src/main/drivers/system_stm32f7xx.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <string.h>
  22 #include <stdbool.h>
  23 #include <stdint.h>
  24 #include <stdlib.h>
  25
  26 #include "platform.h"
  27
  28 #include "drivers/accgyro/accgyro_mpu.h"
  29 #include "drivers/exti.h"
  30 #include "drivers/nvic.h"
  31 #include "drivers/system.h"
  32 #include "drivers/persistent.h"
  33
  34 #include "stm32f7xx_ll_cortex.h"
  35
  36
  37 #define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
  38
  39 #define DEFAULT_STACK_POINTER ((uint32_t *) 0x1FF00000)
  40 #define SYSTEM_MEMORY_RESET_VECTOR ((uint32_t *) 0x1FF00004)
  41
  42 void SystemClock_Config(void);
  43
  44 void systemReset(void)
  45 {
  46     __disable_irq();
  47     NVIC_SystemReset();
  48 }
  49
  50 void systemResetToBootloader(bootloaderRequestType_e requestType)
  51 {
  52     switch (requestType) {
  53     case BOOTLOADER_REQUEST_ROM:
  54     default:
  55         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST_ROM);
  56
  57         break;
  58     }
  59
  60     __disable_irq();
  61     NVIC_SystemReset();
  62 }
  63
  64 bool isMPUSoftReset(void)
  65 {
  66     if (cachedRccCsrValue & RCC_CSR_SFTRSTF)
  67         return true;
  68     else
  69         return false;
  70 }
  71
  72 static void checkForBootLoaderRequest(void)
  73 {
  74     uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
  75
  76     if (bootloaderRequest != RESET_BOOTLOADER_REQUEST_ROM) {
  77         return;
  78     }
  79     persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_POST);
  80
  81     __SYSCFG_CLK_ENABLE();
  82     SYSCFG->MEMRMP |= SYSCFG_MEM_BOOT_ADD0 ;
  83
  84     __set_MSP(*DEFAULT_STACK_POINTER);
  85
  86     ((void (*)(void))*SYSTEM_MEMORY_RESET_VECTOR)();
  87
  88     while (1);
  89 }
  90
  91 void systemInit(void)
  92 {
  93     checkForBootLoaderRequest();
  94
  95     //  Mark ITCM-RAM as read-only
  96     LL_MPU_ConfigRegion(LL_MPU_REGION_NUMBER0, 0, RAMITCM_BASE, LL_MPU_REGION_SIZE_16KB | LL_MPU_REGION_PRIV_RO_URO);
  97     LL_MPU_Enable(LL_MPU_CTRL_PRIVILEGED_DEFAULT);
  98
  99     //SystemClock_Config();
 100
 101     // Configure NVIC preempt/priority groups
 102     HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITY_GROUPING);
 103
 104     // cache RCC->CSR value to use it in isMPUSoftReset() and others
 105     cachedRccCsrValue = RCC->CSR;
 106
 107     /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
 108     //extern void *isr_vector_table_base;
 109     //NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
 110     //__HAL_RCC_USB_OTG_FS_CLK_DISABLE;
 111
 112     //RCC_ClearFlag();
 113
 114     // Init cycle counter
 115     cycleCounterInit();
 116
 117     // SysTick
 118     //SysTick_Config(SystemCoreClock / 1000);
 119     HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
 120
 121     HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
 122 }