/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SYS System Functions
* @brief PIOS System Initialization code
* @{
*
* @file pios_sys.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @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
/* Private Function Prototypes */
void NVIC_Configuration(void);
void SysTick_Handler(void);
/* 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();
/* Init the delay system */
PIOS_DELAY_Init();
/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE |
RCC_APB2Periph_AFIO, ENABLE);
#if (PIOS_USB_ENABLED)
/* Ensure that pull-up is active on detect pin */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Pin = PIOS_USB_DETECT_GPIO_PIN;
GPIO_Init(PIOS_USB_DETECT_GPIO_PORT, &GPIO_InitStructure);
#endif
/* Initialise Basic NVIC */
NVIC_Configuration();
}
/**
* 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 */
RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
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(0x1FFFF7E0) * 1000;
}
/**
* Returns the serial number as a string
* param[out] uint8_t pointer to a string 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(0x1ffff7e8 + 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(0x1ffff7e8 + (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)
{
/* 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 /* PIOS_INCLUDE_SYS */
/**
* @}
* @}
*/