1; +#else + /* Already disabled by setup_compass. */ + if (mpu_set_bypass(0)) + return -1; +#endif + + mpu_set_sensors(0); + return 0; +} + +/** + * @brief Enter low-power accel-only mode. + * In low-power accel mode, the chip goes to sleep and only wakes up to sample + * the accelerometer at one of the following frequencies: + * \n MPU6050: 1.25Hz, 5Hz, 20Hz, 40Hz + * \n MPU6500: 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * \n If the requested rate is not one listed above, the device will be set to + * the next highest rate. Requesting a rate above the maximum supported + * frequency will result in an error. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e rate. + * @param[in] rate Minimum sampling rate, or zero to disable LP + * accel mode. + * @return 0 if successful. + */ +int mpu_lp_accel_mode(unsigned char rate) +{ + unsigned char tmp[2]; + + if (rate > 40) + return -1; + + if (!rate) { + mpu_set_int_latched(0); + tmp[0] = 0; + tmp[1] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; + st.chip_cfg.lp_accel_mode = 0; + return 0; + } + /* For LP accel, we automatically configure the hardware to produce latched + * interrupts. In LP accel mode, the hardware cycles into sleep mode before + * it gets a chance to deassert the interrupt pin; therefore, we shift this + * responsibility over to the MCU. + * + * Any register read will clear the interrupt. + */ + mpu_set_int_latched(1); +#if defined MPU6050 + tmp[0] = BIT_LPA_CYCLE; + if (rate == 1) { + tmp[1] = INV_LPA_1_25HZ; + mpu_set_lpf(5); + } else if (rate <= 5) { + tmp[1] = INV_LPA_5HZ; + mpu_set_lpf(5); + } else if (rate <= 20) { + tmp[1] = INV_LPA_20HZ; + mpu_set_lpf(10); + } else { + tmp[1] = INV_LPA_40HZ; + mpu_set_lpf(20); + } + tmp[1] = (tmp[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, tmp)) + return -1; +#elif defined MPU6500 + /* Set wake frequency. */ + if (rate == 1) + tmp[0] = INV_LPA_1_25HZ; + else if (rate == 2) + tmp[0] = INV_LPA_2_5HZ; + else if (rate <= 5) + tmp[0] = INV_LPA_5HZ; + else if (rate <= 10) + tmp[0] = INV_LPA_10HZ; + else if (rate <= 20) + tmp[0] = INV_LPA_20HZ; + else if (rate <= 40) + tmp[0] = INV_LPA_40HZ; + else if (rate <= 80) + tmp[0] = INV_LPA_80HZ; + else if (rate <= 160) + tmp[0] = INV_LPA_160HZ; + else if (rate <= 320) + tmp[0] = INV_LPA_320HZ; + else + tmp[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, tmp)) + return -1; + tmp[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, tmp)) + return -1; +#endif + st.chip_cfg.sensors = INV_XYZ_ACCEL; + st.chip_cfg.clk_src = 0; + st.chip_cfg.lp_accel_mode = 1; + mpu_configure_fifo(0); + + return 0; +} + +/** + * @brief Read raw gyro data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_GYRO)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_gyro, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read raw accel data directly from the registers. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_accel_reg(short *data, unsigned long *timestamp) +{ + unsigned char tmp[6]; + + if (!(st.chip_cfg.sensors & INV_XYZ_ACCEL)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->raw_accel, 6, tmp)) + return -1; + data[0] = (tmp[0] << 8) | tmp[1]; + data[1] = (tmp[2] << 8) | tmp[3]; + data[2] = (tmp[4] << 8) | tmp[5]; + if (timestamp) + get_ms(timestamp); + return 0; +} + +/** + * @brief Read temperature data directly from the registers. + * @param[out] data Data in q16 format. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_temperature(long *data, unsigned long *timestamp) +{ + unsigned char tmp[2]; + short raw; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->temp, 2, tmp)) + return -1; + raw = (tmp[0] << 8) | tmp[1]; + if (timestamp) + get_ms(timestamp); + + data[0] = (long)((35 + ((raw - (float)st.hw->temp_offset) / st.hw->temp_sens)) * 65536L); + return 0; +} + +/** + * @brief Push biases to the accel bias registers. + * This function expects biases relative to the current sensor output, and + * these biases will be added to the factory-supplied values. + * @param[in] accel_bias New biases. + * @return 0 if successful. + */ +int mpu_set_accel_bias(const long *accel_bias) +{ + unsigned char data[6]; + short accel_hw[3]; + short got_accel[3]; + short fg[3]; + + if (!accel_bias) + return -1; + if (!accel_bias[0] && !accel_bias[1] && !accel_bias[2]) + return 0; + + if (i2c_read(st.hw->addr, 3, 3, data)) + return -1; + fg[0] = ((data[0] >> 4) + 8) & 0xf; + fg[1] = ((data[1] >> 4) + 8) & 0xf; + fg[2] = ((data[2] >> 4) + 8) & 0xf; + + accel_hw[0] = (short)(accel_bias[0] * 2 / (64 + fg[0])); + accel_hw[1] = (short)(accel_bias[1] * 2 / (64 + fg[1])); + accel_hw[2] = (short)(accel_bias[2] * 2 / (64 + fg[2])); + + if (i2c_read(st.hw->addr, 0x06, 6, data)) + return -1; + + got_accel[0] = ((short)data[0] << 8) | data[1]; + got_accel[1] = ((short)data[2] << 8) | data[3]; + got_accel[2] = ((short)data[4] << 8) | data[5]; + + accel_hw[0] += got_accel[0]; + accel_hw[1] += got_accel[1]; + accel_hw[2] += got_accel[2]; + + data[0] = (accel_hw[0] >> 8) & 0xff; + data[1] = (accel_hw[0]) & 0xff; + data[2] = (accel_hw[1] >> 8) & 0xff; + data[3] = (accel_hw[1]) & 0xff; + data[4] = (accel_hw[2] >> 8) & 0xff; + data[5] = (accel_hw[2]) & 0xff; + + if (i2c_write(st.hw->addr, 0x06, 6, data)) + return -1; + return 0; +} + +/** + * @brief Reset FIFO read/write pointers. + * @return 0 if successful. + */ +int mpu_reset_fifo(void) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.dmp_on) { + data = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + data = BIT_DMP_EN | BIT_FIFO_EN; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + data |= BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.int_enable) + data = BIT_DMP_INT_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + data = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &data)) + return -1; + } else { + data = BIT_FIFO_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + if (st.chip_cfg.bypass_mode || !(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + data = BIT_FIFO_EN; + else + data = BIT_FIFO_EN | BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &data)) + return -1; + + if (st.chip_cfg.int_enable) + data = BIT_DATA_RDY_EN; + else + data = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, &data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, &st.chip_cfg.fifo_enable)) + return -1; + } + return 0; +} + +/** + * @brief Get the gyro full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_gyro_fsr(unsigned short *fsr) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + fsr[0] = 250; + break; + case INV_FSR_500DPS: + fsr[0] = 500; + break; + case INV_FSR_1000DPS: + fsr[0] = 1000; + break; + case INV_FSR_2000DPS: + fsr[0] = 2000; + break; + default: + fsr[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set the gyro full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_gyro_fsr(unsigned short fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 250: + data = INV_FSR_250DPS << 3; + break; + case 500: + data = INV_FSR_500DPS << 3; + break; + case 1000: + data = INV_FSR_1000DPS << 3; + break; + case 2000: + data = INV_FSR_2000DPS << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.gyro_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, &data)) + return -1; + st.chip_cfg.gyro_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the accel full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_accel_fsr(unsigned char *fsr) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + fsr[0] = 2; + break; + case INV_FSR_4G: + fsr[0] = 4; + break; + case INV_FSR_8G: + fsr[0] = 8; + break; + case INV_FSR_16G: + fsr[0] = 16; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + fsr[0] <<= 1; + return 0; +} + +/** + * @brief Set the accel full-scale range. + * @param[in] fsr Desired full-scale range. + * @return 0 if successful. + */ +int mpu_set_accel_fsr(unsigned char fsr) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + switch (fsr) { + case 2: + data = INV_FSR_2G << 3; + break; + case 4: + data = INV_FSR_4G << 3; + break; + case 8: + data = INV_FSR_8G << 3; + break; + case 16: + data = INV_FSR_16G << 3; + break; + default: + return -1; + } + + if (st.chip_cfg.accel_fsr == (data >> 3)) + return 0; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, &data)) + return -1; + st.chip_cfg.accel_fsr = data >> 3; + return 0; +} + +/** + * @brief Get the current DLPF setting. + * @param[out] lpf Current LPF setting. + * 0 if successful. + */ +int mpu_get_lpf(unsigned short *lpf) +{ + switch (st.chip_cfg.lpf) { + case INV_FILTER_188HZ: + lpf[0] = 188; + break; + case INV_FILTER_98HZ: + lpf[0] = 98; + break; + case INV_FILTER_42HZ: + lpf[0] = 42; + break; + case INV_FILTER_20HZ: + lpf[0] = 20; + break; + case INV_FILTER_10HZ: + lpf[0] = 10; + break; + case INV_FILTER_5HZ: + lpf[0] = 5; + break; + case INV_FILTER_256HZ_NOLPF2: + case INV_FILTER_2100HZ_NOLPF: + default: + lpf[0] = 0; + break; + } + return 0; +} + +/** + * @brief Set digital low pass filter. + * The following LPF settings are supported: 188, 98, 42, 20, 10, 5. + * @param[in] lpf Desired LPF setting. + * @return 0 if successful. + */ +int mpu_set_lpf(unsigned short lpf) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (lpf >= 188) + data = INV_FILTER_188HZ; + else if (lpf >= 98) + data = INV_FILTER_98HZ; + else if (lpf >= 42) + data = INV_FILTER_42HZ; + else if (lpf >= 20) + data = INV_FILTER_20HZ; + else if (lpf >= 10) + data = INV_FILTER_10HZ; + else + data = INV_FILTER_5HZ; + + if (st.chip_cfg.lpf == data) + return 0; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, &data)) + return -1; + st.chip_cfg.lpf = data; + return 0; +} + +/** + * @brief Get sampling rate. + * @param[out] rate Current sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_sample_rate(unsigned short *rate) +{ + if (st.chip_cfg.dmp_on) + return -1; + else + rate[0] = st.chip_cfg.sample_rate; + return 0; +} + +/** + * @brief Set sampling rate. + * Sampling rate must be between 4Hz and 1kHz. + * @param[in] rate Desired sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_sample_rate(unsigned short rate) +{ + unsigned char data; + + if (!(st.chip_cfg.sensors)) + return -1; + + if (st.chip_cfg.dmp_on) + return -1; + else { + if (st.chip_cfg.lp_accel_mode) { + if (rate && (rate <= 40)) { + /* Just stay in low-power accel mode. */ + mpu_lp_accel_mode(rate); + return 0; + } + /* Requested rate exceeds the allowed frequencies in LP accel mode, + * switch back to full-power mode. + */ + mpu_lp_accel_mode(0); + } + if (rate < 4) + rate = 4; + else if (rate > 1000) + rate = 1000; + + data = 1000 / rate - 1; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, &data)) + return -1; + + st.chip_cfg.sample_rate = 1000 / (1 + data); + +#ifdef AK89xx_SECONDARY + mpu_set_compass_sample_rate(min(st.chip_cfg.compass_sample_rate, MAX_COMPASS_SAMPLE_RATE)); +#endif + + /* Automatically set LPF to 1/2 sampling rate. */ + mpu_set_lpf(st.chip_cfg.sample_rate >> 1); + return 0; + } +} + +/** + * @brief Get compass sampling rate. + * @param[out] rate Current compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_get_compass_sample_rate(unsigned short *rate) +{ +#ifdef AK89xx_SECONDARY + rate[0] = st.chip_cfg.compass_sample_rate; + return 0; +#else + rate[0] = 0; + return -1; +#endif +} + +/** + * @brief Set compass sampling rate. + * The compass on the auxiliary I2C bus is read by the MPU hardware at a + * maximum of 100Hz. The actual rate can be set to a fraction of the gyro + * sampling rate. + * + * \n WARNING: The new rate may be different than what was requested. Call + * mpu_get_compass_sample_rate to check the actual setting. + * @param[in] rate Desired compass sampling rate (Hz). + * @return 0 if successful. + */ +int mpu_set_compass_sample_rate(unsigned short rate) +{ +#ifdef AK89xx_SECONDARY + unsigned char div; + if (!rate || rate > st.chip_cfg.sample_rate || rate > MAX_COMPASS_SAMPLE_RATE) + return -1; + + div = st.chip_cfg.sample_rate / rate - 1; + if (i2c_write(st.hw->addr, st.reg->s4_ctrl, 1, &div)) + return -1; + st.chip_cfg.compass_sample_rate = st.chip_cfg.sample_rate / (div + 1); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get gyro sensitivity scale factor. + * @param[out] sens Conversion from hardware units to dps. + * @return 0 if successful. + */ +int mpu_get_gyro_sens(float *sens) +{ + switch (st.chip_cfg.gyro_fsr) { + case INV_FSR_250DPS: + sens[0] = 131.f; + break; + case INV_FSR_500DPS: + sens[0] = 65.5f; + break; + case INV_FSR_1000DPS: + sens[0] = 32.8f; + break; + case INV_FSR_2000DPS: + sens[0] = 16.4f; + break; + default: + return -1; + } + return 0; +} + +/** + * @brief Get accel sensitivity scale factor. + * @param[out] sens Conversion from hardware units to g's. + * @return 0 if successful. + */ +int mpu_get_accel_sens(unsigned short *sens) +{ + switch (st.chip_cfg.accel_fsr) { + case INV_FSR_2G: + sens[0] = 16384; + break; + case INV_FSR_4G: + sens[0] = 8092; + break; + case INV_FSR_8G: + sens[0] = 4096; + break; + case INV_FSR_16G: + sens[0] = 2048; + break; + default: + return -1; + } + if (st.chip_cfg.accel_half) + sens[0] >>= 1; + return 0; +} + +/** + * @brief Get current FIFO configuration. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[out] sensors Mask of sensors in FIFO. + * @return 0 if successful. + */ +int mpu_get_fifo_config(unsigned char *sensors) +{ + sensors[0] = st.chip_cfg.fifo_enable; + return 0; +} + +/** + * @brief Select which sensors are pushed to FIFO. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * @param[in] sensors Mask of sensors to push to FIFO. + * @return 0 if successful. + */ +int mpu_configure_fifo(unsigned char sensors) +{ + unsigned char prev; + int result = 0; + + /* Compass data isn't going into the FIFO. Stop trying. */ + sensors &= ~INV_XYZ_COMPASS; + + if (st.chip_cfg.dmp_on) + return 0; + else { + if (!(st.chip_cfg.sensors)) + return -1; + prev = st.chip_cfg.fifo_enable; + st.chip_cfg.fifo_enable = sensors & st.chip_cfg.sensors; + if (st.chip_cfg.fifo_enable != sensors) + /* You're not getting what you asked for. Some sensors are + * asleep. + */ + result = -1; + else + result = 0; + if (sensors || st.chip_cfg.lp_accel_mode) + set_int_enable(1); + else + set_int_enable(0); + if (sensors) { + if (mpu_reset_fifo()) { + st.chip_cfg.fifo_enable = prev; + return -1; + } + } + } + + return result; +} + +/** + * @brief Get current power state. + * @param[in] power_on 1 if turned on, 0 if suspended. + * @return 0 if successful. + */ +int mpu_get_power_state(unsigned char *power_on) +{ + if (st.chip_cfg.sensors) + power_on[0] = 1; + else + power_on[0] = 0; + return 0; +} + +/** + * @brief Turn specific sensors on/off. + * @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_XYZ_COMPASS + * @param[in] sensors Mask of sensors to wake. + * @return 0 if successful. + */ +int mpu_set_sensors(unsigned char sensors) +{ + unsigned char data; +#ifdef AK89xx_SECONDARY + unsigned char user_ctrl; +#endif + + if (sensors & INV_XYZ_GYRO) + data = INV_CLK_PLL; + else if (sensors) + data = 0; + else + data = BIT_SLEEP; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + st.chip_cfg.clk_src = data & ~BIT_SLEEP; + + data = 0; + if (!(sensors & INV_X_GYRO)) + data |= BIT_STBY_XG; + if (!(sensors & INV_Y_GYRO)) + data |= BIT_STBY_YG; + if (!(sensors & INV_Z_GYRO)) + data |= BIT_STBY_ZG; + if (!(sensors & INV_XYZ_ACCEL)) + data |= BIT_STBY_XYZA; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_2, 1, &data)) { + st.chip_cfg.sensors = 0; + return -1; + } + + if (sensors && (sensors != INV_XYZ_ACCEL)) + /* Latched interrupts only used in LP accel mode. */ + mpu_set_int_latched(0); + +#ifdef AK89xx_SECONDARY +#ifdef AK89xx_BYPASS + if (sensors & INV_XYZ_COMPASS) + mpu_set_bypass(1); + else + mpu_set_bypass(0); +#else + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; + /* Handle AKM power management. */ + if (sensors & INV_XYZ_COMPASS) { + data = AKM_SINGLE_MEASUREMENT; + user_ctrl |= BIT_AUX_IF_EN; + } else { + data = AKM_POWER_DOWN; + user_ctrl &= ~BIT_AUX_IF_EN; + } + if (st.chip_cfg.dmp_on) + user_ctrl |= BIT_DMP_EN; + else + user_ctrl &= ~BIT_DMP_EN; + if (i2c_write(st.hw->addr, st.reg->s1_do, 1, &data)) + return -1; + /* Enable/disable I2C master mode. */ + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &user_ctrl)) + return -1; +#endif +#endif + + st.chip_cfg.sensors = sensors; + st.chip_cfg.lp_accel_mode = 0; + Delay_ms(50); + return 0; +} + +/** + * @brief Read the MPU interrupt status registers. + * @param[out] status Mask of interrupt bits. + * @return 0 if successful. + */ +int mpu_get_int_status(short *status) +{ + unsigned char tmp[2]; + if (!st.chip_cfg.sensors) + return -1; + if (i2c_read(st.hw->addr, st.reg->dmp_int_status, 2, tmp)) + return -1; + status[0] = (tmp[0] << 8) | tmp[1]; + return 0; +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more) +{ + /* Assumes maximum packet size is gyro (6) + accel (6). */ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_size = 0; + unsigned short fifo_count, index = 0; + + if (st.chip_cfg.dmp_on) + return -1; + + sensors[0] = 0; + if (!st.chip_cfg.sensors) + return -1; + if (!st.chip_cfg.fifo_enable) + return -1; + + if (st.chip_cfg.fifo_enable & INV_X_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Y_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_Z_GYRO) + packet_size += 2; + if (st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) + packet_size += 6; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + fifo_count = (data[0] << 8) | data[1]; + if (fifo_count < packet_size) + return 0; +// log_i("FIFO count: %hd\n", fifo_count); + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, data)) + return -1; + if (data[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + get_ms((unsigned long*)timestamp); + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, packet_size, data)) + return -1; + more[0] = fifo_count / packet_size - 1; + sensors[0] = 0; + + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_XYZ_ACCEL) { + accel[0] = (data[index+0] << 8) | data[index+1]; + accel[1] = (data[index+2] << 8) | data[index+3]; + accel[2] = (data[index+4] << 8) | data[index+5]; + sensors[0] |= INV_XYZ_ACCEL; + index += 6; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_X_GYRO) { + gyro[0] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_X_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Y_GYRO) { + gyro[1] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Y_GYRO; + index += 2; + } + if ((index != packet_size) && st.chip_cfg.fifo_enable & INV_Z_GYRO) { + gyro[2] = (data[index+0] << 8) | data[index+1]; + sensors[0] |= INV_Z_GYRO; + index += 2; + } + + return 0; +} + +/** + * @brief Get one unparsed packet from the FIFO. + * This function should be used if the packet is to be parsed elsewhere. + * @param[in] length Length of one FIFO packet. + * @param[in] data FIFO packet. + * @param[in] more Number of remaining packets. + */ +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more) +{ + unsigned char tmp[2]; + unsigned short fifo_count; + if (!st.chip_cfg.dmp_on) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, tmp)) + return -1; + fifo_count = (tmp[0] << 8) | tmp[1]; + if (fifo_count < length) { + more[0] = 0; + return -1; + } + if (fifo_count > (st.hw->max_fifo >> 1)) { + /* FIFO is 50% full, better check overflow bit. */ + if (i2c_read(st.hw->addr, st.reg->int_status, 1, tmp)) + return -1; + if (tmp[0] & BIT_FIFO_OVERFLOW) { + mpu_reset_fifo(); + return -2; + } + } + + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, length, data)) + return -1; + more[0] = fifo_count / length - 1; + return 0; +} + +/** + * @brief Set device to bypass mode. + * @param[in] bypass_on 1 to enable bypass mode. + * @return 0 if successful. + */ +int mpu_set_bypass(unsigned char bypass_on) +{ + unsigned char tmp; + + if (st.chip_cfg.bypass_mode == bypass_on) + return 0; + + if (bypass_on) { + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + Delay_ms(3); + tmp = BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } else { + /* Enable I2C master mode if compass is being used. */ + if (i2c_read(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + if (st.chip_cfg.sensors & INV_XYZ_COMPASS) + tmp |= BIT_AUX_IF_EN; + else + tmp &= ~BIT_AUX_IF_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, &tmp)) + return -1; + Delay_ms(3); + if (st.chip_cfg.active_low_int) + tmp = BIT_ACTL; + else + tmp = 0; + if (st.chip_cfg.latched_int) + tmp |= BIT_LATCH_EN | BIT_ANY_RD_CLR; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + } + st.chip_cfg.bypass_mode = bypass_on; + return 0; +} + +/** + * @brief Set interrupt level. + * @param[in] active_low 1 for active low, 0 for active high. + * @return 0 if successful. + */ +int mpu_set_int_level(unsigned char active_low) +{ + st.chip_cfg.active_low_int = active_low; + return 0; +} + +/** + * @brief Enable latched interrupts. + * Any MPU register will clear the interrupt. + * @param[in] enable 1 to enable, 0 to disable. + * @return 0 if successful. + */ +int mpu_set_int_latched(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.latched_int == enable) + return 0; + + if (enable) + tmp = BIT_LATCH_EN | BIT_ANY_RD_CLR; + else + tmp = 0; + if (st.chip_cfg.bypass_mode) + tmp |= BIT_BYPASS_EN; + if (st.chip_cfg.active_low_int) + tmp |= BIT_ACTL; + if (i2c_write(st.hw->addr, st.reg->int_pin_cfg, 1, &tmp)) + return -1; + st.chip_cfg.latched_int = enable; + return 0; +} + +#ifdef MPU6050 +static int get_accel_prod_shift(float *st_shift) +{ + unsigned char tmp[4], shift_code[3], ii; + + if (i2c_read(st.hw->addr, 0x0D, 4, tmp)) + return 0x07; + + shift_code[0] = ((tmp[0] & 0xE0) >> 3) | ((tmp[3] & 0x30) >> 4); + shift_code[1] = ((tmp[1] & 0xE0) >> 3) | ((tmp[3] & 0x0C) >> 2); + shift_code[2] = ((tmp[2] & 0xE0) >> 3) | (tmp[3] & 0x03); + for (ii = 0; ii < 3; ii++) { + if (!shift_code[ii]) { + st_shift[ii] = 0.f; + continue; + } + /* Equivalent to.. + * st_shift[ii] = 0.34f * powf(0.92f/0.34f, (shift_code[ii]-1) / 30.f) + */ + st_shift[ii] = 0.34f; + while (--shift_code[ii]) + st_shift[ii] *= 1.034f; + } + return 0; +} + +static int accel_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + float st_shift[3], st_shift_cust, st_shift_var; + + get_accel_prod_shift(st_shift); + for(jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (st_shift[jj]) { + st_shift_var = st_shift_cust / st_shift[jj] - 1.f; + if (fabs(st_shift_var) > test.max_accel_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_g) || + (st_shift_cust > test.max_g)) + result |= 1 << jj; + } + + return result; +} + +static int gyro_self_test(long *bias_regular, long *bias_st) +{ + int jj, result = 0; + unsigned char tmp[3]; + float st_shift, st_shift_cust, st_shift_var; + + if (i2c_read(st.hw->addr, 0x0D, 3, tmp)) + return 0x07; + + tmp[0] &= 0x1F; + tmp[1] &= 0x1F; + tmp[2] &= 0x1F; + + for (jj = 0; jj < 3; jj++) { + st_shift_cust = labs(bias_regular[jj] - bias_st[jj]) / 65536.f; + if (tmp[jj]) { + st_shift = 3275.f / test.gyro_sens; + while (--tmp[jj]) + st_shift *= 1.046f; + st_shift_var = st_shift_cust / st_shift - 1.f; + if (fabs(st_shift_var) > test.max_gyro_var) + result |= 1 << jj; + } else if ((st_shift_cust < test.min_dps) || + (st_shift_cust > test.max_dps)) + result |= 1 << jj; + } + return result; +} + +#ifdef AK89xx_SECONDARY +static int compass_self_test(void) +{ + unsigned char tmp[6]; + unsigned char tries = 10; + int result = 0x07; + short data; + + mpu_set_bypass(1); + + tmp[0] = AKM_POWER_DOWN; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + return 0x07; + tmp[0] = AKM_BIT_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp)) + goto AKM_restore; + tmp[0] = AKM_MODE_SELF_TEST; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp)) + goto AKM_restore; + + do { + delay_ms(10); + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 1, tmp)) + goto AKM_restore; + if (tmp[0] & AKM_DATA_READY) + break; + } while (tries--); + if (!(tmp[0] & AKM_DATA_READY)) + goto AKM_restore; + + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_HXL, 6, tmp)) + goto AKM_restore; + + result = 0; + data = (short)(tmp[1] << 8) | tmp[0]; + if ((data > 100) || (data < -100)) + result |= 0x01; + data = (short)(tmp[3] << 8) | tmp[2]; + if ((data > 100) || (data < -100)) + result |= 0x02; + data = (short)(tmp[5] << 8) | tmp[4]; + if ((data > -300) || (data < -1000)) + result |= 0x04; + +AKM_restore: + tmp[0] = 0 | SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_ASTC, 1, tmp); + tmp[0] = SUPPORTS_AK89xx_HIGH_SENS; + i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp); + mpu_set_bypass(0); + return result; +} +#endif +#endif + +static int get_st_biases(long *gyro, long *accel, unsigned char hw_test) +{ + unsigned char data[MAX_PACKET_LENGTH]; + unsigned char packet_count, ii; + unsigned short fifo_count; + + data[0] = 0x01; + data[1] = 0; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + return -1; + Delay_ms(200); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) + return -1; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + data[0] = BIT_FIFO_RST | BIT_DMP_RST; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + Delay_ms(15); + data[0] = st.test->reg_lpf; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + data[0] = st.test->reg_rate_div; + if (i2c_write(st.hw->addr, st.reg->rate_div, 1, data)) + return -1; + if (hw_test) + data[0] = st.test->reg_gyro_fsr | 0xE0; + else + data[0] = st.test->reg_gyro_fsr; + if (i2c_write(st.hw->addr, st.reg->gyro_cfg, 1, data)) + return -1; + + if (hw_test) + data[0] = st.test->reg_accel_fsr | 0xE0; + else + data[0] = test.reg_accel_fsr; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + return -1; + if (hw_test) + Delay_ms(200); + + /* Fill FIFO for test.wait_ms milliseconds. */ + data[0] = BIT_FIFO_EN; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 1, data)) + return -1; + + data[0] = INV_XYZ_GYRO | INV_XYZ_ACCEL; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + Delay_ms(test.wait_ms); + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->fifo_en, 1, data)) + return -1; + + if (i2c_read(st.hw->addr, st.reg->fifo_count_h, 2, data)) + return -1; + + fifo_count = (data[0] << 8) | data[1]; + packet_count = fifo_count / MAX_PACKET_LENGTH; + gyro[0] = gyro[1] = gyro[2] = 0; + accel[0] = accel[1] = accel[2] = 0; + + for (ii = 0; ii < packet_count; ii++) { + short accel_cur[3], gyro_cur[3]; + if (i2c_read(st.hw->addr, st.reg->fifo_r_w, MAX_PACKET_LENGTH, data)) + return -1; + accel_cur[0] = ((short)data[0] << 8) | data[1]; + accel_cur[1] = ((short)data[2] << 8) | data[3]; + accel_cur[2] = ((short)data[4] << 8) | data[5]; + accel[0] += (long)accel_cur[0]; + accel[1] += (long)accel_cur[1]; + accel[2] += (long)accel_cur[2]; + gyro_cur[0] = (((short)data[6] << 8) | data[7]); + gyro_cur[1] = (((short)data[8] << 8) | data[9]); + gyro_cur[2] = (((short)data[10] << 8) | data[11]); + gyro[0] += (long)gyro_cur[0]; + gyro[1] += (long)gyro_cur[1]; + gyro[2] += (long)gyro_cur[2]; + } +#ifdef EMPL_NO_64BIT + gyro[0] = (long)(((float)gyro[0]*65536.f) / test.gyro_sens / packet_count); + gyro[1] = (long)(((float)gyro[1]*65536.f) / test.gyro_sens / packet_count); + gyro[2] = (long)(((float)gyro[2]*65536.f) / test.gyro_sens / packet_count); + if (has_accel) { + accel[0] = (long)(((float)accel[0]*65536.f) / test.accel_sens / + packet_count); + accel[1] = (long)(((float)accel[1]*65536.f) / test.accel_sens / + packet_count); + accel[2] = (long)(((float)accel[2]*65536.f) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + accel[2] -= 65536L; + } +#else + gyro[0] = (long)(((long long)gyro[0]<<16) / test.gyro_sens / packet_count); + gyro[1] = (long)(((long long)gyro[1]<<16) / test.gyro_sens / packet_count); + gyro[2] = (long)(((long long)gyro[2]<<16) / test.gyro_sens / packet_count); + accel[0] = (long)(((long long)accel[0]<<16) / test.accel_sens / + packet_count); + accel[1] = (long)(((long long)accel[1]<<16) / test.accel_sens / + packet_count); + accel[2] = (long)(((long long)accel[2]<<16) / test.accel_sens / + packet_count); + /* Don't remove gravity! */ + if (accel[2] > 0L) + accel[2] -= 65536L; + else + accel[2] += 65536L; +#endif + + return 0; +} + +/** + * @brief Trigger gyro/accel/compass self-test. + * On success/error, the self-test returns a mask representing the sensor(s) + * that failed. For each bit, a one (1) represents a "pass" case; conversely, + * a zero (0) indicates a failure. + * + * \n The mask is defined as follows: + * \n Bit 0: Gyro. + * \n Bit 1: Accel. + * \n Bit 2: Compass. + * + * \n Currently, the hardware self-test is unsupported for MPU6500. However, + * this function can still be used to obtain the accel and gyro biases. + * + * \n This function must be called with the device either face-up or face-down + * (z-axis is parallel to gravity). + * @param[out] gyro Gyro biases in q16 format. + * @param[out] accel Accel biases (if applicable) in q16 format. + * @return Result mask (see above). + */ +int mpu_run_self_test(long *gyro, long *accel) +{ +#ifdef MPU6050 + const unsigned char tries = 2; + long gyro_st[3], accel_st[3]; + unsigned char accel_result, gyro_result; +#ifdef AK89xx_SECONDARY + unsigned char compass_result; +#endif + int ii; +#endif + int result; + unsigned char accel_fsr, fifo_sensors, sensors_on; + unsigned short gyro_fsr, sample_rate, lpf; + unsigned char dmp_was_on; + + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + dmp_was_on = 1; + } else + dmp_was_on = 0; + + /* Get initial settings. */ + mpu_get_gyro_fsr(&gyro_fsr); + mpu_get_accel_fsr(&accel_fsr); + mpu_get_lpf(&lpf); + mpu_get_sample_rate(&sample_rate); + sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&fifo_sensors); + + /* For older chips, the self-test will be different. */ +#if defined MPU6050 + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro, accel, 0)) + break; + if (ii == tries) { + /* If we reach this point, we most likely encountered an I2C error. + * We'll just report an error for all three sensors. + */ + result = 0; + goto restore; + } + for (ii = 0; ii < tries; ii++) + if (!get_st_biases(gyro_st, accel_st, 1)) + break; + if (ii == tries) { + /* Again, probably an I2C error. */ + result = 0; + goto restore; + } + accel_result = accel_self_test(accel, accel_st); + gyro_result = gyro_self_test(gyro, gyro_st); + + result = 0; + if (!gyro_result) + result |= 0x01; + if (!accel_result) + result |= 0x02; + +#ifdef AK89xx_SECONDARY + compass_result = compass_self_test(); + if (!compass_result) + result |= 0x04; +#endif +restore: +#elif defined MPU6500 + /* For now, this function will return a "pass" result for all three sensors + * for compatibility with current test applications. + */ + get_st_biases(gyro, accel, 0); + result = 0x7; +#endif + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_gyro_fsr(gyro_fsr); + mpu_set_accel_fsr(accel_fsr); + mpu_set_lpf(lpf); + mpu_set_sample_rate(sample_rate); + mpu_set_sensors(sensors_on); + mpu_configure_fifo(fifo_sensors); + + if (dmp_was_on) + mpu_set_dmp_state(1); + + return result; +} + +/** + * @brief Write to the DMP memory. + * This function prevents I2C writes past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to write. + * @param[in] data Bytes to write to memory. + * @return 0 if successful. + */ +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_write(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Read from the DMP memory. + * This function prevents I2C reads past the bank boundaries. The DMP memory + * is only accessible when the chip is awake. + * @param[in] mem_addr Memory location (bank << 8 | start address) + * @param[in] length Number of bytes to read. + * @param[out] data Bytes read from memory. + * @return 0 if successful. + */ +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data) +{ + unsigned char tmp[2]; + + if (!data) + return -1; + if (!st.chip_cfg.sensors) + return -1; + + tmp[0] = (unsigned char)(mem_addr >> 8); + tmp[1] = (unsigned char)(mem_addr & 0xFF); + + /* Check bank boundaries. */ + if (tmp[1] + length > st.hw->bank_size) + return -1; + + if (i2c_write(st.hw->addr, st.reg->bank_sel, 2, tmp)) + return -1; + if (i2c_read(st.hw->addr, st.reg->mem_r_w, length, data)) + return -1; + return 0; +} + +/** + * @brief Load and verify DMP image. + * @param[in] length Length of DMP image. + * @param[in] firmware DMP code. + * @param[in] start_addr Starting address of DMP code memory. + * @param[in] sample_rate Fixed sampling rate used when DMP is enabled. + * @return 0 if successful. + */ +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate) +{ + unsigned short ii; + unsigned short this_write; + /* Must divide evenly into st.hw->bank_size to avoid bank crossings. */ +#define LOAD_CHUNK (16) + unsigned char cur[LOAD_CHUNK], tmp[2]; + + if (st.chip_cfg.dmp_loaded) + /* DMP should only be loaded once. */ + return -1; + + if (!firmware) + return -1; + for (ii = 0; ii < length; ii += this_write) { + this_write = min(LOAD_CHUNK, length - ii); + if (mpu_write_mem(ii, this_write, (unsigned char*)&firmware[ii])) + return -1; + if (mpu_read_mem(ii, this_write, cur)) + return -1; + if (memcmp(firmware+ii, cur, this_write)) + return -2; + } + + /* Set program start address. */ + tmp[0] = start_addr >> 8; + tmp[1] = start_addr & 0xFF; + if (i2c_write(st.hw->addr, st.reg->prgm_start_h, 2, tmp)) + return -1; + + st.chip_cfg.dmp_loaded = 1; + st.chip_cfg.dmp_sample_rate = sample_rate; + return 0; +} + +/** + * @brief Enable/disable DMP support. + * @param[in] enable 1 to turn on the DMP. + * @return 0 if successful. + */ +int mpu_set_dmp_state(unsigned char enable) +{ + unsigned char tmp; + if (st.chip_cfg.dmp_on == enable) + return 0; + + if (enable) { + if (!st.chip_cfg.dmp_loaded) + return -1; + /* Disable data ready interrupt. */ + set_int_enable(0); + /* Disable bypass mode. */ + mpu_set_bypass(0); + /* Keep constant sample rate, FIFO rate controlled by DMP. */ + mpu_set_sample_rate(st.chip_cfg.dmp_sample_rate); + /* Remove FIFO elements. */ + tmp = 0; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 1; + /* Enable DMP interrupt. */ + set_int_enable(1); + mpu_reset_fifo(); + } else { + /* Disable DMP interrupt. */ + set_int_enable(0); + /* Restore FIFO settings. */ + tmp = st.chip_cfg.fifo_enable; + i2c_write(st.hw->addr, 0x23, 1, &tmp); + st.chip_cfg.dmp_on = 0; + mpu_reset_fifo(); + } + return 0; +} + +/** + * @brief Get DMP state. + * @param[out] enabled 1 if enabled. + * @return 0 if successful. + */ +int mpu_get_dmp_state(unsigned char *enabled) +{ + enabled[0] = st.chip_cfg.dmp_on; + return 0; +} + + +/* This initialization is similar to the one in ak8975.c. */ +//static int setup_compass(void) +//{ +//#ifdef AK89xx_SECONDARY +// unsigned char data[4], akm_addr; +// +// mpu_set_bypass(1); +// +// /* Find compass. Possible addresses range from 0x0C to 0x0F. */ +// for (akm_addr = 0x0C; akm_addr <= 0x0F; akm_addr++) { +// int result; +// result = i2c_read(akm_addr, AKM_REG_WHOAMI, 1, data); +// if (!result && (data[0] == AKM_WHOAMI)) +// break; +// } +// +// if (akm_addr > 0x0F) { +// /* TODO: Handle this case in all compass-related functions. */ +// log_e("Compass not found.