自学教程：C++ GPIO_PinRemapConfig函数代码示例

/*** Initialise a single USART device*/int32_t PIOS_USART_Init(uint32_t * usart_id, const struct pios_usart_cfg * cfg){	PIOS_DEBUG_Assert(usart_id);	PIOS_DEBUG_Assert(cfg);	struct pios_usart_dev * usart_dev;	usart_dev = (struct pios_usart_dev *) PIOS_USART_alloc();	if (!usart_dev) goto out_fail;	/* Bind the configuration to the device instance */	usart_dev->cfg = cfg;	/* Clear buffer counters */	fifoBuf_init(&usart_dev->rx, usart_dev->rx_buffer, sizeof(usart_dev->rx_buffer));	fifoBuf_init(&usart_dev->tx, usart_dev->tx_buffer, sizeof(usart_dev->tx_buffer));	/* Enable the USART Pins Software Remapping */	if (usart_dev->cfg->remap) {		GPIO_PinRemapConfig(usart_dev->cfg->remap, ENABLE);	}	/* Initialize the USART Rx and Tx pins */	GPIO_Init(usart_dev->cfg->rx.gpio, &usart_dev->cfg->rx.init);	GPIO_Init(usart_dev->cfg->tx.gpio, &usart_dev->cfg->tx.init);	/* Enable USART clock */	switch ((uint32_t)usart_dev->cfg->regs) {	case (uint32_t)USART1:		RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);		break;	case (uint32_t)USART2:		RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);		break;	case (uint32_t)USART3:		RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);		break;	}  	/* Configure the USART */	USART_Init(usart_dev->cfg->regs, &usart_dev->cfg->init);  	*usart_id = (uint32_t)usart_dev;	/* Configure USART Interrupts */	NVIC_Init(&usart_dev->cfg->irq.init);	USART_ITConfig(usart_dev->cfg->regs, USART_IT_RXNE, ENABLE);	USART_ITConfig(usart_dev->cfg->regs, USART_IT_TXE,  ENABLE);  	/* Enable USART */	USART_Cmd(usart_dev->cfg->regs, ENABLE);	return(0);out_fail:	return(-1);}

void systemInit(void){    GPIO_InitTypeDef GPIO_InitStructure;    uint8_t i;    gpio_config_t gpio_cfg[] = {        { LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED)        { LED1_GPIO, LED1_PIN, GPIO_Mode_Out_PP }, // PB4 (LED)#ifndef FY90Q        { BEEP_GPIO, BEEP_PIN, GPIO_Mode_Out_OD }, // PA12 (Buzzer)#endif    };    uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);    // Turn on clocks for stuff we use    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE);    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);    RCC_ClearFlag();    // Make all GPIO in by default to save power and reduce noise    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;    GPIO_Init(GPIOA, &GPIO_InitStructure);    GPIO_Init(GPIOB, &GPIO_InitStructure);    GPIO_Init(GPIOC, &GPIO_InitStructure);    // Turn off JTAG port 'cause we're using the GPIO for leds    GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);    // Configure gpio    for (i = 0; i < gpio_count; i++) {        GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin;        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;        GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode;        GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure);    }    LED0_OFF;    LED1_OFF;    BEEP_OFF;    // Init cycle counter    cycleCounterInit();    // SysTick    SysTick_Config(SystemCoreClock / 1000);    // Configure the rest of the stuff    adcInit();#ifndef FY90Q    i2cInit(I2C2);#endif    // sleep for 100ms    delay(100);}

//rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc-rcc//void UsartRcc_Configuration(void){  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO,ENABLE);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1,ENABLE);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO,ENABLE);  RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2,ENABLE);	GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);}

//========================================void GPIO_Configuration(void){	GPIO_InitTypeDef GPIO_InitStructure;	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);		GPIO_InitStructure.GPIO_Pin = LED_CLK_PIN;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;	GPIO_Init(LED_CLK_PORT, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = LED_LAT_PIN;	GPIO_Init(LED_LAT_PORT, &GPIO_InitStructure);/*	#if DISPLAY_LED_STATIC		GPIO_InitStructure.GPIO_Pin = LED_OE_PIN;	GPIO_Init(LED_OE_PORT, &GPIO_InitStructure);#endif*/	if(hwConfig.ledType == SCAN_STATIC)	{		GPIO_InitStructure.GPIO_Pin = LED_OE_PIN;		GPIO_Init(LED_OE_PORT, &GPIO_InitStructure);	}	// Config PORTA pins	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2|GPIO_Pin_3|GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;	GPIO_Init(GPIOA, &GPIO_InitStructure);	// Config PORTB pins	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;	GPIO_Init(GPIOB, &GPIO_InitStructure);	// Config PORTB pins	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;	GPIO_Init(GPIOC, &GPIO_InitStructure);	// Config PORTB pins	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;	GPIO_Init(GPIOD, &GPIO_InitStructure);	// Config PORTB pins	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;	GPIO_Init(GPIOE, &GPIO_InitStructure);	// Set default value for control pins	GPIO_Write(GPIOA,0x0000);	GPIO_Write(GPIOB,0x0000);	GPIO_Write(GPIOC,0x0000);	GPIO_Write(GPIOD,0x0000);	GPIO_Write(GPIOE,0x0000);	// Configure USART1 Rx as input floating 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;	GPIO_Init(GPIOA, &GPIO_InitStructure);	// Configure USART1 Tx as alternate function push-pull 	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	GPIO_Init(GPIOA, &GPIO_InitStructure);}

