Motor_v2/Robot_V2/sys/initial.cpp

#include "initial.h"
#include "config.h"
#include "flash.h"
#include "gd32c10x.h"
#include "gd32c10x_fmc.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_rcu.h"
#include <cstdio>
#include <stdint.h>
#include "can.h"
#include <stdio.h>

extern CAN_transmiter CAN0_transmiter; // CAN初始化
/* retarget the C library printf function to the USART */
u8 USART0_init() {
	gd_eval_com_init(EVAL_COM0);
	return 1;
}

/*!
	\brief      configure the watchdog peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
u8 watchdog_init(u32 time) {
	u8 status = 0;
	/* configure FWDGT counter clock: 40KHz(IRC40K) / 64 = 0.625 KHz */
	/* time = reload_value / clock_frequency */
	status = fwdgt_config(time * 0.625, FWDGT_PSC_DIV64);
	fwdgt_enable();
	return status;
}

int fputc(int ch, FILE *f) throw() {
	usart_data_transmit(EVAL_COM0, (uint8_t)ch);
	while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE))
		;
	return ch;
}

void unused_pin_init() {
	rcu_periph_clock_enable(RCU_GPIOA); // 使能GPIOA时钟
	rcu_periph_clock_enable(RCU_GPIOB); // 使能GPIOB时钟
	rcu_periph_clock_enable(RCU_GPIOC); // 使能GPIOC时钟
	gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
			  GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
	gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
			  GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
	gpio_init(GPIOC, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
			  GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
	gpio_bit_reset(GPIOA, GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
	gpio_bit_reset(GPIOB, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
	gpio_bit_reset(GPIOC, GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15);
}

/*!
	\brief      检测并打印复位源信息
	\param[in]  none
	\param[out] none
	\retval     none
*/
u16 get_reset_cause(void) {
	u16 cause = 0;
	if (RESET != rcu_flag_get(RCU_FLAG_FWDGTRST)) {
		// printf("Free Watchdog Timer Reset\r\n");
		cause = RCU_FLAG_FWDGTRST;
	}
	if (RESET != rcu_flag_get(RCU_FLAG_EPRST)) {
		// printf("External Pin Reset\r\n");
		cause = RCU_FLAG_EPRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_PORRST)) {
		// printf("Power Reset\r\n");
		cause = RCU_FLAG_PORRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_WWDGTRST)) {
		// printf("Window Watchdog Timer Reset\r\n");
		cause = RCU_FLAG_WWDGTRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_LPRST)) {
		// printf("Low Power Reset\r\n");
		cause = RCU_FLAG_LPRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_SWRST)) {
		// printf("Software Reset\r\n");
		cause = RCU_FLAG_SWRST;
	}
	// 清除所有复位标志
	rcu_all_reset_flag_clear();
	// printf("cause:%d\r\n", cause);
	return cause;
}

void OTA_initial(void) {
	// 确认当前APP可用
	OTA_SET(n_APP_LATEST_CHECK_ADDR, OTA_AVAL);
	OTA_SET(n_APP_LATEST_EN_ADDR, OTA_AVAL);

	volatile u32 *flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
	u32 back_aval = *flash_ptr;
	flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
	u32 back_check = *flash_ptr;

	// 如果BACK不可用
	if (back_aval == OTA_NOT_AVAL) {
		move_app_data();
	} else if (back_aval == OTA_AVAL &&
			   back_check == OTA_NOT_AVAL) { // BACK已刷写，但未检查
		move_app_data();
	}
}