#include "main.h"
#include "mcu_init.h"

u8 mcu_init_gpscfg=0;

u8 Rx2_data[120], Rx2_data1[120];                     
u8 Rx2_complete=0;                 
u16 Length2 =0;

u32 MCU_ms_cnt=0;
u32 PPS_cnt=0;
u32 GPS_Delay=0;

u8 GAMT_OK_flag=0;
u8 GPS_OK_flag=0;
u8 Bar_OK_flag=0;

MPU_AD_value		mpu_AD_value;
MPU_Data_value	mpu_Data_value;
GPS_Data_value	gps_Data_value; 
Out_Frame				outFrame;
uint32_t  			totalDly;
u16 						timtest[10]={0};
u8 							PC_cmd[32];

void Delay(__IO uint32_t nTime)
{
  __IO uint32_t TimingDelay = nTime;

	if(nTime==0) totalDly=0;
	else totalDly+=nTime;
  while(TimingDelay != 0)
	{
		TimingDelay--;
	}
}

void mcu_init(void)          // ★ 初始化所有硬件
{
	RCC_Configuration();     //时钟初始化
	GPIO_Configuration();    //端口初始化   
	USART1_Configuration(0); //COM1 for USB输出串口初始化
	USART2_Configuration();  //COM2 for GPS串口初始化
	SPI1_Configuration();    //SPI for MPU9250初始化
	TIM2_Configuration();    //定时中断频率 ★ 100Hz，读MPU9250
	TIM3_Configuration();    //定时中断频率 ★ 50Hz，读气压
	Init_MPU9250();          //MPU9250初始化

	MS561101BA_RESET();      //气压传感器初始化
	Delay(100000);
	MS561101BA_PROM_READ();

	NVIC_Configuration();    //中断初始化
}

void RCC_Configuration(void)
{
	RCC_ClocksTypeDef RCC_Clocks;

  RCC_GetClocksFreq(&RCC_Clocks);
	
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_SPI1, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE);
	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA1, ENABLE);
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
}

void GPIO_Configuration(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;
	
	/* Configure USART1 Tx (PA.09) as alternate function push-pull */
  GPIO_PinAFConfig(GPIOA,GPIO_PinSource9, GPIO_AF_USART1); 

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
    
  /* Configure USART1 Rx (PA.10) as input floating */
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource10, GPIO_AF_USART1);
	
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	
	/* Configure USART2 Tx (PA.02) as alternate function push-pull */
  GPIO_PinAFConfig(GPIOA,GPIO_PinSource2, GPIO_AF_USART1); 

  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
    
  /* Configure USART2 Rx (PA.03) as input floating */
	GPIO_PinAFConfig(GPIOA,GPIO_PinSource3, GPIO_AF_USART1);
	
  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	/*Configure SPI1_CS PC4 */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);
	
	GPIO_SetBits(GPIOC,GPIO_Pin_4);
	
	/*  Configure SPI1  */
  GPIO_PinAFConfig(GPIOA,GPIO_PinSource5, GPIO_AF_SPI1);
  GPIO_PinAFConfig(GPIOA,GPIO_PinSource7, GPIO_AF_SPI1);
  GPIO_PinAFConfig(GPIOA,GPIO_PinSource6, GPIO_AF_SPI1);

  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_7;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6 ;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_OD ;
  GPIO_InitStructure.GPIO_PuPd =GPIO_PuPd_UP; 
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	/*Configure pps PA0 */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_OD;
  GPIO_InitStructure.GPIO_PuPd =GPIO_PuPd_DOWN;//GPIO_PuPd_UP; 
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
  GPIO_Init(GPIOA, &GPIO_InitStructure);	
	
	/*Configure GPS RESET PA4 */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	GPIO_SetBits(GPIOA,GPIO_Pin_4);
	
	/*Configure IIC_SCL */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	GPIO_SetBits(GPIOA,GPIO_Pin_8);
	
	/*Configure IIC_SDA */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);
	
	GPIO_SetBits(GPIOC,GPIO_Pin_9);
	
	/*Configure LED PA1 */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	GPIO_SetBits(GPIOA,GPIO_Pin_1);
	GPIO_ResetBits(GPIOA,GPIO_Pin_1);
	