\n"); +// return -1; +// } +// +// st.chip_cfg.compass_addr = akm_addr; +// +// data[0] = AKM_POWER_DOWN; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// data[0] = AKM_FUSE_ROM_ACCESS; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// /* Get sensitivity adjustment data from fuse ROM. */ +// if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ASAX, 3, data)) +// return -1; +// st.chip_cfg.mag_sens_adj[0] = (long)data[0] + 128; +// st.chip_cfg.mag_sens_adj[1] = (long)data[1] + 128; +// st.chip_cfg.mag_sens_adj[2] = (long)data[2] + 128; +// +// data[0] = AKM_POWER_DOWN; +// if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, data)) +// return -1; +// delay_ms(1); +// +// mpu_set_bypass(0); +// +// /* Set up master mode, master clock, and ES bit. */ +// data[0] = 0x40; +// if (i2c_write(st.hw->addr, st.reg->i2c_mst, 1, data)) +// return -1; +// +// /* Slave 0 reads from AKM data registers. */ +// data[0] = BIT_I2C_READ | st.chip_cfg.compass_addr; +// if (i2c_write(st.hw->addr, st.reg->s0_addr, 1, data)) +// return -1; +// +// /* Compass reads start at this register. */ +// data[0] = AKM_REG_ST1; +// if (i2c_write(st.hw->addr, st.reg->s0_reg, 1, data)) +// return -1; +// +// /* Enable slave 0, 8-byte reads. */ +// data[0] = BIT_SLAVE_EN | 8; +// if (i2c_write(st.hw->addr, st.reg->s0_ctrl, 1, data)) +// return -1; +// +// /* Slave 1 changes AKM measurement mode. */ +// data[0] = st.chip_cfg.compass_addr; +// if (i2c_write(st.hw->addr, st.reg->s1_addr, 1, data)) +// return -1; +// +// /* AKM measurement mode register. */ +// data[0] = AKM_REG_CNTL; +// if (i2c_write(st.hw->addr, st.reg->s1_reg, 1, data)) +// return -1; +// +// /* Enable slave 1, 1-byte writes. */ +// data[0] = BIT_SLAVE_EN | 1; +// if (i2c_write(st.hw->addr, st.reg->s1_ctrl, 1, data)) +// return -1; +// +// /* Set slave 1 data. */ +// data[0] = AKM_SINGLE_MEASUREMENT; +// if (i2c_write(st.hw->addr, st.reg->s1_do, 1, data)) +// return -1; +// +// /* Trigger slave 0 and slave 1 actions at each sample. */ +// data[0] = 0x03; +// if (i2c_write(st.hw->addr, st.reg->i2c_delay_ctrl, 1, data)) +// return -1; +// +//#ifdef MPU9150 +// /* For the MPU9150, the auxiliary I2C bus needs to be set to VDD. */ +// data[0] = BIT_I2C_MST_VDDIO; +// if (i2c_write(st.hw->addr, st.reg->yg_offs_tc, 1, data)) +// return -1; +//#endif +// +// return 0; +//#else +// return -1; +//#endif +//} + +/** + * @brief Read raw compass data. + * @param[out] data Raw data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. Null if not needed. + * @return 0 if successful. + */ +int mpu_get_compass_reg(short *data, unsigned long *timestamp) +{ +#ifdef AK89xx_SECONDARY + unsigned char tmp[9]; + + if (!(st.chip_cfg.sensors & INV_XYZ_COMPASS)) + return -1; + +#ifdef AK89xx_BYPASS + if (i2c_read(st.chip_cfg.compass_addr, AKM_REG_ST1, 8, tmp)) + return -1; + tmp[8] = AKM_SINGLE_MEASUREMENT; + if (i2c_write(st.chip_cfg.compass_addr, AKM_REG_CNTL, 1, tmp+8)) + return -1; +#else + if (i2c_read(st.hw->addr, st.reg->raw_compass, 8, tmp)) + return -1; +#endif + +#if defined AK8975_SECONDARY + /* AK8975 doesn't have the overrun error bit. */ + if (!(tmp[0] & AKM_DATA_READY)) + return -2; + if ((tmp[7] & AKM_OVERFLOW) || (tmp[7] & AKM_DATA_ERROR)) + return -3; +#elif defined AK8963_SECONDARY + /* AK8963 doesn't have the data read error bit. */ + if (!(tmp[0] & AKM_DATA_READY) || (tmp[0] & AKM_DATA_OVERRUN)) + return -2; + if (tmp[7] & AKM_OVERFLOW) + return -3; +#endif + data[0] = (tmp[2] << 8) | tmp[1]; + data[1] = (tmp[4] << 8) | tmp[3]; + data[2] = (tmp[6] << 8) | tmp[5]; + + data[0] = ((long)data[0] * st.chip_cfg.mag_sens_adj[0]) >> 8; + data[1] = ((long)data[1] * st.chip_cfg.mag_sens_adj[1]) >> 8; + data[2] = ((long)data[2] * st.chip_cfg.mag_sens_adj[2]) >> 8; + + if (timestamp) + get_ms(timestamp); + return 0; +#else + return -1; +#endif +} + +/** + * @brief Get the compass full-scale range. + * @param[out] fsr Current full-scale range. + * @return 0 if successful. + */ +int mpu_get_compass_fsr(unsigned short *fsr) +{ +#ifdef AK89xx_SECONDARY + fsr[0] = st.hw->compass_fsr; + return 0; +#else + return -1; +#endif +} + +/** + * @brief Enters LP accel motion interrupt mode. + * The behavior of this feature is very different between the MPU6050 and the + * MPU6500. Each chip's version of this feature is explained below. + * + * \n MPU6050: + * \n When this mode is first enabled, the hardware captures a single accel + * sample, and subsequent samples are compared with this one to determine if + * the device is in motion. Therefore, whenever this "locked" sample needs to + * be changed, this function must be called again. + * + * \n The hardware motion threshold can be between 32mg and 8160mg in 32mg + * increments. + * + * \n Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 5Hz, 20Hz, 40Hz + * + * \n MPU6500: + * \n Unlike the MPU6050 version, the hardware does not "lock in" a reference + * sample. The hardware monitors the accel data and detects any large change + * over a short period of time. + * + * \n The hardware motion threshold can be between 4mg and 1020mg in 4mg + * increments. + * + * \n MPU6500 Low-power accel mode supports the following frequencies: + * \n 1.25Hz, 2.5Hz, 5Hz, 10Hz, 20Hz, 40Hz, 80Hz, 160Hz, 320Hz, 640Hz + * + * \n\n NOTES: + * \n The driver will round down @e thresh to the nearest supported value if + * an unsupported threshold is selected. + * \n To select a fractional wake-up frequency, round down the value passed to + * @e lpa_freq. + * \n The MPU6500 does not support a delay parameter. If this function is used + * for the MPU6500, the value passed to @e time will be ignored. + * \n To disable this mode, set @e lpa_freq to zero. The driver will restore + * the previous configuration. + * + * @param[in] thresh Motion threshold in mg. + * @param[in] time Duration in milliseconds that the accel data must + * exceed @e thresh before motion is reported. + * @param[in] lpa_freq Minimum sampling rate, or zero to disable. + * @return 0 if successful. + */ +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq) +{ + unsigned char data[3]; + + if (lpa_freq) { + unsigned char thresh_hw; + +#if defined MPU6050 + /* TODO: Make these const/#defines. */ + /* 1LSb = 32mg. */ + if (thresh > 8160) + thresh_hw = 255; + else if (thresh < 32) + thresh_hw = 1; + else + thresh_hw = thresh >> 5; +#elif defined MPU6500 + /* 1LSb = 4mg. */ + if (thresh > 1020) + thresh_hw = 255; + else if (thresh < 4) + thresh_hw = 1; + else + thresh_hw = thresh >> 2; +#endif + + if (!time) + /* Minimum duration must be 1ms. */ + time = 1; + +#if defined MPU6050 + if (lpa_freq > 40) +#elif defined MPU6500 + if (lpa_freq > 640) +#endif + /* At this point, the chip has not been re-configured, so the + * function can safely exit. + */ + return -1; + + if (!st.chip_cfg.int_motion_only) { + /* Store current settings for later. */ + if (st.chip_cfg.dmp_on) { + mpu_set_dmp_state(0); + st.chip_cfg.cache.dmp_on = 1; + } else + st.chip_cfg.cache.dmp_on = 0; + mpu_get_gyro_fsr(&st.chip_cfg.cache.gyro_fsr); + mpu_get_accel_fsr(&st.chip_cfg.cache.accel_fsr); + mpu_get_lpf(&st.chip_cfg.cache.lpf); + mpu_get_sample_rate(&st.chip_cfg.cache.sample_rate); + st.chip_cfg.cache.sensors_on = st.chip_cfg.sensors; + mpu_get_fifo_config(&st.chip_cfg.cache.fifo_sensors); + } + +#ifdef MPU6050 + /* Disable hardware interrupts for now. */ + set_int_enable(0); + + /* Enter full-power accel-only mode. */ + mpu_lp_accel_mode(0); + + /* Override current LPF (and HPF) settings to obtain a valid accel + * reading. + */ + data[0] = INV_FILTER_256HZ_NOLPF2; + if (i2c_write(st.hw->addr, st.reg->lpf, 1, data)) + return -1; + + /* NOTE: Digital high pass filter should be configured here. Since this + * driver doesn't modify those bits anywhere, they should already be + * cleared by default. + */ + + /* Configure the device to send motion interrupts. */ + /* Enable motion interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + /* Set motion interrupt parameters. */ + data[0] = thresh_hw; + data[1] = time; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 2, data)) + goto lp_int_restore; + + /* Force hardware to "lock" current accel sample. */ + Delay_ms(5); + data[0] = (st.chip_cfg.accel_fsr << 3) | BITS_HPF; + if (i2c_write(st.hw->addr, st.reg->accel_cfg, 1, data)) + goto lp_int_restore; + + /* Set up LP accel mode. */ + data[0] = BIT_LPA_CYCLE; + if (lpa_freq == 1) + data[1] = INV_LPA_1_25HZ; + else if (lpa_freq <= 5) + data[1] = INV_LPA_5HZ; + else if (lpa_freq <= 20) + data[1] = INV_LPA_20HZ; + else + data[1] = INV_LPA_40HZ; + data[1] = (data[1] << 6) | BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 2, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#elif defined MPU6500 + /* Disable hardware interrupts. */ + set_int_enable(0); + + /* Enter full-power accel-only mode, no FIFO/DMP. */ + data[0] = 0; + data[1] = 0; + data[2] = BIT_STBY_XYZG; + if (i2c_write(st.hw->addr, st.reg->user_ctrl, 3, data)) + goto lp_int_restore; + + /* Set motion threshold. */ + data[0] = thresh_hw; + if (i2c_write(st.hw->addr, st.reg->motion_thr, 1, data)) + goto lp_int_restore; + + /* Set wake frequency. */ + if (lpa_freq == 1) + data[0] = INV_LPA_1_25HZ; + else if (lpa_freq == 2) + data[0] = INV_LPA_2_5HZ; + else if (lpa_freq <= 5) + data[0] = INV_LPA_5HZ; + else if (lpa_freq <= 10) + data[0] = INV_LPA_10HZ; + else if (lpa_freq <= 20) + data[0] = INV_LPA_20HZ; + else if (lpa_freq <= 40) + data[0] = INV_LPA_40HZ; + else if (lpa_freq <= 80) + data[0] = INV_LPA_80HZ; + else if (lpa_freq <= 160) + data[0] = INV_LPA_160HZ; + else if (lpa_freq <= 320) + data[0] = INV_LPA_320HZ; + else + data[0] = INV_LPA_640HZ; + if (i2c_write(st.hw->addr, st.reg->lp_accel_odr, 1, data)) + goto lp_int_restore; + + /* Enable motion interrupt (MPU6500 version). */ + data[0] = BITS_WOM_EN; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; + + /* Enable cycle mode. */ + data[0] = BIT_LPA_CYCLE; + if (i2c_write(st.hw->addr, st.reg->pwr_mgmt_1, 1, data)) + goto lp_int_restore; + + /* Enable interrupt. */ + data[0] = BIT_MOT_INT_EN; + if (i2c_write(st.hw->addr, st.reg->int_enable, 1, data)) + goto lp_int_restore; + + st.chip_cfg.int_motion_only = 1; + return 0; +#endif + } else { + /* Don't "restore" the previous state if no state has been saved. */ + int ii; + char *cache_ptr = (char*)&st.chip_cfg.cache; + for (ii = 0; ii < sizeof(st.chip_cfg.cache); ii++) { + if (cache_ptr[ii] != 0) + goto lp_int_restore; + } + /* If we reach this point, motion interrupt mode hasn't been used yet. */ + return -1; + } +lp_int_restore: + /* Set to invalid values to ensure no I2C writes are skipped. */ + st.chip_cfg.gyro_fsr = 0xFF; + st.chip_cfg.accel_fsr = 0xFF; + st.chip_cfg.lpf = 0xFF; + st.chip_cfg.sample_rate = 0xFFFF; + st.chip_cfg.sensors = 0xFF; + st.chip_cfg.fifo_enable = 0xFF; + st.chip_cfg.clk_src = INV_CLK_PLL; + mpu_set_sensors(st.chip_cfg.cache.sensors_on); + mpu_set_gyro_fsr(st.chip_cfg.cache.gyro_fsr); + mpu_set_accel_fsr(st.chip_cfg.cache.accel_fsr); + mpu_set_lpf(st.chip_cfg.cache.lpf); + mpu_set_sample_rate(st.chip_cfg.cache.sample_rate); + mpu_configure_fifo(st.chip_cfg.cache.fifo_sensors); + + if (st.chip_cfg.cache.dmp_on) + mpu_set_dmp_state(1); + +#ifdef MPU6500 + /* Disable motion interrupt (MPU6500 version). */ + data[0] = 0; + if (i2c_write(st.hw->addr, st.reg->accel_intel, 1, data)) + goto lp_int_restore; +#endif + + st.chip_cfg.int_motion_only = 0; + return 0; +} +void myget_ms(unsigned long *time) +{ + +} +/** + * @} + */ + diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu.h b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu.h new file mode 100644 index 0000000..a67d924 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu.h @@ -0,0 +1,122 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu.h + * @brief An I2C-based driver for Invensense gyroscopes. + * @details This driver currently works for the following devices: + * MPU6050 + * MPU6500 + * MPU9150 (or MPU6050 w/ AK8975 on the auxiliary bus) + * MPU9250 (or MPU6500 w/ AK8963 on the auxiliary bus) + */ + +#ifndef _INV_MPU_H_ +#define _INV_MPU_H_ + +#define INV_X_GYRO (0x40) +#define INV_Y_GYRO (0x20) +#define INV_Z_GYRO (0x10) +#define INV_XYZ_GYRO (INV_X_GYRO | INV_Y_GYRO | INV_Z_GYRO) +#define INV_XYZ_ACCEL (0x08) +#define INV_XYZ_COMPASS (0x01) + +struct int_param_s { +//#if defined EMPL_TARGET_MSP430 || defined MOTION_DRIVER_TARGET_MSP430 + void (*cb)(void); + unsigned short pin; + unsigned char lp_exit; + unsigned char active_low; +/*#elif defined EMPL_TARGET_UC3L0 + unsigned long pin; + void (*cb)(volatile void*); + void *arg; +#endif */ +}; + +#define MPU_INT_STATUS_DATA_READY (0x0001) +#define MPU_INT_STATUS_DMP (0x0002) +#define MPU_INT_STATUS_PLL_READY (0x0004) +#define MPU_INT_STATUS_I2C_MST (0x0008) +#define MPU_INT_STATUS_FIFO_OVERFLOW (0x0010) +#define MPU_INT_STATUS_ZMOT (0x0020) +#define MPU_INT_STATUS_MOT (0x0040) +#define MPU_INT_STATUS_FREE_FALL (0x0080) +#define MPU_INT_STATUS_DMP_0 (0x0100) +#define MPU_INT_STATUS_DMP_1 (0x0200) +#define MPU_INT_STATUS_DMP_2 (0x0400) +#define MPU_INT_STATUS_DMP_3 (0x0800) +#define MPU_INT_STATUS_DMP_4 (0x1000) +#define MPU_INT_STATUS_DMP_5 (0x2000) + +/* Set up APIs */ +int mpu_init(void); +int mpu_init_slave(void); +int mpu_set_bypass(unsigned char bypass_on); + +/* Configuration APIs */ +int mpu_lp_accel_mode(unsigned char rate); +int mpu_lp_motion_interrupt(unsigned short thresh, unsigned char time, + unsigned char lpa_freq); +int mpu_set_int_level(unsigned char active_low); +int mpu_set_int_latched(unsigned char enable); + +int mpu_set_dmp_state(unsigned char enable); +int mpu_get_dmp_state(unsigned char *enabled); + +int mpu_get_lpf(unsigned short *lpf); +int mpu_set_lpf(unsigned short lpf); + +int mpu_get_gyro_fsr(unsigned short *fsr); +int mpu_set_gyro_fsr(unsigned short fsr); + +int mpu_get_accel_fsr(unsigned char *fsr); +int mpu_set_accel_fsr(unsigned char fsr); + +int mpu_get_compass_fsr(unsigned short *fsr); + +int mpu_get_gyro_sens(float *sens); +int mpu_get_accel_sens(unsigned short *sens); + +int mpu_get_sample_rate(unsigned short *rate); +int mpu_set_sample_rate(unsigned short rate); +int mpu_get_compass_sample_rate(unsigned short *rate); +int mpu_set_compass_sample_rate(unsigned short rate); + +int mpu_get_fifo_config(unsigned char *sensors); +int mpu_configure_fifo(unsigned char sensors); + +int mpu_get_power_state(unsigned char *power_on); +int mpu_set_sensors(unsigned char sensors); + +int mpu_set_accel_bias(const long *accel_bias); + +/* Data getter/setter APIs */ +int mpu_get_gyro_reg(short *data, unsigned long *timestamp); +int mpu_get_accel_reg(short *data, unsigned long *timestamp); +int mpu_get_compass_reg(short *data, unsigned long *timestamp); +int mpu_get_temperature(long *data, unsigned long *timestamp); + +int mpu_get_int_status(short *status); +int mpu_read_fifo(short *gyro, short *accel, unsigned long *timestamp, + unsigned char *sensors, unsigned char *more); +int mpu_read_fifo_stream(unsigned short length, unsigned char *data, + unsigned char *more); +int mpu_reset_fifo(void); + +int mpu_write_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_read_mem(unsigned short mem_addr, unsigned short length, + unsigned char *data); +int mpu_load_firmware(unsigned short length, const unsigned char *firmware, + unsigned short start_addr, unsigned short sample_rate); + +int mpu_reg_dump(void); +int mpu_read_reg(unsigned char reg, unsigned char *data); +int mpu_run_self_test(long *gyro, long *accel); +int mpu_register_tap_cb(void (*func)(unsigned char, unsigned char)); +void myget_ms(unsigned long *time); +#endif /* #ifndef _INV_MPU_H_ */ + diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu_dmp_motion_driver.c b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu_dmp_motion_driver.c new file mode 100644 index 0000000..0ac2044 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu_dmp_motion_driver.c @@ -0,0 +1,1361 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.c + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#include "sys.h" + + +#define MOTION_DRIVER_TARGET_MSP430 +/* The following functions must be defined for this platform: + * i2c_write(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char const *data) + * i2c_read(unsigned char slave_addr, unsigned char reg_addr, + * unsigned char length, unsigned char *data) + * delay_ms(unsigned long num_ms) + * get_ms(unsigned long *count) + */ +#if defined MOTION_DRIVER_TARGET_MSP430 +//#include "msp430.h" +//#include "msp430_clock.h" +#define delay_ms delay_ms +#define get_ms get_ms +#define log_e printf +#define log_i printf + +#elif defined EMPL_TARGET_MSP430 +#include "msp430.h" +#include "msp430_clock.h" +#include "log.h" +#define delay_ms msp430_delay_ms +#define get_ms msp430_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#elif defined EMPL_TARGET_UC3L0 +/* Instead of using the standard TWI driver from the ASF library, we're using + * a TWI driver that follows the slave address + register address convention. + */ +#include "delay.h" +#include "sysclk.h" +#include "log.h" +#include "uc3l0_clock.h" +/* delay_ms is a function already defined in ASF. */ +#define get_ms uc3l0_get_clock_ms +#define log_i MPL_LOGI +#define log_e MPL_LOGE + +#else +//#error Gyro driver is missing the system layer implementations. +#endif + +/* These defines are copied from dmpDefaultMPU6050.c in the general MPL + * releases. These defines may change for each DMP image, so be sure to modify + * these values when switching to a new image. + */ +#define CFG_LP_QUAT (2712) +#define END_ORIENT_TEMP (1866) +#define CFG_27 (2742) +#define CFG_20 (2224) +#define CFG_23 (2745) +#define CFG_FIFO_ON_EVENT (2690) +#define END_PREDICTION_UPDATE (1761) +#define CGNOTICE_INTR (2620) +#define X_GRT_Y_TMP (1358) +#define CFG_DR_INT (1029) +#define CFG_AUTH (1035) +#define UPDATE_PROP_ROT (1835) +#define END_COMPARE_Y_X_TMP2 (1455) +#define SKIP_X_GRT_Y_TMP (1359) +#define SKIP_END_COMPARE (1435) +#define FCFG_3 (1088) +#define FCFG_2 (1066) +#define FCFG_1 (1062) +#define END_COMPARE_Y_X_TMP3 (1434) +#define FCFG_7 (1073) +#define FCFG_6 (1106) +#define FLAT_STATE_END (1713) +#define SWING_END_4 (1616) +#define SWING_END_2 (1565) +#define SWING_END_3 (1587) +#define SWING_END_1 (1550) +#define CFG_8 (2718) +#define CFG_15 (2727) +#define CFG_16 (2746) +#define CFG_EXT_GYRO_BIAS (1189) +#define END_COMPARE_Y_X_TMP (1407) +#define DO_NOT_UPDATE_PROP_ROT (1839) +#define CFG_7 (1205) +#define FLAT_STATE_END_TEMP (1683) +#define END_COMPARE_Y_X (1484) +#define SKIP_SWING_END_1 (1551) +#define SKIP_SWING_END_3 (1588) +#define SKIP_SWING_END_2 (1566) +#define TILTG75_START (1672) +#define CFG_6 (2753) +#define TILTL75_END (1669) +#define END_ORIENT (1884) +#define CFG_FLICK_IN (2573) +#define TILTL75_START (1643) +#define CFG_MOTION_BIAS (1208) +#define X_GRT_Y (1408) +#define TEMPLABEL (2324) +#define CFG_ANDROID_ORIENT_INT (1853) +#define CFG_GYRO_RAW_DATA (2722) +#define X_GRT_Y_TMP2 (1379) + +#define D_0_22 (22+512) +#define D_0_24 (24+512) + +#define D_0_36 (36) +#define D_0_52 (52) +#define D_0_96 (96) +#define D_0_104 (104) +#define D_0_108 (108) +#define D_0_163 (163) +#define D_0_188 (188) +#define D_0_192 (192) +#define D_0_224 (224) +#define D_0_228 (228) +#define D_0_232 (232) +#define D_0_236 (236) + +#define D_1_2 (256 + 2) +#define D_1_4 (256 + 4) +#define D_1_8 (256 + 8) +#define D_1_10 (256 + 10) +#define D_1_24 (256 + 24) +#define D_1_28 (256 + 28) +#define D_1_36 (256 + 36) +#define D_1_40 (256 + 40) +#define D_1_44 (256 + 44) +#define D_1_72 (256 + 72) +#define D_1_74 (256 + 74) +#define D_1_79 (256 + 79) +#define D_1_88 (256 + 88) +#define D_1_90 (256 + 90) +#define D_1_92 (256 + 92) +#define D_1_96 (256 + 96) +#define D_1_98 (256 + 98) +#define D_1_106 (256 + 106) +#define D_1_108 (256 + 108) +#define D_1_112 (256 + 112) +#define D_1_128 (256 + 144) +#define D_1_152 (256 + 12) +#define D_1_160 (256 + 160) +#define D_1_176 (256 + 176) +#define D_1_178 (256 + 178) +#define D_1_218 (256 + 218) +#define D_1_232 (256 + 232) +#define D_1_236 (256 + 236) +#define D_1_240 (256 + 240) +#define D_1_244 (256 + 244) +#define D_1_250 (256 + 250) +#define D_1_252 (256 + 252) +#define D_2_12 (512 + 12) +#define D_2_96 (512 + 96) +#define D_2_108 (512 + 108) +#define D_2_208 (512 + 208) +#define D_2_224 (512 + 224) +#define D_2_236 (512 + 236) +#define D_2_244 (512 + 244) +#define D_2_248 (512 + 248) +#define D_2_252 (512 + 252) + +#define CPASS_BIAS_X (35 * 16 + 4) +#define CPASS_BIAS_Y (35 * 16 + 8) +#define CPASS_BIAS_Z (35 * 16 + 12) +#define CPASS_MTX_00 (36 * 16) +#define CPASS_MTX_01 (36 * 16 + 4) +#define CPASS_MTX_02 (36 * 16 + 8) +#define CPASS_MTX_10 (36 * 16 + 12) +#define CPASS_MTX_11 (37 * 16) +#define CPASS_MTX_12 (37 * 16 + 4) +#define CPASS_MTX_20 (37 * 16 + 8) +#define CPASS_MTX_21 (37 * 16 + 12) +#define CPASS_MTX_22 (43 * 16 + 12) +#define D_EXT_GYRO_BIAS_X (61 * 16) +#define D_EXT_GYRO_BIAS_Y (61 * 16) + 4 +#define D_EXT_GYRO_BIAS_Z (61 * 16) + 8 +#define D_ACT0 (40 * 16) +#define D_ACSX (40 * 16 + 4) +#define D_ACSY (40 * 16 + 8) +#define D_ACSZ (40 * 16 + 12) + +#define FLICK_MSG (45 * 16 + 4) +#define FLICK_COUNTER (45 * 16 + 8) +#define FLICK_LOWER (45 * 16 + 12) +#define FLICK_UPPER (46 * 16 + 12) + +#define D_AUTH_OUT (992) +#define D_AUTH_IN (996) +#define D_AUTH_A (1000) +#define D_AUTH_B (1004) + +#define D_PEDSTD_BP_B (768 + 0x1C) +#define D_PEDSTD_HP_A (768 + 0x78) +#define D_PEDSTD_HP_B (768 + 0x7C) +#define D_PEDSTD_BP_A4 (768 + 0x40) +#define D_PEDSTD_BP_A3 (768 + 0x44) +#define D_PEDSTD_BP_A2 (768 + 0x48) +#define D_PEDSTD_BP_A1 (768 + 0x4C) +#define D_PEDSTD_INT_THRSH (768 + 0x68) +#define D_PEDSTD_CLIP (768 + 0x6C) +#define D_PEDSTD_SB (768 + 0x28) +#define D_PEDSTD_SB_TIME (768 + 0x2C) +#define D_PEDSTD_PEAKTHRSH (768 + 0x98) +#define D_PEDSTD_TIML (768 + 0x2A) +#define D_PEDSTD_TIMH (768 + 0x2E) +#define D_PEDSTD_PEAK (768 + 0X94) +#define D_PEDSTD_STEPCTR (768 + 0x60) +#define D_PEDSTD_TIMECTR (964) +#define D_PEDSTD_DECI (768 + 0xA0) + +#define D_HOST_NO_MOT (976) +#define D_ACCEL_BIAS (660) + +#define D_ORIENT_GAP (76) + +#define D_TILT0_H (48) +#define D_TILT0_L (50) +#define D_TILT1_H (52) +#define D_TILT1_L (54) +#define D_TILT2_H (56) +#define D_TILT2_L (58) +#define D_TILT3_H (60) +#define D_TILT3_L (62) + +#define DMP_CODE_SIZE (3062) + +static const unsigned char dmp_memory[DMP_CODE_SIZE] = { + /* bank # 0 */ + 0x00, 0x00, 0x70, 0x00, 0x00, 0x00, 0x00, 0x24, 0x00, 0x00, 0x00, 0x02, 0x00, 0x03, 0x00, 0x00, + 0x00, 0x65, 0x00, 0x54, 0xff, 0xef, 0x00, 0x00, 0xfa, 0x80, 0x00, 0x0b, 0x12, 0x82, 0x00, 0x01, + 0x03, 0x0c, 0x30, 0xc3, 0x0e, 0x8c, 0x8c, 0xe9, 0x14, 0xd5, 0x40, 0x02, 0x13, 0x71, 0x0f, 0x8e, + 0x38, 0x83, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, 0x25, 0x8e, 0xf8, 0x83, 0x30, 0x00, 0xf8, 0x83, + 0xff, 0xff, 0xff, 0xff, 0x0f, 0xfe, 0xa9, 0xd6, 0x24, 0x00, 0x04, 0x00, 0x1a, 0x82, 0x79, 0xa1, + 0x00, 0x00, 0x00, 0x3c, 0xff, 0xff, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x38, 0x83, 0x6f, 0xa2, + 0x00, 0x3e, 0x03, 0x30, 0x40, 0x00, 0x00, 0x00, 0x02, 0xca, 0xe3, 0x09, 0x3e, 0x80, 0x00, 0x00, + 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, + 0x00, 0x0c, 0x00, 0x00, 0x00, 0x0c, 0x18, 0x6e, 0x00, 0x00, 0x06, 0x92, 0x0a, 0x16, 0xc0, 0xdf, + 0xff, 0xff, 0x02, 0x56, 0xfd, 0x8c, 0xd3, 0x77, 0xff, 0xe1, 0xc4, 0x96, 0xe0, 0xc5, 0xbe, 0xaa, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0x0b, 0x2b, 0x00, 0x00, 0x16, 0x57, 0x00, 0x00, 0x03, 0x59, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0xfa, 0x00, 0x02, 0x6c, 0x1d, 0x00, 0x00, 0x00, 0x00, + 0x3f, 0xff, 0xdf, 0xeb, 0x00, 0x3e, 0xb3, 0xb6, 0x00, 0x0d, 0x22, 0x78, 0x00, 0x00, 0x2f, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x19, 0x42, 0xb5, 0x00, 0x00, 0x39, 0xa2, 0x00, 0x00, 0xb3, 0x65, + 0xd9, 0x0e, 0x9f, 0xc9, 0x1d, 0xcf, 0x4c, 0x34, 0x30, 0x00, 0x00, 0x00, 0x50, 0x00, 0x00, 0x00, + 0x3b, 0xb6, 0x7a, 0xe8, 0x00, 0x64, 0x00, 0x00, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 1 */ + 0x10, 0x00, 0x00, 0x00, 0x10, 0x00, 0xfa, 0x92, 0x10, 0x00, 0x22, 0x5e, 0x00, 0x0d, 0x22, 0x9f, + 0x00, 0x01, 0x00, 0x00, 0x00, 0x32, 0x00, 0x00, 0xff, 0x46, 0x00, 0x00, 0x63, 0xd4, 0x00, 0x00, + 0x10, 0x00, 0x00, 0x00, 0x04, 0xd6, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, 0x04, 0xcc, 0x00, 0x00, + 0x00, 0x00, 0x10, 0x72, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x06, 0x00, 0x02, 0x00, 0x05, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, 0x00, 0x05, 0x00, 0x64, 0x00, 0x20, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x40, 0x00, 0x00, 0x00, 0x03, 0x00, + 0x00, 0x00, 0x00, 0x32, 0xf8, 0x98, 0x00, 0x00, 0xff, 0x65, 0x00, 0x00, 0x83, 0x0f, 0x00, 0x00, + 0xff, 0x9b, 0xfc, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0xb2, 0x6a, 0x00, 0x02, 0x00, 0x00, + 0x00, 0x01, 0xfb, 0x83, 0x00, 0x68, 0x00, 0x00, 0x00, 0xd9, 0xfc, 0x00, 0x7c, 0xf1, 0xff, 0x83, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x65, 0x00, 0x00, 0x00, 0x64, 0x03, 0xe8, 0x00, 0x64, 0x00, 0x28, + 0x00, 0x00, 0x00, 0x25, 0x00, 0x00, 0x00, 0x00, 0x16, 0xa0, 0x00, 0x00, 0x00, 0x00, 0x10, 0x00, + 0x00, 0x00, 0x10, 0x00, 0x00, 0x2f, 0x00, 0x00, 0x00, 0x00, 0x01, 0xf4, 0x00, 0x00, 0x10, 0x00, + /* bank # 2 */ + 0x00, 0x28, 0x00, 0x00, 0xff, 0xff, 0x45, 0x81, 0xff, 0xff, 0xfa, 0x72, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x44, 0x00, 0x05, 0x00, 0x05, 0xba, 0xc6, 0x00, 0x47, 0x78, 0xa2, + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x00, 0x00, 0x14, + 0x00, 0x00, 0x25, 0x4d, 0x00, 0x2f, 0x70, 0x6d, 0x00, 0x00, 0x05, 0xae, 0x00, 0x0c, 0x02, 0xd0, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x64, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x0e, + 0x00, 0x00, 0x0a, 0xc7, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x32, 0xff, 0xff, 0xff, 0x9c, + 0x00, 0x00, 0x0b, 0x2b, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x64, + 0xff, 0xe5, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + /* bank # 3 */ + 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x01, 0x80, 0x00, 0x00, 0x24, 0x26, 0xd3, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x10, 0x00, 0x96, 0x00, 0x3c, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x0c, 0x0a, 0x4e, 0x68, 0xcd, 0xcf, 0x77, 0x09, 0x50, 0x16, 0x67, 0x59, 0xc6, 0x19, 0xce, 0x82, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x17, 0xd7, 0x84, 0x00, 0x03, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xc7, 0x93, 0x8f, 0x9d, 0x1e, 0x1b, 0x1c, 0x19, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x18, 0x85, 0x00, 0x00, 0x40, 0x00, + 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x40, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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0xf2, 0xb4, 0x8c, 0x99, + 0xa3, 0x2d, 0x55, 0x7d, 0xa0, 0x83, 0xdf, 0xdf, 0xdf, 0xb5, 0x91, 0xa0, 0xf6, 0x29, 0xd9, 0xfb, + 0xd8, 0xa0, 0xfc, 0x29, 0xd9, 0xfa, 0xd8, 0xa0, 0xd0, 0x51, 0xd9, 0xf8, 0xd8, 0xfc, 0x51, 0xd9, + 0xf9, 0xd8, 0x79, 0xd9, 0xfb, 0xd8, 0xa0, 0xd0, 0xfc, 0x79, 0xd9, 0xfa, 0xd8, 0xa1, 0xf9, 0xf9, + 0xf9, 0xf9, 0xf9, 0xa0, 0xda, 0xdf, 0xdf, 0xdf, 0xd8, 0xa1, 0xf8, 0xf8, 0xf8, 0xf8, 0xf8, 0xac, + 0xde, 0xf8, 0xad, 0xde, 0x83, 0x93, 0xac, 0x2c, 0x54, 0x7c, 0xf1, 0xa8, 0xdf, 0xdf, 0xdf, 0xf6, + 0x9d, 0x2c, 0xda, 0xa0, 0xdf, 0xd9, 0xfa, 0xdb, 0x2d, 0xf8, 0xd8, 0xa8, 0x50, 0xda, 0xa0, 0xd0, + 0xde, 0xd9, 0xd0, 0xf8, 0xf8, 0xf8, 0xdb, 0x55, 0xf8, 0xd8, 0xa8, 0x78, 0xda, 0xa0, 0xd0, 0xdf, + /* bank # 8 */ + 0xd9, 0xd0, 0xfa, 0xf8, 0xf8, 0xf8, 0xf8, 0xdb, 0x7d, 0xf8, 0xd8, 0x9c, 0xa8, 0x8c, 0xf5, 0x30, + 0xdb, 0x38, 0xd9, 0xd0, 0xde, 0xdf, 0xa0, 0xd0, 0xde, 0xdf, 0xd8, 0xa8, 0x48, 0xdb, 0x58, 0xd9, + 0xdf, 0xd0, 0xde, 0xa0, 0xdf, 0xd0, 0xde, 0xd8, 0xa8, 0x68, 0xdb, 0x70, 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0xc5, + 0xc7, 0xa3, 0x92, 0x83, 0xf6, 0x28, 0xad, 0xde, 0xd9, 0xf8, 0xd8, 0xa3, 0x50, 0xad, 0xd9, 0xf8, + 0xd8, 0xa3, 0x78, 0xad, 0xd9, 0xf8, 0xd8, 0xf8, 0xf9, 0xd1, 0xa1, 0xda, 0xde, 0xc3, 0xc5, 0xc7, + 0xd8, 0xa1, 0x81, 0x94, 0xf8, 0x18, 0xf2, 0xb0, 0x89, 0xac, 0xc3, 0xc5, 0xc7, 0xf1, 0xd8, 0xb8, + /* bank # 9 */ + 0xb4, 0xb0, 0x97, 0x86, 0xa8, 0x31, 0x9b, 0x06, 0x99, 0x07, 0xab, 0x97, 0x28, 0x88, 0x9b, 0xf0, + 0x0c, 0x20, 0x14, 0x40, 0xb0, 0xb4, 0xb8, 0xf0, 0xa8, 0x8a, 0x9a, 0x28, 0x50, 0x78, 0xb7, 0x9b, + 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xf1, 0xbb, 0xab, + 0x88, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0xb3, 0x8b, 0xb8, 0xa8, 0x04, 0x28, 0x50, 0x78, 0xf1, 0xb0, + 0x88, 0xb4, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xbb, 0xab, 0xb3, 0x8b, 0x02, 0x26, 0x46, 0x66, 0xb0, + 0xb8, 0xf0, 0x8a, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x8b, 0x29, 0x51, 0x79, 0x8a, 0x24, 0x70, 0x59, + 0x8b, 0x20, 0x58, 0x71, 0x8a, 0x44, 0x69, 0x38, 0x8b, 0x39, 0x40, 0x68, 0x8a, 0x64, 0x48, 0x31, + 0x8b, 0x30, 0x49, 0x60, 0x88, 0xf1, 0xac, 0x00, 0x2c, 0x54, 0x7c, 0xf0, 0x8c, 0xa8, 0x04, 0x28, + 0x50, 0x78, 0xf1, 0x88, 0x97, 0x26, 0xa8, 0x59, 0x98, 0xac, 0x8c, 0x02, 0x26, 0x46, 0x66, 0xf0, + 0x89, 0x9c, 0xa8, 0x29, 0x51, 0x79, 0x24, 0x70, 0x59, 0x44, 0x69, 0x38, 0x64, 0x48, 0x31, 0xa9, + 0x88, 0x09, 0x20, 0x59, 0x70, 0xab, 0x11, 0x38, 0x40, 0x69, 0xa8, 0x19, 0x31, 0x48, 0x60, 0x8c, + 0xa8, 0x3c, 0x41, 0x5c, 0x20, 0x7c, 0x00, 0xf1, 0x87, 0x98, 0x19, 0x86, 0xa8, 0x6e, 0x76, 0x7e, + 0xa9, 0x99, 0x88, 0x2d, 0x55, 0x7d, 0xd8, 0xb1, 0xb5, 0xb9, 0xa3, 0xdf, 0xdf, 0xdf, 0xae, 0xd0, + 0xdf, 0xaa, 0xd0, 0xde, 0xf2, 0xab, 0xf8, 0xf9, 0xd9, 0xb0, 0x87, 0xc4, 0xaa, 0xf1, 0xdf, 0xdf, + 0xbb, 0xaf, 0xdf, 0xdf, 0xb9, 0xd8, 0xb1, 0xf1, 0xa3, 0x97, 0x8e, 0x60, 0xdf, 0xb0, 0x84, 0xf2, + 0xc8, 0xf8, 0xf9, 0xd9, 0xde, 0xd8, 0x93, 0x85, 0xf1, 0x4a, 0xb1, 0x83, 0xa3, 0x08, 0xb5, 0x83, + /* bank # 10 */ + 0x9a, 0x08, 0x10, 0xb7, 0x9f, 0x10, 0xd8, 0xf1, 0xb0, 0xba, 0xae, 0xb0, 0x8a, 0xc2, 0xb2, 0xb6, + 0x8e, 0x9e, 0xf1, 0xfb, 0xd9, 0xf4, 0x1d, 0xd8, 0xf9, 0xd9, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, + 0x61, 0xd9, 0xae, 0xfb, 0xd8, 0xf4, 0x0c, 0xf1, 0xd8, 0xf8, 0xf8, 0xad, 0x19, 0xd9, 0xae, 0xfb, + 0xdf, 0xd8, 0xf4, 0x16, 0xf1, 0xd8, 0xf8, 0xad, 0x8d, 0x61, 0xd9, 0xf4, 0xf4, 0xac, 0xf5, 0x9c, + 0x9c, 0x8d, 0xdf, 0x2b, 0xba, 0xb6, 0xae, 0xfa, 0xf8, 0xf4, 0x0b, 0xd8, 0xf1, 0xae, 0xd0, 0xf8, + 0xad, 0x51, 0xda, 0xae, 0xfa, 0xf8, 0xf1, 0xd8, 0xb9, 0xb1, 0xb6, 0xa3, 0x83, 0x9c, 0x08, 0xb9, + 0xb1, 0x83, 0x9a, 0xb5, 0xaa, 0xc0, 0xfd, 0x30, 0x83, 0xb7, 0x9f, 0x10, 0xb5, 0x8b, 0x93, 0xf2, + 0x02, 0x02, 0xd1, 0xab, 0xda, 0xde, 0xd8, 0xf1, 0xb0, 0x80, 0xba, 0xab, 0xc0, 0xc3, 0xb2, 0x84, + 0xc1, 0xc3, 0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9, 0xab, 0xde, 0xb0, + 0x87, 0x9c, 