/**
******************************************************************************
* @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
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @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
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_SYS
__IO uint32_t VectorTable[48] __attribute__((section(".ram_vector_table")));
/* Private Function Prototypes */
void NVIC_Configuration(void);
void stopHandler();
/* Local Macros */
#define MEM8(addr) (*((volatile uint8_t *)(addr)))
#define MEM16(addr) (*((volatile uint16_t *)(addr)))
#define MEM32(addr) (*((volatile uint32_t *)(addr)))
/**
* 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_FLITF |
RCC_AHBPeriph_SRAM |
RCC_AHBPeriph_DMA1
, ENABLE);
RCC_APB2PeriphClockCmd(
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;
GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14); // leave SWD pins alone
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
GPIO_Init(GPIOC, &GPIO_InitStructure);
}
/**
* Shutdown PIOS and reset the microcontroller:<BR>
* <UL>
* <LI>Disable all RTOS tasks
* <LI>Disable all interrupts
* <LI>Turn off all board LEDs
* <LI>Reset STM32
* </UL>
* \return < 0 if reset failed
*/
int32_t PIOS_SYS_Reset(void)
{
/* Disable all RTOS tasks */
#if defined(PIOS_INCLUDE_FREERTOS)
/* port specific FreeRTOS function to disable tasks (nested) */
portENTER_CRITICAL();
#endif
// disable all interrupts
PIOS_IRQ_Disable();
// turn off all board LEDs
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
PIOS_LED_Off(PIOS_LED_ALARM);
#endif /* PIOS_LED_ALARM */
/* Reset STM32 */
NVIC_SystemReset();
while (1) {
;
}
/* We will never reach this point */
return -1;
}
/**
* Returns the CPU's flash size (in bytes)
*/
uint32_t PIOS_SYS_getCPUFlashSize(void)
{
return (uint32_t)MEM16(0x1fff7a22) * 1024; // it might be possible to locate in the OTP area, but haven't looked and not documented
}
/**
* 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_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
*/
void NVIC_Configuration(void)
{
/* Relocate by software the vector table to the internal SRAM at 0x20000000 ***/
extern uint32_t pios_isr_vector_table_base;
uint32_t *romTable = &pios_isr_vector_table_base;
/* Copy the vector table from the Flash (mapped at the base of the application
load address 0x0800X000) to the base address of the SRAM at 0x20000000. */
for (uint32_t i = 0; i < 48; i++) {
VectorTable[i] = romTable[i];
}
// Ensure all memory operation completes prior the remap
__DSB();
/* Enable the SYSCFG peripheral clock*/
RCC_APB2PeriphResetCmd(RCC_APB2Periph_SYSCFG, ENABLE);
/* Remap SRAM at 0x00000000 */
SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SRAM);
/* 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 */
void NMI_Handler(void)
{
stopHandler();
}
void HardFault_Handler(void)
{
stopHandler();
}
void MemManage_Handler(void)
{
stopHandler();
}
void BusFault_Handler(void)
{
stopHandler();
}
void UsageFault_Handler(void)
{
stopHandler();
}
void stopHandler()
{
while (1) {}
}
#endif /* PIOS_INCLUDE_SYS */
/**
* @}
* @}
*/