void I2C_Configuration(void){	GPIO_InitTypeDef GPIO_InitStructure;	I2C_InitTypeDef I2C_InitStructure;	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO, ENABLE);	RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);	GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);	GPIO_InitStructure.GPIO_Pin = I2C_SCL_PIN;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;	GPIO_Init(GPIOB, &GPIO_InitStructure);	GPIO_ResetBits(GPIOB, I2C_SCL_PIN);	I2CDelay(SystemCoreClock / 3 / 100000);	GPIO_InitStructure.GPIO_Pin = I2C_SDA_PIN;	GPIO_Init(GPIOB, &GPIO_InitStructure);	GPIO_ResetBits(GPIOB, I2C_SDA_PIN);	I2CDelay(SystemCoreClock / 3 / 100000);	GPIO_SetBits(GPIOB, I2C_SCL_PIN);	I2CDelay(SystemCoreClock / 3 / 100000);	GPIO_SetBits(GPIOB, I2C_SDA_PIN);	I2CDelay(SystemCoreClock / 3 / 100000);	GPIO_InitStructure.GPIO_Pin = I2C_SCL_PIN;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;	GPIO_Init(GPIOB, &GPIO_InitStructure);		GPIO_InitStructure.GPIO_Pin = I2C_SDA_PIN;	GPIO_Init(GPIOB, &GPIO_InitStructure);	I2C_DeInit(I2C);	I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;	I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;	I2C_InitStructure.I2C_OwnAddress1 = I2C_SLAVE_ADDR;	I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;	I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;	I2C_InitStructure.I2C_ClockSpeed = I2C_SPEED;	I2C_Init(I2C, &I2C_InitStructure);	I2C_Cmd(I2C, ENABLE);		if (I2C->SR2 & 0x02)	//检测I2C	{		while (1)	//DEBUG		{		}	}}

/**  * @brief  Initializes the SD_SPI and CS pins.  * @param  None  * @retval None  */void SD_LowLevel_Init(void){  GPIO_InitTypeDef  GPIO_InitStructure;  SPI_InitTypeDef   SPI_InitStructure;  /*!< SD_SPI_CS_GPIO, SD_SPI_MOSI_GPIO, SD_SPI_MISO_GPIO, SD_SPI_DETECT_GPIO       and SD_SPI_SCK_GPIO Periph clock enable */  RCC_APB2PeriphClockCmd(SD_CS_GPIO_CLK | SD_SPI_MOSI_GPIO_CLK | SD_SPI_MISO_GPIO_CLK |                         SD_SPI_SCK_GPIO_CLK | SD_DETECT_GPIO_CLK, ENABLE);  /*!< SD_SPI Periph clock enable */  RCC_APB1PeriphClockCmd(SD_SPI_CLK, ENABLE);  /*!< AFIO Periph clock enable */  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);  /*!< Remap SPI3 Pins */  GPIO_PinRemapConfig(GPIO_Remap_SPI3,ENABLE);  /*!< Configure SD_SPI pins: SCK */  GPIO_InitStructure.GPIO_Pin = SD_SPI_SCK_PIN;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  GPIO_Init(SD_SPI_SCK_GPIO_PORT, &GPIO_InitStructure);  /*!< Configure SD_SPI pins: MOSI */  GPIO_InitStructure.GPIO_Pin = SD_SPI_MOSI_PIN;  GPIO_Init(SD_SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);  /*!< Configure SD_SPI pins: MISO */  GPIO_InitStructure.GPIO_Pin = SD_SPI_MISO_PIN;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  GPIO_Init(SD_SPI_MISO_GPIO_PORT, &GPIO_InitStructure);  /*!< Configure SD_SPI_CS_PIN pin: SD Card CS pin */  GPIO_InitStructure.GPIO_Pin = SD_CS_PIN;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;  GPIO_Init(SD_CS_GPIO_PORT, &GPIO_InitStructure);  /*!< Configure SD_SPI_DETECT_PIN pin: SD Card detect pin */  GPIO_InitStructure.GPIO_Pin = SD_DETECT_PIN;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;  GPIO_Init(SD_DETECT_GPIO_PORT, &GPIO_InitStructure);  /*!< SD_SPI Config */  SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;  SPI_InitStructure.SPI_Mode = SPI_Mode_Master;  SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;  SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;  SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;  SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;  SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2;  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;  SPI_InitStructure.SPI_CRCPolynomial = 7;  SPI_Init(SD_SPI, &SPI_InitStructure);  SPI_Cmd(SD_SPI, ENABLE); /*!< SD_SPI enable */}