0xb9, 0xa3, 0xdd, 0xf1, 0xb3, 0x8b, 0x8b, 0x8b, 0x8b, 0x8b, 0xb0, 0x87, 0xa3, 0xa3, + 0xa3, 0xa3, 0xb2, 0x8b, 0xb6, 0x9b, 0xf2, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xa3, 0xf1, 0xb0, 0x87, 0xb5, 0x9a, 0xa3, 0xf3, 0x9b, 0xa3, 0xa3, 0xdc, 0xba, 0xac, 0xdf, 0xb9, + 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, 0xa3, + 0xd8, 0xd8, 0xd8, 0xbb, 0xb3, 0xb7, 0xf1, 0xaa, 0xf9, 0xda, 0xff, 0xd9, 0x80, 0x9a, 0xaa, 0x28, + 0xb4, 0x80, 0x98, 0xa7, 0x20, 0xb7, 0x97, 0x87, 0xa8, 0x66, 0x88, 0xf0, 0x79, 0x51, 0xf1, 0x90, + 0x2c, 0x87, 0x0c, 0xa7, 0x81, 0x97, 0x62, 0x93, 0xf0, 0x71, 0x71, 0x60, 0x85, 0x94, 0x01, 0x29, + /* bank # 11 */ + 0x51, 0x79, 0x90, 0xa5, 0xf1, 0x28, 0x4c, 0x6c, 0x87, 0x0c, 0x95, 0x18, 0x85, 0x78, 0xa3, 0x83, + 0x90, 0x28, 0x4c, 0x6c, 0x88, 0x6c, 0xd8, 0xf3, 0xa2, 0x82, 0x00, 0xf2, 0x10, 0xa8, 0x92, 0x19, + 0x80, 0xa2, 0xf2, 0xd9, 0x26, 0xd8, 0xf1, 0x88, 0xa8, 0x4d, 0xd9, 0x48, 0xd8, 0x96, 0xa8, 0x39, + 0x80, 0xd9, 0x3c, 0xd8, 0x95, 0x80, 0xa8, 0x39, 0xa6, 0x86, 0x98, 0xd9, 0x2c, 0xda, 0x87, 0xa7, + 0x2c, 0xd8, 0xa8, 0x89, 0x95, 0x19, 0xa9, 0x80, 0xd9, 0x38, 0xd8, 0xa8, 0x89, 0x39, 0xa9, 0x80, + 0xda, 0x3c, 0xd8, 0xa8, 0x2e, 0xa8, 0x39, 0x90, 0xd9, 0x0c, 0xd8, 0xa8, 0x95, 0x31, 0x98, 0xd9, + 0x0c, 0xd8, 0xa8, 0x09, 0xd9, 0xff, 0xd8, 0x01, 0xda, 0xff, 0xd8, 0x95, 0x39, 0xa9, 0xda, 0x26, + 0xff, 0xd8, 0x90, 0xa8, 0x0d, 0x89, 0x99, 0xa8, 0x10, 0x80, 0x98, 0x21, 0xda, 0x2e, 0xd8, 0x89, + 0x99, 0xa8, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x86, 0x96, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, + 0x87, 0x31, 0x80, 0xda, 0x2e, 0xd8, 0xa8, 0x82, 0x92, 0xf3, 0x41, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, + 0xa8, 0x82, 0xf3, 0x19, 0x80, 0xf1, 0xd9, 0x2e, 0xd8, 0x82, 0xac, 0xf3, 0xc0, 0xa2, 0x80, 0x22, + 0xf1, 0xa6, 0x2e, 0xa7, 0x2e, 0xa9, 0x22, 0x98, 0xa8, 0x29, 0xda, 0xac, 0xde, 0xff, 0xd8, 0xa2, + 0xf2, 0x2a, 0xf1, 0xa9, 0x2e, 0x82, 0x92, 0xa8, 0xf2, 0x31, 0x80, 0xa6, 0x96, 0xf1, 0xd9, 0x00, + 0xac, 0x8c, 0x9c, 0x0c, 0x30, 0xac, 0xde, 0xd0, 0xde, 0xff, 0xd8, 0x8c, 0x9c, 0xac, 0xd0, 0x10, + 0xac, 0xde, 0x80, 0x92, 0xa2, 0xf2, 0x4c, 0x82, 0xa8, 0xf1, 0xca, 0xf2, 0x35, 0xf1, 0x96, 0x88, + 0xa6, 0xd9, 0x00, 0xd8, 0xf1, 0xff +}; + +static const unsigned short sStartAddress = 0x0400; + +/* END OF SECTION COPIED FROM dmpDefaultMPU6050.c */ + +#define INT_SRC_TAP (0x01) +#define INT_SRC_ANDROID_ORIENT (0x08) + +#define DMP_FEATURE_SEND_ANY_GYRO (DMP_FEATURE_SEND_RAW_GYRO | \ + DMP_FEATURE_SEND_CAL_GYRO) + +#define MAX_PACKET_LENGTH (32) + +#define DMP_SAMPLE_RATE (200) +#define GYRO_SF (46850825LL * 200 / DMP_SAMPLE_RATE) + +#define FIFO_CORRUPTION_CHECK +#ifdef FIFO_CORRUPTION_CHECK +#define QUAT_ERROR_THRESH (1L<<24) +#define QUAT_MAG_SQ_NORMALIZED (1L<<28) +#define QUAT_MAG_SQ_MIN (QUAT_MAG_SQ_NORMALIZED - QUAT_ERROR_THRESH) +#define QUAT_MAG_SQ_MAX (QUAT_MAG_SQ_NORMALIZED + QUAT_ERROR_THRESH) +#endif + +struct dmp_s { + void (*tap_cb)(unsigned char count, unsigned char direction); + void (*android_orient_cb)(unsigned char orientation); + unsigned short orient; + unsigned short feature_mask; + unsigned short fifo_rate; + unsigned char packet_length; +}; + +//static struct dmp_s dmp = { +// .tap_cb = NULL, +// .android_orient_cb = NULL, +// .orient = 0, +// .feature_mask = 0, +// .fifo_rate = 0, +// .packet_length = 0 +//}; +static struct dmp_s dmp={ + 0, + 0, + 0, + 0, + 0, + 0 +}; +/** + * @brief Load the DMP with this image. + * @return 0 if successful. + */ +int dmp_load_motion_driver_firmware(void) +{ + return mpu_load_firmware(DMP_CODE_SIZE, dmp_memory, sStartAddress, + DMP_SAMPLE_RATE); +} + +/** + * @brief Push gyro and accel orientation to the DMP. + * The orientation is represented here as the output of + * @e inv_orientation_matrix_to_scalar. + * @param[in] orient Gyro and accel orientation in body frame. + * @return 0 if successful. + */ +int dmp_set_orientation(unsigned short orient) +{ + unsigned char gyro_regs[3], accel_regs[3]; + const unsigned char gyro_axes[3] = {DINA4C, DINACD, DINA6C}; + const unsigned char accel_axes[3] = {DINA0C, DINAC9, DINA2C}; + const unsigned char gyro_sign[3] = {DINA36, DINA56, DINA76}; + const unsigned char accel_sign[3] = {DINA26, DINA46, DINA66}; + + gyro_regs[0] = gyro_axes[orient & 3]; + gyro_regs[1] = gyro_axes[(orient >> 3) & 3]; + gyro_regs[2] = gyro_axes[(orient >> 6) & 3]; + accel_regs[0] = accel_axes[orient & 3]; + accel_regs[1] = accel_axes[(orient >> 3) & 3]; + accel_regs[2] = accel_axes[(orient >> 6) & 3]; + + /* Chip-to-body, axes only. */ + if (mpu_write_mem(FCFG_1, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_2, 3, accel_regs)) + return -1; + + memcpy(gyro_regs, gyro_sign, 3); + memcpy(accel_regs, accel_sign, 3); + if (orient & 4) { + gyro_regs[0] |= 1; + accel_regs[0] |= 1; + } + if (orient & 0x20) { + gyro_regs[1] |= 1; + accel_regs[1] |= 1; + } + if (orient & 0x100) { + gyro_regs[2] |= 1; + accel_regs[2] |= 1; + } + + /* Chip-to-body, sign only. */ + if (mpu_write_mem(FCFG_3, 3, gyro_regs)) + return -1; + if (mpu_write_mem(FCFG_7, 3, accel_regs)) + return -1; + dmp.orient = orient; + return 0; +} + +/** + * @brief Push gyro biases to the DMP. + * Because the gyro integration is handled in the DMP, any gyro biases + * calculated by the MPL should be pushed down to DMP memory to remove + * 3-axis quaternion drift. + * \n NOTE: If the DMP-based gyro calibration is enabled, the DMP will + * overwrite the biases written to this location once a new one is computed. + * @param[in] bias Gyro biases in q16. + * @return 0 if successful. + */ +int dmp_set_gyro_bias(long *bias) +{ + long gyro_bias_body[3]; + unsigned char regs[4]; + + gyro_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + gyro_bias_body[0] *= -1; + gyro_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + gyro_bias_body[1] *= -1; + gyro_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + gyro_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + gyro_bias_body[0] = (long)(((float)gyro_bias_body[0] * GYRO_SF) / 1073741824.f); + gyro_bias_body[1] = (long)(((float)gyro_bias_body[1] * GYRO_SF) / 1073741824.f); + gyro_bias_body[2] = (long)(((float)gyro_bias_body[2] * GYRO_SF) / 1073741824.f); +#else + gyro_bias_body[0] = (long)(((long long)gyro_bias_body[0] * GYRO_SF) >> 30); + gyro_bias_body[1] = (long)(((long long)gyro_bias_body[1] * GYRO_SF) >> 30); + gyro_bias_body[2] = (long)(((long long)gyro_bias_body[2] * GYRO_SF) >> 30); +#endif + + regs[0] = (unsigned char)((gyro_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[0] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_X, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[1] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[1] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[1] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[1] & 0xFF); + if (mpu_write_mem(D_EXT_GYRO_BIAS_Y, 4, regs)) + return -1; + + regs[0] = (unsigned char)((gyro_bias_body[2] >> 24) & 0xFF); + regs[1] = (unsigned char)((gyro_bias_body[2] >> 16) & 0xFF); + regs[2] = (unsigned char)((gyro_bias_body[2] >> 8) & 0xFF); + regs[3] = (unsigned char)(gyro_bias_body[2] & 0xFF); + return mpu_write_mem(D_EXT_GYRO_BIAS_Z, 4, regs); +} + +/** + * @brief Push accel biases to the DMP. + * These biases will be removed from the DMP 6-axis quaternion. + * @param[in] bias Accel biases in q16. + * @return 0 if successful. + */ +int dmp_set_accel_bias(long *bias) +{ + long accel_bias_body[3]; + unsigned char regs[12]; + long long accel_sf; + unsigned short accel_sens; + + mpu_get_accel_sens(&accel_sens); + accel_sf = (long long)accel_sens << 15; + //__no_operation(); + + accel_bias_body[0] = bias[dmp.orient & 3]; + if (dmp.orient & 4) + accel_bias_body[0] *= -1; + accel_bias_body[1] = bias[(dmp.orient >> 3) & 3]; + if (dmp.orient & 0x20) + accel_bias_body[1] *= -1; + accel_bias_body[2] = bias[(dmp.orient >> 6) & 3]; + if (dmp.orient & 0x100) + accel_bias_body[2] *= -1; + +#ifdef EMPL_NO_64BIT + accel_bias_body[0] = (long)(((float)accel_bias_body[0] * accel_sf) / 1073741824.f); + accel_bias_body[1] = (long)(((float)accel_bias_body[1] * accel_sf) / 1073741824.f); + accel_bias_body[2] = (long)(((float)accel_bias_body[2] * accel_sf) / 1073741824.f); +#else + accel_bias_body[0] = (long)(((long long)accel_bias_body[0] * accel_sf) >> 30); + accel_bias_body[1] = (long)(((long long)accel_bias_body[1] * accel_sf) >> 30); + accel_bias_body[2] = (long)(((long long)accel_bias_body[2] * accel_sf) >> 30); +#endif + + regs[0] = (unsigned char)((accel_bias_body[0] >> 24) & 0xFF); + regs[1] = (unsigned char)((accel_bias_body[0] >> 16) & 0xFF); + regs[2] = (unsigned char)((accel_bias_body[0] >> 8) & 0xFF); + regs[3] = (unsigned char)(accel_bias_body[0] & 0xFF); + regs[4] = (unsigned char)((accel_bias_body[1] >> 24) & 0xFF); + regs[5] = (unsigned char)((accel_bias_body[1] >> 16) & 0xFF); + regs[6] = (unsigned char)((accel_bias_body[1] >> 8) & 0xFF); + regs[7] = (unsigned char)(accel_bias_body[1] & 0xFF); + regs[8] = (unsigned char)((accel_bias_body[2] >> 24) & 0xFF); + regs[9] = (unsigned char)((accel_bias_body[2] >> 16) & 0xFF); + regs[10] = (unsigned char)((accel_bias_body[2] >> 8) & 0xFF); + regs[11] = (unsigned char)(accel_bias_body[2] & 0xFF); + return mpu_write_mem(D_ACCEL_BIAS, 12, regs); +} + +/** + * @brief Set DMP output rate. + * Only used when DMP is on. + * @param[in] rate Desired fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_set_fifo_rate(unsigned short rate) +{ + const unsigned char regs_end[12] = {DINAFE, DINAF2, DINAAB, + 0xc4, DINAAA, DINAF1, DINADF, DINADF, 0xBB, 0xAF, DINADF, DINADF}; + unsigned short div; + unsigned char tmp[8]; + + if (rate > DMP_SAMPLE_RATE) + return -1; + div = DMP_SAMPLE_RATE / rate - 1; + tmp[0] = (unsigned char)((div >> 8) & 0xFF); + tmp[1] = (unsigned char)(div & 0xFF); + if (mpu_write_mem(D_0_22, 2, tmp)) + return -1; + if (mpu_write_mem(CFG_6, 12, (unsigned char*)regs_end)) + return -1; + + dmp.fifo_rate = rate; + return 0; +} + +/** + * @brief Get DMP output rate. + * @param[out] rate Current fifo rate (Hz). + * @return 0 if successful. + */ +int dmp_get_fifo_rate(unsigned short *rate) +{ + rate[0] = dmp.fifo_rate; + return 0; +} + +/** + * @brief Set tap threshold for a specific axis. + * @param[in] axis 1, 2, and 4 for XYZ accel, respectively. + * @param[in] thresh Tap threshold, in mg/ms. + * @return 0 if successful. + */ +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh) +{ + unsigned char tmp[4], accel_fsr; + float scaled_thresh; + unsigned short dmp_thresh, dmp_thresh_2; + if (!(axis & TAP_XYZ) || thresh > 1600) + return -1; + + scaled_thresh = (float)thresh / DMP_SAMPLE_RATE; + + mpu_get_accel_fsr(&accel_fsr); + switch (accel_fsr) { + case 2: + dmp_thresh = (unsigned short)(scaled_thresh * 16384); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 12288); + break; + case 4: + dmp_thresh = (unsigned short)(scaled_thresh * 8192); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 6144); + break; + case 8: + dmp_thresh = (unsigned short)(scaled_thresh * 4096); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 3072); + break; + case 16: + dmp_thresh = (unsigned short)(scaled_thresh * 2048); + /* dmp_thresh * 0.75 */ + dmp_thresh_2 = (unsigned short)(scaled_thresh * 1536); + break; + default: + return -1; + } + tmp[0] = (unsigned char)(dmp_thresh >> 8); + tmp[1] = (unsigned char)(dmp_thresh & 0xFF); + tmp[2] = (unsigned char)(dmp_thresh_2 >> 8); + tmp[3] = (unsigned char)(dmp_thresh_2 & 0xFF); + + if (axis & TAP_X) { + if (mpu_write_mem(DMP_TAP_THX, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_36, 2, tmp+2)) + return -1; + } + if (axis & TAP_Y) { + if (mpu_write_mem(DMP_TAP_THY, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_40, 2, tmp+2)) + return -1; + } + if (axis & TAP_Z) { + if (mpu_write_mem(DMP_TAP_THZ, 2, tmp)) + return -1; + if (mpu_write_mem(D_1_44, 2, tmp+2)) + return -1; + } + return 0; +} + +/** + * @brief Set which axes will register a tap. + * @param[in] axis 1, 2, and 4 for XYZ, respectively. + * @return 0 if successful. + */ +int dmp_set_tap_axes(unsigned char axis) +{ + unsigned char tmp = 0; + + if (axis & TAP_X) + tmp |= 0x30; + if (axis & TAP_Y) + tmp |= 0x0C; + if (axis & TAP_Z) + tmp |= 0x03; + return mpu_write_mem(D_1_72, 1, &tmp); +} + +/** + * @brief Set minimum number of taps needed for an interrupt. + * @param[in] min_taps Minimum consecutive taps (1-4). + * @return 0 if successful. + */ +int dmp_set_tap_count(unsigned char min_taps) +{ + unsigned char tmp; + + if (min_taps < 1) + min_taps = 1; + else if (min_taps > 4) + min_taps = 4; + + tmp = min_taps - 1; + return mpu_write_mem(D_1_79, 1, &tmp); +} + +/** + * @brief Set length between valid taps. + * @param[in] time Milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(DMP_TAPW_MIN, 2, tmp); +} + +/** + * @brief Set max time between taps to register as a multi-tap. + * @param[in] time Max milliseconds between taps. + * @return 0 if successful. + */ +int dmp_set_tap_time_multi(unsigned short time) +{ + unsigned short dmp_time; + unsigned char tmp[2]; + + dmp_time = time / (1000 / DMP_SAMPLE_RATE); + tmp[0] = (unsigned char)(dmp_time >> 8); + tmp[1] = (unsigned char)(dmp_time & 0xFF); + return mpu_write_mem(D_1_218, 2, tmp); +} + +/** + * @brief Set shake rejection threshold. + * If the DMP detects a gyro sample larger than @e thresh, taps are rejected. + * @param[in] sf Gyro scale factor. + * @param[in] thresh Gyro threshold in dps. + * @return 0 if successful. + */ +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh) +{ + unsigned char tmp[4]; + long thresh_scaled = sf / 1000 * thresh; + tmp[0] = (unsigned char)(((long)thresh_scaled >> 24) & 0xFF); + tmp[1] = (unsigned char)(((long)thresh_scaled >> 16) & 0xFF); + tmp[2] = (unsigned char)(((long)thresh_scaled >> 8) & 0xFF); + tmp[3] = (unsigned char)((long)thresh_scaled & 0xFF); + return mpu_write_mem(D_1_92, 4, tmp); +} + +/** + * @brief Set shake rejection time. + * Sets the length of time that the gyro must be outside of the threshold set + * by @e gyro_set_shake_reject_thresh before taps are rejected. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_time(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_90,2,tmp); +} + +/** + * @brief Set shake rejection timeout. + * Sets the length of time after a shake rejection that the gyro must stay + * inside of the threshold before taps can be detected again. A mandatory + * 60 ms is added to this parameter. + * @param[in] time Time in milliseconds. + * @return 0 if successful. + */ +int dmp_set_shake_reject_timeout(unsigned short time) +{ + unsigned char tmp[2]; + + time /= (1000 / DMP_SAMPLE_RATE); + tmp[0] = time >> 8; + tmp[1] = time & 0xFF; + return mpu_write_mem(D_1_88,2,tmp); +} + +/** + * @brief Get current step count. + * @param[out] count Number of steps detected. + * @return 0 if successful. + */ +int dmp_get_pedometer_step_count(unsigned long *count) +{ + unsigned char tmp[4]; + if (!count) + return -1; + + if (mpu_read_mem(D_PEDSTD_STEPCTR, 4, tmp)) + return -1; + + count[0] = ((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]; + return 0; +} + +/** + * @brief Overwrite current step count. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] count New step count. + * @return 0 if successful. + */ +int dmp_set_pedometer_step_count(unsigned long count) +{ + unsigned char tmp[4]; + + tmp[0] = (unsigned char)((count >> 24) & 0xFF); + tmp[1] = (unsigned char)((count >> 16) & 0xFF); + tmp[2] = (unsigned char)((count >> 8) & 0xFF); + tmp[3] = (unsigned char)(count & 0xFF); + return mpu_write_mem(D_PEDSTD_STEPCTR, 4, tmp); +} + +/** + * @brief Get duration of walking time. + * @param[in] time Walk time in milliseconds. + * @return 0 if successful. + */ +int dmp_get_pedometer_walk_time(unsigned long *time) +{ + unsigned char tmp[4]; + if (!time) + return -1; + + if (mpu_read_mem(D_PEDSTD_TIMECTR, 4, tmp)) + return -1; + + time[0] = (((unsigned long)tmp[0] << 24) | ((unsigned long)tmp[1] << 16) | + ((unsigned long)tmp[2] << 8) | tmp[3]) * 20; + return 0; +} + +/** + * @brief Overwrite current walk time. + * WARNING: This function writes to DMP memory and could potentially encounter + * a race condition if called while the pedometer is enabled. + * @param[in] time New walk time in milliseconds. + */ +int dmp_set_pedometer_walk_time(unsigned long time) +{ + unsigned char tmp[4]; + + time /= 20; + + tmp[0] = (unsigned char)((time >> 24) & 0xFF); + tmp[1] = (unsigned char)((time >> 16) & 0xFF); + tmp[2] = (unsigned char)((time >> 8) & 0xFF); + tmp[3] = (unsigned char)(time & 0xFF); + return mpu_write_mem(D_PEDSTD_TIMECTR, 4, tmp); +} + +/** + * @brief Enable DMP features. + * The following \#define's are used in the input mask: + * \n DMP_FEATURE_TAP + * \n DMP_FEATURE_ANDROID_ORIENT + * \n DMP_FEATURE_LP_QUAT + * \n DMP_FEATURE_6X_LP_QUAT + * \n DMP_FEATURE_GYRO_CAL + * \n DMP_FEATURE_SEND_RAW_ACCEL + * \n DMP_FEATURE_SEND_RAW_GYRO + * \n NOTE: DMP_FEATURE_LP_QUAT and DMP_FEATURE_6X_LP_QUAT are mutually + * exclusive. + * \n NOTE: DMP_FEATURE_SEND_RAW_GYRO and DMP_FEATURE_SEND_CAL_GYRO are also + * mutually exclusive. + * @param[in] mask Mask of features to enable. + * @return 0 if successful. + */ +int dmp_enable_feature(unsigned short mask) +{ + unsigned char tmp[10]; + + /* TODO: All of these settings can probably be integrated into the default + * DMP image. + */ + /* Set integration scale factor. */ + tmp[0] = (unsigned char)((GYRO_SF >> 24) & 0xFF); + tmp[1] = (unsigned char)((GYRO_SF >> 16) & 0xFF); + tmp[2] = (unsigned char)((GYRO_SF >> 8) & 0xFF); + tmp[3] = (unsigned char)(GYRO_SF & 0xFF); + mpu_write_mem(D_0_104, 4, tmp); + + /* Send sensor data to the FIFO. */ + tmp[0] = 0xA3; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) { + tmp[1] = 0xC0; + tmp[2] = 0xC8; + tmp[3] = 0xC2; + } else { + tmp[1] = 0xA3; + tmp[2] = 0xA3; + tmp[3] = 0xA3; + } + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + tmp[4] = 0xC4; + tmp[5] = 0xCC; + tmp[6] = 0xC6; + } else { + tmp[4] = 0xA3; + tmp[5] = 0xA3; + tmp[6] = 0xA3; + } + tmp[7] = 0xA3; + tmp[8] = 0xA3; + tmp[9] = 0xA3; + mpu_write_mem(CFG_15,10,tmp); + + /* Send gesture data to the FIFO. */ + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + tmp[0] = DINA20; + else + tmp[0] = 0xD8; + mpu_write_mem(CFG_27,1,tmp); + + if (mask & DMP_FEATURE_GYRO_CAL) + dmp_enable_gyro_cal(1); + else + dmp_enable_gyro_cal(0); + + if (mask & DMP_FEATURE_SEND_ANY_GYRO) { + if (mask & DMP_FEATURE_SEND_CAL_GYRO) { + tmp[0] = 0xB2; + tmp[1] = 0x8B; + tmp[2] = 0xB6; + tmp[3] = 0x9B; + } else { + tmp[0] = DINAC0; + tmp[1] = DINA80; + tmp[2] = DINAC2; + tmp[3] = DINA90; + } + mpu_write_mem(CFG_GYRO_RAW_DATA, 4, tmp); + } + + if (mask & DMP_FEATURE_TAP) { + /* Enable tap. */ + tmp[0] = 0xF8; + mpu_write_mem(CFG_20, 1, tmp); + dmp_set_tap_thresh(TAP_XYZ, 250); + dmp_set_tap_axes(TAP_XYZ); + dmp_set_tap_count(1); + dmp_set_tap_time(100); + dmp_set_tap_time_multi(500); + + dmp_set_shake_reject_thresh(GYRO_SF, 200); + dmp_set_shake_reject_time(40); + dmp_set_shake_reject_timeout(10); + } else { + tmp[0] = 0xD8; + mpu_write_mem(CFG_20, 1, tmp); + } + + if (mask & DMP_FEATURE_ANDROID_ORIENT) { + tmp[0] = 0xD9; + } else + tmp[0] = 0xD8; + mpu_write_mem(CFG_ANDROID_ORIENT_INT, 1, tmp); + + if (mask & DMP_FEATURE_LP_QUAT) + dmp_enable_lp_quat(1); + else + dmp_enable_lp_quat(0); + + if (mask & DMP_FEATURE_6X_LP_QUAT) + dmp_enable_6x_lp_quat(1); + else + dmp_enable_6x_lp_quat(0); + + /* Pedometer is always enabled. */ + dmp.feature_mask = mask | DMP_FEATURE_PEDOMETER; + mpu_reset_fifo(); + + dmp.packet_length = 0; + if (mask & DMP_FEATURE_SEND_RAW_ACCEL) + dmp.packet_length += 6; + if (mask & DMP_FEATURE_SEND_ANY_GYRO) + dmp.packet_length += 6; + if (mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) + dmp.packet_length += 16; + if (mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + dmp.packet_length += 4; + + return 0; +} + +/** + * @brief Get list of currently enabled DMP features. + * @param[out] Mask of enabled features. + * @return 0 if successful. + */ +int dmp_get_enabled_features(unsigned short *mask) +{ + mask[0] = dmp.feature_mask; + return 0; +} + +/** + * @brief Calibrate the gyro data in the DMP. + * After eight seconds of no motion, the DMP will compute gyro biases and + * subtract them from the quaternion output. If @e dmp_enable_feature is + * called with @e DMP_FEATURE_SEND_CAL_GYRO, the biases will also be + * subtracted from the gyro output. + * @param[in] enable 1 to enable gyro calibration. + * @return 0 if successful. + */ +int dmp_enable_gyro_cal(unsigned char enable) +{ + if (enable) { + unsigned char regs[9] = {0xb8, 0xaa, 0xb3, 0x8d, 0xb4, 0x98, 0x0d, 0x35, 0x5d}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } else { + unsigned char regs[9] = {0xb8, 0xaa, 0xaa, 0xaa, 0xb0, 0x88, 0xc3, 0xc5, 0xc7}; + return mpu_write_mem(CFG_MOTION_BIAS, 9, regs); + } +} + +/** + * @brief Generate 3-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 3-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINBC0; + regs[1] = DINBC2; + regs[2] = DINBC4; + regs[3] = DINBC6; + } + else + memset(regs, 0x8B, 4); + + mpu_write_mem(CFG_LP_QUAT, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Generate 6-axis quaternions from the DMP. + * In this driver, the 3-axis and 6-axis DMP quaternion features are mutually + * exclusive. + * @param[in] enable 1 to enable 6-axis quaternion. + * @return 0 if successful. + */ +int dmp_enable_6x_lp_quat(unsigned char enable) +{ + unsigned char regs[4]; + if (enable) { + regs[0] = DINA20; + regs[1] = DINA28; + regs[2] = DINA30; + regs[3] = DINA38; + } else + memset(regs, 0xA3, 4); + + mpu_write_mem(CFG_8, 4, regs); + + return mpu_reset_fifo(); +} + +/** + * @brief Decode the four-byte gesture data and execute any callbacks. + * @param[in] gesture Gesture data from DMP packet. + * @return 0 if successful. + */ +static int decode_gesture(unsigned char *gesture) +{ + unsigned char tap, android_orient; + + android_orient = gesture[3] & 0xC0; + tap = 0x3F & gesture[3]; + + if (gesture[1] & INT_SRC_TAP) { + unsigned char direction, count; + direction = tap >> 3; + count = (tap % 8) + 1; + if (dmp.tap_cb) + dmp.tap_cb(direction, count); + } + + if (gesture[1] & INT_SRC_ANDROID_ORIENT) { + if (dmp.android_orient_cb) + dmp.android_orient_cb(android_orient >> 6); + } + + return 0; +} + +/** + * @brief Specify when a DMP interrupt should occur. + * A DMP interrupt can be configured to trigger on either of the two + * conditions below: + * \n a. One FIFO period has elapsed (set by @e mpu_set_sample_rate). + * \n b. A tap event has been detected. + * @param[in] mode DMP_INT_GESTURE or DMP_INT_CONTINUOUS. + * @return 0 if successful. + */ +int dmp_set_interrupt_mode(unsigned char mode) +{ + const unsigned char regs_continuous[11] = + {0xd8, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0x09, 0xb4, 0xd9}; + const unsigned char regs_gesture[11] = + {0xda, 0xb1, 0xb9, 0xf3, 0x8b, 0xa3, 0x91, 0xb6, 0xda, 0xb4, 0xda}; + + switch (mode) { + case DMP_INT_CONTINUOUS: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_continuous); + case DMP_INT_GESTURE: + return mpu_write_mem(CFG_FIFO_ON_EVENT, 11, + (unsigned char*)regs_gesture); + default: + return -1; + } +} + +/** + * @brief Get one packet from the FIFO. + * If @e sensors does not contain a particular sensor, disregard the data + * returned to that pointer. + * \n @e sensors can contain a combination of the following flags: + * \n INV_X_GYRO, INV_Y_GYRO, INV_Z_GYRO + * \n INV_XYZ_GYRO + * \n INV_XYZ_ACCEL + * \n INV_WXYZ_QUAT + * \n If the FIFO has no new data, @e sensors will be zero. + * \n If the FIFO is disabled, @e sensors will be zero and this function will + * return a non-zero error code. + * @param[out] gyro Gyro data in hardware units. + * @param[out] accel Accel data in hardware units. + * @param[out] quat 3-axis quaternion data in hardware units. + * @param[out] timestamp Timestamp in milliseconds. + * @param[out] sensors Mask of sensors read from FIFO. + * @param[out] more Number of remaining packets. + * @return 0 if successful. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more) +{ + unsigned char fifo_data[MAX_PACKET_LENGTH]; + unsigned char ii = 0; + sensors[0] = 0; + + /* Get a packet. */ + if (mpu_read_fifo_stream(dmp.packet_length, fifo_data, more)) + return -1; + + /* Parse DMP packet. */ + if (dmp.feature_mask & (DMP_FEATURE_LP_QUAT | DMP_FEATURE_6X_LP_QUAT)) { +#ifdef FIFO_CORRUPTION_CHECK + long quat_q14[4], quat_mag_sq; +#endif + quat[0] = ((long)fifo_data[0] << 24) | ((long)fifo_data[1] << 16) | + ((long)fifo_data[2] << 8) | fifo_data[3]; + quat[1] = ((long)fifo_data[4] << 24) | ((long)fifo_data[5] << 16) | + ((long)fifo_data[6] << 8) | fifo_data[7]; + quat[2] = ((long)fifo_data[8] << 24) | ((long)fifo_data[9] << 16) | + ((long)fifo_data[10] << 8) | fifo_data[11]; + quat[3] = ((long)fifo_data[12] << 24) | ((long)fifo_data[13] << 16) | + ((long)fifo_data[14] << 8) | fifo_data[15]; + ii += 16; +#ifdef FIFO_CORRUPTION_CHECK + /* We can detect a corrupted FIFO by monitoring the quaternion data and + * ensuring that the magnitude is always normalized to one. This + * shouldn't happen in normal operation, but if an I2C error occurs, + * the FIFO reads might become misaligned. + * + * Let's start by scaling down the quaternion data to avoid long long + * math. + */ + quat_q14[0] = quat[0] >> 16; + quat_q14[1] = quat[1] >> 16; + quat_q14[2] = quat[2] >> 16; + quat_q14[3] = quat[3] >> 16; + quat_mag_sq = quat_q14[0] * quat_q14[0] + quat_q14[1] * quat_q14[1] + + quat_q14[2] * quat_q14[2] + quat_q14[3] * quat_q14[3]; + if ((quat_mag_sq < QUAT_MAG_SQ_MIN) || + (quat_mag_sq > QUAT_MAG_SQ_MAX)) { + /* Quaternion is outside of the acceptable threshold. */ + mpu_reset_fifo(); + sensors[0] = 0; + return -1; + } + sensors[0] |= INV_WXYZ_QUAT; +#endif + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_RAW_ACCEL) { + accel[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + accel[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + accel[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_ACCEL; + } + + if (dmp.feature_mask & DMP_FEATURE_SEND_ANY_GYRO) { + gyro[0] = ((short)fifo_data[ii+0] << 8) | fifo_data[ii+1]; + gyro[1] = ((short)fifo_data[ii+2] << 8) | fifo_data[ii+3]; + gyro[2] = ((short)fifo_data[ii+4] << 8) | fifo_data[ii+5]; + ii += 6; + sensors[0] |= INV_XYZ_GYRO; + } + + /* Gesture data is at the end of the DMP packet. Parse it and call + * the gesture callbacks (if registered). + */ + if (dmp.feature_mask & (DMP_FEATURE_TAP | DMP_FEATURE_ANDROID_ORIENT)) + decode_gesture(fifo_data + ii); + + myget_ms(timestamp); + return 0; +} + +/** + * @brief Register a function to be executed on a tap event. + * The tap direction is represented by one of the following: + * \n TAP_X_UP + * \n TAP_X_DOWN + * \n TAP_Y_UP + * \n TAP_Y_DOWN + * \n TAP_Z_UP + * \n TAP_Z_DOWN + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)) +{ + dmp.tap_cb = func; + return 0; +} + +/** + * @brief Register a function to be executed on a android orientation event. + * @param[in] func Callback function. + * @return 0 if successful. + */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)) +{ + dmp.android_orient_cb = func; + return 0; +} + +/** + * @} + */ + diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu_dmp_motion_driver.h b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu_dmp_motion_driver.h new file mode 100644 index 0000000..acaac4a --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DMP/inv_mpu_dmp_motion_driver.h @@ -0,0 +1,92 @@ + +/** + * @addtogroup DRIVERS Sensor Driver Layer + * @brief Hardware drivers to communicate with sensors via I2C. + * + * @{ + * @file inv_mpu_dmp_motion_driver.h + * @brief DMP image and interface functions. + * @details All functions are preceded by the dmp_ prefix to + * differentiate among MPL and general driver function calls. + */ +#ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ +#define _INV_MPU_DMP_MOTION_DRIVER_H_ + +#define TAP_X (0x01) +#define TAP_Y (0x02) +#define TAP_Z (0x04) +#define TAP_XYZ (0x07) + +#define TAP_X_UP (0x01) +#define TAP_X_DOWN (0x02) +#define TAP_Y_UP (0x03) +#define TAP_Y_DOWN (0x04) +#define TAP_Z_UP (0x05) +#define TAP_Z_DOWN (0x06) + +#define ANDROID_ORIENT_PORTRAIT (0x00) +#define ANDROID_ORIENT_LANDSCAPE (0x01) +#define ANDROID_ORIENT_REVERSE_PORTRAIT (0x02) +#define ANDROID_ORIENT_REVERSE_LANDSCAPE (0x03) + +#define DMP_INT_GESTURE (0x01) +#define DMP_INT_CONTINUOUS (0x02) + +#define DMP_FEATURE_TAP (0x001) +#define DMP_FEATURE_ANDROID_ORIENT (0x002) +#define DMP_FEATURE_LP_QUAT (0x004) +#define DMP_FEATURE_PEDOMETER (0x008) +#define DMP_FEATURE_6X_LP_QUAT (0x010) +#define DMP_FEATURE_GYRO_CAL (0x020) +#define DMP_FEATURE_SEND_RAW_ACCEL (0x040) +#define DMP_FEATURE_SEND_RAW_GYRO (0x080) +#define DMP_FEATURE_SEND_CAL_GYRO (0x100) + +#define INV_WXYZ_QUAT (0x100) + +/* Set up functions. */ +int dmp_load_motion_driver_firmware(void); +int dmp_set_fifo_rate(unsigned short rate); +int dmp_get_fifo_rate(unsigned short *rate); +int dmp_enable_feature(unsigned short mask); +int dmp_get_enabled_features(unsigned short *mask); +int dmp_set_interrupt_mode(unsigned char mode); +int dmp_set_orientation(unsigned short orient); +int dmp_set_gyro_bias(long *bias); +int dmp_set_accel_bias(long *bias); + +/* Tap functions. */ +int dmp_register_tap_cb(void (*func)(unsigned char, unsigned char)); +int dmp_set_tap_thresh(unsigned char axis, unsigned short thresh); +int dmp_set_tap_axes(unsigned char axis); +int dmp_set_tap_count(unsigned char min_taps); +int dmp_set_tap_time(unsigned short time); +int dmp_set_tap_time_multi(unsigned short time); +int dmp_set_shake_reject_thresh(long sf, unsigned short thresh); +int dmp_set_shake_reject_time(unsigned short time); +int dmp_set_shake_reject_timeout(unsigned short time); + +/* Android orientation functions. */ +int dmp_register_android_orient_cb(void (*func)(unsigned char)); + +/* LP quaternion functions. */ +int dmp_enable_lp_quat(unsigned char enable); +int dmp_enable_6x_lp_quat(unsigned char enable); + +/* Pedometer functions. */ +int dmp_get_pedometer_step_count(unsigned long *count); +int dmp_set_pedometer_step_count(unsigned long count); +int dmp_get_pedometer_walk_time(unsigned long *time); +int dmp_set_pedometer_walk_time(unsigned long time); + +/* DMP gyro calibration functions. */ +int dmp_enable_gyro_cal(unsigned char enable); + +/* Read function. This function should be called whenever the MPU interrupt is + * detected. + */ +int dmp_read_fifo(short *gyro, short *accel, long *quat, + unsigned long *timestamp, short *sensors, unsigned char *more); + +#endif /* #ifndef _INV_MPU_DMP_MOTION_DRIVER_H_ */ + diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DataScope_DP/DataScope_DP.C b/GeBalanceBot_Firmware v1.0/MiniBalance/DataScope_DP/DataScope_DP.C new file mode 100644 index 0000000..2d2ce81 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DataScope_DP/DataScope_DP.C @@ -0,0 +1,90 @@ + +#include "DataScope_DP.h" + /************************************************************************** +ߣƽС֮ +ҵԱС꣺http://shop114407458.taobao.com/ +**************************************************************************/ +unsigned char DataScope_OutPut_Buffer[42] = {0}; //ڷͻ + + +//˵ȸת4ֽݲַָ +//˵ûֱӲ˺ +//target:Ŀ굥 +//buf:д +//beg:ָڼԪؿʼд +//޷ +void Float2Byte(float *target,unsigned char *buf,unsigned char beg) +{ + unsigned char *point; + point = (unsigned char*)target; //õfloatĵַ + buf[beg] = point[0]; + buf[beg+1] = point[1]; + buf[beg+2] = point[2]; + buf[beg+3] = point[3]; +} + + +//˵ͨĵȸд뷢ͻ +//Dataͨ +//Channelѡͨ1-10 +//޷ +void DataScope_Get_Channel_Data(float Data,unsigned char Channel) +{ + if ( (Channel > 10) || (Channel == 0) ) return; //ͨ100ֱִк + else + { + switch (Channel) + { + case 1: Float2Byte(&Data,DataScope_OutPut_Buffer,1); break; + case 2: Float2Byte(&Data,DataScope_OutPut_Buffer,5); break; + case 3: Float2Byte(&Data,DataScope_OutPut_Buffer,9); break; + case 4: Float2Byte(&Data,DataScope_OutPut_Buffer,13); break; + case 5: Float2Byte(&Data,DataScope_OutPut_Buffer,17); break; + case 6: Float2Byte(&Data,DataScope_OutPut_Buffer,21); break; + case 7: Float2Byte(&Data,DataScope_OutPut_Buffer,25); break; + case 8: Float2Byte(&Data,DataScope_OutPut_Buffer,29); break; + case 9: Float2Byte(&Data,DataScope_OutPut_Buffer,33); break; + case 10: Float2Byte(&Data,DataScope_OutPut_Buffer,37); break; + } + } +} + + +//˵ DataScopeV1.0 ȷʶ֡ʽ +//Channel_NumberҪ͵ͨ +//طͻݸ +//0ʾ֡ʽʧ +unsigned char DataScope_Data_Generate(unsigned char Channel_Number) +{ + if ( (Channel_Number > 10) || (Channel_Number == 0) ) { return 0; } //ͨ100ֱִк + else + { + DataScope_OutPut_Buffer[0] = '$'; //֡ͷ + + switch(Channel_Number) + { + case 1: DataScope_OutPut_Buffer[5] = 5; return 6; + case 2: DataScope_OutPut_Buffer[9] = 9; return 10; + case 3: DataScope_OutPut_Buffer[13] = 13; return 14; + case 4: DataScope_OutPut_Buffer[17] = 17; return 18; + case 5: DataScope_OutPut_Buffer[21] = 21; return 22; + case 6: DataScope_OutPut_Buffer[25] = 25; return 26; + case 7: DataScope_OutPut_Buffer[29] = 29; return 30; + case 8: DataScope_OutPut_Buffer[33] = 33; return 34; + case 9: DataScope_OutPut_Buffer[37] = 37; return 38; + case 10: DataScope_OutPut_Buffer[41] = 41; return 42; + } + } + return 0; +} + + + + + + + + + + + diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/DataScope_DP/DataScope_DP.h b/GeBalanceBot_Firmware v1.0/MiniBalance/DataScope_DP/DataScope_DP.h new file mode 100644 index 0000000..30994c2 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/DataScope_DP/DataScope_DP.h @@ -0,0 +1,21 @@ + /************************************************************************** +ߣƽС֮ +ҵԱС꣺http://shop114407458.taobao.com/ +**************************************************************************/ + +#ifndef __DATA_PRTOCOL_H +#define __DATA_PRTOCOL_H + + +extern unsigned char DataScope_OutPut_Buffer[42]; //֡ݻ + + +void DataScope_Get_Channel_Data(float Data,unsigned char Channel); // дͨ ֡ݻ + +unsigned char DataScope_Data_Generate(unsigned char Channel_Number); // ֡ɺ + + +#endif + + + diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/MPU6050.c b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/MPU6050.c new file mode 100644 index 0000000..ef32691 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/MPU6050.c @@ -0,0 +1,365 @@ +#include "MPU6050.h" +#include "IOI2C.h" +#define PRINT_ACCEL (0x01) +#define PRINT_GYRO (0x02) +#define PRINT_QUAT (0x04) +#define ACCEL_ON (0x01) +#define GYRO_ON (0x02) +#define MOTION (0) +#define NO_MOTION (1) +#define DEFAULT_MPU_HZ (200) +#define FLASH_SIZE (512) +#define FLASH_MEM_START ((void *)0x1800) +#define q30 1073741824.0f +short gyro[3], accel[3], sensors; +float Roll, Pitch; +float q0 = 1.0f, q1 = 0.0f, q2 = 0.0f, q3 = 0.0f; +static signed char gyro_orientation[9] = {-1, 0, 0, + 0, -1, 0, + 0, 0, 1}; + +static unsigned short inv_row_2_scale(const signed char *row) +{ + unsigned short b; + + if (row[0] > 0) + b = 0; + else if (row[0] < 0) + b = 4; + else if (row[1] > 0) + b = 1; + else if (row[1] < 0) + b = 5; + else if (row[2] > 0) + b = 2; + else if (row[2] < 0) + b = 6; + else + b = 7; // error + return b; +} + +static unsigned short inv_orientation_matrix_to_scalar( + const signed char *mtx) +{ + unsigned short scalar; + scalar = inv_row_2_scale(mtx); + scalar |= inv_row_2_scale(mtx + 3) << 3; + scalar |= inv_row_2_scale(mtx + 6) << 6; + + return scalar; +} + +static void run_self_test(void) +{ + int result; + long gyro[3], accel[3]; + + result = mpu_run_self_test(gyro, accel); + if (result == 0x7) + { + /* Test passed. We can trust the gyro data here, so let's push it down + * to the DMP. + */ + float sens; + unsigned short accel_sens; + mpu_get_gyro_sens(&sens); + gyro[0] = (long)(gyro[0] * sens); + gyro[1] = (long)(gyro[1] * sens); + gyro[2] = (long)(gyro[2] * sens); + dmp_set_gyro_bias(gyro); + mpu_get_accel_sens(&accel_sens); + accel[0] *= accel_sens; + accel[1] *= accel_sens; + accel[2] *= accel_sens; + dmp_set_accel_bias(accel); + printf("setting bias succesfully ......