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334 lines
9.9 KiB
C
334 lines
9.9 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_SYS System Functions
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* @brief PIOS System Initialization code
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* @{
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*
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* @file pios_sys.c
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* @author Michael Smith Copyright (C) 2011
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Sets up basic STM32 system hardware, functions are called from Main.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_SYS
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/* Private Function Prototypes */
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void NVIC_Configuration(void);
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void SysTick_Handler(void);
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/* Local Macros */
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#define MEM8(addr) (*((volatile uint8_t *)(addr)))
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#define MEM16(addr) (*((volatile uint16_t *)(addr)))
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#define MEM32(addr) (*((volatile uint32_t *)(addr)))
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/**
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* Initialises all system peripherals
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*/
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void PIOS_SYS_Init(void)
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{
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/* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
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SystemInit();
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SystemCoreClockUpdate(); /* update SystemCoreClock for use elsewhere */
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/*
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* @todo might make sense to fetch the bus clocks and save them somewhere to avoid
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* having to use the clunky get-all-clocks API everytime we need one.
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*/
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/* Initialise Basic NVIC */
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/* do this early to ensure that we take exceptions in the right place */
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NVIC_Configuration();
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/* Init the delay system */
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PIOS_DELAY_Init();
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/*
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* Turn on all the peripheral clocks.
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* Micromanaging clocks makes no sense given the power situation in the system, so
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* light up everything we might reasonably use here and just leave it on.
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*/
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RCC_AHB1PeriphClockCmd(
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RCC_AHB1Periph_GPIOA |
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RCC_AHB1Periph_GPIOB |
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RCC_AHB1Periph_GPIOC |
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RCC_AHB1Periph_GPIOD |
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RCC_AHB1Periph_GPIOE |
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RCC_AHB1Periph_GPIOF |
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RCC_AHB1Periph_GPIOG |
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RCC_AHB1Periph_GPIOH |
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RCC_AHB1Periph_GPIOI |
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RCC_AHB1Periph_CRC |
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RCC_AHB1Periph_FLITF |
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RCC_AHB1Periph_SRAM1 |
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RCC_AHB1Periph_SRAM2 |
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RCC_AHB1Periph_BKPSRAM |
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RCC_AHB1Periph_DMA1 |
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RCC_AHB1Periph_DMA2 |
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// RCC_AHB1Periph_ETH_MAC | No ethernet
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// RCC_AHB1Periph_ETH_MAC_Tx |
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// RCC_AHB1Periph_ETH_MAC_Rx |
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// RCC_AHB1Periph_ETH_MAC_PTP |
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// RCC_AHB1Periph_OTG_HS | No high-speed USB (requires external PHY)
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// RCC_AHB1Periph_OTG_HS_ULPI | No ULPI PHY (see above)
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0, ENABLE);
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RCC_AHB2PeriphClockCmd(
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// RCC_AHB2Periph_DCMI | No camera @todo might make sense later for basic vision support?
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// RCC_AHB2Periph_CRYP | No crypto
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// RCC_AHB2Periph_HASH | No hash generator
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// RCC_AHB2Periph_RNG | No random numbers @todo might be good to have later if entropy is desired
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// RCC_AHB2Periph_OTG_FS |
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0, ENABLE);
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RCC_AHB3PeriphClockCmd(
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// RCC_AHB3Periph_FSMC | No external static memory
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0, ENABLE);
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RCC_APB1PeriphClockCmd(
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RCC_APB1Periph_TIM2 |
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RCC_APB1Periph_TIM3 |
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RCC_APB1Periph_TIM4 |
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RCC_APB1Periph_TIM5 |
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RCC_APB1Periph_TIM6 |
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RCC_APB1Periph_TIM7 |
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RCC_APB1Periph_TIM12 |
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RCC_APB1Periph_TIM13 |
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RCC_APB1Periph_TIM14 |
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RCC_APB1Periph_WWDG |
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RCC_APB1Periph_SPI2 |
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RCC_APB1Periph_SPI3 |
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RCC_APB1Periph_USART2 |
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RCC_APB1Periph_USART3 |
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RCC_APB1Periph_UART4 |
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RCC_APB1Periph_UART5 |
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RCC_APB1Periph_I2C1 |
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RCC_APB1Periph_I2C2 |
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RCC_APB1Periph_I2C3 |
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RCC_APB1Periph_CAN1 |
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RCC_APB1Periph_CAN2 |
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RCC_APB1Periph_PWR |
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RCC_APB1Periph_DAC |
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0, ENABLE);
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RCC_APB2PeriphClockCmd(
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RCC_APB2Periph_TIM1 |
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RCC_APB2Periph_TIM8 |
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RCC_APB2Periph_USART1 |
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RCC_APB2Periph_USART6 |
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RCC_APB2Periph_ADC |
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RCC_APB2Periph_ADC1 |
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RCC_APB2Periph_ADC2 |
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RCC_APB2Periph_ADC3 |
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RCC_APB2Periph_SDIO |
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RCC_APB2Periph_SPI1 |
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RCC_APB2Periph_SYSCFG |
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RCC_APB2Periph_TIM9 |
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RCC_APB2Periph_TIM10 |
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RCC_APB2Periph_TIM11 |
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0, ENABLE);
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/*
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* Configure all pins as input / pullup to avoid issues with
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* uncommitted pins, excepting special-function pins that we need to
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* remain as-is.