void Tim1_Configuration(void){    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;    TIM_OCInitTypeDef TIM_OCInitStructure;	u16 CCR1_Val = 75;      //前面的电机 	u16 CCR2_Val = 75;	  	 //后面的电机 	u16 CCR3_Val = 75;		 //左面的电机 	u16 CCR4_Val = 75;		 //右面的电机	RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE);	GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);       TIM_DeInit(TIM1); //重设为缺省值	/*TIM1时钟配置*/	TIM_TimeBaseStructure.TIM_Prescaler = 6;      //预分频(时钟分频)72M/4000=18K	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //向上计数	TIM_TimeBaseStructure.TIM_Period = 999;       //装载值 18k/144=125hz 就是说向上加的144便满了	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;   //设置了时钟分割 不懂得不管	TIM_TimeBaseStructure.TIM_RepetitionCounter = 0x0;    //周期计数器值 不懂得不管	TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);    //初始化TIMx的时间基数单位		/* Channel 1 Configuration in PWM mode 通道一的PWM */	TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;      //PWM模式2	TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //正向通道有效 PA8 	//TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; //反向通道也有效 PB13	TIM_OCInitStructure.TIM_Pulse = CCR1_Val;         //占空时间 144 中有40的时间为高，互补的输出正好相反	TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; //输出极性	//TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;    //互补端的极性 	TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset; //空闲状态下的非工作状态 不管	//TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset; //先不管		TIM_OC1Init(TIM1,&TIM_OCInitStructure);       //数初始化外设TIMx通道1这里2.0库为TIM_OCInit		  /* PWM1 Mode configuration: Channel2 */	  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;	  TIM_OCInitStructure.TIM_Pulse = CCR2_Val;	  //设置通道2的电平跳变值，输出另外一个占空比的PWM	  TIM_OC2Init(TIM1, &TIM_OCInitStructure);	  //使能通道2	  TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);		  /* PWM1 Mode configuration: Channel3 */	  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;	  TIM_OCInitStructure.TIM_Pulse = CCR3_Val;	//设置通道3的电平跳变值，输出另外一个占空比的PWM	  TIM_OC3Init(TIM1, &TIM_OCInitStructure);	 //使能通道3	  TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);		  /* PWM1 Mode configuration: Channel4 */	  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;	  TIM_OCInitStructure.TIM_Pulse = CCR4_Val;	//设置通道4的电平跳变值，输出另外一个占空比的PWM	  TIM_OC4Init(TIM1, &TIM_OCInitStructure);	//使能通道4	  TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);	/* TIM1 counter enable开定时器 */	TIM_Cmd(TIM1,ENABLE);		/* TIM1 Main Output Enable 使能TIM1外设的主输出*/	TIM_CtrlPWMOutputs(TIM1,ENABLE);}

/*Init GPIOE (9,14,13) for PWM and GPIOC(6-8) for input*/void modCounter_init_GPIO(void){	  GPIO_InitTypeDef GPIO_InitStructure;   GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_Init(GPIOD, &GPIO_InitStructure);		  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_Init(GPIOD, &GPIO_InitStructure);		GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_Init(GPIOD, &GPIO_InitStructure);			GPIO_InitStructure.GPIO_Pin = 0;// очищаем после предыдущего	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;//+5 TOLERANT?!!!!!!!!!!!!!!!!!!1	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOC, &GPIO_InitStructure);/////////////////////	///////////////////////////////////////////////////////		GPIO_InitStructure.GPIO_Pin = 0;// очищаем после предыдущего	  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_14 | GPIO_Pin_13| GPIO_Pin_11;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 	  GPIO_Init(GPIOE, &GPIO_InitStructure);	GPIO_PinRemapConfig(GPIO_FullRemap_TIM1, ENABLE);	///////////////////////////////////////////////		GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE);	GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);	GPIO_PinRemapConfig(GPIO_Remap_TIM4, ENABLE);}	

void ledInit(){	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);	GPIO_InitTypeDef gpioInit;	gpioInit.GPIO_Pin = ledPins[0] | ledPins[1] | ledPins[2] | ledPins[3];	gpioInit.GPIO_Mode = GPIO_Mode_Out_PP;	gpioInit.GPIO_Speed = GPIO_Speed_2MHz;	GPIO_Init(GPIOB, &gpioInit);}

/**  * @brief  配置指定SPI的引脚  * @param  SPIx 需要使用的SPI  * @retval None  */static void SPI_GPIO_Configuration(SPI_TypeDef* SPIx , u8 Remap ){	GPIO_InitTypeDef GPIO_InitStruct;		if(Remap==0)   //SPI没有重映射		{			if(SPIx==SPI1){					 					 		GPIO_InitStruct.GPIO_Pin =  GPIO_Pin_5 | GPIO_Pin_6|GPIO_Pin_7;		GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; 		GPIO_Init(GPIOA, &GPIO_InitStruct);		//初始化片选输出引脚		GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;		GPIO_Init(GPIOA, &GPIO_InitStruct);		GPIO_SetBits(GPIOA,GPIO_Pin_4);	}else{		GPIO_InitStruct.GPIO_Pin =  GPIO_Pin_13 | GPIO_Pin_14|GPIO_Pin_15;		GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; 		GPIO_Init(GPIOB, &GPIO_InitStruct);		//初始化片选输出引脚		GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;		GPIO_Init(GPIOB, &GPIO_InitStruct);		GPIO_SetBits(GPIOB,GPIO_Pin_12);	} 	}			if(Remap==1)    //SPI有重映射		{			GPIO_PinRemapConfig(GPIO_Remap_SPI1, ENABLE);   //SPI1重映射使能			if(SPIx==SPI1){					 					 		GPIO_InitStruct.GPIO_Pin =  GPIO_Pin_3 | GPIO_Pin_4|GPIO_Pin_5;		GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; 		GPIO_Init(GPIOB, &GPIO_InitStruct);		//初始化片选输出引脚		GPIO_InitStruct.GPIO_Pin = GPIO_Pin_15;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;		GPIO_Init(GPIOA, &GPIO_InitStruct);		GPIO_SetBits(GPIOA,GPIO_Pin_15);	}else{		GPIO_InitStruct.GPIO_Pin =  GPIO_Pin_13 | GPIO_Pin_14|GPIO_Pin_15;		GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP; 		GPIO_Init(GPIOB, &GPIO_InitStruct);		//初始化片选输出引脚		GPIO_InitStruct.GPIO_Pin = GPIO_Pin_12;		GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;		GPIO_Init(GPIOB, &GPIO_InitStruct);		GPIO_SetBits(GPIOB,GPIO_Pin_12);	} 	}	}