\r\n"); + } +} + +uint8_t buffer[14]; + +int16_t MPU6050_FIFO[6][11]; +int16_t Gx_offset = 0, Gy_offset = 0, Gz_offset = 0; + +/************************************************************************** +Function: The new ADC data is updated to FIFO array for filtering +Input : ax，ay，az：x，y, z-axis acceleration data；gx，gy，gz：x. Y, z-axis angular acceleration data +Output : none +函数功能：将新的ADC数据更新到 FIFO数组，进行滤波处理 +入口参数：ax，ay，az：x，y，z轴加速度数据；gx，gy，gz：x，y，z轴角加速度数据 +返回 值：无 +**************************************************************************/ + +void MPU6050_newValues(int16_t ax, int16_t ay, int16_t az, int16_t gx, int16_t gy, int16_t gz) +{ + unsigned char i; + int32_t sum = 0; + for (i = 1; i < 10; i++) + { // FIFO 操作 + MPU6050_FIFO[0][i - 1] = MPU6050_FIFO[0][i]; + MPU6050_FIFO[1][i - 1] = MPU6050_FIFO[1][i]; + MPU6050_FIFO[2][i - 1] = MPU6050_FIFO[2][i]; + MPU6050_FIFO[3][i - 1] = MPU6050_FIFO[3][i]; + MPU6050_FIFO[4][i - 1] = MPU6050_FIFO[4][i]; + MPU6050_FIFO[5][i - 1] = MPU6050_FIFO[5][i]; + } + MPU6050_FIFO[0][9] = ax; // 将新的数据放置到 数据的最后面 + MPU6050_FIFO[1][9] = ay; + MPU6050_FIFO[2][9] = az; + MPU6050_FIFO[3][9] = gx; + MPU6050_FIFO[4][9] = gy; + MPU6050_FIFO[5][9] = gz; + + sum = 0; + for (i = 0; i < 10; i++) + { // 求当前数组的合，再取平均值 + sum += MPU6050_FIFO[0][i]; + } + MPU6050_FIFO[0][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[1][i]; + } + MPU6050_FIFO[1][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[2][i]; + } + MPU6050_FIFO[2][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[3][i]; + } + MPU6050_FIFO[3][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[4][i]; + } + MPU6050_FIFO[4][10] = sum / 10; + + sum = 0; + for (i = 0; i < 10; i++) + { + sum += MPU6050_FIFO[5][i]; + } + MPU6050_FIFO[5][10] = sum / 10; +} + +/************************************************************************** +Function: Setting the clock source of mpu6050 +Input : source：Clock source number +Output : none +函数功能：设置 MPU6050 的时钟源 +入口参数：source：时钟源编号 +返回 值：无 + * CLK_SEL | Clock Source + * --------+-------------------------------------- + * 0 | Internal oscillator + * 1 | PLL with X Gyro reference + * 2 | PLL with Y Gyro reference + * 3 | PLL with Z Gyro reference + * 4 | PLL with external 32.768kHz reference + * 5 | PLL with external 19.2MHz reference + * 6 | Reserved + * 7 | Stops the clock and keeps the timing generator in reset +**************************************************************************/ +void MPU6050_setClockSource(uint8_t source) +{ + IICwriteBits(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_CLKSEL_BIT, MPU6050_PWR1_CLKSEL_LENGTH, source); +} + +/** Set full-scale gyroscope range. + * @param range New full-scale gyroscope range value + * @see getFullScaleRange() + * @see MPU6050_GYRO_FS_250 + * @see MPU6050_RA_GYRO_CONFIG + * @see MPU6050_GCONFIG_FS_SEL_BIT + * @see MPU6050_GCONFIG_FS_SEL_LENGTH + */ +void MPU6050_setFullScaleGyroRange(uint8_t range) +{ + IICwriteBits(devAddr, MPU6050_RA_GYRO_CONFIG, MPU6050_GCONFIG_FS_SEL_BIT, MPU6050_GCONFIG_FS_SEL_LENGTH, range); +} + +/************************************************************************** +Function: Setting the maximum range of mpu6050 accelerometer +Input : range：Acceleration maximum range number +Output : none +函数功能：设置 MPU6050 加速度计的最大量程 +入口参数：range：加速度最大量程编号 +返回 值：无 +**************************************************************************/ +// #define MPU6050_ACCEL_FS_2 0x00 //===最大量程+-2G +// #define MPU6050_ACCEL_FS_4 0x01 //===最大量程+-4G +// #define MPU6050_ACCEL_FS_8 0x02 //===最大量程+-8G +// #define MPU6050_ACCEL_FS_16 0x03 //===最大量程+-16G +void MPU6050_setFullScaleAccelRange(uint8_t range) +{ + IICwriteBits(devAddr, MPU6050_RA_ACCEL_CONFIG, MPU6050_ACONFIG_AFS_SEL_BIT, MPU6050_ACONFIG_AFS_SEL_LENGTH, range); +} + +/************************************************************************** +Function: Set mpu6050 to sleep mode or not +Input : enable：1，sleep；0，work； +Output : none +函数功能：设置 MPU6050 是否进入睡眠模式 +入口参数：enable：1，睡觉；0，工作； +返回 值：无 +**************************************************************************/ +void MPU6050_setSleepEnabled(uint8_t enabled) +{ + IICwriteBit(devAddr, MPU6050_RA_PWR_MGMT_1, MPU6050_PWR1_SLEEP_BIT, enabled); +} + +/************************************************************************** +Function: Read identity +Input : none +Output : 0x68 +函数功能：读取 MPU6050 WHO_AM_I 标识 +入口参数：无 +返回 值：0x68 +**************************************************************************/ +uint8_t MPU6050_getDeviceID(void) +{ + + IICreadBytes(devAddr, MPU6050_RA_WHO_AM_I, 1, buffer); + return buffer[0]; +} + +/************************************************************************** +Function: Check whether mpu6050 is connected +Input : none +Output : 1：Connected；0：Not connected +函数功能：检测MPU6050 是否已经连接 +入口参数：无 +返回 值：1：已连接；0：未连接 +**************************************************************************/ +uint8_t MPU6050_testConnection(void) +{ + if (MPU6050_getDeviceID() == 0x68) // 0b01101000; + return 1; + else + return 0; +} + +/************************************************************************** +Function: Setting whether mpu6050 is the host of aux I2C cable +Input : enable：1，yes；0;not +Output : none +函数功能：设置 MPU6050 是否为AUX I2C线的主机 +入口参数：enable：1，是；0：否 +返回 值：无 +**************************************************************************/ +void MPU6050_setI2CMasterModeEnabled(uint8_t enabled) +{ + IICwriteBit(devAddr, MPU6050_RA_USER_CTRL, MPU6050_USERCTRL_I2C_MST_EN_BIT, enabled); +} + +/************************************************************************** +Function: Setting whether mpu6050 is the host of aux I2C cable +Input : enable：1，yes；0;not +Output : none +函数功能：设置 MPU6050 是否为AUX I2C线的主机 +入口参数：enable：1，是；0：否 +返回 值：无 +**************************************************************************/ +void MPU6050_setI2CBypassEnabled(uint8_t enabled) +{ + IICwriteBit(devAddr, MPU6050_RA_INT_PIN_CFG, MPU6050_INTCFG_I2C_BYPASS_EN_BIT, enabled); +} + +/************************************************************************** +Function: initialization Mpu6050 to enter the available state +Input : none +Output : none +函数功能：初始化 MPU6050 以进入可用状态 +入口参数：无 +返回 值：无 +**************************************************************************/ +void MPU6050_initialize(void) +{ + MPU6050_setClockSource(MPU6050_CLOCK_PLL_YGYRO); // 设置时钟 + MPU6050_setFullScaleGyroRange(MPU6050_GYRO_FS_2000); // 陀螺仪量程设置 + MPU6050_setFullScaleAccelRange(MPU6050_ACCEL_FS_2); // 加速度度最大量程 +-2G + MPU6050_setSleepEnabled(0); // 进入工作状态 + MPU6050_setI2CMasterModeEnabled(0); // 不让MPU6050 控制AUXI2C + MPU6050_setI2CBypassEnabled(0); // 主控制器的I2C与 MPU6050的AUXI2C 直通关闭 +} + +/************************************************************************** +Function: Initialization of DMP in mpu6050 +Input : none +Output : none +函数功能：MPU6050内置DMP的初始化 +入口参数：无 +返回 值：无 +**************************************************************************/ +void DMP_Init(void) +{ + u8 temp[1] = {0}; + i2cRead(0x68, 0x75, 1, temp); + if (temp[0] != 0x68) + NVIC_SystemReset(); + if (!mpu_init()) + { + if (!mpu_set_sensors(INV_XYZ_GYRO | INV_XYZ_ACCEL)) + { + } + if (!mpu_configure_fifo(INV_XYZ_GYRO | INV_XYZ_ACCEL)) + { + } + if (!mpu_set_sample_rate(DEFAULT_MPU_HZ)) + { + } + if (!dmp_load_motion_driver_firmware()) + { + } + if (!dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation))) + { + } + if (!dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT | DMP_FEATURE_TAP | + DMP_FEATURE_ANDROID_ORIENT | DMP_FEATURE_SEND_RAW_ACCEL | DMP_FEATURE_SEND_CAL_GYRO | + DMP_FEATURE_GYRO_CAL)) + { + } + if (!dmp_set_fifo_rate(DEFAULT_MPU_HZ)) + { + } + run_self_test(); + if (!mpu_set_dmp_state(1)) + { + } + } +} +/************************************************************************** +Function: Read the attitude information of DMP in mpu6050 +Input : none +Output : none +函数功能：读取MPU6050内置DMP的姿态信息 +入口参数：无 +返回 值：无 +**************************************************************************/ +void Read_DMP(void) +{ + unsigned long sensor_timestamp; + unsigned char more; + long quat[4]; + dmp_read_fifo(gyro, accel, quat, &sensor_timestamp, &sensors, &more); // 读取DMP数据 + if (sensors & INV_WXYZ_QUAT) + { + q0 = quat[0] / q30; + q1 = quat[1] / q30; + q2 = quat[2] / q30; + q3 = quat[3] / q30; // 四元数 + Pitch = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2 * q2 + 1) * 57.3; // 计算出俯仰角 + } +} diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/mpu6050.h b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/mpu6050.h new file mode 100644 index 0000000..b6428dd --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/MPU6050/mpu6050.h @@ -0,0 +1,371 @@ +#ifndef __MPU6050_H +#define __MPU6050_H + +#include "sys.h" +#define devAddr 0xD0 + +#define MPU6050_ADDRESS_AD0_LOW 0x68 // address pin low (GND), default for InvenSense evaluation board +#define MPU6050_ADDRESS_AD0_HIGH 0x69 // address pin high (VCC) +#define MPU6050_DEFAULT_ADDRESS MPU6050_ADDRESS_AD0_LOW + +#define MPU6050_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD +#define MPU6050_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN +#define MPU6050_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN +#define MPU6050_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN +#define MPU6050_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS +#define MPU6050_RA_XA_OFFS_L_TC 0x07 +#define MPU6050_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS +#define MPU6050_RA_YA_OFFS_L_TC 0x09 +#define MPU6050_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS +#define MPU6050_RA_ZA_OFFS_L_TC 0x0B +#define MPU6050_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR +#define MPU6050_RA_XG_OFFS_USRL 0x14 +#define MPU6050_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR +#define MPU6050_RA_YG_OFFS_USRL 0x16 +#define MPU6050_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR +#define MPU6050_RA_ZG_OFFS_USRL 0x18 +#define MPU6050_RA_SMPLRT_DIV 0x19 +#define MPU6050_RA_CONFIG 0x1A +#define MPU6050_RA_GYRO_CONFIG 0x1B +#define MPU6050_RA_ACCEL_CONFIG 0x1C +#define MPU6050_RA_FF_THR 0x1D +#define MPU6050_RA_FF_DUR 0x1E +#define MPU6050_RA_MOT_THR 0x1F +#define MPU6050_RA_MOT_DUR 0x20 +#define MPU6050_RA_ZRMOT_THR 0x21 +#define MPU6050_RA_ZRMOT_DUR 0x22 +#define MPU6050_RA_FIFO_EN 0x23 +#define MPU6050_RA_I2C_MST_CTRL 0x24 +#define MPU6050_RA_I2C_SLV0_ADDR 0x25 +#define MPU6050_RA_I2C_SLV0_REG 0x26 +# define MPU6050_RA_I2C_SLV0_CTRL 0x27 +#define MPU6050_RA_I2C_SLV1_ADDR 0x28 +#define MPU6050_RA_I2C_SLV1_REG 0x29 +#define MPU6050_RA_I2C_SLV1_CTRL 0x2A +#define MPU6050_RA_I2C_SLV2_ADDR 0x2B +#define MPU6050_RA_I2C_SLV2_REG 0x2C +#define MPU6050_RA_I2C_SLV2_CTRL 0x2D +#define MPU6050_RA_I2C_SLV3_ADDR 0x2E +#define MPU6050_RA_I2C_SLV3_REG 0x2F +#define MPU6050_RA_I2C_SLV3_CTRL 0x30 +#define MPU6050_RA_I2C_SLV4_ADDR 0x31 +#define MPU6050_RA_I2C_SLV4_REG 0x32 +#define MPU6050_RA_I2C_SLV4_DO 0x33 +#define MPU6050_RA_I2C_SLV4_CTRL 0x34 +#define MPU6050_RA_I2C_SLV4_DI 0x35 +#define MPU6050_RA_I2C_MST_STATUS 0x36 +#define MPU6050_RA_INT_PIN_CFG 0x37 +#define MPU6050_RA_INT_ENABLE 0x38 +#define MPU6050_RA_DMP_INT_STATUS 0x39 +#define MPU6050_RA_INT_STATUS 0x3A +#define MPU6050_RA_ACCEL_XOUT_H 0x3B +#define MPU6050_RA_ACCEL_XOUT_L 0x3C +#define MPU6050_RA_ACCEL_YOUT_H 0x3D +#define MPU6050_RA_ACCEL_YOUT_L 0x3E +#define MPU6050_RA_ACCEL_ZOUT_H 0x3F +#define MPU6050_RA_ACCEL_ZOUT_L 0x40 +#define MPU6050_RA_TEMP_OUT_H 0x41 +#define MPU6050_RA_TEMP_OUT_L 0x42 +#define MPU6050_RA_GYRO_XOUT_H 0x43 +#define MPU6050_RA_GYRO_XOUT_L 0x44 +#define MPU6050_RA_GYRO_YOUT_H 0x45 +#define MPU6050_RA_GYRO_YOUT_L 0x46 +#define MPU6050_RA_GYRO_ZOUT_H 0x47 +#define MPU6050_RA_GYRO_ZOUT_L 0x48 +#define MPU6050_RA_EXT_SENS_DATA_00 0x49 +#define MPU6050_RA_EXT_SENS_DATA_01 0x4A +#define MPU6050_RA_EXT_SENS_DATA_02 0x4B +#define MPU6050_RA_EXT_SENS_DATA_03 0x4C +#define MPU6050_RA_EXT_SENS_DATA_04 0x4D +#define MPU6050_RA_EXT_SENS_DATA_05 0x4E +#define MPU6050_RA_EXT_SENS_DATA_06 0x4F +#define MPU6050_RA_EXT_SENS_DATA_07 0x50 +#define MPU6050_RA_EXT_SENS_DATA_08 0x51 +#define MPU6050_RA_EXT_SENS_DATA_09 0x52 +#define MPU6050_RA_EXT_SENS_DATA_10 0x53 +#define MPU6050_RA_EXT_SENS_DATA_11 0x54 +#define MPU6050_RA_EXT_SENS_DATA_12 0x55 +#define MPU6050_RA_EXT_SENS_DATA_13 0x56 +#define MPU6050_RA_EXT_SENS_DATA_14 0x57 +#define MPU6050_RA_EXT_SENS_DATA_15 0x58 +#define MPU6050_RA_EXT_SENS_DATA_16 0x59 +#define MPU6050_RA_EXT_SENS_DATA_17 0x5A +#define MPU6050_RA_EXT_SENS_DATA_18 0x5B +#define MPU6050_RA_EXT_SENS_DATA_19 0x5C +#define MPU6050_RA_EXT_SENS_DATA_20 0x5D +#define MPU6050_RA_EXT_SENS_DATA_21 0x5E +#define MPU6050_RA_EXT_SENS_DATA_22 0x5F +#define MPU6050_RA_EXT_SENS_DATA_23 0x60 +#define MPU6050_RA_MOT_DETECT_STATUS 0x61 +#define MPU6050_RA_I2C_SLV0_DO 0x63 +#define MPU6050_RA_I2C_SLV1_DO 0x64 +#define MPU6050_RA_I2C_SLV2_DO 0x65 +#define MPU6050_RA_I2C_SLV3_DO 0x66 +#define MPU6050_RA_I2C_MST_DELAY_CTRL 0x67 +#define MPU6050_RA_SIGNAL_PATH_RESET 0x68 +#define MPU6050_RA_MOT_DETECT_CTRL 0x69 +#define MPU6050_RA_USER_CTRL 0x6A +#define MPU6050_RA_PWR_MGMT_1 0x6B +#define MPU6050_RA_PWR_MGMT_2 0x6C +#define MPU6050_RA_BANK_SEL 0x6D +#define MPU6050_RA_MEM_START_ADDR 0x6E +#define MPU6050_RA_MEM_R_W 0x6F +#define MPU6050_RA_DMP_CFG_1 0x70 +#define MPU6050_RA_DMP_CFG_2 0x71 +#define MPU6050_RA_FIFO_COUNTH 0x72 +#define MPU6050_RA_FIFO_COUNTL 0x73 +#define MPU6050_RA_FIFO_R_W 0x74 +#define MPU6050_RA_WHO_AM_I 0x75 + +#define MPU6050_TC_PWR_MODE_BIT 7 +#define MPU6050_TC_OFFSET_BIT 6 +#define MPU6050_TC_OFFSET_LENGTH 6 +#define MPU6050_TC_OTP_BNK_VLD_BIT 0 + +#define MPU6050_VDDIO_LEVEL_VLOGIC 0 +#define MPU6050_VDDIO_LEVEL_VDD 1 + +#define MPU6050_CFG_EXT_SYNC_SET_BIT 5 +#define MPU6050_CFG_EXT_SYNC_SET_LENGTH 3 +#define MPU6050_CFG_DLPF_CFG_BIT 2 +#define MPU6050_CFG_DLPF_CFG_LENGTH 3 + +#define MPU6050_EXT_SYNC_DISABLED 0x0 +#define MPU6050_EXT_SYNC_TEMP_OUT_L 0x1 +#define MPU6050_EXT_SYNC_GYRO_XOUT_L 0x2 +#define MPU6050_EXT_SYNC_GYRO_YOUT_L 0x3 +#define MPU6050_EXT_SYNC_GYRO_ZOUT_L 0x4 +#define MPU6050_EXT_SYNC_ACCEL_XOUT_L 0x5 +#define MPU6050_EXT_SYNC_ACCEL_YOUT_L 0x6 +#define MPU6050_EXT_SYNC_ACCEL_ZOUT_L 0x7 + +#define MPU6050_DLPF_BW_256 0x00 +#define MPU6050_DLPF_BW_188 0x01 +#define MPU6050_DLPF_BW_98 0x02 +#define MPU6050_DLPF_BW_42 0x03 +#define MPU6050_DLPF_BW_20 0x04 +#define MPU6050_DLPF_BW_10 0x05 +#define MPU6050_DLPF_BW_5 0x06 + +#define MPU6050_GCONFIG_FS_SEL_BIT 4 +#define MPU6050_GCONFIG_FS_SEL_LENGTH 2 + +#define MPU6050_GYRO_FS_250 0x00 +#define MPU6050_GYRO_FS_500 0x01 +#define MPU6050_GYRO_FS_1000 0x02 +#define MPU6050_GYRO_FS_2000 0x03 + +#define MPU6050_ACONFIG_XA_ST_BIT 7 +#define MPU6050_ACONFIG_YA_ST_BIT 6 +#define MPU6050_ACONFIG_ZA_ST_BIT 5 +#define MPU6050_ACONFIG_AFS_SEL_BIT 4 +#define MPU6050_ACONFIG_AFS_SEL_LENGTH 2 +#define MPU6050_ACONFIG_ACCEL_HPF_BIT 2 +#define MPU6050_ACONFIG_ACCEL_HPF_LENGTH 3 + +#define MPU6050_ACCEL_FS_2 0x00 +#define MPU6050_ACCEL_FS_4 0x01 +#define MPU6050_ACCEL_FS_8 0x02 +#define MPU6050_ACCEL_FS_16 0x03 + +#define MPU6050_DHPF_RESET 0x00 +#define MPU6050_DHPF_5 0x01 +#define MPU6050_DHPF_2P5 0x02 +#define MPU6050_DHPF_1P25 0x03 +#define MPU6050_DHPF_0P63 0x04 +#define MPU6050_DHPF_HOLD 0x07 + +#define MPU6050_TEMP_FIFO_EN_BIT 7 +#define MPU6050_XG_FIFO_EN_BIT 6 +#define MPU6050_YG_FIFO_EN_BIT 5 +#define MPU6050_ZG_FIFO_EN_BIT 4 +#define MPU6050_ACCEL_FIFO_EN_BIT 3 +#define MPU6050_SLV2_FIFO_EN_BIT 2 +#define MPU6050_SLV1_FIFO_EN_BIT 1 +#define MPU6050_SLV0_FIFO_EN_BIT 0 + +#define MPU6050_MULT_MST_EN_BIT 7 +#define MPU6050_WAIT_FOR_ES_BIT 6 +#define MPU6050_SLV_3_FIFO_EN_BIT 5 +#define MPU6050_I2C_MST_P_NSR_BIT 4 +#define MPU6050_I2C_MST_CLK_BIT 3 +#define MPU6050_I2C_MST_CLK_LENGTH 4 + +#define MPU6050_CLOCK_DIV_348 0x0 +#define MPU6050_CLOCK_DIV_333 0x1 +#define MPU6050_CLOCK_DIV_320 0x2 +#define MPU6050_CLOCK_DIV_308 0x3 +#define MPU6050_CLOCK_DIV_296 0x4 +#define MPU6050_CLOCK_DIV_286 0x5 +#define MPU6050_CLOCK_DIV_276 0x6 +#define MPU6050_CLOCK_DIV_267 0x7 +#define MPU6050_CLOCK_DIV_258 0x8 +#define MPU6050_CLOCK_DIV_500 0x9 +#define MPU6050_CLOCK_DIV_471 0xA +#define MPU6050_CLOCK_DIV_444 0xB +#define MPU6050_CLOCK_DIV_421 0xC +#define MPU6050_CLOCK_DIV_400 0xD +#define MPU6050_CLOCK_DIV_381 0xE +#define MPU6050_CLOCK_DIV_364 0xF + +#define MPU6050_I2C_SLV_RW_BIT 7 +#define MPU6050_I2C_SLV_ADDR_BIT 6 +#define MPU6050_I2C_SLV_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV_EN_BIT 7 +#define MPU6050_I2C_SLV_BYTE_SW_BIT 6 +#define MPU6050_I2C_SLV_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV_GRP_BIT 4 +#define MPU6050_I2C_SLV_LEN_BIT 3 +#define MPU6050_I2C_SLV_LEN_LENGTH 4 + +#define MPU6050_I2C_SLV4_RW_BIT 7 +#define MPU6050_I2C_SLV4_ADDR_BIT 6 +#define MPU6050_I2C_SLV4_ADDR_LENGTH 7 +#define MPU6050_I2C_SLV4_EN_BIT 7 +#define MPU6050_I2C_SLV4_INT_EN_BIT 6 +#define MPU6050_I2C_SLV4_REG_DIS_BIT 5 +#define MPU6050_I2C_SLV4_MST_DLY_BIT 4 +#define MPU6050_I2C_SLV4_MST_DLY_LENGTH 5 + +#define MPU6050_MST_PASS_THROUGH_BIT 7 +#define MPU6050_MST_I2C_SLV4_DONE_BIT 6 +#define MPU6050_MST_I2C_LOST_ARB_BIT 5 +#define MPU6050_MST_I2C_SLV4_NACK_BIT 4 +#define MPU6050_MST_I2C_SLV3_NACK_BIT 3 +#define MPU6050_MST_I2C_SLV2_NACK_BIT 2 +#define MPU6050_MST_I2C_SLV1_NACK_BIT 1 +#define MPU6050_MST_I2C_SLV0_NACK_BIT 0 + +#define MPU6050_INTCFG_INT_LEVEL_BIT 7 +#define MPU6050_INTCFG_INT_OPEN_BIT 6 +#define MPU6050_INTCFG_LATCH_INT_EN_BIT 5 +#define MPU6050_INTCFG_INT_RD_CLEAR_BIT 4 +#define MPU6050_INTCFG_FSYNC_INT_LEVEL_BIT 3 +#define MPU6050_INTCFG_FSYNC_INT_EN_BIT 2 +#define MPU6050_INTCFG_I2C_BYPASS_EN_BIT 1 +#define MPU6050_INTCFG_CLKOUT_EN_BIT 0 + +#define MPU6050_INTMODE_ACTIVEHIGH 0x00 +#define MPU6050_INTMODE_ACTIVELOW 0x01 + +#define MPU6050_INTDRV_PUSHPULL 0x00 +#define MPU6050_INTDRV_OPENDRAIN 0x01 + +#define MPU6050_INTLATCH_50USPULSE 0x00 +#define MPU6050_INTLATCH_WAITCLEAR 0x01 + +#define MPU6050_INTCLEAR_STATUSREAD 0x00 +#define MPU6050_INTCLEAR_ANYREAD 0x01 + +#define MPU6050_INTERRUPT_FF_BIT 7 +#define MPU6050_INTERRUPT_MOT_BIT 6 +#define MPU6050_INTERRUPT_ZMOT_BIT 5 +#define MPU6050_INTERRUPT_FIFO_OFLOW_BIT 4 +#define MPU6050_INTERRUPT_I2C_MST_INT_BIT 3 +#define MPU6050_INTERRUPT_PLL_RDY_INT_BIT 2 +#define MPU6050_INTERRUPT_DMP_INT_BIT 1 +#define MPU6050_INTERRUPT_DATA_RDY_BIT 0 + +// TODO: figure out what these actually do +// UMPL source code is not very obivous +#define MPU6050_DMPINT_5_BIT 5 +#define MPU6050_DMPINT_4_BIT 4 +#define MPU6050_DMPINT_3_BIT 3 +#define MPU6050_DMPINT_2_BIT 2 +#define MPU6050_DMPINT_1_BIT 1 +#define MPU6050_DMPINT_0_BIT 0 + +#define MPU6050_MOTION_MOT_XNEG_BIT 7 +#define MPU6050_MOTION_MOT_XPOS_BIT 6 +#define MPU6050_MOTION_MOT_YNEG_BIT 5 +#define MPU6050_MOTION_MOT_YPOS_BIT 4 +#define MPU6050_MOTION_MOT_ZNEG_BIT 3 +#define MPU6050_MOTION_MOT_ZPOS_BIT 2 +#define MPU6050_MOTION_MOT_ZRMOT_BIT 0 + +#define MPU6050_DELAYCTRL_DELAY_ES_SHADOW_BIT 7 +#define MPU6050_DELAYCTRL_I2C_SLV4_DLY_EN_BIT 4 +#define MPU6050_DELAYCTRL_I2C_SLV3_DLY_EN_BIT 3 +#define MPU6050_DELAYCTRL_I2C_SLV2_DLY_EN_BIT 2 +#define MPU6050_DELAYCTRL_I2C_SLV1_DLY_EN_BIT 1 +#define MPU6050_DELAYCTRL_I2C_SLV0_DLY_EN_BIT 0 + +#define MPU6050_PATHRESET_GYRO_RESET_BIT 2 +#define MPU6050_PATHRESET_ACCEL_RESET_BIT 1 +#define MPU6050_PATHRESET_TEMP_RESET_BIT 0 + +#define MPU6050_DETECT_ACCEL_ON_DELAY_BIT 5 +#define MPU6050_DETECT_ACCEL_ON_DELAY_LENGTH 2 +#define MPU6050_DETECT_FF_COUNT_BIT 3 +#define MPU6050_DETECT_FF_COUNT_LENGTH 2 +#define MPU6050_DETECT_MOT_COUNT_BIT 1 +#define MPU6050_DETECT_MOT_COUNT_LENGTH 2 + +#define MPU6050_DETECT_DECREMENT_RESET 0x0 +#define MPU6050_DETECT_DECREMENT_1 0x1 +#define MPU6050_DETECT_DECREMENT_2 0x2 +#define MPU6050_DETECT_DECREMENT_4 0x3 + +#define MPU6050_USERCTRL_DMP_EN_BIT 7 +#define MPU6050_USERCTRL_FIFO_EN_BIT 6 +#define MPU6050_USERCTRL_I2C_MST_EN_BIT 5 +#define MPU6050_USERCTRL_I2C_IF_DIS_BIT 4 +#define MPU6050_USERCTRL_DMP_RESET_BIT 3 +#define MPU6050_USERCTRL_FIFO_RESET_BIT 2 +#define MPU6050_USERCTRL_I2C_MST_RESET_BIT 1 +#define MPU6050_USERCTRL_SIG_COND_RESET_BIT 0 + +#define MPU6050_PWR1_DEVICE_RESET_BIT 7 +#define MPU6050_PWR1_SLEEP_BIT 6 +#define MPU6050_PWR1_CYCLE_BIT 5 +#define MPU6050_PWR1_TEMP_DIS_BIT 3 +#define MPU6050_PWR1_CLKSEL_BIT 2 +#define MPU6050_PWR1_CLKSEL_LENGTH 3 + +#define MPU6050_CLOCK_INTERNAL 0x00 +#define MPU6050_CLOCK_PLL_XGYRO 0x01 +#define MPU6050_CLOCK_PLL_YGYRO 0x02 +#define MPU6050_CLOCK_PLL_ZGYRO 0x03 +#define MPU6050_CLOCK_PLL_EXT32K 0x04 +#define MPU6050_CLOCK_PLL_EXT19M 0x05 +#define MPU6050_CLOCK_KEEP_RESET 0x07 + +#define MPU6050_PWR2_LP_WAKE_CTRL_BIT 7 +#define MPU6050_PWR2_LP_WAKE_CTRL_LENGTH 2 +#define MPU6050_PWR2_STBY_XA_BIT 5 +#define MPU6050_PWR2_STBY_YA_BIT 4 +#define MPU6050_PWR2_STBY_ZA_BIT 3 +#define MPU6050_PWR2_STBY_XG_BIT 2 +#define MPU6050_PWR2_STBY_YG_BIT 1 +#define MPU6050_PWR2_STBY_ZG_BIT 0 + +#define MPU6050_WAKE_FREQ_1P25 0x0 +#define MPU6050_WAKE_FREQ_2P5 0x1 +#define MPU6050_WAKE_FREQ_5 0x2 +#define MPU6050_WAKE_FREQ_10 0x3 + +#define MPU6050_BANKSEL_PRFTCH_EN_BIT 6 +#define MPU6050_BANKSEL_CFG_USER_BANK_BIT 5 +#define MPU6050_BANKSEL_MEM_SEL_BIT 4 +#define MPU6050_BANKSEL_MEM_SEL_LENGTH 5 + +#define MPU6050_WHO_AM_I_BIT 6 +#define MPU6050_WHO_AM_I_LENGTH 6 +extern short gyro[3], accel[3]; +extern int16_t Gx_offset,Gy_offset,Gz_offset; +extern float Acc1G_Values; +extern float Roll,Pitch; +//供外部调用的API +void MPU6050_initialize(void); //初始化 +uint8_t MPU6050_testConnection(void); //检测MPU6050是否存在 +//读取ADC值 +void MPU6050_getMotion6(int16_t* ax, int16_t* ay, int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); +void MPU6050_getlastMotion6(int16_t* ax, int16_t* ay, + int16_t* az, int16_t* gx, int16_t* gy, int16_t* gz); +uint8_t MPU6050_getDeviceID(void); //读取MPU6050的ID +void MPU6050_InitGyro_Offset(void);//初始化陀螺仪偏置 +void DMP_Init(void); +void Read_DMP(void); +#endif diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/filter/filter.c b/GeBalanceBot_Firmware v1.0/MiniBalance/filter/filter.c new file mode 100644 index 0000000..1b1f164 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/filter/filter.c @@ -0,0 +1,80 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : show.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.13 zhanli: Create +* Comments : GeekRebot STM32 +********************************************************************************/ +#include "filter.h" + + +float angle,angle_dot; +float Q_angle = 0.001; // 过程噪声的协方差 +float Q_gyro = 0.003; // 0.003 过程噪声的协方差 过程噪声的协方差为一个一行两列矩阵 +float R_angle = 0.5; // 测量噪声的协方差 既测量偏差 +float dt = 0.005; // 积分时间，这个IMU更新的周期有关 +char C_0 = 1; + +float Q_bias, Angle_err; +float PCt_0, PCt_1, E; +float K_0, K_1, t_0, t_1; +float Pdot[4] = {0,0,0,0}; +float PP[2][2] = { { 1, 0 },{ 0, 1 } }; + +/**---------------------------------------------------------------------- +* Function : Kalman_Filter +* Description : 一阶互补滤波 +* Input : 加速度、角速度 +* Author : zhanli&719901725@qq.com +* Date : 2024/01/13 zhanli +*---------------------------------------------------------------------**/ +void KalmanFilter(float acc,float gyro) +{ + angle += (gyro - Q_bias) * dt; //先验估计 + Pdot[0] = Q_angle - PP[0][1] - PP[1][0]; // Pk-先验估计误差协方差的微分 + + Pdot[1] = -PP[1][1]; + Pdot[2] = -PP[1][1]; + Pdot[3] = Q_gyro; + + PP[0][0] += Pdot[0] * dt; // Pk-先验估计误差协方差微分的积分 + PP[0][1] += Pdot[1] * dt; // =先验估计误差协方差 + PP[1][0] += Pdot[2] * dt; + PP[1][1] += Pdot[3] * dt; + + Angle_err = acc - angle; //zk-先验估计 + + PCt_0 = C_0 * PP[0][0]; + PCt_1 = C_0 * PP[1][0]; + + E = R_angle + C_0 * PCt_0; + + K_0 = PCt_0 / E; + K_1 = PCt_1 / E; + + t_0 = PCt_0; + t_1 = C_0 * PP[0][1]; + + PP[0][0] -= K_0 * t_0; // 后验估计误差协方差 + PP[0][1] -= K_0 * t_1; + PP[1][0] -= K_1 * t_0; + PP[1][1] -= K_1 * t_1; + + angle += K_0 * Angle_err; // 后验估计 + Q_bias += K_1 * Angle_err; // 后验估计 + angle_dot = gyro - Q_bias; // 输出值(后验估计)的微分 = 角速度 +} + +/**---------------------------------------------------------------------- +* Function : First_order_filter +* Description : 一阶互补滤波 +* Input : 加速度、角速度 +* Author : zhanli&719901725@qq.com +* Date : 2024/01/13 zhanli +*---------------------------------------------------------------------**/ +void First_order_filter(float angle, float gyro) +{ + float alpha = 0.02f; // 低通滤波参数 + float DeltaAngle = gyro * 0.005; // 角度增量 + angle = alpha * angle + (1 - alpha) * (angle + DeltaAngle); +} diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/filter/filter.h b/GeBalanceBot_Firmware v1.0/MiniBalance/filter/filter.h new file mode 100644 index 0000000..ca1d769 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/filter/filter.h @@ -0,0 +1,17 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : filter.h +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.13 zhanli: Create +* Comments : 滤波器算法库 +********************************************************************************/ +#ifndef __FILTER_H__ +#define __FILTER_H__ + +extern float angle, angle_dot; + +void KalmanFilter(float acc,float gyro); + +void First_order_filter(float angle, float gyro); + +#endif diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.c b/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.c new file mode 100644 index 0000000..c85643b --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.c @@ -0,0 +1,61 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : show.c +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.13 zhanli: Create +* Comments : GeekRebot STM32 +********************************************************************************/ +#include "show.h" + +/**---------------------------------------------------------------------- +* Function : oled_show +* Description : OLED显示平衡车工作信息 +* Author : zhanli&719901725@qq.com +* Date : 2024/01/13 zhanli +*---------------------------------------------------------------------**/ +void oled_show(void) +{ + // 显示屏打开 + OLED_Display_On(); + // 第一行显示小车模式 + OLED_ShowString(0,0,"DMP",12); + OLED_ShowString(60,0,"Normal",12); + // 第三行显示编码器1 + OLED_ShowString(00,20,"EncoLEFT",12); + if( Encoder_Left<0){ + OLED_ShowString(80,20,"-",12); + OLED_ShowNum(95,20,-Encoder_Left,3,12); + }else{ + OLED_ShowString(80,20,"+",12); + OLED_ShowNum(95,20, Encoder_Left,3,12); + } + + // 第四行显示编码器2 + OLED_ShowString(00,30,"EncoRIGHT",12); + if(Encoder_Right<0){ + OLED_ShowString(80,30,"-",12); + OLED_ShowNum(95,30,-Encoder_Right,3,12); + }else{ + OLED_ShowString(80,30,"+",12); + OLED_ShowNum(95,30, Encoder_Right,3,12); + } + + // 第六行显示角度 + OLED_ShowString(0,50,"Angle",12); +// if(Angle_Balance < 0){ +// OLED_ShowString(48,50,"-",12); +// } +// if(Angle_Balance>=0){ +// OLED_ShowString(48,50,"+",12); +// } +// OLED_ShowNum(53,50,myabs((int)Angle_Balance),3,12); + +// if(Flag_Stop){ +// OLED_ShowString(90,50,"OFF",12); +// } +// if(!Flag_Stop){ +// OLED_ShowString(90,50,"ON ",12); +// } + // 刷新 + //OLED_Refresh_Gram(); +} diff --git a/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.h b/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.h new file mode 100644 index 0000000..d776785 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/MiniBalance/show/show.h @@ -0,0 +1,20 @@ +/******************** (C) COPYRIGHT 2024 GeekRebot ***************************** +* File Name : show.h +* Current Version : V1.0 & ST 3.5.0 +* Author : zhanli 719901725@qq.com +* Date of Issued : 2024.01.13 zhanli: Create +* Comments : OLED内容显示 +********************************************************************************/ +#ifndef __SHOW_H__ +#define __SHOW_H__ +#include "sys.h" + +/**---------------------------------------------------------------------- +* Function : oled_show +* Description : OLED显示平衡车工作信息 +* Author : zhanli&719901725@qq.com +* Date : 2024/01/13 zhanli 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diff --git a/GeBalanceBot_Firmware v1.0/Output/Project.lnp b/GeBalanceBot_Firmware v1.0/Output/Project.lnp new file mode 100644 index 0000000..cc3eebc --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Output/Project.lnp @@ -0,0 +1,52 @@ +--cpu Cortex-M3 +"..\output\startup_stm32f10x_hd.o" +"..\output\core_cm3.o" +"..\output\system_stm32f10x.o" +"..\output\misc.o" +"..\output\stm32f10x_adc.o" +"..\output\stm32f10x_bkp.o" +"..\output\stm32f10x_can.o" +"..\output\stm32f10x_cec.o" +"..\output\stm32f10x_crc.o" +"..\output\stm32f10x_dac.o" +"..\output\stm32f10x_dbgmcu.o" +"..\output\stm32f10x_dma.o" +"..\output\stm32f10x_exti.o" +"..\output\stm32f10x_flash.o" +"..\output\stm32f10x_fsmc.o" +"..\output\stm32f10x_gpio.o" +"..\output\stm32f10x_i2c.o" +"..\output\stm32f10x_iwdg.o" +"..\output\stm32f10x_pwr.o" +"..\output\stm32f10x_rcc.o" +"..\output\stm32f10x_rtc.o" +"..\output\stm32f10x_sdio.o" +"..\output\stm32f10x_spi.o" +"..\output\stm32f10x_tim.o" +"..\output\stm32f10x_usart.o" +"..\output\stm32f10x_wwdg.o" +"..\output\sys.o" +"..\output\bsp_sys.o" +"..\output\bsp_gpio.o" +"..\output\bsp_nvic.o" +"..\output\bsp_usart.o" +"..\output\delay.o" +"..\output\bsp_iic.o" +"..\output\bsp_timer.o" +"..\output\oled.o" +"..\output\pid.o" +"..\output\car.o" +"..\output\bluetooth.o" +"..\output\motor.o" +"..\output\ioi2c.o" +"..\output\show.o" +"..\output\mpu6050.o" +"..\output\inv_mpu.o" +"..\output\inv_mpu_dmp_motion_driver.o" +"..\output\control.o" +"..\output\main.o" +"..\output\stm32f10x_it.o" +--strict --scatter "..\Output\Project.sct" +--summary_stderr --info summarysizes --map --xref --callgraph --symbols +--info sizes --info totals --info unused --info veneers +--list "..\Listing\Project.map" -o ..\Output\Project.axf \ No newline at end of file diff --git a/GeBalanceBot_Firmware v1.0/Output/Project.plg b/GeBalanceBot_Firmware v1.0/Output/Project.plg new file mode 100644 index 0000000..10479f5 --- /dev/null +++ b/GeBalanceBot_Firmware v1.0/Output/Project.plg @@ -0,0 +1,529 @@ + + +
+
Vision Build Log

