97 lines
2.1 KiB
C
97 lines
2.1 KiB
C
/*
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* Copyright (c) 2017-2019, MindMotion AE Team
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Change Logs:
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* Date Author Notes
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* 2021-10-02 spaceman first version
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*/
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#include <rtthread.h>
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#include <rthw.h>
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#include <board.h>
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#include <drv_uart.h>
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// extern uint32_t SystemCoreClock;
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// extern void SystemInit(void);
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#ifdef RT_USING_FINSH
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#include <finsh.h>
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static void reboot(uint8_t argc, char **argv)
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{
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rt_hw_cpu_reset();
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}
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MSH_CMD_EXPORT(reboot, Reboot System);
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#endif /* RT_USING_FINSH */
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static void bsp_clock_config(void)
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{
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RemapVtorTable();
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SystemClk_HSEInit(RCC_PLLMul_20);//启动PLL时钟，12MHz*20=240MHz
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//2：2，全局性函数，仅需设置一次
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uint32_t sysclk = 0;
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getSystemClock(&sysclk);
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SysTick_Config(sysclk / RT_TICK_PER_SECOND);
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SysTick->CTRL |= 0x00000004UL;
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}
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void SysTick_Handler(void)
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{
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/* enter interrupt */
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rt_interrupt_enter();
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rt_tick_increase();
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/* leave interrupt */
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rt_interrupt_leave();
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}
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void rt_hw_us_delay(rt_uint32_t us)
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{
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rt_uint32_t ticks;
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rt_uint32_t told, tnow, tcnt = 0;
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rt_uint32_t reload = SysTick->LOAD;
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ticks = us * reload / (1000000 / RT_TICK_PER_SECOND);
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told = SysTick->VAL;
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while (1)
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{
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tnow = SysTick->VAL;
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if (tnow != told)
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{
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if (tnow < told)
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{
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tcnt += told - tnow;
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}
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else
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{
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tcnt += reload - tnow + told;
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}
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told = tnow;
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if (tcnt >= ticks)
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{
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break;
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}
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}
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}
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}
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void rt_hw_board_init()
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{
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bsp_clock_config();
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#if defined(RT_USING_HEAP)
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rt_system_heap_init((void *)HEAP_BEGIN, (void *)HEAP_END);
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#endif
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// volatile uint16_t i=0;
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// rt_hw_uart_init();
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// i = UINT16_MAX;
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// while(i--); //wait for a while after uart initiated.
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#ifdef RT_USING_COMPONENTS_INIT
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rt_components_board_init();
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#endif
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#if defined(RT_USING_CONSOLE) && defined(RT_USING_DEVICE)
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rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
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#endif
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}
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