void HAL_USART_Begin(HAL_USART_Serial serial, uint32_t baud){    // AFIO clock enable    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);    // Enable USART Clock    *usartMap[serial]->usart_apbReg |=  usartMap[serial]->usart_clock_en;    NVIC_InitTypeDef NVIC_InitStructure;    // Enable the USART Interrupt    NVIC_InitStructure.NVIC_IRQChannel = usartMap[serial]->usart_int_n;    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 7;//USART2_IRQ_PRIORITY;    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;    NVIC_Init(&NVIC_InitStructure);    // Configure USART Rx as input floating    HAL_Pin_Mode(usartMap[serial]->usart_rx_pin, INPUT);    // Configure USART Tx as alternate function push-pull    HAL_Pin_Mode(usartMap[serial]->usart_tx_pin, AF_OUTPUT_PUSHPULL);    // Remap USARTn to alternate pins EG. USART1 to pins TX/PB6, RX/PB7    GPIO_PinRemapConfig(usartMap[serial]->usart_pin_remap, ENABLE);    // USART default configuration    // USART configured as follow:    // - BaudRate = (set baudRate as 9600 baud)    // - Word Length = 8 Bits    // - One Stop Bit    // - No parity    // - Hardware flow control disabled (RTS and CTS signals)    // - Receive and transmit enabled    USART_InitStructure.USART_BaudRate = baud;    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;    // Configure USART    USART_Init(usartMap[serial]->usart_peripheral, &USART_InitStructure);    // Enable USART Receive and Transmit interrupts    USART_ITConfig(usartMap[serial]->usart_peripheral, USART_IT_RXNE, ENABLE);    USART_ITConfig(usartMap[serial]->usart_peripheral, USART_IT_TXE, ENABLE);    // Enable the USART    USART_Cmd(usartMap[serial]->usart_peripheral, ENABLE);    usartMap[serial]->usart_enabled = true;    usartMap[serial]->usart_transmitting = false;}

void Bsp_Init(void){   RCC_Configuration();		/*********************************************************************************************/    //    GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);    //初始化LED灯		 led_init_com();		 led_init_io();	    //初始化串口	   UART1_NVIC_Configuration();     UART1_Configuration();     UART1_GPIO_Configuration();			 UART2_NVIC_Configuration();     UART2_Configuration();     UART2_GPIO_Configuration();		 //清除标志位，否则第一位会丢失		 USART_ClearFlag(USART1,USART_FLAG_TC);		 USART_ClearFlag(USART2,USART_FLAG_TC);			 //初始化输入输出接口	   Io_Init();		 		 //初始化E13_TLL模块		 /***		 E13_Io_Init();		 		 //配置E13_TLL模块		 if (E13_Configuration()==1)            //E13模块配置失效，闪烁发送和接受LED灯，进入死循环 		 {			 while(1)			 {			 Delay_Ms(25);			 led_on_com_r();				 led_on_com_t();			 Delay_Ms(25);				 led_off_r();				 led_off_t();			 }		 }		 *///////////////		 led_on_in_3();                  //点亮IN3作为电源指示灯		 		 //初始化flash		 data_error =Read_Flash(0x0801fc00);		 communication_over_time =Read_Flash(0x0801f800);		 communication_miss =Read_Flash(0x0801f400);		 power_up=Read_Flash(0x0801f000);		 //Write_Flash(0x0801fc00,0);		 //Write_Flash(0x0801f800,0);}

static void RCC_Configuration(void){	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);#ifdef RT_USING_UART1	/* Enable USART1 and GPIOA clocks */	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE);#endif#ifdef RT_USING_UART2#if (defined(STM32F10X_LD) || defined(STM32F10X_MD)) //|| defined(STM32F10X_CL))--2011del    /* Enable AFIO and GPIOD clock */    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD, ENABLE);    /* Enable the USART2 Pins Software Remapping */    GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);#else    /* Enable AFIO and GPIOA clock */   // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA, ENABLE);    GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOD, ENABLE);#endif	/* Enable USART2 clock */	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);#endif#ifdef RT_USING_UART3	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);	/* Enable USART3 clock */	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);	/* DMA clock enable */	//RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);#endif#ifdef RT_USING_UART4	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC,ENABLE);	RCC_APB1PeriphClockCmd(RCC_APB1Periph_UART4, ENABLE);#endif}

/**  * @brief  Configures the different GPIO ports.  * @param  None  * @retval None  */void GPIO_Configuration(void){  GPIO_InitTypeDef GPIO_InitStructure;#ifdef USE_STM3210E_EVAL  /* Disable the JTAG interface and enable the SWJ interface      This operation is not necessary for Connectivity-Line devices since      SPI3 I/Os can be remapped on other GPIO pins */  GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);#endif /* USE_STM3210E_EVAL */   /* Configure SPI2 pins: CK, WS and SD ---------------------------------*/  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_15;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  GPIO_Init(GPIOB, &GPIO_InitStructure);#ifdef USE_STM3210C_EVAL    /* Remap SPI3 on PC10-PC11-PC12-PA4 GPIO pins ------------------------*/  GPIO_PinRemapConfig(GPIO_Remap_SPI3, ENABLE);    /* Configure SPI3 pins: CK and SD ------------------------------------*/  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10 | GPIO_Pin_12;  GPIO_Init(GPIOC, &GPIO_InitStructure);  /* Configure SPI3 pins: WS -------------------------------------------*/  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;  GPIO_Init(GPIOA, &GPIO_InitStructure);  #elif defined (USE_STM3210E_EVAL)    /* Configure SPI3 pins: CK and SD ------------------------------------*/  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_5;  GPIO_Init(GPIOB, &GPIO_InitStructure);  /* Configure SPI3 pins: WS -------------------------------------------*/  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;  GPIO_Init(GPIOA, &GPIO_InitStructure);  #endif /* USE_STM3210C_EVAL */ }