+
Project:

+C:\Users\Administrator\Desktop\TX\Project\Project.uvproj
+Project File Date:  02/08/2017
+
+
Output:

+Build target 'PROJECT'
+linking...
+..\Output\Project.axf: Error: L6218E: Undefined symbol NRF24L01_Check (referred from main.o).
+..\Output\Project.axf: Error: L6218E: Undefined symbol NRF24L01_Init (referred from main.o).
+..\Output\Project.axf: Error: L6218E: Undefined symbol NRF24L01_TxPacket (referred from main.o).
+..\Output\Project.axf: Error: L6218E: Undefined symbol TX_Mode (referred from main.o).
+"..\Output\Project.axf" - 4 Errors, 0 Warning(s).
+Target not created
+Build target 'PROJECT'
+linking...
+..\Output\Project.axf: Error: L6218E: Undefined symbol NRF24L01_Check (referred from main.o).
+..\Output\Project.axf: Error: L6218E: Undefined symbol NRF24L01_Init (referred from main.o).
+..\Output\Project.axf: Error: L6218E: Undefined symbol NRF24L01_TxPacket (referred from main.o).
+..\Output\Project.axf: Error: L6218E: Undefined symbol TX_Mode (referred from main.o).
+"..\Output\Project.axf" - 4 Errors, 0 Warning(s).
+Target not created
+Build target 'PROJECT'
+compiling core_cm3.c...
+compiling system_stm32f10x.c...
+compiling misc.c...
+compiling stm32f10x_adc.c...
+compiling stm32f10x_bkp.c...
+compiling stm32f10x_can.c...
+compiling stm32f10x_cec.c...
+compiling stm32f10x_crc.c...
+compiling stm32f10x_dac.c...
+compiling stm32f10x_dbgmcu.c...
+compiling stm32f10x_dma.c...
+compiling stm32f10x_exti.c...
+compiling stm32f10x_flash.c...
+compiling stm32f10x_fsmc.c...
+compiling stm32f10x_gpio.c...
+compiling stm32f10x_i2c.c...
+compiling stm32f10x_iwdg.c...
+compiling stm32f10x_pwr.c...
+compiling stm32f10x_rcc.c...
+compiling stm32f10x_rtc.c...
+compiling stm32f10x_sdio.c...
+compiling stm32f10x_spi.c...
+compiling stm32f10x_tim.c...
+compiling stm32f10x_usart.c...
+compiling stm32f10x_wwdg.c...
+compiling delay.c...
+compiling bsp_NVIC.C...
+compiling bsp_iic.c...
+compiling bsp_GPIO.c...
+compiling bsp_usart.c...
+compiling 24cxx.c...
+compiling oled.c...
+compiling 24l01.c...
+..\HARDWARE\24L01\24l01.c(3): error:  #5: cannot open source input file "bsp_spi.h": No such file or directory
+compiling main.c...
+compiling stm32f10x_it.c...
+"..\Output\Project.axf" - 1 Errors, 0 Warning(s).
+Target not created
+Build target 'PROJECT'
+compiling core_cm3.c...
+compiling system_stm32f10x.c...
+compiling misc.c...
+compiling stm32f10x_adc.c...
+compiling stm32f10x_bkp.c...
+compiling stm32f10x_can.c...
+compiling stm32f10x_cec.c...
+compiling stm32f10x_crc.c...
+compiling stm32f10x_dac.c...
+compiling stm32f10x_dbgmcu.c...
+compiling stm32f10x_dma.c...
+compiling stm32f10x_exti.c...
+compiling stm32f10x_flash.c...
+compiling stm32f10x_fsmc.c...
+compiling stm32f10x_gpio.c...
+compiling stm32f10x_i2c.c...
+compiling stm32f10x_iwdg.c...
+compiling stm32f10x_pwr.c...
+compiling stm32f10x_rcc.c...
+compiling stm32f10x_rtc.c...
+compiling stm32f10x_sdio.c...
+compiling stm32f10x_spi.c...
+compiling stm32f10x_tim.c...
+compiling stm32f10x_usart.c...
+compiling stm32f10x_wwdg.c...
+compiling delay.c...
+compiling bsp_NVIC.C...
+compiling bsp_iic.c...
+compiling bsp_GPIO.c...
+compiling bsp_usart.c...
+compiling bsp_spi.c...
+compiling 24cxx.c...
+compiling oled.c...
+compiling 24l01.c...
+compiling main.c...
+compiling stm32f10x_it.c...
+linking...
+Program Size: Code=11120 RO-data=2364 RW-data=964 ZI-data=1908  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 0 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Build target 'PROJECT'
+compiling 24l01.c...
+compiling main.c...
+linking...
+Program Size: Code=11116 RO-data=2364 RW-data=964 ZI-data=1908  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 0 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Build target 'PROJECT'
+compiling main.c...
+..\User\main.c(40): warning:  #177-D: variable "tmp" was declared but never referenced
+linking...
+Program Size: Code=11012 RO-data=2364 RW-data=964 ZI-data=1908  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 1 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Build target 'PROJECT'
+compiling main.c...
+..\User\main.c(40): warning:  #177-D: variable "tmp" was declared but never referenced
+linking...
+Program Size: Code=11008 RO-data=2364 RW-data=964 ZI-data=1908  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 1 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Build target 'PROJECT'
+compiling main.c...
+..\User\main.c(40): warning:  #177-D: variable "tmp" was declared but never referenced
+..\User\main.c(42): warning:  #177-D: variable "p" was declared but never referenced
+linking...
+Program Size: Code=6914 RO-data=2342 RW-data=952 ZI-data=1632  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 2 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Build target 'PROJECT'
+compiling main.c...
+..\User\main.c(42): warning:  #177-D: variable "p" was declared but never referenced
+linking...
+Program Size: Code=8746 RO-data=2350 RW-data=952 ZI-data=1656  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 1 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Build target 'PROJECT'
+compiling main.c...
+..\User\main.c(42): warning:  #177-D: variable "p" was declared but never referenced
+linking...
+Program Size: Code=8750 RO-data=2350 RW-data=952 ZI-data=1656  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 1 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Build target 'PROJECT'
+compiling main.c...
+linking...
+Program Size: Code=8806 RO-data=2350 RW-data=952 ZI-data=1688  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Errors, 0 Warning(s).
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
+Load "..\\Output\\Project.axf" 
+Set JLink Project File to "C:\Users\Administrator\Desktop\TX\Project\JLinkSettings.ini"
+* JLink Info: Device "STM32F103C8" selected (64 KB flash, 20 KB RAM).
+ 
+JLink info:
+------------
+DLL: V4.90 , compiled Jul 28 2014 10:35:20
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N : 20090928 
+Feature(s) : RDI,FlashDL,FlashBP,JFlash,GDBFull 
+ 
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found SWD-DP with ID 0x1BA01477
+* JLink Info: Found Cortex-M3 r1p1, Little endian.
+* JLink Info: FPUnit: 6 code (BP) slots and 2 literal slots
+* JLink Info: TPIU fitted.
+* JLink Info: ETM fitted.
+ROMTableAddr = 0xE00FF003
+ 
+Target info:
+------------
+Device: STM32F103C8
+VTarget = 3.300V
+State of Pins: 
+TCK: 0, TDI: 0, TDO: 1, TMS: 0, TRES: 1, TRST: 1
+Hardware-Breakpoints: 6
+Software-Breakpoints: 8192
+Watchpoints:          4
+JTAG speed: 1000 kHz
+ 
+Erase Done.
+Programming Done.
+Verify OK.
+Application running ...
diff --git a/GeBalanceBot_Firmware v1.0/Output/Project_sct.Bak b/GeBalanceBot_Firmware v1.0/Output/Project_sct.Bak
new file mode 100644
index 0000000..c26b647
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Output/Project_sct.Bak	
@@ -0,0 +1,15 @@
+; *************************************************************
+; *** Scatter-Loading Description File generated by uVision ***
+; *************************************************************
+
+LR_IROM1 0x08000000 0x00020000  {    ; load region size_region
+  ER_IROM1 0x08000000 0x00020000  {  ; load address = execution address
+   *.o (RESET, +First)
+   *(InRoot$$Sections)
+   .ANY (+RO)
+  }
+  RW_IRAM1 0x20000000 0x00005000  {  ; RW data
+   .ANY (+RW +ZI)
+  }
+}
+
diff --git a/GeBalanceBot_Firmware v1.0/Project/DebugConfig/PROJECT_STM32F103RB_1.0.0.dbgconf b/GeBalanceBot_Firmware v1.0/Project/DebugConfig/PROJECT_STM32F103RB_1.0.0.dbgconf
new file mode 100644
index 0000000..90dabd8
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/DebugConfig/PROJECT_STM32F103RB_1.0.0.dbgconf	
@@ -0,0 +1,97 @@
+// <<< Use Configuration Wizard in Context Menu >>>
+//  Debug MCU Configuration
+//       DBG_SLEEP
+//  Debug Sleep Mode
+//  0: (FCLK=On, HCLK=Off) FCLK is clocked by the system clock as previously configured by the software while HCLK is disabled
+//  1: (FCLK=On, HCLK=On) HCLK is fed by the same clock that is provided to FCLK
+//       DBG_STOP
+//  Debug Stop Mode
+//  0: (FCLK=Off, HCLK=Off) Clock controller disables all clocks
+//  1: (FCLK=On, HCLK=On) FCLK and HCLK are provided by the internal RC oscillator which remains active
+//       DBG_STANDBY
+//  Debug Standby Mode
+//  0: (FCLK=Off, HCLK=Off) The whole digital part is unpowered.
+//  1: (FCLK=On, HCLK=On) Digital part is powered and FCLK and HCLK are provided by the internal RC oscillator which remains active
+//       DBG_IWDG_STOP
+//  Debug independent watchdog stopped when core is halted
+//  0: The watchdog counter clock continues even if the core is halted
+//  1: The watchdog counter clock is stopped when the core is halted
+//       DBG_WWDG_STOP
+//  Debug window watchdog stopped when core is halted
+//  0: The window watchdog counter clock continues even if the core is halted
+//  1: The window watchdog counter clock is stopped when the core is halted
+//      DBG_TIM1_STOP
+//  Timer 1 counter stopped when core is halted
+//  0: The clock of the involved Timer Counter is fed even if the core is halted
+//  1: The clock of the involved Timer counter is stopped when the core is halted
+//      DBG_TIM2_STOP
+//  Timer 2 counter stopped when core is halted
+//  0: The clock of the involved Timer Counter is fed even if the core is halted
+//  1: The clock of the involved Timer counter is stopped when the core is halted
+//      DBG_TIM3_STOP
+//  Timer 3 counter stopped when core is halted
+//  0: The clock of the involved Timer Counter is fed even if the core is halted
+//  1: The clock of the involved Timer counter is stopped when the core is halted
+//      DBG_TIM4_STOP
+//  Timer 4 counter stopped when core is halted
+//  0: The clock of the involved Timer Counter is fed even if the core is halted
+//  1: The clock of the involved Timer counter is stopped when the core is halted
+//      DBG_CAN1_STOP
+//  Debug CAN1 stopped when Core is halted
+//  0: Same behavior as in normal mode
+//  1: CAN1 receive registers are frozen
+//      DBG_I2C1_SMBUS_TIMEOUT
+//  I2C1 SMBUS timeout mode stopped when Core is halted
+//  0: Same behavior as in normal mode
+//  1: The SMBUS timeout is frozen
+//      DBG_I2C2_SMBUS_TIMEOUT
+//  I2C2 SMBUS timeout mode stopped when Core is halted
+//  0: Same behavior as in normal mode
+//  1: The SMBUS timeout is frozen
+//      DBG_TIM8_STOP
+//  Timer 8 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM5_STOP
+//  Timer 5 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM6_STOP
+//  Timer 6 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM7_STOP
+//  Timer 7 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_CAN2_STOP
+//  Debug CAN2 stopped when Core is halted
+//  0: Same behavior as in normal mode
+//  1: CAN2 receive registers are frozen
+//      DBG_TIM12_STOP
+//  Timer 12 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM13_STOP
+//  Timer 13 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM14_STOP
+//  Timer 14 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM9_STOP
+//  Timer 9 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM10_STOP
+//  Timer 10 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+//      DBG_TIM11_STOP
+//  Timer 11 counter stopped when core is halted
+//  0: The clock of the involved timer counter is fed even if the core is halted, and the outputs behave normally.
+//  1: The clock of the involved timer counter is stopped when the core is halted, and the outputs are disabled (as if there were an emergency stop in response to a break event).
+// 
+DbgMCU_CR = 0x00000007;
+// <<< end of configuration section >>>
\ No newline at end of file
diff --git a/GeBalanceBot_Firmware v1.0/Project/JLink Regs CM3.txt b/GeBalanceBot_Firmware v1.0/Project/JLink Regs CM3.txt
new file mode 100644
index 0000000..08327ff
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/JLink Regs CM3.txt	
@@ -0,0 +1,32 @@
+0: R0: 0x00
+1: R1: 0x01
+2: R2: 0x02
+3: R3: 0x03
+4: R4: 0x04
+5: R5: 0x05
+6: R6: 0x06
+7: R7: 0x07
+8: R8: 0x08
+9: R9: 0x09
+10: R10: 0x0a
+11: R11: 0x0b
+12: R12: 0x0c
+13: R13: 0x0d
+14: R14: 0x0e
+15: R15: 0x0f
+16: XPSR: 0x10
+17: MSP: 0x11
+18: PSP: 0x12
+19: RAZ: 0x13
+20: CFBP: 0x14
+21: APSR: 0x15
+22: EPSR: 0x16
+23: IPSR: 0x17
+24: PRIMASK: 0x18
+25: BASEPRI: 0x19
+26: FAULTMASK: 0x1a
+27: CONTROL: 0x1b
+28: BASEPRI_MAX: 0x1c
+29: IAPSR: 0x1d
+30: EAPSR: 0x1e
+31: IEPSR: 0x1f
diff --git a/GeBalanceBot_Firmware v1.0/Project/JLinkLog.txt b/GeBalanceBot_Firmware v1.0/Project/JLinkLog.txt
new file mode 100644
index 0000000..2cf42bc
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/JLinkLog.txt	
@@ -0,0 +1,1284 @@
+
+T110C 000:336 SEGGER J-Link V4.96d Log File (0001ms, 0276ms total)
+T110C 000:336 DLL Compiled: Jan 29 2015 11:45:37 (0001ms, 0276ms total)
+T110C 000:336 Logging started @ 2020-05-10 23:41 (0001ms, 0276ms total)
+T110C 000:337 JLINK_SetWarnOutHandler(...) (0000ms, 0276ms total)
+T110C 000:337 JLINK_OpenEx(...)
+Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
+Hardware: V7.00
+S/N: 20090928
+Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull  returns O.K. (0270ms, 0546ms total)
+T110C 000:607 JLINK_SetErrorOutHandler(...) (0000ms, 0546ms total)
+T110C 000:607 JLINK_ExecCommand("ProjectFile = "G:\ϿƼ\С\stm32С\װSTM32-RCT6-PID\STM32ֲٴPIDС\4-С\2\1-ֱPIDOLEDʾ\Project\JLinkSettings.ini"", ...)  returns 0x00 (0002ms, 0548ms total)
+T110C 000:633 JLINK_ExecCommand("Device = STM32F103RC", ...)Device "STM32F103RC" selected.  returns 0x00 (0010ms, 0558ms total)
+T110C 000:643 JLINK_ExecCommand("DisableConnectionTimeout", ...)  returns 0x01 (0000ms, 0558ms total)
+T110C 000:643 JLINK_GetHardwareVersion()  returns 0x11170 (0000ms, 0558ms total)
+T110C 000:643 JLINK_GetDLLVersion()  returns 49604 (0000ms, 0558ms total)
+T110C 000:643 JLINK_GetFirmwareString(...) (0000ms, 0558ms total)
+T110C 000:676 JLINK_GetDLLVersion()  returns 49604 (0000ms, 0558ms total)
+T110C 000:676 JLINK_GetCompileDateTime() (0000ms, 0558ms total)
+T110C 000:680 JLINK_GetFirmwareString(...) (0000ms, 0558ms total)
+T110C 000:685 JLINK_GetHardwareVersion()  returns 0x11170 (0000ms, 0558ms total)
+T110C 000:700 JLINK_TIF_Select(JLINKARM_TIF_SWD)  returns 0x00 (0004ms, 0562ms total)
+T110C 000:704 JLINK_SetSpeed(3000) (0001ms, 0563ms total)
+T110C 000:705 JLINK_GetId() >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x108 TIF>Found SWD-DP with ID 0x1BA01477 >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF>
+ >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> >0x0D TIF> >0x21 TIF>Found Cortex-M3 r1p1, Little endian. -- CPU_WriteMem(4 bytes @ 0xE0002000) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDF0)
+ -- CPU_ReadMem(4 bytes @ 0xE0002000)FPUnit: 6 code (BP) slots and 2 literal slots -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) -- CPU_WriteMem(4 bytes @ 0xE0001000) -- CPU_ReadMem(4 bytes @ 0xE000ED88) -- CPU_WriteMem(4 bytes @ 0xE000ED88) -- CPU_ReadMem(4 bytes @ 0xE000ED88) -- CPU_WriteMem(4 bytes @ 0xE000ED88) -- CPU_ReadMem(4 bytes @ 0xE00FF010)TPIU fitted. -- CPU_ReadMem(4 bytes @ 0xE00FF014)ETM fitted.
+ -- CPU_ReadMem(4 bytes @ 0xE00FF018) >0x0D TIF> >0x21 TIF>  returns 0x1BA01477 (0125ms, 0688ms total)
+T110C 000:830 JLINK_GetDLLVersion()  returns 49604 (0000ms, 0688ms total)
+T110C 000:830 JLINK_CORE_GetFound()  returns 0x30000FF (0000ms, 0688ms total)
+T110C 000:830 JLINK_GetDebugInfo(0x100) -- Value=0xE00FF003  returns 0x00 (0000ms, 0688ms total)
+T110C 000:833 JLINK_ReadMem (0xE00FF000, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE00FF000) - Data: 03 F0 F0 FF 03 20 F0 FF 03 30 F0 FF 03 10 F0 FF ...  returns 0x00 (0002ms, 0690ms total)
+T110C 000:835 JLINK_ReadMem (0xE000EFF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE000EFF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00  returns 0x00 (0001ms, 0691ms total)
+T110C 000:836 JLINK_ReadMem (0xE000EFD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE000EFD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...  returns 0x00 (0002ms, 0693ms total)
+T110C 000:838 JLINK_ReadMem (0xE0001FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0001FF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00  returns 0x00 (0002ms, 0695ms total)
+T110C 000:840 JLINK_ReadMem (0xE0001FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0001FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...  returns 0x00 (0002ms, 0697ms total)
+T110C 000:842 JLINK_ReadMem (0xE0002FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0002FF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00  returns 0x00 (0001ms, 0698ms total)
+T110C 000:843 JLINK_ReadMem (0xE0002FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0002FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...  returns 0x00 (0002ms, 0700ms total)
+T110C 000:845 JLINK_ReadMem (0xE0000FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0000FF0) - Data: 0D 00 00 00 E0 00 00 00 05 00 00 00 B1 00 00 00  returns 0x00 (0002ms, 0702ms total)
+T110C 000:847 JLINK_ReadMem (0xE0000FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0000FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...  returns 0x00 (0002ms, 0704ms total)
+T110C 000:849 JLINK_ReadMem (0xE0040FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0040FF0) - Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00  returns 0x00 (0002ms, 0706ms total)
+T110C 000:851 JLINK_ReadMem (0xE0040FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0040FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...  returns 0x00 (0002ms, 0708ms total)
+T110C 000:853 JLINK_ReadMem (0xE0041FF0, 0x0010 Bytes, ...) -- CPU is running -- CPU_ReadMem(16 bytes @ 0xE0041FF0) - Data: 0D 00 00 00 90 00 00 00 05 00 00 00 B1 00 00 00  returns 0x00 (0002ms, 0710ms total)
+T110C 000:855 JLINK_ReadMem (0xE0041FD0, 0x0020 Bytes, ...) -- CPU is running -- CPU_ReadMem(32 bytes @ 0xE0041FD0) - Data: 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...  returns 0x00 (0001ms, 0711ms total)
+T110C 000:857 JLINK_ReadMemU32(0xE000ED00, 0x0001 Items, ...) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000ED00) - Data: 31 C2 1F 41  returns 0x01 (0001ms, 0712ms total)
+T110C 000:858 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL)  returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 0712ms total)
+T110C 000:858 JLINK_Reset() -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC) >0x35 TIF> -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000ED0C) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0)
+ -- CPU_WriteMem(4 bytes @ 0xE0002000) -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) (0035ms, 0747ms total)
+T110C 000:893 JLINK_Halt()  returns 0x00 (0000ms, 0747ms total)
+T110C 000:893 JLINK_IsHalted()  returns TRUE (0000ms, 0747ms total)
+T110C 000:893 JLINK_ReadMemU32(0xE000EDF0, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) - Data: 03 00 03 00  returns 0x01 (0001ms, 0748ms total)
+T110C 000:894 JLINK_WriteU32(0xE000EDF0, 0xA05F0003) -- CPU_WriteMem(4 bytes @ 0xE000EDF0)  returns 0x00 (0002ms, 0750ms total)
+T110C 000:896 JLINK_WriteU32(0xE000EDFC, 0x01000000) -- CPU_WriteMem(4 bytes @ 0xE000EDFC)  returns 0x00 (0002ms, 0752ms total)
+T110C 000:910 JLINK_GetHWStatus(...)  returns 0x00 (0002ms, 0754ms total)
+T110C 000:920 JLINK_GetNumBPUnits(Type = 0xFFFFFF00)  returns 0x06 (0000ms, 0754ms total)
+T110C 000:920 JLINK_GetNumBPUnits(Type = 0xF0)  returns 0x2000 (0000ms, 0754ms total)
+T110C 000:920 JLINK_GetNumWPUnits()  returns 0x04 (0000ms, 0754ms total)
+T110C 000:929 JLINK_GetSpeed()  returns 0xA6B (0000ms, 0754ms total)
+T110C 000:935 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) - Data: 01 00 00 00  returns 0x01 (0002ms, 0756ms total)
+T110C 000:937 JLINK_ReadMemU32(0xE000E004, 0x0001 Items, ...) -- CPU_ReadMem(4 bytes @ 0xE000E004) - Data: 01 00 00 00  returns 0x01 (0001ms, 0757ms total)
+T110C 000:938 JLINK_WriteMem(0xE0001000, 0x001C Bytes, ...) - Data: 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ... -- CPU_WriteMem(28 bytes @ 0xE0001000)  returns 0x1C (0003ms, 0760ms total)
+T110C 000:941 JLINK_ReadMem (0xE0001000, 0x001C Bytes, ...) -- CPU_ReadMem(28 bytes @ 0xE0001000) - Data: 01 00 00 40 00 00 00 00 00 00 00 00 00 00 00 00 ...  returns 0x00 (0002ms, 0762ms total)
+T110C 000:943 JLINK_Halt()  returns 0x00 (0000ms, 0762ms total)
+T110C 000:943 JLINK_IsHalted()  returns TRUE (0000ms, 0762ms total)
+T110C 000:947 JLINK_WriteMem(0x20000000, 0x0164 Bytes, ...) - Data: 00 BE 0A E0 0D 78 2D 06 68 40 08 24 40 00 00 D3 ... -- CPU_WriteMem(356 bytes @ 0x20000000)  returns 0x164 (0006ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R0, 0x08000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R1, 0x00B71B00)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R2, 0x00000001)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(R15 (PC), 0x20000038)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:954 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0768ms total)
+T110C 000:955 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0769ms total)
+T110C 000:955 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2) -- CPU_ReadMem(2 bytes @ 0x20000000)  returns 0x00000001 (0001ms, 0770ms total)
+T110C 000:956 JLINK_Go() -- CPU_WriteMem(2 bytes @ 0x20000000) -- CPU_WriteMem(4 bytes @ 0xE0002008) -- CPU_WriteMem(4 bytes @ 0xE000200C) -- CPU_WriteMem(4 bytes @ 0xE0002010) -- CPU_WriteMem(4 bytes @ 0xE0002014) -- CPU_WriteMem(4 bytes @ 0xE0002018) -- CPU_WriteMem(4 bytes @ 0xE000201C) -- CPU_WriteMem(4 bytes @ 0xE0001004) (0011ms, 0781ms total)
+T110C 000:967 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 0788ms total)
+T110C 000:974 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0781ms total)
+T110C 000:974 JLINK_ClrBPEx(BPHandle = 0x00000001)  returns 0x00 (0000ms, 0781ms total)
+T110C 000:974 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0781ms total)
+T110C 000:975 JLINK_WriteReg(R0, 0x08000000)  returns 0x00 (0000ms, 0781ms total)
+T110C 000:975 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0781ms total)
+T110C 000:975 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0781ms total)
+T110C 000:975 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0001ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0782ms total)
+T110C 000:976 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000002 (0000ms, 0782ms total)
+T110C 000:976 JLINK_Go() (0003ms, 0785ms total)
+T110C 000:979 JLINK_IsHalted()  returns FALSE (0002ms, 0787ms total)
+T110C 001:070 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 0792ms total)
+T110C 001:077 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0785ms total)
+T110C 001:077 JLINK_ClrBPEx(BPHandle = 0x00000002)  returns 0x00 (0001ms, 0786ms total)
+T110C 001:078 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0786ms total)
+T110C 001:078 JLINK_WriteReg(R0, 0x08000800)  returns 0x00 (0000ms, 0786ms total)
+T110C 001:078 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0001ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0787ms total)
+T110C 001:079 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0001ms, 0788ms total)
+T110C 001:080 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0788ms total)
+T110C 001:080 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0788ms total)
+T110C 001:080 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000003 (0000ms, 0788ms total)
+T110C 001:080 JLINK_Go() (0003ms, 0791ms total)
+T110C 001:083 JLINK_IsHalted()  returns FALSE (0001ms, 0792ms total)
+T110C 001:100 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0797ms total)
+T110C 001:106 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0791ms total)
+T110C 001:106 JLINK_ClrBPEx(BPHandle = 0x00000003)  returns 0x00 (0000ms, 0791ms total)
+T110C 001:106 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0791ms total)
+T110C 001:107 JLINK_WriteReg(R0, 0x08001000)  returns 0x00 (0000ms, 0791ms total)
+T110C 001:107 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0791ms total)
+T110C 001:107 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0001ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0792ms total)
+T110C 001:108 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0001ms, 0793ms total)
+T110C 001:109 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0793ms total)
+T110C 001:109 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000004 (0000ms, 0793ms total)
+T110C 001:109 JLINK_Go() (0003ms, 0796ms total)
+T110C 001:112 JLINK_IsHalted()  returns FALSE (0002ms, 0798ms total)
+T110C 001:117 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0802ms total)
+T110C 001:123 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0796ms total)
+T110C 001:123 JLINK_ClrBPEx(BPHandle = 0x00000004)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:123 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R0, 0x08001800)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0796ms total)
+T110C 001:124 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0001ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0797ms total)
+T110C 001:125 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0001ms, 0798ms total)
+T110C 001:126 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000005 (0000ms, 0798ms total)
+T110C 001:126 JLINK_Go() (0003ms, 0801ms total)
+T110C 001:129 JLINK_IsHalted()  returns FALSE (0001ms, 0802ms total)
+T110C 001:132 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 0808ms total)
+T110C 001:139 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0801ms total)
+T110C 001:139 JLINK_ClrBPEx(BPHandle = 0x00000005)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:139 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R0, 0x08002000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0801ms total)
+T110C 001:140 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0001ms, 0802ms total)
+T110C 001:141 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0802ms total)
+T110C 001:141 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0802ms total)
+T110C 001:141 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0802ms total)
+T110C 001:141 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000006 (0000ms, 0802ms total)
+T110C 001:141 JLINK_Go() (0003ms, 0805ms total)
+T110C 001:144 JLINK_IsHalted()  returns FALSE (0002ms, 0807ms total)
+T110C 001:148 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0811ms total)
+T110C 001:154 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0805ms total)
+T110C 001:155 JLINK_ClrBPEx(BPHandle = 0x00000006)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:155 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R0, 0x08002800)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0806ms total)
+T110C 001:156 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0001ms, 0807ms total)
+T110C 001:157 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0807ms total)
+T110C 001:157 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0807ms total)
+T110C 001:157 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0807ms total)
+T110C 001:157 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0807ms total)
+T110C 001:157 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0807ms total)
+T110C 001:157 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000007 (0000ms, 0807ms total)
+T110C 001:157 JLINK_Go() (0003ms, 0810ms total)
+T110C 001:160 JLINK_IsHalted()  returns FALSE (0002ms, 0812ms total)
+T110C 001:164 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0816ms total)
+T110C 001:170 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0810ms total)
+T110C 001:170 JLINK_ClrBPEx(BPHandle = 0x00000007)  returns 0x00 (0000ms, 0810ms total)
+T110C 001:170 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0810ms total)
+T110C 001:171 JLINK_WriteReg(R0, 0x08003000)  returns 0x00 (0000ms, 0810ms total)
+T110C 001:171 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0810ms total)
+T110C 001:171 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0810ms total)
+T110C 001:171 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0810ms total)
+T110C 001:171 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0001ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0811ms total)
+T110C 001:172 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000008 (0000ms, 0811ms total)
+T110C 001:172 JLINK_Go() (0003ms, 0814ms total)
+T110C 001:175 JLINK_IsHalted()  returns FALSE (0002ms, 0816ms total)
+T110C 001:202 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0820ms total)
+T110C 001:208 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0814ms total)
+T110C 001:208 JLINK_ClrBPEx(BPHandle = 0x00000008)  returns 0x00 (0000ms, 0814ms total)
+T110C 001:208 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0814ms total)
+T110C 001:209 JLINK_WriteReg(R0, 0x08003800)  returns 0x00 (0001ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0816ms total)
+T110C 001:210 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0001ms, 0817ms total)
+T110C 001:211 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0817ms total)
+T110C 001:211 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0817ms total)
+T110C 001:211 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0817ms total)
+T110C 001:211 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0817ms total)
+T110C 001:211 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000009 (0000ms, 0817ms total)
+T110C 001:211 JLINK_Go() (0003ms, 0820ms total)
+T110C 001:214 JLINK_IsHalted()  returns FALSE (0002ms, 0822ms total)
+T110C 001:218 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0826ms total)
+T110C 001:224 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0820ms total)
+T110C 001:224 JLINK_ClrBPEx(BPHandle = 0x00000009)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:224 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R0, 0x08004000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0820ms total)
+T110C 001:225 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0001ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0821ms total)
+T110C 001:226 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000000A (0000ms, 0821ms total)
+T110C 001:226 JLINK_Go() (0003ms, 0824ms total)
+T110C 001:229 JLINK_IsHalted()  returns FALSE (0002ms, 0826ms total)
+T110C 001:233 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0830ms total)
+T110C 001:239 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0824ms total)
+T110C 001:239 JLINK_ClrBPEx(BPHandle = 0x0000000A)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:239 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R0, 0x08004800)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0824ms total)
+T110C 001:240 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0001ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0825ms total)
+T110C 001:241 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000000B (0000ms, 0825ms total)
+T110C 001:241 JLINK_Go() (0003ms, 0828ms total)
+T110C 001:244 JLINK_IsHalted()  returns FALSE (0002ms, 0830ms total)
+T110C 001:248 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0834ms total)
+T110C 001:254 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0828ms total)
+T110C 001:254 JLINK_ClrBPEx(BPHandle = 0x0000000B)  returns 0x00 (0000ms, 0828ms total)
+T110C 001:254 JLINK_ReadReg(R0)  returns 0x00000000 (0001ms, 0829ms total)
+T110C 001:255 JLINK_WriteReg(R0, 0x08005000)  returns 0x00 (0000ms, 0829ms total)
+T110C 001:255 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0829ms total)
+T110C 001:255 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0829ms total)
+T110C 001:255 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0001ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(R15 (PC), 0x20000020)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0830ms total)
+T110C 001:256 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000000C (0000ms, 0830ms total)
+T110C 001:256 JLINK_Go() (0004ms, 0834ms total)
+T110C 001:260 JLINK_IsHalted()  returns FALSE (0001ms, 0835ms total)
+T110C 001:265 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0840ms total)
+T110C 001:272 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0834ms total)
+T110C 001:272 JLINK_ClrBPEx(BPHandle = 0x0000000C)  returns 0x00 (0000ms, 0834ms total)
+T110C 001:272 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0834ms total)
+T110C 001:272 JLINK_WriteReg(R0, 0x00000001)  returns 0x00 (0000ms, 0834ms total)
+T110C 001:272 JLINK_WriteReg(R1, 0x00000800)  returns 0x00 (0000ms, 0834ms total)
+T110C 001:272 JLINK_WriteReg(R2, 0x000000FF)  returns 0x00 (0000ms, 0834ms total)
+T110C 001:272 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0834ms total)
+T110C 001:272 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0001ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(R15 (PC), 0x2000006A)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0835ms total)
+T110C 001:273 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000000D (0000ms, 0835ms total)
+T110C 001:273 JLINK_Go() (0004ms, 0839ms total)
+T110C 001:277 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 0846ms total)
+T110C 001:284 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0839ms total)
+T110C 001:284 JLINK_ClrBPEx(BPHandle = 0x0000000D)  returns 0x00 (0000ms, 0839ms total)
+T110C 001:284 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0839ms total)
+T110C 001:343 JLINK_WriteMem(0x20000000, 0x0164 Bytes, ...) - Data: 00 BE 0A E0 0D 78 2D 06 68 40 08 24 40 00 00 D3 ... -- CPU_WriteMem(356 bytes @ 0x20000000)  returns 0x164 (0006ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R0, 0x08000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R1, 0x00B71B00)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R2, 0x00000002)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0845ms total)
+T110C 001:349 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0001ms, 0846ms total)
+T110C 001:350 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0846ms total)
+T110C 001:350 JLINK_WriteReg(R15 (PC), 0x20000038)  returns 0x00 (0000ms, 0846ms total)
+T110C 001:350 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0846ms total)
+T110C 001:350 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0846ms total)
+T110C 001:350 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0846ms total)
+T110C 001:350 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0846ms total)
+T110C 001:350 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2) -- CPU_ReadMem(2 bytes @ 0x20000000)  returns 0x0000000E (0002ms, 0848ms total)
+T110C 001:352 JLINK_Go() -- CPU_WriteMem(2 bytes @ 0x20000000) (0005ms, 0853ms total)
+T110C 001:357 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0859ms total)
+T110C 001:363 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0853ms total)
+T110C 001:363 JLINK_ClrBPEx(BPHandle = 0x0000000E)  returns 0x00 (0000ms, 0853ms total)
+T110C 001:363 JLINK_ReadReg(R0)  returns 0x00000000 (0001ms, 0854ms total)
+T110C 001:364 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: F0 08 00 20 25 02 00 08 FD 30 00 08 FF 30 00 08 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R0, 0x08000000)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:377 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0867ms total)
+T110C 001:378 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0868ms total)
+T110C 001:378 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000000F (0000ms, 0868ms total)
+T110C 001:378 JLINK_Go() (0004ms, 0872ms total)
+T110C 001:382 JLINK_IsHalted()  returns FALSE (0001ms, 0873ms total)
+T110C 001:416 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0878ms total)
+T110C 001:422 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0872ms total)
+T110C 001:422 JLINK_ClrBPEx(BPHandle = 0x0000000F)  returns 0x00 (0000ms, 0872ms total)
+T110C 001:422 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0872ms total)
+T110C 001:423 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 23 60 00 BF 00 BF 06 4B 5B 68 C3 F3 03 13 0C 4C ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R0, 0x08000400)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:437 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0886ms total)
+T110C 001:438 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0887ms total)
+T110C 001:438 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000010 (0000ms, 0887ms total)
+T110C 001:438 JLINK_Go() (0003ms, 0890ms total)
+T110C 001:442 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:445 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:449 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:452 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:455 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:458 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:461 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:466 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:469 JLINK_IsHalted()  returns FALSE (0001ms, 0892ms total)
+T110C 001:472 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0897ms total)
+T110C 001:478 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0891ms total)
+T110C 001:478 JLINK_ClrBPEx(BPHandle = 0x00000010)  returns 0x00 (0000ms, 0891ms total)
+T110C 001:478 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0891ms total)
+T110C 001:479 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 1C 4E F1 61 01 E0 1B 4E 71 60 F0 BD 30 B5 00 22 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 0904ms total)
+T110C 001:492 JLINK_WriteReg(R0, 0x08000800)  returns 0x00 (0000ms, 0904ms total)
+T110C 001:492 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0001ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0905ms total)
+T110C 001:493 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000011 (0000ms, 0905ms total)
+T110C 001:493 JLINK_Go() (0003ms, 0908ms total)
+T110C 001:497 JLINK_IsHalted()  returns FALSE (0001ms, 0909ms total)
+T110C 001:507 JLINK_IsHalted()  returns FALSE (0001ms, 0909ms total)
+T110C 001:510 JLINK_IsHalted()  returns FALSE (0001ms, 0909ms total)
+T110C 001:527 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0914ms total)
+T110C 001:533 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0908ms total)
+T110C 001:533 JLINK_ClrBPEx(BPHandle = 0x00000011)  returns 0x00 (0000ms, 0908ms total)
+T110C 001:533 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0908ms total)
+T110C 001:534 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 00 00 FF F8 FF FF F6 FE 00 00 42 42 80 04 42 42 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 0921ms total)
+T110C 001:547 JLINK_WriteReg(R0, 0x08000C00)  returns 0x00 (0000ms, 0921ms total)
+T110C 001:547 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 0921ms total)
+T110C 001:547 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0921ms total)
+T110C 001:547 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0921ms total)
+T110C 001:547 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0001ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0922ms total)
