【APM32M3514电机通用评估板评测】+pid调试1

void IOinit_uart1(void)

{

    GPIO_Config_T   GPIO_InitStructure;

    /*  PF0 -> uart1_tx    */

    GPIO_InitStructure.pin      =   GPIO_PIN_4;

    GPIO_InitStructure.speed    =   GPIO_SPEED_50MHz;

    GPIO_InitStructure.mode     =   GPIO_MODE_AF;

    GPIO_InitStructure.pupd     =   GPIO_PUPD_NO;

    GPIO_InitStructure.outtype  = GPIO_OUT_TYPE_PP; 

    GPIO_Config(GPIOC, &GPIO_InitStructure);

    GPIO_InitStructure.pin      =   GPIO_PIN_5;

    GPIO_Config(GPIOC, &GPIO_InitStructure);

    GPIO_ConfigPinAF(GPIOC, GPIO_PIN_SOURCE_4, GPIO_AF_PIN2);

    GPIO_ConfigPinAF(GPIOC, GPIO_PIN_SOURCE_5, GPIO_AF_PIN2);

}

int fputc(int ch, FILE* f)

{

    /* send a byte of data to the serial port */

    USART_TxData(USART1, (uint8_t)ch);



    /* wait for the data to be send  */

    while (USART_ReadStatusFlag(USART1, USART_FLAG_TXBE) == RESET);



    return (ch);

}



void Pilot_uart_init(void)

{

    USART_Config_T USART_InitStructure;

    DMA_Config_T   DMA_InitStructure;

    

//    RCM_ConfigUSARTCLK(RCM_USART1CLK_SYSCLK);

    RCM_EnableAPB2PeriphClock(RCM_APB2_PERIPH_USART1);



    USART_InitStructure.baudRate   = 115200;//1945946;

    USART_InitStructure.mode       = USART_MODE_TX_RX;

    USART_InitStructure.hardwareFlowCtrl = USART_FLOW_CTRL_NONE;

    USART_InitStructure.parity     = USART_PARITY_NONE;

    USART_InitStructure.stopBits   = USART_STOP_BIT_1;

    USART_InitStructure.wordLength = USART_WORD_LEN_8B;

    USART_Config(USART1,&USART_InitStructure);

    USART_DisableOverSampling8(USART1);

    USART_DisableOneBitMethod(USART1);

    USART1->CTRL3 &= (uint32_t)~0x400;

    /** Enable USART */

    USART_Enable(USART1);

    

    USART_EnableDMA(USART1, USART_DMA_REQUEST_TX);

    USART_EnableDMA(USART1, USART_DMA_REQUEST_RX);

    /* USART1_RX Init */

    DMA_InitStructure.direction = DMA_DIR_PERIPHERAL;

    DMA_InitStructure.peripheralInc = DMA_PERIPHERAL_INC_DISABLE;

    DMA_InitStructure.memoryInc = DMA_MEMORY_INC_ENABLE;

    DMA_InitStructure.peripheralDataSize = DMA_PERIPHERAL_DATASIZE_BYTE ; 

    DMA_InitStructure.memoryDataSize     = DMA_MEMORY_DATASIZE_BYTE ;    

    DMA_InitStructure.circular           = DMA_CIRCULAR_DISABLE  ; 

    DMA_InitStructure.priority = DMA_PRIORITY_LEVEL_LOW;

    DMA_Config(DMA_CHANNEL_5, &DMA_InitStructure);  

    /* USART1_TX Init */

    DMA_InitStructure.direction = DMA_DIR_MEMORY;

    DMA_InitStructure.peripheralInc = DMA_PERIPHERAL_INC_DISABLE;

    DMA_InitStructure.memoryInc = DMA_MEMORY_INC_ENABLE;

    DMA_InitStructure.peripheralDataSize = DMA_PERIPHERAL_DATASIZE_BYTE ; 

    DMA_InitStructure.memoryDataSize     = DMA_MEMORY_DATASIZE_BYTE ;   

    DMA_InitStructure.circular           = DMA_CIRCULAR_DISABLE  ; 

    DMA_InitStructure.priority = DMA_PRIORITY_LEVEL_LOW;

    DMA_Config(DMA_CHANNEL_4, &DMA_InitStructure);  

    

}

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