static void rccInit(void){  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);  GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);}

static int uart_Init(const uart_cfg_t *cfg){	GPIO_InitTypeDef GPIO_InitStructure;	USART_InitTypeDef uartinfo;	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);#ifdef CONFIG_STM32F10X_CL	/*configure PD5<uart2.tx>, PD6<uart2.rx>*/	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD | RCC_APB2Periph_AFIO, ENABLE);	GPIO_PinRemapConfig(GPIO_Remap_USART2, ENABLE);	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	GPIO_Init(GPIOD, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;	GPIO_Init(GPIOD, &GPIO_InitStructure);#else	/*configure PA2<uart2.tx>, PA3<uart2.rx>*/	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;	GPIO_Init(GPIOA, &GPIO_InitStructure);	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;	GPIO_Init(GPIOA, &GPIO_InitStructure);#endif	/*init serial port*/	USART_StructInit(&uartinfo);	uartinfo.USART_BaudRate = cfg->baud;	USART_Init(uart, &uartinfo);#ifdef ENABLE_TX_DMA	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);	uart_SetupTxDMA(uart_fifo_tx, 0);	USART_DMACmd(uart, USART_DMAReq_Tx, ENABLE);	uart_fifo_tn = 0;	uart_fifo_tp = 0;#endif#ifdef ENABLE_RX_DMA	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);	uart_SetupRxDMA(uart_fifo_rx, RX_FIFO_SZ);	USART_DMACmd(uart, USART_DMAReq_Rx, ENABLE);	uart_fifo_rn = 0;#endif	USART_Cmd(uart, ENABLE);	return 0;}

/* ---------------------------------------------------------------------------** Initialize the HW modules needed for I2C communication** -------------------------------------------------------------------------*/void I2CInit(void){    I2C_InitTypeDef  I2C_InitStructure;    GPIO_InitTypeDef  GPIO_InitStructure;#ifdef I2C_REMAP    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOB,ENABLE);#else    /*!< I2C_SCL_GPIO_CLK and I2C_SDA_GPIO_CLK Periph clock enable */    RCC_APB2PeriphClockCmd(RCC_APB1Periph_I2C1 | RCC_APB2Periph_GPIOB, ENABLE);#endif    /*!< I2C Periph clock enable */    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);    /*!< GPIO configuration */    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;#ifdef I2C_REMAP    GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);    /*!< Configure I2C pins: SCL -- PB8,  SDA -- PB9*/    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9;#else    /*!< Configure I2C pins: SCK -- PB6, SDA -- PB7*/    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;#endif    GPIO_Init(GPIOB, &GPIO_InitStructure);//	#endif    /*!< I2C configuration */    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;    I2C_InitStructure.I2C_ClockSpeed = I2C_SPEED;    /* I2C Peripheral Enable */    I2C_Cmd(I2C1, ENABLE);    /* Apply I2C configuration after enabling it */    I2C_Init(I2C1, &I2C_InitStructure);}

void uart3_init( void ) {  /* init RCC */  RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);  RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);  /* Enable USART3 interrupts */  NVIC_InitTypeDef nvic;  nvic.NVIC_IRQChannel = USART3_IRQn;  nvic.NVIC_IRQChannelPreemptionPriority = 2;  nvic.NVIC_IRQChannelSubPriority = 1;  nvic.NVIC_IRQChannelCmd = ENABLE;  NVIC_Init(&nvic);  /* Init GPIOS */  GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE);  GPIO_InitTypeDef gpio;  /* GPIOC: GPIO_Pin_10 USART3 Tx push-pull */  gpio.GPIO_Pin   = UART3_TxPin;  gpio.GPIO_Mode  = GPIO_Mode_AF_PP;  gpio.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_Init(UART3_TxPort, &gpio);  /* GPIOC: GPIO_Pin_11 USART3 Rx pin as floating input */  gpio.GPIO_Pin   = UART3_RxPin;  gpio.GPIO_Mode  = GPIO_Mode_IN_FLOATING;  GPIO_Init(UART3_RxPort, &gpio);  /* Configure USART3 */  USART_InitTypeDef usart;  usart.USART_BaudRate            = UART3_BAUD;  usart.USART_WordLength          = USART_WordLength_8b;  usart.USART_StopBits            = USART_StopBits_1;  usart.USART_Parity              = USART_Parity_No;  usart.USART_HardwareFlowControl = USART_HardwareFlowControl_None;  usart.USART_Mode                = USART_Mode_Rx | USART_Mode_Tx;  USART_Init(USART3, &usart);  /* Enable USART3 Receive interrupts */  USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);  pprz_usart_set_baudrate(USART3, UART3_BAUD);  /* Enable the USART3 */  USART_Cmd(USART3, ENABLE);  // initialize the transmit data queue  uart3_tx_extract_idx = 0;  uart3_tx_insert_idx = 0;  uart3_tx_running = FALSE;  // initialize the receive data queuenn  uart3_rx_extract_idx = 0;  uart3_rx_insert_idx = 0;}