+T110C 001:548 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000012 (0000ms, 0922ms total)
+T110C 001:548 JLINK_Go() (0003ms, 0925ms total)
+T110C 001:551 JLINK_IsHalted()  returns FALSE (0002ms, 0927ms total)
+T110C 001:555 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:558 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:561 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:564 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:567 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:570 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:573 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:576 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:579 JLINK_IsHalted()  returns FALSE (0001ms, 0926ms total)
+T110C 001:582 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0931ms total)
+T110C 001:589 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0925ms total)
+T110C 001:589 JLINK_ClrBPEx(BPHandle = 0x00000012)  returns 0x00 (0000ms, 0925ms total)
+T110C 001:589 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0925ms total)
+T110C 001:589 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 4E F6 FF 76 35 40 05 84 03 8C 84 88 82 8B 48 F6 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R0, 0x08001000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0939ms total)
+T110C 001:603 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0001ms, 0940ms total)
+T110C 001:604 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0940ms total)
+T110C 001:604 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0940ms total)
+T110C 001:604 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0940ms total)
+T110C 001:604 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0940ms total)
+T110C 001:604 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0940ms total)
+T110C 001:604 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0940ms total)
+T110C 001:604 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0940ms total)
+T110C 001:604 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000013 (0000ms, 0940ms total)
+T110C 001:604 JLINK_Go() (0003ms, 0943ms total)
+T110C 001:607 JLINK_IsHalted()  returns FALSE (0002ms, 0945ms total)
+T110C 001:617 JLINK_IsHalted()  returns FALSE (0001ms, 0944ms total)
+T110C 001:632 JLINK_IsHalted()  returns FALSE (0001ms, 0944ms total)
+T110C 001:635 JLINK_IsHalted()  returns FALSE (0001ms, 0944ms total)
+T110C 001:638 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0949ms total)
+T110C 001:644 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0943ms total)
+T110C 001:644 JLINK_ClrBPEx(BPHandle = 0x00000013)  returns 0x00 (0000ms, 0943ms total)
+T110C 001:644 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0943ms total)
+T110C 001:645 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 0A 88 4B 88 1A 43 8B 88 1A 43 CB 88 1A 43 0B 89 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 0956ms total)
+T110C 001:658 JLINK_WriteReg(R0, 0x08001400)  returns 0x00 (0000ms, 0956ms total)
+T110C 001:658 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0001ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0957ms total)
+T110C 001:659 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000014 (0000ms, 0957ms total)
+T110C 001:659 JLINK_Go() (0004ms, 0961ms total)
+T110C 001:663 JLINK_IsHalted()  returns FALSE (0002ms, 0963ms total)
+T110C 001:667 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:670 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:673 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:676 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:679 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:682 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:686 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:689 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:692 JLINK_IsHalted()  returns FALSE (0001ms, 0962ms total)
+T110C 001:695 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0967ms total)
+T110C 001:701 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0961ms total)
+T110C 001:701 JLINK_ClrBPEx(BPHandle = 0x00000014)  returns 0x00 (0001ms, 0962ms total)
+T110C 001:702 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0962ms total)
+T110C 001:702 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 19 40 11 43 01 84 70 47 0A 46 00 21 01 8C 4F F6 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R0, 0x08001800)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0976ms total)
+T110C 001:716 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0001ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0977ms total)
+T110C 001:717 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000015 (0000ms, 0977ms total)
+T110C 001:717 JLINK_Go() (0004ms, 0981ms total)
+T110C 001:721 JLINK_IsHalted()  returns FALSE (0002ms, 0983ms total)
+T110C 001:742 JLINK_IsHalted()  returns FALSE (0001ms, 0982ms total)
+T110C 001:745 JLINK_IsHalted()  returns FALSE (0001ms, 0982ms total)
+T110C 001:748 JLINK_IsHalted()  returns FALSE (0001ms, 0982ms total)
+T110C 001:751 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 0987ms total)
+T110C 001:757 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0981ms total)
+T110C 001:757 JLINK_ClrBPEx(BPHandle = 0x00000015)  returns 0x00 (0000ms, 0981ms total)
+T110C 001:757 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 0981ms total)
+T110C 001:758 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 6A 17 B9 42 00 D1 00 BF 18 46 C1 F3 42 14 01 F0 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 0994ms total)
+T110C 001:771 JLINK_WriteReg(R0, 0x08001C00)  returns 0x00 (0000ms, 0994ms total)
+T110C 001:771 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 0994ms total)
+T110C 001:771 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 0994ms total)
+T110C 001:771 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 0994ms total)
+T110C 001:771 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0001ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 0995ms total)
+T110C 001:772 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000016 (0000ms, 0995ms total)
+T110C 001:772 JLINK_Go() (0003ms, 0998ms total)
+T110C 001:775 JLINK_IsHalted()  returns FALSE (0002ms, 1000ms total)
+T110C 001:782 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:785 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:788 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:791 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:794 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:797 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:800 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:804 JLINK_IsHalted()  returns FALSE (0001ms, 0999ms total)
+T110C 001:807 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 1004ms total)
+T110C 001:813 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 0998ms total)
+T110C 001:813 JLINK_ClrBPEx(BPHandle = 0x00000016)  returns 0x00 (0000ms, 0998ms total)
+T110C 001:813 JLINK_ReadReg(R0)  returns 0x00000000 (0001ms, 0999ms total)
+T110C 001:814 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 46 48 FE F7 ED FA 01 94 00 20 AD F8 08 00 AD F8 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R0, 0x08002000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1013ms total)
+T110C 001:828 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0001ms, 1014ms total)
+T110C 001:829 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1014ms total)
+T110C 001:829 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1014ms total)
+T110C 001:829 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1014ms total)
+T110C 001:829 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1014ms total)
+T110C 001:829 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1014ms total)
+T110C 001:829 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1014ms total)
+T110C 001:829 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000017 (0000ms, 1014ms total)
+T110C 001:829 JLINK_Go() (0004ms, 1018ms total)
+T110C 001:833 JLINK_IsHalted()  returns FALSE (0001ms, 1019ms total)
+T110C 001:855 JLINK_IsHalted()  returns FALSE (0001ms, 1019ms total)
+T110C 001:860 JLINK_IsHalted()  returns FALSE (0001ms, 1019ms total)
+T110C 001:863 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 1024ms total)
+T110C 001:869 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1018ms total)
+T110C 001:869 JLINK_ClrBPEx(BPHandle = 0x00000017)  returns 0x00 (0000ms, 1018ms total)
+T110C 001:869 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1018ms total)
+T110C 001:870 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: FE F7 B7 FB 68 1E 80 B2 AD F8 08 00 A0 B2 AD F8 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R0, 0x08002400)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1032ms total)
+T110C 001:884 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0001ms, 1033ms total)
+T110C 001:885 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1033ms total)
+T110C 001:885 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1033ms total)
+T110C 001:885 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1033ms total)
+T110C 001:885 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1033ms total)
+T110C 001:885 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1033ms total)
+T110C 001:885 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000018 (0000ms, 1033ms total)
+T110C 001:885 JLINK_Go() (0004ms, 1037ms total)
+T110C 001:889 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:892 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:895 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:899 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:902 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:905 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:908 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:912 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:915 JLINK_IsHalted()  returns FALSE (0001ms, 1038ms total)
+T110C 001:918 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0008ms, 1045ms total)
+T110C 001:926 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1037ms total)
+T110C 001:926 JLINK_ClrBPEx(BPHandle = 0x00000018)  returns 0x00 (0000ms, 1037ms total)
+T110C 001:926 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1037ms total)
+T110C 001:927 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: CF FF 10 BD 10 B5 01 20 FF F7 A8 FF 00 20 FF F7 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1051ms total)
+T110C 001:941 JLINK_WriteReg(R0, 0x08002800)  returns 0x00 (0000ms, 1051ms total)
+T110C 001:941 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1051ms total)
+T110C 001:941 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1051ms total)
+T110C 001:941 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1051ms total)
+T110C 001:941 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1051ms total)
+T110C 001:942 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1052ms total)
+T110C 001:942 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1052ms total)
+T110C 001:942 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1052ms total)
+T110C 001:942 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1052ms total)
+T110C 001:942 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1052ms total)
+T110C 001:942 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1052ms total)
+T110C 001:942 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1052ms total)
+T110C 001:942 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0001ms, 1053ms total)
+T110C 001:943 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1053ms total)
+T110C 001:943 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1053ms total)
+T110C 001:943 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1053ms total)
+T110C 001:943 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1053ms total)
+T110C 001:943 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1053ms total)
+T110C 001:943 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1053ms total)
+T110C 001:943 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0001ms, 1054ms total)
+T110C 001:944 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000019 (0000ms, 1054ms total)
+T110C 001:944 JLINK_Go() (0003ms, 1057ms total)
+T110C 001:947 JLINK_IsHalted()  returns FALSE (0002ms, 1059ms total)
+T110C 001:993 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0008ms, 1065ms total)
+T110C 002:001 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1057ms total)
+T110C 002:001 JLINK_ClrBPEx(BPHandle = 0x00000019)  returns 0x00 (0000ms, 1057ms total)
+T110C 002:001 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1057ms total)
+T110C 002:002 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: C9 10 49 1C CD B2 3D 46 15 E0 29 46 30 46 FF F7 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 1070ms total)
+T110C 002:015 JLINK_WriteReg(R0, 0x08002C00)  returns 0x00 (0000ms, 1070ms total)
+T110C 002:015 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1070ms total)
+T110C 002:016 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:016 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:017 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:017 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:017 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1071ms total)
+T110C 002:017 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000001A (0000ms, 1071ms total)
+T110C 002:017 JLINK_Go() (0003ms, 1074ms total)
+T110C 002:020 JLINK_IsHalted()  returns FALSE (0002ms, 1076ms total)
+T110C 002:023 JLINK_IsHalted()  returns FALSE (0002ms, 1076ms total)
+T110C 002:027 JLINK_IsHalted()  returns FALSE (0002ms, 1076ms total)
+T110C 002:031 JLINK_IsHalted()  returns FALSE (0001ms, 1075ms total)
+T110C 002:034 JLINK_IsHalted()  returns FALSE (0001ms, 1075ms total)
+T110C 002:037 JLINK_IsHalted()  returns FALSE (0001ms, 1075ms total)
+T110C 002:040 JLINK_IsHalted()  returns FALSE (0001ms, 1075ms total)
+T110C 002:052 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 1080ms total)
+T110C 002:058 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0001ms, 1075ms total)
+T110C 002:059 JLINK_ClrBPEx(BPHandle = 0x0000001A)  returns 0x00 (0000ms, 1075ms total)
+T110C 002:059 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1075ms total)
+T110C 002:061 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 36 48 00 68 40 F6 AC 51 88 42 03 DD 40 F6 B8 30 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1089ms total)
+T110C 002:075 JLINK_WriteReg(R0, 0x08003000)  returns 0x00 (0001ms, 1090ms total)
+T110C 002:076 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0001ms, 1091ms total)
+T110C 002:077 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1091ms total)
+T110C 002:077 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1091ms total)
+T110C 002:077 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1091ms total)
+T110C 002:077 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1091ms total)
+T110C 002:077 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1091ms total)
+T110C 002:077 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0001ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1092ms total)
+T110C 002:078 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0001ms, 1093ms total)
+T110C 002:079 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1093ms total)
+T110C 002:079 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1093ms total)
+T110C 002:079 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1093ms total)
+T110C 002:079 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000001B (0000ms, 1093ms total)
+T110C 002:079 JLINK_Go() (0004ms, 1097ms total)
+T110C 002:083 JLINK_IsHalted()  returns FALSE (0002ms, 1099ms total)
+T110C 002:117 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 1103ms total)
+T110C 002:123 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1097ms total)
+T110C 002:123 JLINK_ClrBPEx(BPHandle = 0x0000001B)  returns 0x00 (0000ms, 1097ms total)
+T110C 002:123 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1097ms total)
+T110C 002:124 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 6D 1C 50 EA 01 02 F5 D1 08 43 02 D0 00 98 C8 B1 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 1110ms total)
+T110C 002:137 JLINK_WriteReg(R0, 0x08003400)  returns 0x00 (0000ms, 1110ms total)
+T110C 002:137 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0001ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1111ms total)
+T110C 002:138 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0001ms, 1112ms total)
+T110C 002:139 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000001C (0000ms, 1112ms total)
+T110C 002:139 JLINK_Go() (0003ms, 1115ms total)
+T110C 002:142 JLINK_IsHalted()  returns FALSE (0002ms, 1117ms total)
+T110C 002:146 JLINK_IsHalted()  returns FALSE (0001ms, 1116ms total)
+T110C 002:149 JLINK_IsHalted()  returns FALSE (0001ms, 1116ms total)
+T110C 002:152 JLINK_IsHalted()  returns FALSE (0001ms, 1116ms total)
+T110C 002:162 JLINK_IsHalted()  returns FALSE (0001ms, 1116ms total)
+T110C 002:165 JLINK_IsHalted()  returns FALSE (0001ms, 1116ms total)
+T110C 002:181 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0008ms, 1123ms total)
+T110C 002:189 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1115ms total)
+T110C 002:189 JLINK_ClrBPEx(BPHandle = 0x0000001C)  returns 0x00 (0000ms, 1115ms total)
+T110C 002:189 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1115ms total)
+T110C 002:189 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 49 4E 46 00 69 6E 66 00 2D E9 F0 47 81 46 16 46 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R0, 0x08003800)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1129ms total)
+T110C 002:203 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0001ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1130ms total)
+T110C 002:204 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000001D (0000ms, 1130ms total)
+T110C 002:204 JLINK_Go() (0004ms, 1134ms total)
+T110C 002:208 JLINK_IsHalted()  returns FALSE (0002ms, 1136ms total)
+T110C 002:212 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:215 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:218 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:221 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:224 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:227 JLINK_IsHalted()  returns FALSE (0002ms, 1136ms total)
+T110C 002:231 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:234 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:237 JLINK_IsHalted()  returns FALSE (0001ms, 1135ms total)
+T110C 002:240 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 1141ms total)
+T110C 002:247 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1134ms total)
+T110C 002:247 JLINK_ClrBPEx(BPHandle = 0x0000001D)  returns 0x00 (0000ms, 1134ms total)
+T110C 002:247 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1134ms total)
+T110C 002:249 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 34 BF A2 EB 07 42 B2 EB 07 42 61 EB 17 41 4F EA ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R0, 0x08003C00)  returns 0x00 (0000ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1148ms total)
+T110C 002:263 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0001ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1149ms total)
+T110C 002:264 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0001ms, 1150ms total)
+T110C 002:265 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1150ms total)
+T110C 002:265 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1150ms total)
+T110C 002:265 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1150ms total)
+T110C 002:265 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1150ms total)
+T110C 002:265 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000001E (0000ms, 1150ms total)
+T110C 002:265 JLINK_Go() (0003ms, 1153ms total)
+T110C 002:268 JLINK_IsHalted()  returns FALSE (0002ms, 1155ms total)
+T110C 002:304 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 1160ms total)
+T110C 002:311 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1153ms total)
+T110C 002:311 JLINK_ClrBPEx(BPHandle = 0x0000001E)  returns 0x00 (0000ms, 1153ms total)
+T110C 002:311 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1153ms total)
+T110C 002:312 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 02 02 41 41 46 EA 9E 06 01 D5 BD E8 01 89 B6 19 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 1166ms total)
+T110C 002:325 JLINK_WriteReg(R0, 0x08004000)  returns 0x00 (0000ms, 1166ms total)
+T110C 002:325 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1166ms total)
+T110C 002:325 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0001ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1167ms total)
+T110C 002:326 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x0000001F (0000ms, 1167ms total)
+T110C 002:327 JLINK_Go() (0003ms, 1171ms total)
+T110C 002:330 JLINK_IsHalted()  returns FALSE (0002ms, 1173ms total)
+T110C 002:334 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:337 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:340 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:344 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:347 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:350 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:355 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:358 JLINK_IsHalted()  returns FALSE (0001ms, 1172ms total)
+T110C 002:361 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0005ms, 1176ms total)
+T110C 002:366 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1171ms total)
+T110C 002:366 JLINK_ClrBPEx(BPHandle = 0x0000001F)  returns 0x00 (0000ms, 1171ms total)
+T110C 002:366 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1171ms total)
+T110C 002:367 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 09 0B 02 02 4F F0 00 41 4F F0 00 00 A1 F5 00 21 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R0, 0x08004400)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1185ms total)
+T110C 002:381 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0001ms, 1186ms total)
+T110C 002:382 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1186ms total)
+T110C 002:382 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1186ms total)
+T110C 002:382 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1186ms total)
+T110C 002:382 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1186ms total)
+T110C 002:382 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1186ms total)
+T110C 002:382 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1186ms total)
+T110C 002:382 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000020 (0000ms, 1186ms total)
+T110C 002:382 JLINK_Go() (0003ms, 1189ms total)
+T110C 002:386 JLINK_IsHalted()  returns FALSE (0001ms, 1191ms total)
+T110C 002:410 JLINK_IsHalted()  returns FALSE (0001ms, 1191ms total)
+T110C 002:413 JLINK_IsHalted()  returns FALSE (0001ms, 1191ms total)
+T110C 002:417 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 1196ms total)
+T110C 002:423 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1190ms total)
+T110C 002:423 JLINK_ClrBPEx(BPHandle = 0x00000020)  returns 0x00 (0000ms, 1190ms total)
+T110C 002:423 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1190ms total)
+T110C 002:424 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 93 EA 12 2F 04 BF 00 EB C2 50 70 47 4F EA C3 70 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R0, 0x08004800)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1204ms total)
+T110C 002:438 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0001ms, 1205ms total)
+T110C 002:439 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1205ms total)
+T110C 002:439 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000021 (0000ms, 1205ms total)
+T110C 002:439 JLINK_Go() (0003ms, 1208ms total)
+T110C 002:442 JLINK_IsHalted()  returns FALSE (0002ms, 1210ms total)
+T110C 002:446 JLINK_IsHalted()  returns FALSE (0001ms, 1209ms total)
+T110C 002:449 JLINK_IsHalted()  returns FALSE (0001ms, 1209ms total)
+T110C 002:452 JLINK_IsHalted()  returns FALSE (0001ms, 1209ms total)
+T110C 002:455 JLINK_IsHalted()  returns FALSE (0001ms, 1209ms total)
+T110C 002:458 JLINK_IsHalted()  returns FALSE (0001ms, 1209ms total)
+T110C 002:461 JLINK_IsHalted()  returns FALSE (0002ms, 1210ms total)
+T110C 002:465 JLINK_IsHalted()  returns FALSE (0001ms, 1209ms total)
+T110C 002:470 JLINK_IsHalted()  returns FALSE (0001ms, 1209ms total)
+T110C 002:473 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 1214ms total)
+T110C 002:479 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1208ms total)
+T110C 002:479 JLINK_ClrBPEx(BPHandle = 0x00000021)  returns 0x00 (0000ms, 1208ms total)
+T110C 002:479 JLINK_ReadReg(R0)  returns 0x00000000 (0001ms, 1209ms total)
+T110C 002:480 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: E0 00 00 00 31 22 22 11 0F 00 00 00 00 C0 C0 00 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0013ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R0, 0x08004C00)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R1, 0x00000400)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:493 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1222ms total)
+T110C 002:494 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1223ms total)
+T110C 002:494 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000022 (0000ms, 1223ms total)
+T110C 002:494 JLINK_Go() (0004ms, 1227ms total)
+T110C 002:498 JLINK_IsHalted()  returns FALSE (0001ms, 1228ms total)
+T110C 002:520 JLINK_IsHalted()  returns FALSE (0002ms, 1229ms total)
+T110C 002:524 JLINK_IsHalted()  returns FALSE (0001ms, 1228ms total)
+T110C 002:527 JLINK_IsHalted()  returns FALSE (0001ms, 1228ms total)
+T110C 002:530 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0005ms, 1232ms total)
+T110C 002:535 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1227ms total)
+T110C 002:535 JLINK_ClrBPEx(BPHandle = 0x00000022)  returns 0x00 (0000ms, 1227ms total)
+T110C 002:535 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1227ms total)
+T110C 002:536 JLINK_WriteMem(0x20000164, 0x0400 Bytes, ...) - Data: 80 80 80 81 8E 70 18 06 01 00 00 80 80 80 80 80 ... -- CPU_WriteMem(1024 bytes @ 0x20000164)  returns 0x400 (0014ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R0, 0x08005000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R1, 0x00000230)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(R15 (PC), 0x200000F4)  returns 0x00 (0000ms, 1241ms total)
+T110C 002:550 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0001ms, 1242ms total)
+T110C 002:551 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1242ms total)
+T110C 002:551 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1242ms total)
+T110C 002:551 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1242ms total)
+T110C 002:551 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000023 (0000ms, 1242ms total)
+T110C 002:551 JLINK_Go() (0003ms, 1245ms total)
+T110C 002:554 JLINK_IsHalted()  returns FALSE (0002ms, 1247ms total)
+T110C 002:558 JLINK_IsHalted()  returns FALSE (0001ms, 1246ms total)
+T110C 002:561 JLINK_IsHalted()  returns FALSE (0002ms, 1247ms total)
+T110C 002:565 JLINK_IsHalted()  returns FALSE (0001ms, 1246ms total)
+T110C 002:568 JLINK_IsHalted()  returns FALSE (0001ms, 1246ms total)
+T110C 002:571 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0006ms, 1251ms total)
+T110C 002:577 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1245ms total)
+T110C 002:577 JLINK_ClrBPEx(BPHandle = 0x00000023)  returns 0x00 (0000ms, 1245ms total)
+T110C 002:577 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1245ms total)
+T110C 002:577 JLINK_WriteReg(R0, 0x00000002)  returns 0x00 (0000ms, 1245ms total)
+T110C 002:577 JLINK_WriteReg(R1, 0x00000230)  returns 0x00 (0000ms, 1245ms total)
+T110C 002:577 JLINK_WriteReg(R2, 0x20000164)  returns 0x00 (0000ms, 1245ms total)
+T110C 002:577 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1245ms total)
+T110C 002:577 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1245ms total)
+T110C 002:577 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1245ms total)
+T110C 002:578 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(R15 (PC), 0x2000006A)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1246ms total)
+T110C 002:578 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000024 (0001ms, 1247ms total)
+T110C 002:579 JLINK_Go() (0003ms, 1250ms total)
+T110C 002:582 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 1257ms total)
+T110C 002:589 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1250ms total)
+T110C 002:589 JLINK_ClrBPEx(BPHandle = 0x00000024)  returns 0x00 (0000ms, 1250ms total)
+T110C 002:589 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1250ms total)
+T110C 002:647 JLINK_WriteMem(0x20000000, 0x0164 Bytes, ...) - Data: 00 BE 0A E0 0D 78 2D 06 68 40 08 24 40 00 00 D3 ... -- CPU_WriteMem(356 bytes @ 0x20000000)  returns 0x164 (0006ms, 1256ms total)
+T110C 002:653 JLINK_WriteReg(R0, 0x08000000)  returns 0x00 (0000ms, 1256ms total)
+T110C 002:653 JLINK_WriteReg(R1, 0x00B71B00)  returns 0x00 (0000ms, 1256ms total)
+T110C 002:653 JLINK_WriteReg(R2, 0x00000003)  returns 0x00 (0000ms, 1256ms total)
+T110C 002:653 JLINK_WriteReg(R3, 0x00000000)  returns 0x00 (0000ms, 1256ms total)
+T110C 002:653 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1256ms total)
+T110C 002:653 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0001ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1257ms total)
+T110C 002:654 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0001ms, 1258ms total)
+T110C 002:655 JLINK_WriteReg(R15 (PC), 0x20000038)  returns 0x00 (0000ms, 1258ms total)
+T110C 002:655 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1258ms total)
+T110C 002:655 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1258ms total)
+T110C 002:655 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1258ms total)
+T110C 002:655 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1258ms total)
+T110C 002:655 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2) -- CPU_ReadMem(2 bytes @ 0x20000000)  returns 0x00000025 (0002ms, 1260ms total)
+T110C 002:657 JLINK_Go() -- CPU_WriteMem(2 bytes @ 0x20000000) (0005ms, 1265ms total)
+T110C 002:662 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0008ms, 1273ms total)
+T110C 002:670 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1265ms total)
+T110C 002:670 JLINK_ClrBPEx(BPHandle = 0x00000025)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:670 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R0, 0xFFFFFFFF)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R1, 0x08000000)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R2, 0x00005230)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R3, 0x04C11DB7)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1265ms total)
+T110C 002:671 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0001ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(R15 (PC), 0x20000002)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1266ms total)
+T110C 002:672 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0001ms, 1267ms total)
+T110C 002:673 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1267ms total)
+T110C 002:673 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1267ms total)
+T110C 002:673 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000026 (0000ms, 1267ms total)
+T110C 002:673 JLINK_Go() (0003ms, 1270ms total)
+T110C 002:676 JLINK_IsHalted()  returns FALSE (0002ms, 1272ms total)
+T110C 002:745 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:748 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:751 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:754 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:757 JLINK_IsHalted()  returns FALSE (0002ms, 1272ms total)
+T110C 002:762 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:765 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:768 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:771 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:774 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:777 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:780 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:783 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:786 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:789 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:792 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:795 JLINK_IsHalted()  returns FALSE (0002ms, 1272ms total)
+T110C 002:799 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:802 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:805 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:808 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:817 JLINK_IsHalted()  returns FALSE (0002ms, 1272ms total)
+T110C 002:821 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:836 JLINK_IsHalted()  returns FALSE (0002ms, 1272ms total)
+T110C 002:840 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:843 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:846 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:849 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:852 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:856 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:859 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:862 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:865 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:868 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:871 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:874 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:877 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:880 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:883 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:886 JLINK_IsHalted()  returns FALSE (0002ms, 1272ms total)
+T110C 002:890 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:893 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:896 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:899 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:902 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:905 JLINK_IsHalted()  returns FALSE (0001ms, 1271ms total)
+T110C 002:908 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0005ms, 1275ms total)
+T110C 002:913 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1270ms total)
+T110C 002:913 JLINK_ClrBPEx(BPHandle = 0x00000026)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:913 JLINK_ReadReg(R0)  returns 0xA7798AED (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R0, 0x00000003)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R1, 0x08000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R2, 0x00005230)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R3, 0x04C11DB7)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R4, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R5, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R6, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R7, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R8, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R9, 0x20000160)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R10, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R11, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R12, 0x00000000)  returns 0x00 (0000ms, 1270ms total)
+T110C 002:915 JLINK_WriteReg(R13 (SP), 0x20000800)  returns 0x00 (0001ms, 1271ms total)
+T110C 002:916 JLINK_WriteReg(R14, 0x20000001)  returns 0x00 (0000ms, 1271ms total)
+T110C 002:916 JLINK_WriteReg(R15 (PC), 0x2000006A)  returns 0x00 (0000ms, 1271ms total)
+T110C 002:916 JLINK_WriteReg(XPSR, 0x01000000)  returns 0x00 (0000ms, 1271ms total)
+T110C 002:916 JLINK_WriteReg(MSP, 0x20000800)  returns 0x00 (0000ms, 1271ms total)
+T110C 002:916 JLINK_WriteReg(PSP, 0x20000800)  returns 0x00 (0000ms, 1271ms total)
+T110C 002:916 JLINK_WriteReg(CFBP, 0x00000000)  returns 0x00 (0000ms, 1271ms total)
+T110C 002:916 JLINK_SetBPEx(Addr = 0x20000000, Type = 0xFFFFFFF2)  returns 0x00000027 (0000ms, 1271ms total)
+T110C 002:916 JLINK_Go() (0003ms, 1274ms total)
+T110C 002:919 JLINK_IsHalted() -- CPU_ReadMem(2 bytes @ 0x20000000)  returns TRUE (0007ms, 1281ms total)
+T110C 002:926 JLINK_ReadReg(R15 (PC))  returns 0x20000000 (0000ms, 1274ms total)
+T110C 002:926 JLINK_ClrBPEx(BPHandle = 0x00000027)  returns 0x00 (0000ms, 1274ms total)
+T110C 002:926 JLINK_ReadReg(R0)  returns 0x00000000 (0000ms, 1274ms total)
+T110C 002:985 JLINK_WriteMem(0x20000000, 0x0002 Bytes, ...) - Data: FE E7 -- CPU_WriteMem(2 bytes @ 0x20000000)  returns 0x02 (0002ms, 1276ms total)
+T110C 002:987 JLINK_SetResetType(JLINKARM_RESET_TYPE_NORMAL)  returns JLINKARM_RESET_TYPE_NORMAL (0000ms, 1276ms total)
+T110C 002:987 JLINK_Reset() -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) >0x35 TIF> -- CPU_WriteMem(4 bytes @ 0xE000ED0C) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE000EDFC) -- CPU is running -- CPU_ReadMem(4 bytes @ 0xE000EDF0) -- CPU_WriteMem(4 bytes @ 0xE0002000) -- CPU_ReadMem(4 bytes @ 0xE000EDFC) -- CPU_ReadMem(4 bytes @ 0xE0001000) (0038ms, 1314ms total)
+T110C 003:026 JLINK_Go() -- CPU_WriteMem(4 bytes @ 0xE0002008) -- CPU_WriteMem(4 bytes @ 0xE000200C) -- CPU_WriteMem(4 bytes @ 0xE0002010) -- CPU_WriteMem(4 bytes @ 0xE0002014) -- CPU_WriteMem(4 bytes @ 0xE0002018) -- CPU_WriteMem(4 bytes @ 0xE000201C) -- CPU_WriteMem(4 bytes @ 0xE0001004) (0008ms, 1322ms total)
+T110C 003:074 JLINK_Close() -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE0002008) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000200C) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE0002010) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE0002014) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE0002018) -- CPU is running -- CPU_WriteMem(4 bytes @ 0xE000201C) >0x42 TIF> >0x28 TIF> >0x0D TIF> >0x21 TIF> (0017ms, 1339ms total)
+T110C 003:074  (0017ms, 1339ms total)
+T110C 003:074 Closed (0017ms, 1339ms total)
diff --git a/GeBalanceBot_Firmware v1.0/Project/JLinkSettings.ini b/GeBalanceBot_Firmware v1.0/Project/JLinkSettings.ini
new file mode 100644
index 0000000..5516360
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/JLinkSettings.ini	
@@ -0,0 +1,17 @@
+[FLASH]
+SkipProgOnCRCMatch = 1
+VerifyDownload = 1
+AllowCaching = 1
+EnableFlashDL = 2
+Override = 0
+Device="ADUC7020X62"
+[BREAKPOINTS]
+ShowInfoWin = 1
+EnableFlashBP = 2
+BPDuringExecution = 0
+[CPU]
+OverrideMemMap = 0
+AllowSimulation = 1
+ScriptFile=""
+[SWO]
+SWOLogFile=""
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.plg b/GeBalanceBot_Firmware v1.0/Project/Project.plg
new file mode 100644
index 0000000..e15e3b5
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.plg	
@@ -0,0 +1,50 @@
+
+
+
+
Vision Build Log