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*/
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
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#if (PIOS_USB_ENABLED)
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GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12); // leave USB D+/D- alone
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#endif
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GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); // leave JTAG pins alone
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
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GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_3 | GPIO_Pin_4); // leave JTAG pins alone
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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GPIO_Init(GPIOD, &GPIO_InitStructure);
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GPIO_Init(GPIOE, &GPIO_InitStructure);
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GPIO_Init(GPIOF, &GPIO_InitStructure);
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GPIO_Init(GPIOG, &GPIO_InitStructure);
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GPIO_Init(GPIOH, &GPIO_InitStructure);
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GPIO_Init(GPIOI, &GPIO_InitStructure);
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}
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/**
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* Shutdown PIOS and reset the microcontroller:<BR>
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* <UL>
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* <LI>Disable all RTOS tasks
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* <LI>Disable all interrupts
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* <LI>Turn off all board LEDs
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* <LI>Reset STM32
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* </UL>
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* \return < 0 if reset failed
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*/
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int32_t PIOS_SYS_Reset(void)
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{
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/* Disable all RTOS tasks */
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#if defined(PIOS_INCLUDE_FREERTOS)
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/* port specific FreeRTOS function to disable tasks (nested) */
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portENTER_CRITICAL();
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#endif
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// disable all interrupts
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PIOS_IRQ_Disable();
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// turn off all board LEDs
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#if defined(PIOS_LED_HEARTBEAT)
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PIOS_LED_Off(PIOS_LED_HEARTBEAT);
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#endif /* PIOS_LED_HEARTBEAT */
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#if defined(PIOS_LED_ALARM)
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PIOS_LED_Off(PIOS_LED_ALARM);
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#endif /* PIOS_LED_ALARM */
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/* XXX F10x port resets most (but not all) peripherals ... do we care? */
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/* Reset STM32 */
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NVIC_SystemReset();
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while (1) {
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;
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}
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/* We will never reach this point */
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return -1;
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}
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/**
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* Returns the CPU's flash size (in bytes)
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*/
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uint32_t PIOS_SYS_getCPUFlashSize(void)
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{
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return (uint32_t)MEM16(0x1fff7a22) * 1024; // it might be possible to locate in the OTP area, but haven't looked and not documented
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}
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/**
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* Returns the serial number as a string
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* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
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* (24 digits returned for STM32)
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* return < 0 if feature not supported
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*/
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int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
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{
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int i;
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/* Stored in the so called "electronic signature" */
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for (i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
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uint8_t b = MEM8(0x1fff7a10 + i);
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array[i] = b;
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}
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/* No error */
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return 0;
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}
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/**
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* Returns the serial number as a string
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* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
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* (24 digits returned for STM32)
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* return < 0 if feature not supported
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*/
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int32_t PIOS_SYS_SerialNumberGet(char *str)
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{
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int i;
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/* Stored in the so called "electronic signature" */
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for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
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uint8_t b = MEM8(0x1fff7a10 + (i / 2));
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if (!(i & 1)) {
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b >>= 4;
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}
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b &= 0x0f;
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str[i] = ((b > 9) ? ('A' - 10) : '0') + b;
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}
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str[i] = '\0';
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/* No error */
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return 0;
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}
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/**
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* Configures Vector Table base location and SysTick
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*/
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void NVIC_Configuration(void)
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{
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/* Set the Vector Table base address as specified in .ld file */
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extern void *pios_isr_vector_table_base;
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NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);
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/* 4 bits for Interrupt priorities so no sub priorities */
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
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/* Configure HCLK clock as SysTick clock source. */
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SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
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}
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#ifdef USE_FULL_ASSERT
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/**
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* Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* \param[in] file pointer to the source file name
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* \param[in] line assert_param error line source number
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* \retval None
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*/
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void assert_failed(uint8_t *file, uint32_t line)
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{
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/* When serial debugging is implemented, use something like this. */
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/* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
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/* Setup the LEDs to Alternate */
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#if defined(PIOS_LED_HEARTBEAT)
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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#endif /* PIOS_LED_HEARTBEAT */
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#if defined(PIOS_LED_ALARM)
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PIOS_LED_Off(PIOS_LED_ALARM);
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#endif /* PIOS_LED_ALARM */
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/* Infinite loop */
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while (1) {
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#if defined(PIOS_LED_HEARTBEAT)
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
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#endif /* PIOS_LED_HEARTBEAT */
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#if defined(PIOS_LED_ALARM)
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PIOS_LED_Toggle(PIOS_LED_ALARM);
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#endif /* PIOS_LED_ALARM */
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for (int i = 0; i < 1000000; i++) {
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;
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}
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}
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}
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#endif /* ifdef USE_FULL_ASSERT */
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#endif /* PIOS_INCLUDE_SYS */
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/**
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* @}
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* @}
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*/
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