/* The core is running at 72MHz */int main(void){    GPIO_InitTypeDef GPIO_InitStructure;    /* Set the Vector Table base adress at 0x8004000 */    NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x4000);    RCC_APB2PeriphClockCmd (RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA , ENABLE); 	    /* Full SWJ Disabled (JTAG-DP + SW-DP) */    GPIO_PinRemapConfig (GPIO_Remap_SWJ_Disable, ENABLE);  			   	//LED0 -> PB0, LED1 -> PB1 	  // Reset GPIO init structure    GPIO_StructInit(&GPIO_InitStructure);	    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;     GPIO_Init(GPIOB, &GPIO_InitStructure);			// Configure PA1 as input floating    // Reset GPIO init structure    GPIO_StructInit(&GPIO_InitStructure);    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//GPIO_Mode_IPD;    GPIO_Init(GPIOA, &GPIO_InitStructure);	 	  USART1_Init();    ADC_Configuration();    while (1)	  {		    /* LED0-ON LED1-OFF */		    GPIO_SetBits(GPIOB , GPIO_Pin_0); 		    GPIO_ResetBits(GPIOB , GPIO_Pin_1);	    	Delay(0xfffff);       		    /* LED0-OFF LED1-ON */		    GPIO_ResetBits(GPIOB , GPIO_Pin_0);		    GPIO_SetBits(GPIOB , GPIO_Pin_1);		    Delay(0xfffff);              			        /* Print the ADC PA1 DIP Switch value to USART */        USART1_Print_Int(readDIPSwitch());						  if (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_1) == 1) USART1_Print(", ON/n");			  else USART1_Print(", OFF/n");    }			}

/* * 函数名：TIM3_PWM_In_Init * 描述  ：定时器3输入捕获初始化函数 * 输入  ：arr：自动重装载寄存器周期的值；psc：时钟频率除数的预分频值 * 输出  ：无 */ void TIM3_PWM_In_Init(u16 arr,u16 psc){	GPIO_InitTypeDef GPIO_InitStructure;	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;	TIM_ICInitTypeDef  TIM3_ICInitStructure;  NVIC_InitTypeDef NVIC_InitStructure;	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);  	//使能GPIOB时钟	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);		//使能TIM3时钟	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); 	GPIO_PinRemapConfig(GPIO_PartialRemap_TIM3,ENABLE); 		GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_4 | GPIO_Pin_5;  													GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;           											GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; 	GPIO_Init(GPIOB, &GPIO_InitStructure);		GPIO_ResetBits(GPIOB,GPIO_Pin_4);	GPIO_ResetBits(GPIOB,GPIO_Pin_5);	//初始化TIM3	 	TIM_TimeBaseStructure.TIM_Period = arr;    																		 //设定计数器自动重装值 	TIM_TimeBaseStructure.TIM_Prescaler =psc; 																		 //预分频器   	TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; 											 //设置时钟分割	TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; 									 //TIM向上计数模式	TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);                                //初始化TIMx的时间基数单位  	//初始化TIM3通道1输入捕获参数	TIM3_ICInitStructure.TIM_Channel = TIM_Channel_1 ; 														 //选择输入端 IC1映射到TI1上  TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;									 //上升沿捕获  TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 							 //映射到TI1上 	TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;	                       //配置输入分频,不分频  	TIM3_ICInitStructure.TIM_ICFilter = 0x00;																			 //配置输入滤波器,不滤波  TIM_ICInit(TIM3, &TIM3_ICInitStructure);//初始化TIM3通道2输入捕获参数	TIM3_ICInitStructure.TIM_Channel = TIM_Channel_2 ; 														 //选择输入端 IC1映射到TI1上  TIM3_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising;									 //上升沿捕获  TIM3_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI; 							 //映射到TI1上  TIM3_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;	 											 //配置输入分频,不分频   TIM3_ICInitStructure.TIM_ICFilter = 0x00;																			 //配置输入滤波器 不滤波  TIM_ICInit(TIM3, &TIM3_ICInitStructure);			//中断分组初始化	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn  ;  														 //TIM3中断	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;  										 //先占优先级	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;  												 	 //从优先级	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 															 //IRQ通道被使能	NVIC_Init(&NVIC_InitStructure);  																							 //初始化外设NVIC寄存器 	TIM_ITConfig(TIM3,TIM_IT_Update | TIM_IT_CC1 | TIM_IT_CC2,ENABLE);								 //允许更新中断 ,允许CC1IE捕获中断		 	TIM_Cmd(TIM3,ENABLE ); 																												 //使能定时器3}

void GPIO_Configuration(void){    GPIO_InitTypeDef  GPIO_InitStructure;    GPIO_PinRemapConfig(GPIO_Remap_I2C1,ENABLE);    /* Configure I2C_EE pins: SCL and SDA */    GPIO_InitStructure.GPIO_Pin =  I2C_EE_SCL | I2C_EE_SDA;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;    GPIO_Init(I2C_EE_GPIO, &GPIO_InitStructure);}