+
Project:

+D:\STM32\C8T6\Project_Demo\Project\Project.uvproj
+Project File Date:  07/13/2015
+
+
Output:

+Build target 'PROJECT'
+assembling startup_stm32f10x_ld.s...
+compiling core_cm3.c...
+compiling system_stm32f10x.c...
+compiling misc.c...
+compiling stm32f10x_adc.c...
+compiling stm32f10x_bkp.c...
+compiling stm32f10x_can.c...
+compiling stm32f10x_cec.c...
+compiling stm32f10x_crc.c...
+compiling stm32f10x_dac.c...
+compiling stm32f10x_dbgmcu.c...
+compiling stm32f10x_dma.c...
+compiling stm32f10x_exti.c...
+compiling stm32f10x_flash.c...
+compiling stm32f10x_fsmc.c...
+compiling stm32f10x_gpio.c...
+compiling stm32f10x_i2c.c...
+compiling stm32f10x_iwdg.c...
+compiling stm32f10x_pwr.c...
+compiling stm32f10x_rcc.c...
+compiling stm32f10x_rtc.c...
+compiling stm32f10x_sdio.c...
+compiling stm32f10x_spi.c...
+compiling stm32f10x_tim.c...
+compiling stm32f10x_usart.c...
+compiling stm32f10x_wwdg.c...
+compiling bsp_led.c...
+compiling main.c...
+compiling stm32f10x_it.c...
+linking...
+Program Size: Code=2832 RO-data=268 RW-data=40 ZI-data=1632  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Error(s), 0 Warning(s).
+Build target 'PROJECT'
+compiling bsp_led.c...
+compiling main.c...
+linking...
+Program Size: Code=2780 RO-data=268 RW-data=40 ZI-data=1632  
+FromELF: creating hex file...
+"..\Output\Project.axf" - 0 Error(s), 0 Warning(s).
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvgui.Administrator b/GeBalanceBot_Firmware v1.0/Project/Project.uvgui.Administrator
new file mode 100644
index 0000000..87ca7a7
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvgui.Administrator	
@@ -0,0 +1,2711 @@
+
+
+
+  -4.1
+
+  
### uVision Project, (C) Keil Software

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diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvgui_Administrator.bak b/GeBalanceBot_Firmware v1.0/Project/Project.uvgui_Administrator.bak
new file mode 100644
index 0000000..1b75318
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvgui_Administrator.bak	
@@ -0,0 +1,2684 @@
+
+
+
+  -4.1
+
+  
### uVision Project, (C) Keil Software

+
+  
+
+  
+    
+      38003
+      Registers
+      115 179
+    
+    
+      346
+      Code Coverage
+      738 160
+    
+    
+      204
+      Performance Analyzer
+      898
+    
+  
+
+  
+    
+      1506
+      Symbols
+      
+      133 133 133
+    
+    
+      1936
+      Watch 1
+      
+      133 133 133
+    
+    
+      1937
+      Watch 2
+      
+      133 133 133
+    
+    
+      1935
+      Call Stack + Locals
+      
+      133 133 133
+    
+    
+      2506
+      Trace Data
+      
+      75 135 130 95 70 230 200
+    
+  
+
+  
+    1938
+    Run Time Environment
+    
+    0 250 30 60 60 500 -1 98 -21846
+  
+
+  
+    
+      0
+      0
+      0
+    
+  
+
+  
+    
+    
+      44
+      2
+      3
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+        -1
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+      
+        -1
+        -1
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diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.Administrator b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.Administrator
new file mode 100644
index 0000000..aba4151
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.Administrator	
@@ -0,0 +1,1771 @@
+
+
+
+  -6.1
+
+  
### uVision Project, (C) Keil Software

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diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin
new file mode 100644
index 0000000..b0caa4d
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.admin	
@@ -0,0 +1,1807 @@
+
+
+
+  -6.1
+
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### uVision Project, (C) Keil Software

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diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.li324 b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.li324
new file mode 100644
index 0000000..fc1f7c1
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvguix.li324	
@@ -0,0 +1,2754 @@
+
+
+
+  -5.1
+
+  
### uVision Project, (C) Keil Software

+
+  
+
+  
+    
+      38003
+      Registers
+      115 275
+    
+    
+      346
+      Code Coverage
+      370 160
+    
+    
+      204
+      Performance Analyzer
+      530
+    
+  
+
+  
+    
+      1506
+      Symbols
+      
+      133 133 133
+    
+    
+      1936
+      Watch 1
+      
+      133 133 133
+    
+    
+      1937
+      Watch 2
+      
+      133 133 133
+    
+    
+      1935
+      Call Stack + Locals
+      
+      133 133 133
+    
+    
+      2506
+      Trace Data
+      
+      75 135 130 95 70 230 200 150
+    
+  
+
+  
+    
+      0
+      0
+      0
+      50
+      16
+    
+  
+
+  
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+      
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+
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvopt b/GeBalanceBot_Firmware v1.0/Project/Project.uvopt
new file mode 100644
index 0000000..e579134
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvopt	
@@ -0,0 +1,926 @@
+
+
+
+  1.0
+
+  
### uVision Project, (C) Keil Software

+
+  
+    *.c
+    *.s*; *.src; *.a*
+    *.obj
+    *.lib
+    *.txt; *.h; *.inc
+    *.plm
+    *.cpp
+  
+
+  
+    0
+    0
+  
+
+  
+    PROJECT
+    0x4
+    ARM-ADS
+    
+      8000000
+      
+        1
+        1
+        1
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+      
+      
+        1
+        65535
+        0
+        0
+        0
+      
+      
+        79
+        66
+        8
+        ..\Listing\
+      
+      
+        1
+        1
+        1
+        0
+        1
+        1
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+        1
+        0
+        0
+        0
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+        1
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+        0
+      
+      
+        1
+        0
+        1
+      
+      255
+      
+        
+          0
+          Reference Manual
+          DATASHTS\ST\STM32F10xxx.PDF
+        
+      
+      
+        SARMCM3.DLL
+        
+        DARMSTM.DLL
+        -pSTM32F103C8
+        SARMCM3.DLL
+        
+        TARMSTM.DLL
+        -pSTM32F103C8
+      
+      
+        0
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
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+        1
+        0
+        0
+        0
+        7
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        Segger\JL2CM3.dll
+      
+      
+        
+          0
+          DLGTARM
+          (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=-1,-1,-1,-1,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)
+        
+        
+          0
+          DLGUARM
+          /
+        
+        
+          0
+          ST-LINKIII-KEIL
+          -S
+        
+        
+          0
+          JL2CM3
+          -U20090928 -O78 -S1 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL020000
+        
+        
+          0
+          DLGDARM
+          (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=-1,-1,-1,-1,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(234=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)
+        
+        
+          0
+          ARMDBGFLAGS
+          -T0
+        
+        
+          0
+          UL2CM3
+          -O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)
+        
+      
+      
+        
+          0
+          0
+          45
+          1
+          
0

+          0
+          0
+          0
+          0
+          0
+          0
+          C:\Users\Administrator\Desktop\TX\User\main.c
+          
+          
+        
+        
+          1
+          0
+          57
+          1
+          
0

+          0
+          0
+          0
+          0
+          0
+          0
+          C:\Users\Administrator\Desktop\TX\User\main.c
+          
+          
+        
+        
+          2
+          0
+          72
+          1
+          
0

+          0
+          0
+          0
+          0
+          0
+          0
+          C:\Users\Administrator\Desktop\TX\User\main.c
+          
+          
+        
+      
+      
+        
+          0
+          1
+          rx_buf
+        
+        
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+          1
+          rx_buf
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+  
+
+  
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+      startup_stm32f10x_md.s
+      0
+      0
+    
+  
+
+  
+    CMSIS
+    0
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+    0
+    
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+      2
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+      0
+      0
+      0
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+      ..\Libraries\CMSIS\core_cm3.c
+      core_cm3.c
+      0
+      0
+    
+    
+      2
+      3
+      1
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\CMSIS\system_stm32f10x.c
+      system_stm32f10x.c
+      0
+      0
+    
+  
+
+  
+    FWlib
+    0
+    0
+    0
+    0
+    
+      3
+      4
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+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\misc.c
+      misc.c
+      0
+      0
+    
+    
+      3
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+      1
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_adc.c
+      stm32f10x_adc.c
+      0
+      0
+    
+    
+      3
+      6
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+      0
+      0
+      0
+      0
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+      ..\Libraries\FWlib\src\stm32f10x_bkp.c
+      stm32f10x_bkp.c
+      0
+      0
+    
+    
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+      ..\Libraries\FWlib\src\stm32f10x_can.c
+      stm32f10x_can.c
+      0
+      0
+    
+    
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+      stm32f10x_cec.c
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+      stm32f10x_crc.c
+      0
+      0
+    
+    
+      3
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+      ..\Libraries\FWlib\src\stm32f10x_dac.c
+      stm32f10x_dac.c
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+      0
+    
+    
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+      0
+      0
+      0
+      0
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+      ..\Libraries\FWlib\src\stm32f10x_dbgmcu.c
+      stm32f10x_dbgmcu.c
+      0
+      0
+    
+    
+      3
+      12
+      1
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_dma.c
+      stm32f10x_dma.c
+      0
+      0
+    
+    
+      3
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+      1
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+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_exti.c
+      stm32f10x_exti.c
+      0
+      0
+    
+    
+      3
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+      1
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_flash.c
+      stm32f10x_flash.c
+      0
+      0
+    
+    
+      3
+      15
+      1
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_fsmc.c
+      stm32f10x_fsmc.c
+      0
+      0
+    
+    
+      3
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+      1
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_gpio.c
+      stm32f10x_gpio.c
+      0
+      0
+    
+    
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+      0
+      0
+      0
+      0
+      0
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+      ..\Libraries\FWlib\src\stm32f10x_i2c.c
+      stm32f10x_i2c.c
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+      ..\Libraries\FWlib\src\stm32f10x_iwdg.c
+      stm32f10x_iwdg.c
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+      0
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+      ..\Libraries\FWlib\src\stm32f10x_pwr.c
+      stm32f10x_pwr.c
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+      ..\Libraries\FWlib\src\stm32f10x_rcc.c
+      stm32f10x_rcc.c
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+      stm32f10x_rtc.c
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+    
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+      ..\Libraries\FWlib\src\stm32f10x_usart.c
+      stm32f10x_usart.c
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+    
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+      0
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+      0
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+      ..\Libraries\FWlib\src\stm32f10x_wwdg.c
+      stm32f10x_wwdg.c
+      0
+      0
+    
+  
+
+  
+    DRV
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+      13
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+      ..\DRV\delay\delay.c
+      delay.c
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+      0
+    
+    
+      4
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+      1
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+      0
+      5
+      0
+      0
+      0
+      0
+      ..\DRV\NVIC\bsp_NVIC.C
+      bsp_NVIC.C
+      0
+      0
+    
+    
+      4
+      29
+      1
+      0
+      0
+      0
+      0
+      199
+      200
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+      ..\DRV\iic\bsp_iic.c
+      bsp_iic.c
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+    
+    
+      4
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+      0
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+      0
+      1
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+      ..\DRV\GPIO\bsp_GPIO.c
+      bsp_GPIO.c
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+      0
+    
+    
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+      0
+      61
+      0
+      0
+      0
+      0
+      ..\DRV\usart\bsp_usart.c
+      bsp_usart.c
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+      0
+    
+    
+      4
+      32
+      1
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\DRV\SPI\bsp_spi.c
+      bsp_spi.c
+      0
+      0
+    
+  
+
+  
+    HARDWARE
+    1
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+    
+      5
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+      0
+      0
+      0
+      1
+      1
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+      ..\HARDWARE\24CXX\24cxx.c
+      24cxx.c
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+      0
+    
+    
+      5
+      34
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+      0
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+      ..\HARDWARE\OLED\oled.c
+      oled.c
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+    
+    
+      5
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+      0
+      13
+      0
+      31
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+      0
+      ..\HARDWARE\24L01\24l01.c
+      24l01.c
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+      0
+    
+  
+
+  
+    USER
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+    
+      6
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+      41
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+      50
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+      ..\User\main.c
+      main.c
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+    
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+      0
+      0
+      0
+      0
+      0
+      0
+      ..\User\stm32f10x_it.c
+      stm32f10x_it.c
+      0
+      0
+    
+  
+
+  
+    DOC
+    0
+    0
+    0
+    0
+    
+      7
+      38
+      5
+      0
+      0
+      0
+      0
+      0
+      0
+      0
+      ..\Doc\readme.txt
+      readme.txt
+      0
+      0
+    
+  
+
+
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvoptx b/GeBalanceBot_Firmware v1.0/Project/Project.uvoptx
new file mode 100644
index 0000000..526e332
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvoptx	
@@ -0,0 +1,900 @@
+
+
+
+  1.0
+
+  
### uVision Project, (C) Keil Software

+
+  
+    *.c
+    *.s*; *.src; *.a*
+    *.obj
+    *.lib
+    *.txt; *.h; *.inc
+    *.plm
+    *.cpp
+    0
+  
+
+  
+    0
+    0
+  
+
+  
+    PROJECT
+    0x4
+    ARM-ADS
+    
+      12000000
+      
+        1
+        1
+        1
+        0
+        0
+      
+      
+        1
+        65535
+        0
+        0
+        0
+      
+      
+        79
+        66
+        8
+        ..\Listing\
+      
+      
+        1
+        1
+        1
+        0
+        1
+        1
+        0
+        1
+        0
+        0
+        0
+        0
+      
+      
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        0
+        0
+      
+      
+        1
+        0
+        1
+      
+      18
+      
+        
+          0
+          Base Board Schematics (MCBSTM32E)
+          D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-base-board-schematics.pdf
+        
+        
+          1
+          Display Board Schematics (MCBSTM32E)
+          D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e-display-board-schematics.pdf
+        
+        
+          2
+          User Manual (MCBSTM32E)
+          D:\Program Files\Keilv5\ARM\PACK\Keil\STM32F1xx_DFP\1.1.0\Documents\mcbstm32e.chm
+        
+        
+          3
+          MCBSTM32E Evaluation Board Web Page (MCBSTM32E)
+          http://www.keil.com/mcbstm32e/
+        
+      
+      
+        0
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        0
+        1
+        0
+        1
+        1
+        0
+        0
+        5
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        
+        STLink\ST-LINKIII-KEIL_SWO.dll
+      
+      
+        
+          0
+          ST-LINKIII-KEIL_SWO
+          -U56FF6C065265495443272567 -O14 -S0 -C0 -A0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -TO18 -TC10000000 -TP21 -TDS8004 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)
+        
+        
+          0
+          DLGUARM
+          
+        
+        
+          0
+          CMSIS_AGDI
+          -X"CMSIS-DAP" -U0001A0000000 -O206 -S0 -C0 -P00 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)
+        
+        
+          0
+          ARMRTXEVENTFLAGS
+          -L70 -Z18 -C0 -M0 -T1
+        
+        
+          0
+          DLGTARM
+          (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)
+        
+        
+          0
+          ST-LINKIII-KEIL
+          -S
+        
+        
+          0
+          JL2CM3
+          -U20090928 -O78 -S3 -A0 -C0 -JU1 -JI127.0.0.1 -JP0 -RST0 -N00("ARM CoreSight SW-DP") -D00(1BA01477) -L00(0) -TO18 -TC10000000 -TP21 -TDS8008 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -TB1 -TFE0 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F10x_512.FLM -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)
+        
+        
+          0
+          DLGDARM
+          (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=-1,-1,-1,-1,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=-1,-1,-1,-1,0)(121=-1,-1,-1,-1,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=-1,-1,-1,-1,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(234=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=-1,-1,-1,-1,0)(151=-1,-1,-1,-1,0)
+        
+        
+          0
+          ARMDBGFLAGS
+          -T0
+        
+        
+          0
+          UL2CM3
+          -O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7  -FN1 -FC1000 -FD20000000 -FF0STM32F10x_512 -FL080000 -FS08000000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM)
+        
+      
+      
+      
+        
+          0
+          1
+          rx_buf
+        
+        
+          1
+          1
+          rx_buf
+        
+        
+          2
+          1
+          adc_bat
+        
+        
+          3
+          1
+          adc[0]
+        
+        
+          4
+          1
+          adc[0]
+        
+        
+          5
+          1
+          adc[1]
+        
+        
+          6
+          1
+          temp_val
+        
+      
+      
+        0
+      
+      
+        0
+        1
+        0
+        0
+        0
+        0
+        0
+        1
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+        0
+      
+      
+      
+      0
+      
+      
+      0
+      
+        1
+        0
+        2
+        10000000
+      
+    
+  
+
+  
+    STARTUP
+    1
+    0
+    0
+    0
+    
+      1
+      1
+      2
+      0
+      0
+      0
+      ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s
+      startup_stm32f10x_hd.s
+      0
+      0
+    
+  
+
+  
+    CMSIS
+    1
+    0
+    0
+    0
+    
+      2
+      2
+      1
+      0
+      0
+      0
+      ..\Libraries\CMSIS\core_cm3.c
+      core_cm3.c
+      0
+      0
+    
+    
+      2
+      3
+      1
+      0
+      0
+      0
+      ..\Libraries\CMSIS\system_stm32f10x.c
+      system_stm32f10x.c
+      0
+      0
+    
+  
+
+  
+    FWlib
+    0
+    0
+    0
+    0
+    
+      3
+      4
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\misc.c
+      misc.c
+      0
+      0
+    
+    
+      3
+      5
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_adc.c
+      stm32f10x_adc.c
+      0
+      0
+    
+    
+      3
+      6
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_bkp.c
+      stm32f10x_bkp.c
+      0
+      0
+    
+    
+      3
+      7
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_can.c
+      stm32f10x_can.c
+      0
+      0
+    
+    
+      3
+      8
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_cec.c
+      stm32f10x_cec.c
+      0
+      0
+    
+    
+      3
+      9
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_crc.c
+      stm32f10x_crc.c
+      0
+      0
+    
+    
+      3
+      10
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_dac.c
+      stm32f10x_dac.c
+      0
+      0
+    
+    
+      3
+      11
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_dbgmcu.c
+      stm32f10x_dbgmcu.c
+      0
+      0
+    
+    
+      3
+      12
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_dma.c
+      stm32f10x_dma.c
+      0
+      0
+    
+    
+      3
+      13
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_exti.c
+      stm32f10x_exti.c
+      0
+      0
+    
+    
+      3
+      14
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_flash.c
+      stm32f10x_flash.c
+      0
+      0
+    
+    
+      3
+      15
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_fsmc.c
+      stm32f10x_fsmc.c
+      0
+      0
+    
+    
+      3
+      16
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_gpio.c
+      stm32f10x_gpio.c
+      0
+      0
+    
+    
+      3
+      17
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_i2c.c
+      stm32f10x_i2c.c
+      0
+      0
+    
+    
+      3
+      18
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_iwdg.c
+      stm32f10x_iwdg.c
+      0
+      0
+    
+    
+      3
+      19
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_pwr.c
+      stm32f10x_pwr.c
+      0
+      0
+    
+    
+      3
+      20
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_rcc.c
+      stm32f10x_rcc.c
+      0
+      0
+    
+    
+      3
+      21
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_rtc.c
+      stm32f10x_rtc.c
+      0
+      0
+    
+    
+      3
+      22
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_sdio.c
+      stm32f10x_sdio.c
+      0
+      0
+    
+    
+      3
+      23
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_spi.c
+      stm32f10x_spi.c
+      0
+      0
+    
+    
+      3
+      24
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_tim.c
+      stm32f10x_tim.c
+      0
+      0
+    
+    
+      3
+      25
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_usart.c
+      stm32f10x_usart.c
+      0
+      0
+    
+    
+      3
+      26
+      1
+      0
+      0
+      0
+      ..\Libraries\FWlib\src\stm32f10x_wwdg.c
+      stm32f10x_wwdg.c
+      0
+      0
+    
+  
+
+  
+    System
+    1
+    0
+    0
+    0
+    
+      4
+      27
+      1
+      0
+      0
+      0
+      ..\System\sys\sys.c
+      sys.c
+      0
+      0
+    
+    
+      4
+      28
+      1
+      0
+      0
+      0
+      ..\System\usart\usart.c
+      usart.c
+      0
+      0
+    
+  
+
+  
+    DRV
+    1
+    0
+    0
+    0
+    
+      5
+      29
+      1
+      0
+      0
+      0
+      ..\DRV\bsp_sys.c
+      bsp_sys.c
+      0
+      0
+    
+    
+      5
+      30
+      1
+      0
+      0
+      0
+      ..\DRV\bsp_GPIO.c
+      bsp_GPIO.c
+      0
+      0
+    
+    
+      5
+      31
+      1
+      0
+      0
+      0
+      ..\DRV\bsp_NVIC.C
+      bsp_NVIC.C
+      0
+      0
+    
+    
+      5
+      32
+      1
+      0
+      0
+      0
+      ..\DRV\bsp_usart.c
+      bsp_usart.c
+      0
+      0
+    
+    
+      5
+      33
+      1
+      0
+      0
+      0
+      ..\DRV\delay.c
+      delay.c
+      0
+      0
+    
+    
+      5
+      34
+      1
+      0
+      0
+      0
+      ..\DRV\bsp_iic.c
+      bsp_iic.c
+      0
+      0
+    
+    
+      5
+      35
+      1
+      0
+      0
+      0
+      ..\DRV\bsp_timer.c
+      bsp_timer.c
+      0
+      0
+    
+  
+
+  
+    HARDWARE
+    1
+    0
+    0
+    0
+    
+      6
+      36
+      1
+      0
+      0
+      0
+      ..\HARDWARE\OLED\oled.c
+      oled.c
+      0
+      0
+    
+    
+      6
+      37
+      1
+      0
+      0
+      0
+      ..\HARDWARE\PID\pid.c
+      pid.c
+      0
+      0
+    
+    
+      6
+      38
+      1
+      0
+      0
+      0
+      ..\HARDWARE\MOTO\car.c
+      car.c
+      0
+      0
+    
+    
+      6
+      39
+      1
+      0
+      0
+      0
+      ..\HARDWARE\MOTO\bluetooth.c
+      bluetooth.c
+      0
+      0
+    
+    
+      6
+      40
+      1
+      0
+      0
+      0
+      ..\HARDWARE\MOTO\motor.c
+      motor.c
+      0
+      0
+    
+  
+
+  
+    MiniBalance
+    1
+    0
+    0
+    0
+    
+      7
+      41
+      1
+      0
+      0
+      0
+      ..\MiniBalance\show\show.c
+      show.c
+      0
+      0
+    
+    
+      7
+      42
+      1
+      0
+      0
+      0
+      ..\MiniBalance\MPU6050\MPU6050.c
+      MPU6050.c
+      0
+      0
+    
+    
+      7
+      43
+      1
+      0
+      0
+      0
+      ..\MiniBalance\DMP\inv_mpu.c
+      inv_mpu.c
+      0
+      0
+    
+    
+      7
+      44
+      1
+      0
+      0
+      0
+      ..\MiniBalance\DMP\inv_mpu_dmp_motion_driver.c
+      inv_mpu_dmp_motion_driver.c
+      0
+      0
+    
+    
+      7
+      45
+      1
+      0
+      0
+      0
+      ..\MiniBalance\CONTROL\control.c
+      control.c
+      0
+      0
+    
+  
+
+  
+    USER
+    1
+    0
+    0
+    0
+    
+      8
+      46
+      1
+      0
+      0
+      0
+      ..\User\main.c
+      main.c
+      0
+      0
+    
+    
+      8
+      47
+      1
+      0
+      0
+      0
+      ..\User\stm32f10x_it.c
+      stm32f10x_it.c
+      0
+      0
+    
+  
+
+
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvproj.saved_uv4 b/GeBalanceBot_Firmware v1.0/Project/Project.uvproj.saved_uv4
new file mode 100644
index 0000000..b3ecdd7
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvproj.saved_uv4	
@@ -0,0 +1,621 @@
+
+
+
+  1.1
+
+  
### uVision Project, (C) Keil Software

+
+  
+    
+      PROJECT
+      0x4
+      ARM-ADS
+      
+        
+          STM32F103C8
+          STMicroelectronics
+          IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")
+          
+          "STARTUP\ST\STM32F10x.s" ("STM32 Startup Code")
+          UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)
+          4235
+          stm32f10x_lib.h
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          0
+          
+          
+          
+          ST\STM32F10x\
+          ST\STM32F10x\
+          
+            0
+            0
+            0
+            0
+            1
+          
+          ..\Output\
+          Project
+          1
+          0
+          1
+          1
+          1
+          ..\Listing\
+          1
+          0
+          0
+          
+            0
+            0
+            
+            
+            0
+            0
+            0
+            0
+          
+          
+            0
+            0
+            
+            
+            0
+            0
+          
+          
+            0
+            0
+            
+            
+            0
+            0
+          
+          0
+          
+        
+        
+          0
+          0
+          0
+          0
+          0
+          1
+          0
+          0
+          0
+          0
+          3
+          
+          
+        
+        
+          SARMCM3.DLL
+          
+          DARMSTM.DLL
+          -pSTM32F103C8
+          SARMCM3.DLL
+          
+          TARMSTM.DLL
+          -pSTM32F103C8
+        
+        
+          
+            1
+            0
+            0
+            0
+            16
+          
+          
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+          
+          
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+            1
+            0
+          
+          0
+          7
+          
+            
+            
+            
+            
+            
+          
+          
+            
+            
+            
+            
+            
+            Segger\JL2CM3.dll
+          
+        
+        
+          
+            1
+            0
+            0
+            1
+            1
+            4099
+          
+          0
+          Segger\JL2CM3.dll
+          "" ()
+          
+        
+        
+          
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+            1
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+            1
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+            0
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+            0
+            "Cortex-M3"
+            
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+                1
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+              
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+              
+                1
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+                0x10000
+              
+              
+                1
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+              
+                0
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+                0x0
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+                0x0
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+              
+                0
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+                0x5000
+              
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+                0
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+            
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+            1
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+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            
+              
+              STM32F10X_MD, USE_STDPERIPH_DRIVER
+              
+              ..\Libraries\CMSIS;..\Libraries\FWlib\inc;..\Libraries\FWlib\src;..\User;..\DRV\SysTick;..\DRV\delay;..\DRV\usart;..\DRV\NVIC;..\DRV\iic;..\DRV\GPIO;..\HARDWARE\24CXX;..\HARDWARE\OLED;..\HARDWARE\24L01;..\DRV\SPI
+            
+          
+          
+            1
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            
+              
+              
+              
+              
+            
+          
+          
+            1
+            0
+            0
+            0
+            1
+            0
+            0x08000000
+            0x20000000
+            
+            
+            
+            
+            
+            
+          
+        
+      
+      
+        
+          STARTUP
+          
+            
+              startup_stm32f10x_md.s
+              2
+              ..\Libraries\CMSIS\startup\startup_stm32f10x_md.s
+            
+          
+        
+        
+          CMSIS
+          
+            
+              core_cm3.c
+              1
+              ..\Libraries\CMSIS\core_cm3.c
+            
+            
+              system_stm32f10x.c
+              1
+              ..\Libraries\CMSIS\system_stm32f10x.c
+            
+          
+        
+        
+          FWlib
+          
+            
+              misc.c
+              1
+              ..\Libraries\FWlib\src\misc.c
+            
+            
+              stm32f10x_adc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_adc.c
+            
+            
+              stm32f10x_bkp.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_bkp.c
+            
+            
+              stm32f10x_can.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_can.c
+            
+            
+              stm32f10x_cec.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_cec.c
+            
+            
+              stm32f10x_crc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_crc.c
+            
+            
+              stm32f10x_dac.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dac.c
+            
+            
+              stm32f10x_dbgmcu.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dbgmcu.c
+            
+            
+              stm32f10x_dma.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dma.c
+            
+            
+              stm32f10x_exti.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_exti.c
+            
+            
+              stm32f10x_flash.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_flash.c
+            
+            
+              stm32f10x_fsmc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_fsmc.c
+            
+            
+              stm32f10x_gpio.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_gpio.c
+            
+            
+              stm32f10x_i2c.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_i2c.c
+            
+            
+              stm32f10x_iwdg.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_iwdg.c
+            
+            
+              stm32f10x_pwr.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_pwr.c
+            
+            
+              stm32f10x_rcc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_rcc.c
+            
+            
+              stm32f10x_rtc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_rtc.c
+            
+            
+              stm32f10x_sdio.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_sdio.c
+            
+            
+              stm32f10x_spi.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_spi.c
+            
+            
+              stm32f10x_tim.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_tim.c
+            
+            
+              stm32f10x_usart.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_usart.c
+            
+            
+              stm32f10x_wwdg.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_wwdg.c
+            
+          
+        
+        
+          DRV
+          
+            
+              delay.c
+              1
+              ..\DRV\delay\delay.c
+            
+            
+              bsp_NVIC.C
+              1
+              ..\DRV\NVIC\bsp_NVIC.C
+            
+            
+              bsp_iic.c
+              1
+              ..\DRV\iic\bsp_iic.c
+            
+            
+              bsp_GPIO.c
+              1
+              ..\DRV\GPIO\bsp_GPIO.c
+            
+            
+              bsp_usart.c
+              1
+              ..\DRV\usart\bsp_usart.c
+            
+            
+              bsp_spi.c
+              1
+              ..\DRV\SPI\bsp_spi.c
+            
+          
+        
+        
+          HARDWARE
+          
+            
+              24cxx.c
+              1
+              ..\HARDWARE\24CXX\24cxx.c
+            
+            
+              oled.c
+              1
+              ..\HARDWARE\OLED\oled.c
+            
+            
+              24l01.c
+              1
+              ..\HARDWARE\24L01\24l01.c
+            
+          
+        
+        
+          USER
+          
+            
+              main.c
+              1
+              ..\User\main.c
+            
+            
+              stm32f10x_it.c
+              1
+              ..\User\stm32f10x_it.c
+            
+          
+        
+        
+          DOC
+          
+            
+              readme.txt
+              5
+              ..\Doc\readme.txt
+            
+          
+        
+      
+    
+  
+
+
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project.uvprojx b/GeBalanceBot_Firmware v1.0/Project/Project.uvprojx
new file mode 100644
index 0000000..56750ff
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project.uvprojx	
@@ -0,0 +1,658 @@
+
+
+
+  2.1
+
+  
### uVision Project, (C) Keil Software

+
+  
+    
+      PROJECT
+      0x4
+      ARM-ADS
+      5060300::V5.06 update 3 (build 300)::ARMCC
+      
+        
+          STM32F103RC
+          STMicroelectronics
+          Keil.STM32F1xx_DFP.1.1.0
+          http://www.keil.com/pack/
+          IROM(0x08000000,0x40000) IRAM(0x20000000,0xC000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE
+          
+          
+          UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F10x_512 -FS08000000 -FL080000 -FP0($$Device:STM32F103RC$Flash\STM32F10x_512.FLM))
+          0
+          $$Device:STM32F103RC$Device\Include\stm32f10x.h
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          $$Device:STM32F103RC$SVD\STM32F103xx.svd
+          0
+          0
+          
+          
+          
+          
+          
+          
+            0
+            0
+            0
+            0
+            1
+          
+          ..\Output\
+          Project
+          1
+          0
+          1
+          1
+          1
+          ..\Listing\
+          1
+          0
+          0
+          
+            0
+            0
+            
+            
+            0
+            0
+            0
+            0
+          
+          
+            0
+            0
+            
+            
+            0
+            0
+            0
+            0
+          
+          
+            0
+            0
+            
+            
+            0
+            0
+            0
+            0
+          
+          0
+          
+        
+        
+          0
+          0
+          0
+          0
+          0
+          1
+          0
+          0
+          0
+          0
+          3
+          
+          
+          1
+        
+        
+          SARMCM3.DLL
+           -REMAP
+          DCM.DLL
+          -pCM3
+          SARMCM3.DLL
+          
+          TCM.DLL
+          -pCM3
+        
+        
+          
+            1
+            0
+            0
+            0
+            16
+          
+        
+        
+          
+            1
+            0
+            0
+            1
+            1
+            4099
+          
+          1
+          Segger\JL2CM3.dll
+          "" ()
+          
+          
+          
+          
+          0
+        
+        
+          
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+            1
+            1
+            0
+            1
+            1
+            0
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+            0
+            "Cortex-M3"
+            
+            0
+            0
+            0
+            1
+            1
+            0
+            0
+            0
+            0
+            0
+            8
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+            
+              
+                0
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+                0x0
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x0
+                0x0
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+              
+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x20000000
+                0xc000
+              
+              
+                1
+                0x8000000
+                0x40000
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                1
+                0x0
+                0x0
+              
+              
+                1
+                0x0
+                0x0
+              
+              
+                1
+                0x0
+                0x0
+              
+              
+                1
+                0x8000000
+                0x40000
+              
+              
+                1
+                0x0
+                0x0
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x20000000
+                0xc000
+              
+              
+                0
+                0x0
+                0x0
+              
+            
+            
+          
+          
+            1
+            1
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+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            1
+            0
+            1
+            1
+            1
+            1
+            0
+            0
+            0
+            
+              
+              USE_STDPERIPH_DRIVER
+              
+              ..\Libraries\CMSIS;..\Libraries\FWlib\inc;..\Libraries\FWlib\src;..\System;..\System\usart\;..\System\sys\;..\User;..\DRV;..\HARDWARE;..\HARDWARE\MOTO;..\HARDWARE\OLED;..\HARDWARE\PID;..\MiniBalance\show;..\MiniBalance\MPU6050;..\MiniBalance\DMP;..\MiniBalance\Control
+            
+          
+          
+            1
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            
+              
+              
+              
+              
+            
+          
+          
+            1
+            0
+            0
+            0
+            1
+            0
+            0x08000000
+            0x20000000
+            
+            
+            
+            
+            
+            
+            
+          
+        
+      
+      
+        
+          STARTUP
+          
+            
+              startup_stm32f10x_hd.s
+              2
+              ..\Libraries\CMSIS\startup\startup_stm32f10x_hd.s
+            
+          
+        
+        
+          CMSIS
+          
+            
+              core_cm3.c
+              1
+              ..\Libraries\CMSIS\core_cm3.c
+            
+            
+              system_stm32f10x.c
+              1
+              ..\Libraries\CMSIS\system_stm32f10x.c
+            
+          
+        
+        
+          FWlib
+          
+            
+              misc.c
+              1
+              ..\Libraries\FWlib\src\misc.c
+            
+            
+              stm32f10x_adc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_adc.c
+            
+            
+              stm32f10x_bkp.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_bkp.c
+            
+            
+              stm32f10x_can.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_can.c
+            
+            
+              stm32f10x_cec.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_cec.c
+            
+            
+              stm32f10x_crc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_crc.c
+            
+            
+              stm32f10x_dac.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dac.c
+            
+            
+              stm32f10x_dbgmcu.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dbgmcu.c
+            
+            
+              stm32f10x_dma.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dma.c
+            
+            
+              stm32f10x_exti.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_exti.c
+            
+            
+              stm32f10x_flash.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_flash.c
+            
+            
+              stm32f10x_fsmc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_fsmc.c
+            
+            
+              stm32f10x_gpio.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_gpio.c
+            
+            
+              stm32f10x_i2c.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_i2c.c
+            
+            
+              stm32f10x_iwdg.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_iwdg.c
+            
+            
+              stm32f10x_pwr.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_pwr.c
+            
+            
+              stm32f10x_rcc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_rcc.c
+            
+            
+              stm32f10x_rtc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_rtc.c
+            
+            
+              stm32f10x_sdio.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_sdio.c
+            
+            
+              stm32f10x_spi.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_spi.c
+            
+            
+              stm32f10x_tim.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_tim.c
+            
+            
+              stm32f10x_usart.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_usart.c
+            
+            
+              stm32f10x_wwdg.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_wwdg.c
+            
+          
+        
+        
+          System
+          
+            
+              sys.c
+              1
+              ..\System\sys\sys.c
+            
+            
+              usart.c
+              1
+              ..\System\usart\usart.c
+            
+          
+        
+        
+          DRV
+          
+            
+              bsp_sys.c
+              1
+              ..\DRV\bsp_sys.c
+            
+            
+              bsp_GPIO.c
+              1
+              ..\DRV\bsp_GPIO.c
+            
+            
+              bsp_NVIC.C
+              1
+              ..\DRV\bsp_NVIC.C
+            
+            
+              bsp_usart.c
+              1
+              ..\DRV\bsp_usart.c
+            
+            
+              delay.c
+              1
+              ..\DRV\delay.c
+            
+            
+              bsp_iic.c
+              1
+              ..\DRV\bsp_iic.c
+            
+            
+              bsp_timer.c
+              1
+              ..\DRV\bsp_timer.c
+            
+          
+        
+        
+          HARDWARE
+          
+            
+              oled.c
+              1
+              ..\HARDWARE\OLED\oled.c
+            
+            
+              pid.c
+              1
+              ..\HARDWARE\PID\pid.c
+            
+            
+              car.c
+              1
+              ..\HARDWARE\MOTO\car.c
+            
+            
+              bluetooth.c
+              1
+              ..\HARDWARE\MOTO\bluetooth.c
+            
+            
+              motor.c
+              1
+              ..\HARDWARE\MOTO\motor.c
+            
+          
+        
+        
+          MiniBalance
+          
+            
+              show.c
+              1
+              ..\MiniBalance\show\show.c
+            
+            
+              MPU6050.c
+              1
+              ..\MiniBalance\MPU6050\MPU6050.c
+            
+            
+              inv_mpu.c
+              1
+              ..\MiniBalance\DMP\inv_mpu.c
+            
+            
+              inv_mpu_dmp_motion_driver.c
+              1
+              ..\MiniBalance\DMP\inv_mpu_dmp_motion_driver.c
+            
+            
+              control.c
+              1
+              ..\MiniBalance\CONTROL\control.c
+            
+          
+        
+        
+          USER
+          
+            
+              main.c
+              1
+              ..\User\main.c
+            
+            
+              stm32f10x_it.c
+              1
+              ..\User\stm32f10x_it.c
+            
+          
+        
+      
+    
+  
+
+
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project_uvopt.bak b/GeBalanceBot_Firmware v1.0/Project/Project_uvopt.bak
new file mode 100644
index 0000000..5d5a140
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project_uvopt.bak	
@@ -0,0 +1,3513 @@
+
+
+
+  1.0
+
+  
### uVision Project, (C) Keil Software

