src/main/drivers/system_stm32g4xx.c

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <string.h>
  19 #include <stdbool.h>
  20 #include <stdint.h>
  21 #include <stdlib.h>
  22
  23 #include "platform.h"
  24
  25 #include "drivers/accgyro/accgyro_mpu.h"
  26 #include "drivers/exti.h"
  27 #include "drivers/nvic.h"
  28 #include "drivers/memprot.h"
  29 #include "drivers/persistent.h"
  30 #include "drivers/system.h"
  31
  32 bool isMPUSoftReset(void)
  33 {
  34     if (cachedRccCsrValue & RCC_CSR_SFTRSTF)
  35         return true;
  36     else
  37         return false;
  38 }
  39
  40 void systemInit(void)
  41 {
  42     memProtReset();
  43     memProtConfigure(mpuRegions, mpuRegionCount);
  44
  45     // Configure NVIC preempt/priority groups
  46     HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITY_GROUPING);
  47
  48     // cache RCC->RSR value to use it in isMPUSoftReset() and others
  49     cachedRccCsrValue = RCC->CSR;
  50
  51     /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
  52     //extern void *isr_vector_table_base;
  53     //NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
  54     //__HAL_RCC_USB_OTG_FS_CLK_DISABLE;
  55
  56     //RCC_ClearFlag();
  57
  58     // Init cycle counter
  59     cycleCounterInit();
  60
  61     // SysTick is updated whenever HAL_RCC_ClockConfig is called.
  62
  63     // Disable UCPD pull-down functionality on PB4
  64     // AN5093 6.3.3:
  65     // (after device startup this pull-down on PB4 can be disabled by
  66     // setting UCPD1_DBDIS bit in the PWR_CR3 register).
  67     //
  68     // There is also a similar UCPD stand-by functionality control,
  69     // but don't fiddle with this one. In particular, disabling it by
  70     // calling HAL_PWREx_DisableUSBStandByModePD() will cause boot loader
  71     // invocation to fail.
  72
  73 #if defined(PWR_CR3_UCPD_DBDIS)
  74     HAL_PWREx_DisableUSBDeadBatteryPD();
  75 #endif
  76 }
  77
  78 void systemReset(void)
  79 {
  80     // SCB_DisableDCache();
  81     // SCB_DisableICache();
  82
  83     __disable_irq();
  84     NVIC_SystemReset();
  85 }
  86
  87 void systemResetToBootloader(bootloaderRequestType_e requestType)
  88 {
  89     UNUSED(requestType);
  90
  91     persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST_ROM);
  92
  93     __disable_irq();
  94     NVIC_SystemReset();
  95 }
  96
  97 #define SYSMEMBOOT_VECTOR_TABLE ((uint32_t *)0x1fff0000)
  98
  99 typedef void *(*bootJumpPtr)(void);
 100
 101 void systemJumpToBootloader(void)
 102 {
 103     __SYSCFG_CLK_ENABLE();
 104
 105     uint32_t bootStack =  SYSMEMBOOT_VECTOR_TABLE[0];
 106
 107     bootJumpPtr SysMemBootJump = (bootJumpPtr)SYSMEMBOOT_VECTOR_TABLE[1];
 108
 109     __set_MSP(bootStack); //Set the main stack pointer to its default values
 110
 111     SysMemBootJump();
 112
 113     while (1);
 114 }
 115
 116
 117 void systemProcessResetReason(void)
 118 {
 119     uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
 120
 121     switch (bootloaderRequest) {
 122     case RESET_MSC_REQUEST:
 123         // RESET_REASON will be reset by MSC
 124     case RESET_NONE:
 125         break;
 126
 127     case RESET_BOOTLOADER_REQUEST_ROM:
 128         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
 129
 130         systemJumpToBootloader();
 131
 132         break;
 133     }
 134 }