void uartInit(void){  USART_InitTypeDef USART_InitStructure;  GPIO_InitTypeDef GPIO_InitStructure;  NVIC_InitTypeDef NVIC_InitStructure;  /* Enable GPIO and USART clock */  RCC_APB2PeriphClockCmd(UART_GPIO_PERIF, ENABLE);#if defined PLATFORM_REV_DEXMO_A_RIGHT  RCC_APB1PeriphClockCmd(UART_PERIF, ENABLE);#elif defined PLATFORM_REV_DEXMO_A_LEFT || defined PLATFORM_REV_DEXMO_DONGLE_A  RCC_APB2PeriphClockCmd(UART_PERIF, ENABLE);#endif  /* Configure USART Rx as input floating */  GPIO_InitStructure.GPIO_Pin   = UART_GPIO_RX;  GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_IN_FLOATING;  GPIO_Init(UART_GPIO_PORT, &GPIO_InitStructure);/* Configure USART Tx as alternate function push-pull */  GPIO_InitStructure.GPIO_Pin   = UART_GPIO_TX;  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_PP;  GPIO_Init(UART_GPIO_PORT, &GPIO_InitStructure);#ifdef PLATFORM_REV_DEXMO_A_RIGHT  GPIO_PinRemapConfig(GPIO_PartialRemap_USART3, ENABLE);#endif  USART_InitStructure.USART_BaudRate            = 230400;  USART_InitStructure.USART_Mode                = USART_Mode_Rx | USART_Mode_Tx;  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_Init(UART_TYPE, &USART_InitStructure);  NVIC_InitStructure.NVIC_IRQChannel = UART_NVIC_IRQn;  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;  NVIC_Init(&NVIC_InitStructure);  USART_ITConfig(UART_TYPE, USART_IT_RXNE, ENABLE);  USART_Cmd(UART_TYPE, ENABLE);  // uartDmaInit();  DEBUG_PRINT("init successfully/n");}

void USART3_Init(void){  	GPIO_InitTypeDef GPIO_InitStructure;  	USART_InitTypeDef USART_InitStructure;  	/* Clock configuration -------------------------------------------------------*/  	/* Configure the GPIO ports( USART3 Transmit and Receive Lines) */  	/* Configure the USART3_Tx as Alternate function Push-Pull */  	/* Configure USART3_Tx as alternate function push-pull */			RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE);	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);	GPIO_PinRemapConfig(GPIO_FullRemap_USART3,ENABLE);  	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;  	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;  	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  	GPIO_Init(GPIOD, &GPIO_InitStructure);  	/* Configure USART3_Rx as input floating 		*/  	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;  	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;  	GPIO_Init(GPIOD, &GPIO_InitStructure);    	/* USART3 configuration ------------------------------------------------------*/  	/* USART3 configured as follow:        - BaudRate = 9600 baud          - Word Length = 8 Bits        - One Stop Bit        - No parity        - Hardware flow control disabled (RTS and CTS signals)        - Receive and transmit enabled  	*/  	USART_InitStructure.USART_BaudRate = 9600;  	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;  	/* Configure the USART3 */  	USART_Init(USART3, &USART_InitStructure);	/* Enable USART3 interrupt */	USART_ITConfig(USART3, USART_IT_RXNE, ENABLE);  	/* Enable the USART3 */  	USART_Cmd(USART3, ENABLE);}

//核心组件初始化,包括串口(用于打印调试信息)static void coreInit(){	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);		SystemCoreClockUpdate();	SysTick_Init();	LED_Config();	USART_Config(Debug_USART, Debug_BaudRate);	//enable remap for max6675 pins	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);	GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);}

void eBoxInit(void){	SysTick_Config(SysTickOverFlowValue);//  每隔 (nhz/9,000,000)s产生一次中断	SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);//9Mhz的systemticks clock；	Init_ADC1();		NVIC_PriorityGroupConfig(NVIC_GROUP_CONFIG);	//将pb4默认设置为IO口，仅用jtag	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);	 GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable,ENABLE);}

/**  * @brief  Configure the IO pins used by the I2C device.  * @param  Device : I2C Device instance.   * @retval None.   */void CPAL_I2C_HAL_GPIOInit(CPAL_DevTypeDef Device){    GPIO_InitTypeDef GPIO_InitStructure;      /* Enable I2Cx SCL and SDA Pin Clock */  __I2C_GPIO_CLK_CMD((CPAL_I2C_SCL_GPIO_CLK[Device] | CPAL_I2C_SDA_GPIO_CLK[Device]), ENABLE);      /* Enable Pin Remap if PB8 (SCL) and PB9 (SDA) is used for I2C1 */  if ((Device == CPAL_I2C1) && (CPAL_I2C1_SCL_GPIO_PIN == GPIO_Pin_8) && (CPAL_I2C1_SDA_GPIO_PIN == GPIO_Pin_9))  {    /* Enable GPIO Alternative Functions */    __AFIO_CLK_CMD(ENABLE);       /* Enable I2C1 pin Remap */    GPIO_PinRemapConfig(GPIO_Remap_I2C1, ENABLE);  }    /* Set GPIO frequency to 50MHz */  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    /* Select Output open-drain mode */  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;                                      /* Initialize I2Cx SCL Pin */   GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SCL_GPIO_PIN[Device];    GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SCL_GPIO_PORT[Device], &GPIO_InitStructure);  /* Initialize I2Cx SDA Pin */  GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SDA_GPIO_PIN[Device];    GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SDA_GPIO_PORT[Device], &GPIO_InitStructure);  i2cdevUnlockBus((GPIO_TypeDef*)CPAL_I2C_SCL_GPIO_PORT[Device],                  (GPIO_TypeDef*)CPAL_I2C_SDA_GPIO_PORT[Device],                  CPAL_I2C_SCL_GPIO_PIN[Device],                  CPAL_I2C_SDA_GPIO_PIN[Device]);  /* Select Output open-drain mode */  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;  /* Initialize I2Cx SCL Pin */  GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SCL_GPIO_PIN[Device];  GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SCL_GPIO_PORT[Device], &GPIO_InitStructure);  /* Initialize I2Cx SDA Pin */  GPIO_InitStructure.GPIO_Pin = CPAL_I2C_SDA_GPIO_PIN[Device];  GPIO_Init((GPIO_TypeDef*)CPAL_I2C_SDA_GPIO_PORT[Device], &GPIO_InitStructure);}