+
+  
+    *.c
+    *.s*; *.src; *.a*
+    *.obj
+    *.lib
+    *.txt; *.h; *.inc
+    *.plm
+    *.cpp
+  
+
+  
+    0
+    0
+  
+
+  
+    PROJECT
+    0x4
+    ARM-ADS
+    
+      8000000
+      
+        1
+        1
+        1
+        0
+      
+      
+        1
+        65535
+        0
+        0
+        0
+      
+      
+        79
+        66
+        8
+        ..\Listing\
+      
+      
+        1
+        1
+        1
+        0
+        1
+        1
+        0
+        1
+        0
+        0
+        0
+        0
+      
+      
+        1
+        1
+        1
+        1
+        1
+        1
+        1
+        0
+        0
+      
+      
+        1
+        0
+        1
+      
+      255
+      
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+      
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+        
+      
+      
+        59399
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+        
+          2582
+          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+        
+        
+          968
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+        
+      
+      
+        0
+        1366
+        768
+      
+    
+  
+
+  
+    1
+    0
+    
+      100
+      0
+      
+        
+          ..\User\delay\delay.h
+          56
+          1
+          7
+        
+        
+          ..\User\delay\delay.c
+          12
+          13
+          24
+        
+        
+          ..\User\Key\bsp_exti.c
+          32
+          25
+          37
+        
+        
+          E:\颢诚科技\emwin\工程样版\DEMO\User\PwmOutput\bsp_pwm_output.c
+          38
+          88
+          103
+        
+        
+          E:\学习资料\STM32\STM32_DEMO\STM32程序自己的\C8T6\C8T6V2\1-LED\Project\User\SysTick\bsp_SysTick.c
+          31
+          47
+          60
+        
+        
+          ..\Libraries\FWlib\inc\stm32f10x_exti.h
+          2
+          47
+          47
+        
+        
+          ..\Libraries\FWlib\inc\stm32f10x_rcc.h
+          0
+          37
+          37
+        
+        
+          ..\User\stm32f10x_it.h
+          0
+          1
+          1
+        
+        
+          ..\User\led\bsp_led.h
+          0
+          7
+          7
+        
+        
+          ..\User\led\bsp_led.c
+          67
+          1
+          18
+        
+        
+          E:\学习资料\STM32\STM32_DEMO\STM32程序自己的\C8T6\C8T6V2\1-LED\Project\User\SysTick\bsp_SysTick.h
+          9
+          1
+          6
+        
+        
+          ..\User\main.c
+          2
+          8
+          26
+        
+      
+    
+  
+
+
diff --git a/GeBalanceBot_Firmware v1.0/Project/Project_uvproj.bak b/GeBalanceBot_Firmware v1.0/Project/Project_uvproj.bak
new file mode 100644
index 0000000..df9d160
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/Project/Project_uvproj.bak	
@@ -0,0 +1,582 @@
+
+
+
+  1.0
+
+  
### uVision Project, (C) Keil Software

+
+  
+    
+      PROJECT
+      0x4
+      ARM-ADS
+      
+        
+          STM32F103C8
+          STMicroelectronics
+          IRAM(0x20000000-0x20004FFF) IROM(0x8000000-0x800FFFF) CLOCK(8000000) CPUTYPE("Cortex-M3")
+          
+          "STARTUP\ST\STM32F10x.s" ("STM32 Startup Code")
+          UL2CM3(-O14 -S0 -C0 -N00("ARM Cortex-M3") -D00(1BA00477) -L00(4) -FO7 -FD20000000 -FC800 -FN1 -FF0STM32F10x_128 -FS08000000 -FL010000)
+          4235
+          stm32f10x_lib.h
+          
+          
+          
+          
+          
+          
+          
+          
+          
+          0
+          
+          
+          
+          ST\STM32F10x\
+          ST\STM32F10x\
+          
+            0
+            0
+            0
+            0
+            1
+          
+          ..\Output\
+          Project
+          1
+          0
+          1
+          1
+          1
+          ..\Listing\
+          1
+          0
+          0
+          
+            0
+            0
+            
+            
+            0
+            0
+          
+          
+            0
+            0
+            
+            
+            0
+            0
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+          
+            0
+            0
+            
+            
+            0
+            0
+          
+          0
+          
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+          0
+          0
+          0
+          0
+          1
+          0
+          0
+          0
+          0
+          3
+          
+          
+        
+        
+          SARMCM3.DLL
+          
+          DARMSTM.DLL
+          -pSTM32F103C8
+          SARMCM3.DLL
+          
+          TARMSTM.DLL
+          -pSTM32F103C8
+        
+        
+          
+            1
+            0
+            0
+            0
+            16
+          
+          
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+          
+          
+            1
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+            1
+            1
+            1
+            1
+            0
+            1
+          
+          0
+          7
+          
+            
+            
+            
+            
+            
+          
+          
+            
+            
+            
+            
+            
+            Segger\JL2CM3.dll
+          
+        
+        
+          
+            1
+            0
+            0
+            1
+            1
+            4099
+          
+          Segger\JL2CM3.dll
+          "" ()
+          
+        
+        
+          
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+            1
+            1
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+            1
+            1
+            0
+            0
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            1
+            0
+            0
+            "Cortex-M3"
+            
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+            0
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+            0
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+            
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+              
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+                0x0
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+              
+                0
+                0x20000000
+                0x5000
+              
+              
+                1
+                0x8000000
+                0x10000
+              
+              
+                0
+                0x0
+                0x0
+              
+              
+                1
+                0x0
+                0x0
+              
+              
+                1
+                0x0
+                0x0
+              
+              
+                1
+                0x0
+                0x0
+              
+              
+                1
+                0x8000000
+                0x10000
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+              
+                1
+                0x0
+                0x0
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+              
+                0
+                0x0
+                0x0
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+              
+                0
+                0x0
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+                0
+                0x0
+                0x0
+              
+              
+                0
+                0x20000000
+                0x5000
+              
+              
+                0
+                0x0
+                0x0
+              
+            
+            
+          
+          
+            1
+            1
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            0
+            
+              
+              STM32F10X_LD, USE_STDPERIPH_DRIVER
+              
+              ..\Libraries\CMSIS;..\Libraries\FWlib\inc;..\Libraries\FWlib\src;..\User;..\User\led;..\User\Key;..\User\SysTick;..\User\PwmOutput
+            
+          
+          
+            1
+            0
+            0
+            0
+            0
+            0
+            0
+            
+              
+              
+              
+              
+            
+          
+          
+            1
+            0
+            0
+            0
+            1
+            0
+            0x08000000
+            0x20000000
+            
+            
+            
+            
+            
+            
+          
+        
+      
+      
+        
+          STARTUP
+          
+            
+              startup_stm32f10x_ld.s
+              2
+              ..\Libraries\CMSIS\startup\startup_stm32f10x_ld.s
+            
+          
+        
+        
+          CMSIS
+          
+            
+              core_cm3.c
+              1
+              ..\Libraries\CMSIS\core_cm3.c
+            
+            
+              system_stm32f10x.c
+              1
+              ..\Libraries\CMSIS\system_stm32f10x.c
+            
+          
+        
+        
+          FWlib
+          
+            
+              misc.c
+              1
+              ..\Libraries\FWlib\src\misc.c
+            
+            
+              stm32f10x_adc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_adc.c
+            
+            
+              stm32f10x_bkp.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_bkp.c
+            
+            
+              stm32f10x_can.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_can.c
+            
+            
+              stm32f10x_cec.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_cec.c
+            
+            
+              stm32f10x_crc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_crc.c
+            
+            
+              stm32f10x_dac.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dac.c
+            
+            
+              stm32f10x_dbgmcu.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dbgmcu.c
+            
+            
+              stm32f10x_dma.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_dma.c
+            
+            
+              stm32f10x_exti.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_exti.c
+            
+            
+              stm32f10x_flash.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_flash.c
+            
+            
+              stm32f10x_fsmc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_fsmc.c
+            
+            
+              stm32f10x_gpio.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_gpio.c
+            
+            
+              stm32f10x_i2c.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_i2c.c
+            
+            
+              stm32f10x_iwdg.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_iwdg.c
+            
+            
+              stm32f10x_pwr.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_pwr.c
+            
+            
+              stm32f10x_rcc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_rcc.c
+            
+            
+              stm32f10x_rtc.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_rtc.c
+            
+            
+              stm32f10x_sdio.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_sdio.c
+            
+            
+              stm32f10x_spi.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_spi.c
+            
+            
+              stm32f10x_tim.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_tim.c
+            
+            
+              stm32f10x_usart.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_usart.c
+            
+            
+              stm32f10x_wwdg.c
+              1
+              ..\Libraries\FWlib\src\stm32f10x_wwdg.c
+            
+          
+        
+        
+          DRIVER
+          
+            
+              bsp_led.c
+              1
+              ..\User\led\bsp_led.c
+            
+            
+              bsp_exti.c
+              1
+              ..\User\Key\bsp_exti.c
+            
+            
+              bsp_SysTick.c
+              1
+              ..\User\SysTick\bsp_SysTick.c
+            
+          
+        
+        
+          USER
+          
+            
+              main.c
+              1
+              ..\User\main.c
+            
+            
+              stm32f10x_it.c
+              1
+              ..\User\stm32f10x_it.c
+            
+          
+        
+        
+          HARDWARE
+        
+        
+          DOC
+          
+            
+              readme.txt
+              5
+              ..\Doc\readme.txt
+            
+          
+        
+      
+    
+  
+
+
diff --git a/GeBalanceBot_Firmware v1.0/System/sys/sys.c b/GeBalanceBot_Firmware v1.0/System/sys/sys.c
new file mode 100644
index 0000000..2de0c60
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/System/sys/sys.c	
@@ -0,0 +1,240 @@
+/***********************************************
+˾ȤƼݸ޹˾
+ƷƣWHEELTEC
+wheeltec.net
+Ա̣shop114407458.taobao.com 
+ͨ: https://minibalance.aliexpress.com/store/4455017
+汾5.7
+޸ʱ䣺2021-04-29
+
+ 
+Brand: WHEELTEC
+Website: wheeltec.net
+Taobao shop: shop114407458.taobao.com 
+Aliexpress: https://minibalance.aliexpress.com/store/4455017
+Version:5.7
+Update2021-04-29
+
+All rights reserved
+***********************************************/
+#include "sys.h" 
+/**************************************************************************
+Function: Set the vector table offset address
+Input   : Base site 	 Offsets
+Output  : none
+ܣƫƵַ
+ڲNVIC_VectTab:ַ		Offset:ƫ	
+  ֵ
+**************************************************************************/ 		 
+void MY_NVIC_SetVectorTable(u32 NVIC_VectTab, u32 Offset)	 
+{ 	   	 
+	SCB->VTOR = NVIC_VectTab|(Offset & (u32)0x1FFFFF80);//NVICƫƼĴ
+																											//ڱʶCODERAM
+}
+/**************************************************************************
+Function: Set NVIC group
+Input   : NVIC_Group
+Output  : none
+ܣжϷ
+ڲNVIC_Group:NVIC 0~4 ܹ5 	
+  ֵ
+**************************************************************************/ 
+void MY_NVIC_PriorityGroupConfig(u8 NVIC_Group)	 
+{ 
+	u32 temp,temp1;	  
+	temp1=(~NVIC_Group)&0x07;//ȡλ
+	temp1<<=8;
+	temp=SCB->AIRCR;  //ȡǰ
+	temp&=0X0000F8FF; //ǰ
+	temp|=0X05FA0000; //дԿ
+	temp|=temp1;	   
+	SCB->AIRCR=temp;  //÷	    	  				   
+}
+/**************************************************************************
+Function: Set NVIC group
+Input   : NVIC_PreemptionPriority	NVIC_SubPriority	NVIC_Channel	NVIC_Group
+Output  : none
+ܣжϷ
+ڲռȼ	Ӧȼ жϱ	жϷ
+  ֵ
+* жϷ | 
+ * --------+--------------------------------------
+ * 0     | 0λռȼ,4λӦȼ
+ * 1     | 1λռȼ,3λӦȼ
+ * 2     | 2λռȼ,2λӦȼ
+ * 3     | 3λռȼ,1λӦȼ
+ * 4     | 4λռȼ,0λӦȼ
+ *NVIC_SubPriorityNVIC_PreemptionPriorityԭ,ֵԽС,Խ
+**************************************************************************/   
+void MY_NVIC_Init(u8 NVIC_PreemptionPriority,u8 NVIC_SubPriority,u8 NVIC_Channel,u8 NVIC_Group)	 
+{ 																									//עȼܳ趨ķΧ!벻Ĵ
+	u32 temp;	
+	MY_NVIC_PriorityGroupConfig(NVIC_Group);      		//÷
+	temp=NVIC_PreemptionPriority<<(4-NVIC_Group);	  
+	temp|=NVIC_SubPriority&(0x0f>>NVIC_Group);
+	temp&=0xf;//ȡλ  
+	NVIC->ISER[NVIC_Channel/32]|=(1<IP[NVIC_Channel]|=temp<<4;									//Ӧȼȼ   	    	  				   
+} 
+/**************************************************************************
+Function: External interrupt function configuration
+Input   : GPIOxGeneral-purpose input/output	 BITxThe port needed enable
+					TRIMTrigger mode
+Output  : none
+ܣⲿжϺ
+ڲGPIOx:0~6,GPIOA~G
+					BITx:Ҫʹܵλ;		TRIM:ģʽ,1,;2,Ͻ;3ƽ
+  ֵ
+**************************************************************************/
+//úһֻ1IO,IO,ε
+//úԶӦж,Լ     	    
+void Ex_NVIC_Config(u8 GPIOx,u8 BITx,u8 TRIM) 
+{
+	u8 EXTADDR;
+	u8 EXTOFFSET;
+	EXTADDR=BITx/4;//õжϼĴı
+	EXTOFFSET=(BITx%4)*4; 
+	RCC->APB2ENR|=0x01;//ʹioʱ			 
+	AFIO->EXTICR[EXTADDR]&=~(0x000F<EXTICR[EXTADDR]|=GPIOx<IMR|=1<EMR|=1<FTSR|=1<RTSR|=1<APB1RSTR = 0x00000000;//λ			 
+	RCC->APB2RSTR = 0x00000000; 
+	  
+  RCC->AHBENR = 0x00000014;  //˯ģʽSRAMʱʹ.ر.	  
+  RCC->APB2ENR = 0x00000000; //ʱӹر.			   
+  RCC->APB1ENR = 0x00000000;   
+	RCC->CR |= 0x00000001;     //ʹڲʱHSION	 															 
+	RCC->CFGR &= 0xF8FF0000;   //λSW[1:0],HPRE[3:0],PPRE1[2:0],PPRE2[2:0],ADCPRE[1:0],MCO[2:0]					 
+	RCC->CR &= 0xFEF6FFFF;     //λHSEON,CSSON,PLLON
+	RCC->CR &= 0xFFFBFFFF;     //λHSEBYP	   	  
+	RCC->CFGR &= 0xFF80FFFF;   //λPLLSRC, PLLXTPRE, PLLMUL[3:0] and USBPRE 
+	RCC->CIR = 0x00000000;     //رж		 
+	//				  
+#ifdef  VECT_TAB_RAM
+	MY_NVIC_SetVectorTable(0x20000000, 0x0);
+#else   
+	MY_NVIC_SetVectorTable(0x08000000,0x0);
+#endif
+}
+//THUMBָֻ֧
+//·ʵִлָWFI  
+__asm void WFI_SET(void)
+{
+	WFI;		  
+}
+//رж
+__asm void INTX_DISABLE(void)
+{
+	CPSID I;		  
+}
+//ж
+__asm void INTX_ENABLE(void)
+{
+	CPSIE I;		  
+}
+//ջַ
+//addr:ջַ
+__asm void MSR_MSP(u32 addr) 
+{
+    MSR MSP, r0 			//set Main Stack value
+    BX r14
+}
+
+/**************************************************************************
+Function: Go to standby mode
+Input   : none
+Output  : none
+ܣģʽ
+ڲ
+  ֵ
+**************************************************************************/  	  
+void Sys_Standby(void)
+{
+	SCB->SCR|=1<<2;							//ʹSLEEPDEEPλ (SYS->CTRL)	   
+  RCC->APB1ENR|=1<<28;     	//ʹܵԴʱ	    
+ 	PWR->CSR|=1<<8;          		//WKUPڻ
+	PWR->CR|=1<<2;           		//Wake-up ־
+	PWR->CR|=1<<1;          		//PDDSλ		  
+	WFI_SET();				 					//ִWFIָ		 
+}	     
+/**************************************************************************
+Function: System soft reset
+Input   : none
+Output  : none
+ܣϵͳλ
+ڲ
+  ֵ
+**************************************************************************/  
+void Sys_Soft_Reset(void)
+{   
+	SCB->AIRCR =0X05FA0000|(u32)0x04;	  
+} 		 
+/**************************************************************************
+Function: Set JTAG mode
+Input   : mode:JTAG, swd mode settings00all enable01enable SWD10Full shutdown
+Output  : none
+ܣJTAGģʽ
+ڲmode:jtag,swdģʽ;00,ȫʹ;01,ʹSWD;10,ȫر;	
+  ֵ
+**************************************************************************/
+//#define JTAG_SWD_DISABLE   0X02
+//#define SWD_ENABLE         0X01
+//#define JTAG_SWD_ENABLE    0X00	
+void JTAG_Set(u8 mode)
+{
+	u32 temp;
+	temp=mode;
+	temp<<=25;
+	RCC->APB2ENR|=1<<0;     //ʱ	   
+	AFIO->MAPR&=0XF8FFFFFF; //MAPR[26:24]
+	AFIO->MAPR|=temp;       //jtagģʽ
+} 
+/**************************************************************************
+Function: System clock initialization function
+Input   : pllSelected frequency multiplicationStarting at 2, the maximum value is 16
+Output  : none
+ܣϵͳʱӳʼ
+ڲpll:ѡıƵ2ʼֵΪ16		
+  ֵ
+**************************************************************************/ 
+void Stm32_Clock_Init(u8 PLL)
+{
+	unsigned char temp=0;   
+	MYRCC_DeInit();		  		//λ
+ 	RCC->CR|=0x00010000;  	//ⲿʱʹHSEON
+	while(!(RCC->CR>>17));	//ȴⲿʱӾ
+	RCC->CFGR=0X00000400; 	//APB1=DIV2;APB2=DIV1;AHB=DIV1;
+	PLL-=2;									//2λ
+	RCC->CFGR|=PLL<<18;   	//PLLֵ 2~16
+	RCC->CFGR|=1<<16;	 			//PLLSRC ON 
+	FLASH->ACR|=0x32;	  		//FLASH 2ʱ
+
+	RCC->CR|=0x01000000;  	//PLLON
+	while(!(RCC->CR>>25));	//ȴPLL
+	RCC->CFGR|=0x00000002;	//PLLΪϵͳʱ	 
+	while(temp!=0x02)     	//ȴPLLΪϵͳʱóɹ
+	{   
+		temp=RCC->CFGR>>2;
+		temp&=0x03;
+	}    
+}		    
+
+
diff --git a/GeBalanceBot_Firmware v1.0/System/sys/sys.h b/GeBalanceBot_Firmware v1.0/System/sys/sys.h
new file mode 100644
index 0000000..9ca0680
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/System/sys/sys.h	
@@ -0,0 +1,139 @@
+/***********************************************
+˾ȤƼݸ޹˾
+ƷƣWHEELTEC
+wheeltec.net
+Ա̣shop114407458.taobao.com 
+ͨ: https://minibalance.aliexpress.com/store/4455017
+汾5.7
+޸ʱ䣺2021-04-29
+
+ 
+Brand: WHEELTEC
+Website: wheeltec.net
+Taobao shop: shop114407458.taobao.com 
+Aliexpress: https://minibalance.aliexpress.com/store/4455017
+Version:5.7
+Update2021-04-29
+
+All rights reserved
+***********************************************/
+#ifndef __SYS_H
+#define __SYS_H	  
+#include    
+//0,֧ucos
+//1,֧ucos
+#define SYSTEM_SUPPORT_UCOS		0		//ϵͳļǷ֧UCOS
+																	    
+	 
+//λ,ʵ51ƵGPIOƹ
+//ʵ˼,ο<>(87ҳ~92ҳ).
+//IOڲ궨
+#define BITBAND(addr, bitnum) ((addr & 0xF0000000)+0x2000000+((addr &0xFFFFF)<<5)+(bitnum<<2)) 
+#define MEM_ADDR(addr)  *((volatile unsigned long  *)(addr)) 
+#define BIT_ADDR(addr, bitnum)   MEM_ADDR(BITBAND(addr, bitnum)) 
+//IOڵַӳ
+#define GPIOA_ODR_Addr    (GPIOA_BASE+12) //0x4001080C 
+#define GPIOB_ODR_Addr    (GPIOB_BASE+12) //0x40010C0C 
+#define GPIOC_ODR_Addr    (GPIOC_BASE+12) //0x4001100C 
+#define GPIOD_ODR_Addr    (GPIOD_BASE+12) //0x4001140C 
+#define GPIOE_ODR_Addr    (GPIOE_BASE+12) //0x4001180C 
+#define GPIOF_ODR_Addr    (GPIOF_BASE+12) //0x40011A0C    
+#define GPIOG_ODR_Addr    (GPIOG_BASE+12) //0x40011E0C    
+
+#define GPIOA_IDR_Addr    (GPIOA_BASE+8) //0x40010808 
+#define GPIOB_IDR_Addr    (GPIOB_BASE+8) //0x40010C08 
+#define GPIOC_IDR_Addr    (GPIOC_BASE+8) //0x40011008 
+#define GPIOD_IDR_Addr    (GPIOD_BASE+8) //0x40011408 
+#define GPIOE_IDR_Addr    (GPIOE_BASE+8) //0x40011808 
+#define GPIOF_IDR_Addr    (GPIOF_BASE+8) //0x40011A08 
+#define GPIOG_IDR_Addr    (GPIOG_BASE+8) //0x40011E08 
+ 
+//IOڲ,ֻԵһIO!
+//ȷnֵС16!
+#define PAout(n)   BIT_ADDR(GPIOA_ODR_Addr,n)  // 
+#define PAin(n)    BIT_ADDR(GPIOA_IDR_Addr,n)  // 
+
+#define PBout(n)   BIT_ADDR(GPIOB_ODR_Addr,n)  // 
+#define PBin(n)    BIT_ADDR(GPIOB_IDR_Addr,n)  // 
+
+#define PCout(n)   BIT_ADDR(GPIOC_ODR_Addr,n)  // 
+#define PCin(n)    BIT_ADDR(GPIOC_IDR_Addr,n)  // 
+
+#define PDout(n)   BIT_ADDR(GPIOD_ODR_Addr,n)  // 
+#define PDin(n)    BIT_ADDR(GPIOD_IDR_Addr,n)  // 
+
+#define PEout(n)   BIT_ADDR(GPIOE_ODR_Addr,n)  // 
+#define PEin(n)    BIT_ADDR(GPIOE_IDR_Addr,n)  //
+
+#define PFout(n)   BIT_ADDR(GPIOF_ODR_Addr,n)  // 
+#define PFin(n)    BIT_ADDR(GPIOF_IDR_Addr,n)  //
+
+#define PGout(n)   BIT_ADDR(GPIOG_ODR_Addr,n)  // 
+#define PGin(n)    BIT_ADDR(GPIOG_IDR_Addr,n)  //
+/////////////////////////////////////////////////////////////////
+//Ex_NVIC_Configרö
+#define GPIO_A 0
+#define GPIO_B 1
+#define GPIO_C 2
+#define GPIO_D 3
+#define GPIO_E 4
+#define GPIO_F 5
+#define GPIO_G 6 
+
+#define FTIR   1  //½ش
+#define RTIR   2  //ش
+#include "delay.h"
+#include "oled.h"
+#include "motor.h"
+#include "ioi2c.h"
+#include "mpu6050.h"
+#include "show.h"					
+#include "control.h"
+//JTAGģʽö
+#define JTAG_SWD_DISABLE   0X02
+#define SWD_ENABLE         0X01
+#define JTAG_SWD_ENABLE    0X00	
+extern int Encoder_Left,Encoder_Right;                     						// ұ
+extern u8 Flag_Stop;                               					          // ֹͣ־λ ʾ־λ Ĭֹͣ ʾ
+extern float Angle_Balance,Gyro_Balance;           		                // ƽ ƽ ת
+ 
+/*---------------------- Ϊϵͳܺ -------------------------*/
+void Stm32_Clock_Init(u8 PLL);  //ʱӳʼ  
+void Sys_Soft_Reset(void);      //ϵͳλ
+void Sys_Standby(void);         //ģʽ 	
+void MY_NVIC_SetVectorTable(u32 NVIC_VectTab, u32 Offset);//ƫƵַ
+void MY_NVIC_PriorityGroupConfig(u8 NVIC_Group);//NVIC
+void MY_NVIC_Init(u8 NVIC_PreemptionPriority,u8 NVIC_SubPriority,u8 NVIC_Channel,u8 NVIC_Group);//ж
+void Ex_NVIC_Config(u8 GPIOx,u8 BITx,u8 TRIM);//ⲿжú(ֻGPIOA~G)
+void JTAG_Set(u8 mode);
+
+/*------------------------ Ϊຯ ---------------------------*/
+
+void WFI_SET(void);		     // ִWFIָ
+void INTX_DISABLE(void);   // رж
+void INTX_ENABLE(void);	   // ж
+void MSR_MSP(u32 addr);	   // öջַ
+
+#include "inv_mpu.h"
+#include "inv_mpu_dmp_motion_driver.h"
+#include "dmpKey.h"
+#include "dmpmap.h"
+#include  
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#endif
+
+
+
+
+
+
+
+
+
+
+
diff --git a/GeBalanceBot_Firmware v1.0/User/main.c b/GeBalanceBot_Firmware v1.0/User/main.c
new file mode 100644
index 0000000..ee1cfcf
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/User/main.c	
@@ -0,0 +1,74 @@
+/******************** (C) COPYRIGHT 2023 GeekRebot *****************************
+* File Name          : main.c
+* Current Version    : V1.0  & ST 3.5.0
+* Author             : zhanli 719901725@qq.com
+* Date of Issued     : 2023.04.06 zhanli: Create
+* Comments           : GeekRebot STM32
+********************************************************************************/
+#include "bsp_sys.h"
+#include "stdio.h"
+#include "bluetooth.h"  
+
+unsigned char BLE_RX[64];
+/**----------------------------------------------------------------------
+* Function    : main
+* Description : GeekRebot主函数
+* Author      : zhanli&719901725@qq.com
+* Date        : 2023/04/22 zhanli
+*---------------------------------------------------------------------**/ 
+int main(void)
+{	
+	System_Init();
+	Bluetooth_Init(9600);  
+	Car_Stop();
+	while (1)
+	{
+		Delay_ms(20);
+		USART2_Receive(BLE_RX, 6);
+
+		USART2_Send(BLE_RX, 6); 
+		//Delay_ms(500);
+		
+		if((BLE_RX[3] == 0xB1)&&(BLE_RX[4]==0xB5))
+		{
+//			SetPoint = SetPoint + 10;
+			BLE_RX[3] = 0x00;
+		}
+		
+		if((BLE_RX[3] == 0xB3)&&(BLE_RX[4]==0xB7))
+		{
+//			SetPoint = SetPoint - 10;
+			BLE_RX[3] = 0x00;
+		}
+		
+		if((BLE_RX[3] == 0xB2)&&(BLE_RX[4]==0xB6))
+		{
+			Car_Go();
+		}
+		if((BLE_RX[3] == 0xB4)&&(BLE_RX[4]==0xB8))
+		{
+		
+			Car_TurnLeft();
+			Delay_ms(500);
+			Car_Go();
+			BLE_RX[3] = 0x00;
+		}
+		if((BLE_RX[3] == 0xB5)&&(BLE_RX[4]==0xB9))
+		{
+			Car_Stop();
+		}
+		if((BLE_RX[3] == 0xB6)&&(BLE_RX[4]==0xBA))
+		{
+
+			Car_TurnRight();
+			Delay_ms(500);
+			Car_Go();
+			BLE_RX[3] = 0x00;
+		}
+		if((BLE_RX[3] == 0xB8)&&(BLE_RX[4]==0xBC))
+		{
+			Car_Back();
+		} 
+	}
+}
+
diff --git a/GeBalanceBot_Firmware v1.0/User/stm32f10x_conf.h b/GeBalanceBot_Firmware v1.0/User/stm32f10x_conf.h
new file mode 100644
index 0000000..00e9173
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/User/stm32f10x_conf.h	
@@ -0,0 +1,76 @@
+/**
+  ******************************************************************************
+  * @file    Project/STM32F10x_StdPeriph_Template/stm32f10x_conf.h 
+  * @author  MCD Application Team
+  * @version V3.5.0
+  * @date    08-April-2011
+  * @brief   Library configuration file.
+  ******************************************************************************
+  * @attention
+  *
+  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  *
+  * 
© COPYRIGHT 2011 STMicroelectronics

+  ******************************************************************************
+  */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F10x_CONF_H
+#define __STM32F10x_CONF_H
+
+/* Includes ------------------------------------------------------------------*/
+/* Uncomment/Comment the line below to enable/disable peripheral header file inclusion */
+	#include "stm32f10x_adc.h" 
+	#include "stm32f10x_bkp.h" 
+	#include "stm32f10x_cec.h" 
+	#include "stm32f10x_crc.h" 
+	#include "stm32f10x_dac.h" 
+	#include "stm32f10x_dbgmcu.h" 
+	#include "stm32f10x_dma.h" 
+	#include "stm32f10x_exti.h" 
+	#include "stm32f10x_flash.h" 
+	#include "stm32f10x_fsmc.h" 
+	#include "stm32f10x_gpio.h"
+	#include "stm32f10x_i2c.h" 
+	#include "stm32f10x_iwdg.h" 
+	#include "stm32f10x_pwr.h" 
+	#include "stm32f10x_rcc.h" 
+	#include "stm32f10x_rtc.h" 
+	#include "stm32f10x_sdio.h" 
+	#include "stm32f10x_spi.h" 
+	#include "stm32f10x_tim.h" 
+	#include "stm32f10x_usart.h" 
+	#include "stm32f10x_wwdg.h" 
+	#include "misc.h"  /* High level functions for NVIC and SysTick (add-on to CMSIS functions) */
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Uncomment the line below to expanse the "assert_param" macro in the 
+   Standard Peripheral Library drivers code */
+/* #define USE_FULL_ASSERT    1 */
+
+/* Exported macro ------------------------------------------------------------*/
+#ifdef  USE_FULL_ASSERT
+
+/**
+  * @brief  The assert_param macro is used for function's parameters check.
+  * @param  expr: If expr is false, it calls assert_failed function which reports 
+  *         the name of the source file and the source line number of the call 
+  *         that failed. If expr is true, it returns no value.
+  * @retval None
+  */
+  #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__))
+/* Exported functions ------------------------------------------------------- */
+  void assert_failed(uint8_t* file, uint32_t line);
+#else
+  #define assert_param(expr) ((void)0)
+#endif /* USE_FULL_ASSERT */
+
+#endif /* __STM32F10x_CONF_H */
+
+/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
diff --git a/GeBalanceBot_Firmware v1.0/User/stm32f10x_it.c b/GeBalanceBot_Firmware v1.0/User/stm32f10x_it.c
new file mode 100644
index 0000000..6bd54fb
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/User/stm32f10x_it.c	
@@ -0,0 +1,162 @@
+/**
+  ******************************************************************************
+  * @file    Project/STM32F10x_StdPeriph_Template/stm32f10x_it.c 
+  * @author  MCD Application Team
+  * @version V3.5.0
+  * @date    08-April-2011
+  * @brief   Main Interrupt Service Routines.
+  *          This file provides template for all exceptions handler and 
+  *          peripherals interrupt service routine.
+  ******************************************************************************
+  * @attention
+  *
+  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+  * DIRECT, INDIRECT OR CONSEQUENTI
+  
+  AL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  *
+  * 
© COPYRIGHT 2011 STMicroelectronics

+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f10x_it.h"
+
+/** @addtogroup STM32F10x_StdPeriph_Template
+  * @{
+  */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/******************************************************************************/
+/*            Cortex-M3 Processor Exceptions Handlers                         */
+/******************************************************************************/
+
+/**
+  * @brief  This function handles NMI exception.
+  * @param  None
+  * @retval None
+  */
+void NMI_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles Hard Fault exception.
+  * @param  None
+  * @retval None
+  */
+void HardFault_Handler(void)
+{
+  /* Go to infinite loop when Hard Fault exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles Memory Manage exception.
+  * @param  None
+  * @retval None
+  */
+void MemManage_Handler(void)
+{
+  /* Go to infinite loop when Memory Manage exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles Bus Fault exception.
+  * @param  None
+  * @retval None
+  */
+void BusFault_Handler(void)
+{
+  /* Go to infinite loop when Bus Fault exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles Usage Fault exception.
+  * @param  None
+  * @retval None
+  */
+void UsageFault_Handler(void)
+{
+  /* Go to infinite loop when Usage Fault exception occurs */
+  while (1)
+  {
+  }
+}
+
+/**
+  * @brief  This function handles SVCall exception.
+  * @param  None
+  * @retval None
+  */
+void SVC_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles Debug Monitor exception.
+  * @param  None
+  * @retval None
+  */
+void DebugMon_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles PendSVC exception.
+  * @param  None
+  * @retval None
+  */
+void PendSV_Handler(void)
+{
+}
+
+/**
+  * @brief  This function handles SysTick Handler.
+  * @param  None
+  * @retval None
+  */
+//void SysTick_Handler(void)
+//{
+//}
+
+/******************************************************************************/
+/*                 STM32F10x Peripherals Interrupt Handlers                   */
+/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
+/*  available peripheral interrupt handler's name please refer to the startup */
+/*  file (startup_stm32f10x_xx.s).                                            */
+/******************************************************************************/
+
+/**
+  * @brief  This function handles PPP interrupt request.
+  * @param  None
+  * @retval None
+  */
+/*void PPP_IRQHandler(void)
+{
+}*/
+
+/**
+  * @}
+  */ 
+
+
+/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/
diff --git a/GeBalanceBot_Firmware v1.0/User/stm32f10x_it.h b/GeBalanceBot_Firmware v1.0/User/stm32f10x_it.h
new file mode 100644
index 0000000..8890262
--- /dev/null
+++ b/GeBalanceBot_Firmware v1.0/User/stm32f10x_it.h	
@@ -0,0 +1,54 @@
+/**
+  ******************************************************************************
+  * @file    Project/STM32F10x_StdPeriph_Template/stm32f10x_it.h 
+  * @author  MCD Application Team
+  * @version V3.5.0
+  * @date    08-April-2011
+  * @brief   This file contains the headers of the interrupt handlers.
+  ******************************************************************************
+  * @attention
+  *
+  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
+  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
+  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
+  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
+  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
+  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
+  *
+  * 
© COPYRIGHT 2011 STMicroelectronics

+  ******************************************************************************
+  */ 
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F10x_IT_H
+#define __STM32F10x_IT_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif 
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f10x.h"
+
+/* Exported types ------------------------------------------------------------*/
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+
+void NMI_Handler(void);
+void HardFault_Handler(void);
+void MemManage_Handler(void);
+void BusFault_Handler(void);
+void UsageFault_Handler(void);
+void SVC_Handler(void);
+void DebugMon_Handler(void);
+void PendSV_Handler(void);
+void SysTick_Handler(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F10x_IT_H */
+
+/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/