src/platform/APM32/system_apm32f4xx.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software. You can redistribute this software
   5  * and/or modify this software under the terms of the GNU General
   6  * Public License as published by the Free Software Foundation,
   7  * either version 3 of the License, or (at your option) any later
   8  * version.
   9  *
  10  * Betaflight is distributed in the hope that it will be useful,
  11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  *
  14  * See the GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public
  17  * License along with this software.
  18  *
  19  * If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #include <stdbool.h>
  23 #include <stdint.h>
  24
  25 #include "platform.h"
  26
  27 #include "drivers/accgyro/accgyro_mpu.h"
  28 #include "drivers/exti.h"
  29 #include "drivers/nvic.h"
  30 #include "drivers/system.h"
  31 #include "drivers/persistent.h"
  32
  33 void systemReset(void)
  34 {
  35     __disable_irq();
  36     NVIC_SystemReset();
  37 }
  38
  39 void systemResetToBootloader(bootloaderRequestType_e requestType)
  40 {
  41     switch (requestType) {
  42     case BOOTLOADER_REQUEST_ROM:
  43     default:
  44         persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST_ROM);
  45
  46         break;
  47     }
  48
  49     __disable_irq();
  50     NVIC_SystemReset();
  51 }
  52
  53 typedef void resetHandler_t(void);
  54
  55 typedef struct isrVector_s {
  56     __I uint32_t    stackEnd;
  57     resetHandler_t *resetHandler;
  58 } isrVector_t;
  59
  60 // Used in the startup files for F4
  61 void checkForBootLoaderRequest(void)
  62 {
  63     uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
  64
  65     if (bootloaderRequest != RESET_BOOTLOADER_REQUEST_ROM) {
  66         return;
  67     }
  68     persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
  69
  70     extern isrVector_t system_isr_vector_table_base;
  71
  72     __set_MSP(system_isr_vector_table_base.stackEnd);
  73     system_isr_vector_table_base.resetHandler();
  74     while (1);
  75 }
  76
  77 void enableGPIOPowerUsageAndNoiseReductions(void)
  78 {
  79     __DAL_RCM_BKPSRAM_CLK_ENABLE();
  80     __DAL_RCM_DMA1_CLK_ENABLE();
  81     __DAL_RCM_DMA2_CLK_ENABLE();
  82
  83     __DAL_RCM_TMR2_CLK_ENABLE();
  84     __DAL_RCM_TMR3_CLK_ENABLE();
  85     __DAL_RCM_TMR4_CLK_ENABLE();
  86     __DAL_RCM_TMR5_CLK_ENABLE();
  87     __DAL_RCM_TMR6_CLK_ENABLE();
  88     __DAL_RCM_TMR7_CLK_ENABLE();
  89     __DAL_RCM_TMR12_CLK_ENABLE();
  90     __DAL_RCM_TMR13_CLK_ENABLE();
  91     __DAL_RCM_TMR14_CLK_ENABLE();
  92     __DAL_RCM_WWDT_CLK_ENABLE();
  93     __DAL_RCM_SPI2_CLK_ENABLE();
  94     __DAL_RCM_SPI3_CLK_ENABLE();
  95     __DAL_RCM_USART2_CLK_ENABLE();
  96     __DAL_RCM_USART3_CLK_ENABLE();
  97     __DAL_RCM_UART4_CLK_ENABLE();
  98     __DAL_RCM_UART5_CLK_ENABLE();
  99     __DAL_RCM_I2C1_CLK_ENABLE();
 100     __DAL_RCM_I2C2_CLK_ENABLE();
 101     __DAL_RCM_I2C3_CLK_ENABLE();
 102     __DAL_RCM_CAN1_CLK_ENABLE();
 103     __DAL_RCM_CAN2_CLK_ENABLE();
 104     __DAL_RCM_PMU_CLK_ENABLE();
 105     __DAL_RCM_DAC_CLK_ENABLE();
 106
 107     __DAL_RCM_TMR1_CLK_ENABLE();
 108     __DAL_RCM_TMR8_CLK_ENABLE();
 109     __DAL_RCM_USART1_CLK_ENABLE();
 110     __DAL_RCM_USART6_CLK_ENABLE();
 111     __DAL_RCM_ADC1_CLK_ENABLE();
 112     __DAL_RCM_ADC2_CLK_ENABLE();
 113     __DAL_RCM_ADC3_CLK_ENABLE();
 114     __DAL_RCM_SDIO_CLK_ENABLE();
 115     __DAL_RCM_SPI1_CLK_ENABLE();
 116     __DAL_RCM_SYSCFG_CLK_ENABLE();
 117     __DAL_RCM_TMR9_CLK_ENABLE();
 118     __DAL_RCM_TMR10_CLK_ENABLE();
 119     __DAL_RCM_TMR11_CLK_ENABLE();
 120 }
 121
 122 bool isMPUSoftReset(void)
 123 {
 124     if (cachedRccCsrValue & RCM_CSTS_SWRSTFLG)
 125         return true;
 126     else
 127         return false;
 128 }
 129
 130 void systemInit(void)
 131 {
 132     persistentObjectInit();
 133
 134     checkForBootLoaderRequest();
 135
 136 #ifdef USE_DAL_DRIVER
 137     DAL_Init();
 138 #endif
 139
 140     /* Configure the System clock source, PLL1 and HCLK */
 141     DAL_SysClkConfig();
 142
 143     /* Update SystemCoreClock variable */
 144     SystemCoreClockUpdate();
 145
 146     // Configure NVIC preempt/priority groups
 147     DAL_NVIC_SetPriorityGrouping(NVIC_PRIORITY_GROUPING);
 148
 149     // cache RCM->CSTS value to use it in isMPUSoftReset() and others
 150     cachedRccCsrValue = READ_REG(RCM->CSTS);
 151
 152     // Although VTOR is already loaded with a possible vector table in RAM,
 153     // removing the call to NVIC_SetVectorTable causes USB not to become active,
 154
 155     extern uint8_t isr_vector_table_base;
 156     SCB->VTOR = (uint32_t)&isr_vector_table_base | (0x0 & (uint32_t)0x1FFFFF80);
 157
 158     // Disable USB OTG FS clock
 159     __DAL_RCM_USB_OTG_FS_CLK_DISABLE();
 160
 161     // Clear reset flags
 162     SET_BIT(RCM->CSTS, RCM_CSTS_RSTFLGCLR);
 163
 164     enableGPIOPowerUsageAndNoiseReductions();
 165
 166     // Init cycle counter
 167     cycleCounterInit();
 168
 169     //--Todo: Set systick here ? // SysTick is updated whenever DAL_RCM_ClockConfig is called.
 170 }