src/main/drivers/system_stm32h7xx.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/persistent.h"
  29 #include "drivers/system.h"
  30
  31
  32 void SystemClock_Config(void);
  33
  34 void configureMasterClockOutputs(void)
  35 {
  36     // Initialize pins for MCO1 and MCO2 for clock testing/verification
  37
  38     GPIO_InitTypeDef GPIO_InitStruct;
  39
  40     GPIO_InitStruct.Pin = GPIO_PIN_8;
  41     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  42     GPIO_InitStruct.Pull = GPIO_NOPULL;
  43     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  44     GPIO_InitStruct.Alternate = GPIO_AF0_MCO;
  45
  46     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  47
  48     GPIO_InitStruct.Pin = GPIO_PIN_9;
  49     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
  50     GPIO_InitStruct.Pull = GPIO_NOPULL;
  51     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
  52     GPIO_InitStruct.Alternate = GPIO_AF0_MCO;
  53
  54     HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
  55 }
  56
  57 bool isMPUSoftReset(void)
  58 {
  59     if (cachedRccCsrValue & RCC_RSR_SFTRSTF)
  60         return true;
  61     else
  62         return false;
  63 }
  64
  65 void systemInit(void)
  66 {
  67     // Configure NVIC preempt/priority groups
  68     HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITY_GROUPING);
  69
  70     // cache RCC->RSR value to use it in isMPUSoftReset() and others
  71     cachedRccCsrValue = RCC->RSR;
  72
  73     /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
  74     //extern void *isr_vector_table_base;
  75     //NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
  76     //__HAL_RCC_USB_OTG_FS_CLK_DISABLE;
  77
  78     //RCC_ClearFlag();
  79
  80 #if defined(STM32H743xx) || defined(STM32H750xx)
  81     __HAL_RCC_D2SRAM1_CLK_ENABLE();
  82     __HAL_RCC_D2SRAM2_CLK_ENABLE();
  83     __HAL_RCC_D2SRAM3_CLK_ENABLE();
  84 #elif defined(STM32H7A3xx) || defined(STM32H7A3xxQ)
  85     __HAL_RCC_AHBSRAM1_CLK_ENABLE();
  86     __HAL_RCC_AHBSRAM2_CLK_ENABLE();
  87 #elif defined(STM32H723xx) || defined(STM32H725xx) || defined(STM32H730xx)
  88     __HAL_RCC_D2SRAM1_CLK_ENABLE();
  89     __HAL_RCC_D2SRAM2_CLK_ENABLE();
  90 #else
  91 #error Unknown MCU
  92 #endif
  93
  94 #ifdef USE_MCO_OUTPUTS
  95     configureMasterClockOutputs();
  96 #endif
  97
  98     // Init cycle counter
  99     cycleCounterInit();
 100
 101     // SysTick is updated whenever HAL_RCC_ClockConfig is called.
 102 }
 103
 104 void systemReset(void)
 105 {
 106     SCB_DisableDCache();
 107     SCB_DisableICache();
 108
 109     __disable_irq();
 110     NVIC_SystemReset();
 111 }
 112
 113 void systemResetWithoutDisablingCaches(void)
 114 {
 115     __disable_irq();
 116     NVIC_SystemReset();
 117 }
 118
 119 void systemResetToBootloader(bootloaderRequestType_e requestType)
 120 {
 121     switch (requestType) {
 122 #if defined(USE_FLASH_BOOT_LOADER)
 123     case BOOTLOADER_REQUEST_FLASH:
 124         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST_FLASH);
 125
 126         break;
 127 #endif
 128     case BOOTLOADER_REQUEST_ROM:
 129     default:
 130         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST_ROM);
 131
 132         break;
 133     }
 134
 135     __disable_irq();
 136     NVIC_SystemReset();
 137 }
 138
 139
 140 #if defined(STM32H743xx) || defined(STM32H750xx) || defined(STM32H723xx) || defined(STM32H725xx) || defined(STM32H730xx)
 141 #define SYSMEMBOOT_VECTOR_TABLE ((uint32_t *)0x1ff09800)
 142 #elif defined(STM32H7A3xx) || defined(STM32H7A3xxQ)
 143 #define SYSMEMBOOT_VECTOR_TABLE ((uint32_t *)0x1ff0a000)
 144 #else
 145 #error Unknown MCU
 146 #endif
 147
 148 typedef void *(*bootJumpPtr)(void);
 149
 150 void systemJumpToBootloader(void)
 151 {
 152     __SYSCFG_CLK_ENABLE();
 153
 154     uint32_t bootStack =  SYSMEMBOOT_VECTOR_TABLE[0];
 155
 156     bootJumpPtr SysMemBootJump = (bootJumpPtr)SYSMEMBOOT_VECTOR_TABLE[1];
 157
 158     __set_MSP(bootStack); //Set the main stack pointer to its default values
 159
 160     SysMemBootJump();
 161
 162     while (1);
 163 }
 164
 165
 166 void systemProcessResetReason(void)
 167 {
 168     uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
 169
 170     switch (bootloaderRequest) {
 171 #if defined(USE_FLASH_BOOT_LOADER)
 172     case RESET_BOOTLOADER_REQUEST_FLASH:
 173 #endif
 174     case RESET_BOOTLOADER_REQUEST_ROM:
 175         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_POST);
 176         systemJumpToBootloader();
 177
 178         break;
 179
 180     case RESET_FORCED:
 181         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
 182         break;
 183
 184     case RESET_BOOTLOADER_POST:
 185         // Boot loader activity magically prevents SysTick from interrupting.
 186         // Issue a soft reset to prevent the condition.
 187         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_FORCED);
 188         systemResetWithoutDisablingCaches(); // observed that disabling dcache after cold boot with BOOT pin high causes segfault.
 189
 190         break;
 191
 192     case RESET_MSC_REQUEST:
 193     case RESET_NONE:
 194     default:
 195         break;
 196
 197     }
 198 }