src/main/drivers/system_stm32f10x.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 <stdbool.h>
  22 #include <stdint.h>
  23
  24 #include "platform.h"
  25
  26 #include "drivers/nvic.h"
  27 #include "drivers/system.h"
  28
  29 #define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
  30
  31 // from system_stm32f10x.c
  32 void SetSysClock(bool overclock);
  33
  34 void systemReset(void)
  35 {
  36     // Generate system reset
  37     SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
  38 }
  39
  40 void systemResetToBootloader(bootloaderRequestType_e requestType)
  41 {
  42     UNUSED(requestType);
  43
  44     // 1FFFF000 -> 20000200 -> SP
  45     // 1FFFF004 -> 1FFFF021 -> PC
  46
  47     *((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
  48     systemReset();
  49 }
  50
  51 static void checkForBootLoaderRequest(void)
  52 {
  53     void(*bootJump)(void);
  54
  55     if (*((uint32_t *)0x20004FF0) == 0xDEADBEEF) {
  56
  57         *((uint32_t *)0x20004FF0) = 0x0;
  58
  59         __enable_irq();
  60         __set_MSP(*((uint32_t *)0x1FFFF000));
  61
  62         bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFF004));
  63         bootJump();
  64         while (1);
  65     }
  66 }
  67
  68 void enableGPIOPowerUsageAndNoiseReductions(void)
  69 {
  70 }
  71
  72 bool isMPUSoftReset(void)
  73 {
  74     if (cachedRccCsrValue & RCC_CSR_SFTRSTF)
  75         return true;
  76     else
  77         return false;
  78 }
  79
  80 void systemInit(void)
  81 {
  82     checkForBootLoaderRequest();
  83
  84     SetSysClock(false);
  85
  86 #if defined(OPBL)
  87     /* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
  88     extern void *isr_vector_table_base;
  89
  90     NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
  91 #endif
  92     // Configure NVIC preempt/priority groups
  93     NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
  94
  95     // Turn on clocks for stuff we use
  96     RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
  97
  98     // cache RCC->CSR value to use it in isMPUSoftReset() and others
  99     cachedRccCsrValue = RCC->CSR;
 100     RCC_ClearFlag();
 101
 102     enableGPIOPowerUsageAndNoiseReductions();
 103
 104     // Set USART1 TX (PA9) to output and high state to prevent a rs232 break condition on reset.
 105     // See issue https://github.com/cleanflight/cleanflight/issues/1433
 106     GPIO_InitTypeDef GPIO_InitStructure = {
 107         .GPIO_Mode = GPIO_Mode_Out_PP,
 108         .GPIO_Pin = GPIO_Pin_9,
 109         .GPIO_Speed = GPIO_Speed_2MHz
 110     };
 111
 112     GPIOA->BSRR = GPIO_InitStructure.GPIO_Pin;
 113     GPIO_Init(GPIOA, &GPIO_InitStructure);
 114
 115     // Turn off JTAG port 'cause we're using the GPIO for leds
 116 #define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW            (0x2 << 24)
 117     AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
 118
 119     // Init cycle counter
 120     cycleCounterInit();
 121
 122     // SysTick
 123     SysTick_Config(SystemCoreClock / 1000);
 124 }