/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_SYS System Functions * @brief PIOS System Initialization code * @{ * * @file pios_sys.c * @author Michael Smith Copyright (C) 2011 * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. * @author Tau Labs, http://taulabs.org, Copyright (C) 2012-2014 * @brief Sets up basic STM32 system hardware, functions are called from Main. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /* Project Includes */ #include "pios.h" #if defined(PIOS_INCLUDE_SYS) #define MEM8(addr) (*((volatile uint8_t *)(addr))) /* Private Function Prototypes */ static void NVIC_Configuration(void); /** * Initialises all system peripherals */ void PIOS_SYS_Init(void) { /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */ SystemInit(); SystemCoreClockUpdate(); /* update SystemCoreClock for use elsewhere */ /* * @todo might make sense to fetch the bus clocks and save them somewhere to avoid * having to use the clunky get-all-clocks API everytime we need one. */ /* Initialise Basic NVIC */ /* do this early to ensure that we take exceptions in the right place */ NVIC_Configuration(); /* Init the delay system */ PIOS_DELAY_Init(); /* * Turn on all the peripheral clocks. * Micromanaging clocks makes no sense given the power situation in the system, so * light up everything we might reasonably use here and just leave it on. */ RCC_AHBPeriphClockCmd( RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB | RCC_AHBPeriph_GPIOC | RCC_AHBPeriph_GPIOD | RCC_AHBPeriph_GPIOE | RCC_AHBPeriph_GPIOF | RCC_AHBPeriph_TS | RCC_AHBPeriph_CRC | RCC_AHBPeriph_FLITF | RCC_AHBPeriph_SRAM | RCC_AHBPeriph_DMA2 | RCC_AHBPeriph_DMA1 | RCC_AHBPeriph_ADC34 | RCC_AHBPeriph_ADC12 | 0, ENABLE); RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_TIM6 | RCC_APB1Periph_TIM7 | RCC_APB1Periph_WWDG | RCC_APB1Periph_SPI2 | RCC_APB1Periph_SPI3 | RCC_APB1Periph_USART2 | RCC_APB1Periph_USART3 | RCC_APB1Periph_UART4 | RCC_APB1Periph_UART5 | RCC_APB1Periph_I2C1 | RCC_APB1Periph_I2C2 | RCC_APB1Periph_USB | RCC_APB1Periph_CAN1 | RCC_APB1Periph_PWR | RCC_APB1Periph_DAC | 0, ENABLE); RCC_APB2PeriphClockCmd( RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_TIM15 | RCC_APB2Periph_TIM16 | RCC_APB2Periph_TIM17 | RCC_APB2Periph_USART1 | RCC_APB2Periph_SPI1 | RCC_APB2Periph_SYSCFG | 0, ENABLE); /* * Configure all pins as input / pullup to avoid issues with * uncommitted pins, excepting special-function pins that we need to * remain as-is. */ GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; #if (PIOS_USB_ENABLED) GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12); // leave USB D+/D- alone #endif GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); // leave JTAG pins alone GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_Init(GPIOD, &GPIO_InitStructure); GPIO_Init(GPIOE, &GPIO_InitStructure); GPIO_Init(GPIOF, &GPIO_InitStructure); } /** * Shutdown PIOS and reset the microcontroller:
* * \return < 0 if reset failed */ int32_t PIOS_SYS_Reset(void) { // disable all interrupts PIOS_IRQ_Disable(); // turn off all board LEDs #if defined(PIOS_INCLUDE_LED) && defined(PIOS_LED_HEARTBEAT) PIOS_LED_Off(PIOS_LED_HEARTBEAT); #endif /* PIOS_LED_HEARTBEAT */ #if defined(PIOS_INCLUDE_LED) && defined(PIOS_LED_ALARM) PIOS_LED_Off(PIOS_LED_ALARM); #endif /* PIOS_LED_ALARM */ /* XXX F10x port resets most (but not all) peripherals ... do we care? */ /* Reset STM32 */ NVIC_SystemReset(); while (1) { ; } /* We will never reach this point */ return -1; } /** * Returns the serial number as byte array * param[out] pointer to a byte array which can store at least 12 bytes * (12 bytes returned for STM32) * return < 0 if feature not supported */ int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array) { int i; /* Stored in the so called "electronic signature" */ for (i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) { uint8_t b = MEM8(0x1ffff7ac + i); array[i] = b; } /* No error */ return 0; } /** * Returns the serial number as a string * param[out] str pointer to a string which can store at least 32 digits + zero terminator! * (24 digits returned for STM32) * return < 0 if feature not supported */ int32_t PIOS_SYS_SerialNumberGet(char *str) { int i; /* Stored in the so called "electronic signature" */ for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) { uint8_t b = MEM8(0x1ffff7ac + (i / 2)); if (!(i & 1)) { b >>= 4; } b &= 0x0f; str[i] = ((b > 9) ? ('A' - 10) : '0') + b; } str[i] = '\0'; /* No error */ return 0; } /** * Configures Vector Table base location and SysTick */ static void NVIC_Configuration(void) { /* Set the Vector Table base address as specified in .ld file */ extern void *pios_isr_vector_table_base; NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0); /* 4 bits for Interrupt priorities so no sub priorities */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); /* Configure HCLK clock as SysTick clock source. */ SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK); } #ifdef USE_FULL_ASSERT /** * Reports the name of the source file and the source line number * where the assert_param error has occurred. * \param[in] file pointer to the source file name * \param[in] line assert_param error line source number * \retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* When serial debugging is implemented, use something like this. */ /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */ /* Setup the LEDs to Alternate */ #if defined(PIOS_LED_HEARTBEAT) PIOS_LED_On(PIOS_LED_HEARTBEAT); #endif /* PIOS_LED_HEARTBEAT */ #if defined(PIOS_LED_ALARM) PIOS_LED_Off(PIOS_LED_ALARM); #endif /* PIOS_LED_ALARM */ /* Infinite loop */ while (1) { #if defined(PIOS_LED_HEARTBEAT) PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); #endif /* PIOS_LED_HEARTBEAT */ #if defined(PIOS_LED_ALARM) PIOS_LED_Toggle(PIOS_LED_ALARM); #endif /* PIOS_LED_ALARM */ for (int i = 0; i < 1000000; i++) { ; } } } #endif /* ifdef USE_FULL_ASSERT */ #endif /* if defined(PIOS_INCLUDE_SYS) */ /** * @} * @} */