void init_SPI1(){    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO | RCC_APB2Periph_SPI1, ENABLE);    GPIO_InitTypeDef GPIO_InitStructure;    SPI_InitTypeDef SPI_InitStructure;    SPI_StructInit(&SPI_InitStructure);    //NSS вход выбор чипа    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_Init(GPIOA , &GPIO_InitStructure);    //CLK    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_Init(GPIOB, &GPIO_InitStructure);    //MISO    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_Init(GPIOB, &GPIO_InitStructure);    //MOSI    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;    GPIO_Init(GPIOB, &GPIO_InitStructure);    GPIO_PinRemapConfig(GPIO_Remap_SPI1, ENABLE);    //Заполняем структуру с параметрами SPI модуля    SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex; //полный дуплекс    SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b; // передаем по 8 бит    SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low; // Полярность и    SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge; // фаза тактового сигнала    SPI_InitStructure.SPI_NSS = SPI_NSS_Hard; // Управлять состоянием сигнала NSS аппаратно    SPI_InitStructure.SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2; // Предделитель SCK    SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB; // Первым отправляется старший бит    SPI_InitStructure.SPI_Mode = SPI_Mode_Slave; // Режим - слейв    SPI_Init(SPI1, &SPI_InitStructure); //Настраиваем SPI1    SPI_Cmd(SPI1, ENABLE); // Включаем модуль SPI1....    SPI_I2S_ITConfig(SPI1, SPI_I2S_IT_RXNE, ENABLE); //Включаем прерывание по приему байта    NVIC_EnableIRQ(SPI1_IRQn); //Разрешаем прерывания от SPI1}

void systemInit(void) {    GPIO_InitTypeDef GPIO_InitStructure;    gpio_config_t gpio_cfg[] = {      { LEDR_GPIO, LEDR_PIN, GPIO_Mode_Out_PP },      { LEDG_GPIO, LEDG_PIN, GPIO_Mode_Out_PP },    };    uint8_t gpio_count = sizeof(gpio_cfg) / sizeof(gpio_cfg[0]);    uint32_t i;    // This is needed because some shit inside Keil startup fucks with SystemCoreClock, setting it back to 72MHz even on HSI.    SystemCoreClockUpdate();    // Turn on clocks for stuff we use    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2 | RCC_APB1Periph_SPI2, ENABLE);    RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE);    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);    RCC_ClearFlag();    // Make all GPIO in by default to save power and reduce noise    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;    GPIO_Init(GPIOA, &GPIO_InitStructure);    GPIO_Init(GPIOB, &GPIO_InitStructure);    GPIO_Init(GPIOC, &GPIO_InitStructure);    // Turn off JTAG port 'cause we're using the GPIO for leds    GPIO_PinRemapConfig(GPIO_Remap_SWJ_Disable, ENABLE);    // Configure gpio    for (i = 0; i < gpio_count; i++) {        GPIO_InitStructure.GPIO_Pin = gpio_cfg[i].pin;        GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;        GPIO_InitStructure.GPIO_Mode = gpio_cfg[i].mode;        GPIO_Init(gpio_cfg[i].gpio, &GPIO_InitStructure);    }    LEDR_OFF    LEDG_OFF    // Init cycle counter    cycleCounterInit();    // SysTick    SysTick_Config(SystemCoreClock / 1000);    // Configure the rest of the stuff    i2cInit(I2C2);    // sleep for 100ms    delay(100);}

void TIM3_PWM_Init(u16 arr,u16 psc){  	GPIO_InitTypeDef GPIO_InitStructure;	TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;	TIM_OCInitTypeDef  TIM_OCInitStructure;		RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);  //使能GPIO外设和AFIO复用功能模块时钟使能	  GPIO_PinRemapConfig(GPIO_FullRemap_TIM3, ENABLE); //Timer3全映射 GPIOC-> 6,7,8,9                                                                    	 //用于TIM3的CH2输出的PWM通过该LED显示    //设置该引脚为复用输出功能,输出TIM3 CH1 CH2 CH3 CH4 的PWM脉冲波形	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; //初始化GPIO	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;	GPIO_Init(GPIOC, &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(TIM3, &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(TIM3, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx	TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIMx在CCR1上的预装载寄存器			TIM_OC2Init(TIM3, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx	TIM_OC2PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIMx在CCR2上的预装载寄存器		TIM_OC3Init(TIM3, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx	TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIMx在CCR3上的预装载寄存器		TIM_OC4Init(TIM3, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx	TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);  //使能TIMx在CCR4上的预装载寄存器		TIM_ARRPreloadConfig(TIM3, ENABLE); //使能TIMx在ARR上的预装载寄存器	 	TIM_Cmd(TIM3, ENABLE);  //使能TIMx外设 }