	/*Configure LED1 PC3 */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
  GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
  GPIO_Init(GPIOC, &GPIO_InitStructure);
	
	GPIO_SetBits(GPIOC,GPIO_Pin_3);
	GPIO_ResetBits(GPIOC,GPIO_Pin_3);
	
}


void SPI1_Configuration(void)
{
  SPI_InitTypeDef  SPI_InitStructure;
	
	SPI_I2S_DeInit(SPI1);

  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_128;
  SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
  SPI_InitStructure.SPI_CRCPolynomial = 7;
  SPI_Init(SPI1, &SPI_InitStructure);
  
  SPI_Cmd(SPI1, ENABLE);
}

void USART1_Configuration(u8 gpscfg)
{
	USART_InitTypeDef USART_InitStructure;
	mcu_init_gpscfg = gpscfg;
	USART_InitStructure.USART_BaudRate = mcu_init_gpscfg ? 115200 : 460800;
	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);

  USART_Cmd(USART1, ENABLE);
	USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);	
}

void USART1_DIA_OUT_Configuration(void)
{
	 DMA_InitTypeDef DMA_InitStructure;
   DMA_DeInit(DMA2_Stream7);
	 DMA_InitStructure.DMA_Channel = DMA_Channel_4;
   DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&USART1->DR;
   DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&outFrame; //Usart1_out_DATA;
   DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
   DMA_InitStructure.DMA_BufferSize = (uint16_t)sizeof(outFrame); //Usart1_out_Length;
   DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
   DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
   DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
   DMA_InitStructure.DMA_MemoryDataSize = DMA_PeripheralDataSize_Byte; 
   DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
   DMA_InitStructure.DMA_Priority = DMA_Priority_High;
   DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
   DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single ;
   DMA_Init(DMA2_Stream7, &DMA_InitStructure);
   USART_DMACmd(USART1, USART_DMAReq_Tx, ENABLE);
   USART_ClearFlag(USART1, USART_FLAG_TC);
   DMA_Cmd(DMA2_Stream7, ENABLE);
}

void USART2_Configuration(void)
{
	USART_InitTypeDef USART_InitStructure;
	
	USART_InitStructure.USART_BaudRate = 115200;
  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);

  USART_Cmd(USART2, ENABLE);
	USART_ITConfig(USART2, USART_IT_RXNE, ENABLE);	
}

void TIM2_Configuration(void) 
{
	 TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 
   TIM_DeInit(TIM2);         /* deinitiate */

   TIM_TimeBaseStructure.TIM_Period = 99;//9;//  计数器变化1对应0.1ms  
 //  TIM_TimeBaseStructure.TIM_Period = 499;//9;
   TIM_TimeBaseStructure.TIM_Prescaler = 8400-1;
   TIM_TimeBaseStructure.TIM_ClockDivision = 0;
   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
   TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

   TIM_ARRPreloadConfig(TIM2, ENABLE);  

   TIM_ITConfig(TIM2, TIM_IT_Update, ENABLE);   /* TIM IT enable */

   TIM_Cmd(TIM2, ENABLE);  /* TIM2 enable counter */
}

void TIM3_Configuration(void) 
{
	 TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
 
   TIM_DeInit(TIM3);         /* deinitiate */

   TIM_TimeBaseStructure.TIM_Period = 199;//9;
   TIM_TimeBaseStructure.TIM_Prescaler = 8400;
   TIM_TimeBaseStructure.TIM_ClockDivision = 0;
   TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
   TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);

   TIM_ARRPreloadConfig(TIM3, ENABLE);  

   TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);   /* TIM IT enable */

   TIM_Cmd(TIM3, ENABLE);  /* TIM2 enable counter */
}

void NVIC_Configuration(void)
{	
	NVIC_InitTypeDef   NVIC_InitStructure;
	EXTI_InitTypeDef   EXTI_InitStructure;
	
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); 
	
	EXTI_DeInit();
	
	SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource0);

  EXTI_InitStructure.EXTI_Line = EXTI_Line0;
  EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
  EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Falling ;  
  EXTI_InitStructure.EXTI_LineCmd = ENABLE;
  EXTI_Init(&EXTI_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = USART2_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  NVIC_Init(&NVIC_InitStructure);
}