flight/pios/stm32f10x/pios_sys.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @addtogroup PIOS_SYS System Functions
   6  * @brief PIOS System Initialization code
   7  * @{
   8  *
   9  * @file       pios_sys.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  *              Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
  12  * @brief      Sets up basic STM32 system hardware, functions are called from Main.
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #include "pios.h"
  33
  34 #ifdef PIOS_INCLUDE_SYS
  35
  36 /* Private Function Prototypes */
  37 void NVIC_Configuration(void);
  38 void SysTick_Handler(void);
  39
  40 /* Local Macros */
  41 #define MEM8(addr)  (*((volatile uint8_t *)(addr)))
  42 #define MEM16(addr) (*((volatile uint16_t *)(addr)))
  43 #define MEM32(addr) (*((volatile uint32_t *)(addr)))
  44
  45 /**
  46  * Initialises all system peripherals
  47  */
  48 void PIOS_SYS_Init(void)
  49 {
  50     /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
  51     SystemInit();
  52
  53     /* Init the delay system */
  54     PIOS_DELAY_Init();
  55
  56     /* Enable DMA */
  57     RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1 |
  58                           RCC_AHBPeriph_DMA2,
  59                           ENABLE);
  60
  61     /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
  62     RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE |
  63                            RCC_APB2Periph_AFIO, ENABLE);
  64
  65 #if (PIOS_USB_ENABLED)
  66     /*  Ensure that pull-up is active on detect pin */
  67     GPIO_InitTypeDef GPIO_InitStructure;
  68     GPIO_StructInit(&GPIO_InitStructure);
  69     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  70     GPIO_InitStructure.GPIO_Pin  = PIOS_USB_DETECT_GPIO_PIN;
  71     GPIO_Init(PIOS_USB_DETECT_GPIO_PORT, &GPIO_InitStructure);
  72 #endif
  73
  74     /* Initialise Basic NVIC */
  75     NVIC_Configuration();
  76 }
  77
  78 /**
  79  * Shutdown PIOS and reset the microcontroller:<BR>
  80  * <UL>
  81  *   <LI>Disable all RTOS tasks
  82  *   <LI>Disable all interrupts
  83  *   <LI>Turn off all board LEDs
  84  *   <LI>Reset STM32
  85  * </UL>
  86  * \return < 0 if reset failed
  87  */
  88 int32_t PIOS_SYS_Reset(void)
  89 {
  90     /* Disable all RTOS tasks */
  91 #if defined(PIOS_INCLUDE_FREERTOS)
  92     /* port specific FreeRTOS function to disable tasks (nested) */
  93     portENTER_CRITICAL();
  94 #endif
  95
  96     // disable all interrupts
  97     PIOS_IRQ_Disable();
  98
  99     // turn off all board LEDs
 100 #ifdef PIOS_INCLUDE_LED
 101 # ifdef PIOS_LED_HEARTBEAT
 102     PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 103 # endif /* PIOS_LED_HEARTBEAT */
 104 # ifdef PIOS_LED_ALARM
 105     PIOS_LED_Off(PIOS_LED_ALARM);
 106 # endif /* PIOS_LED_ALARM */
 107 # ifdef PIOS_BUZZER_ALARM
 108     PIOS_LED_Off(PIOS_BUZZER_ALARM);
 109 # endif /* PIOS_BUZZER_ALARM */
 110 #endif /* PIOS_INCLUDE_LED */
 111
 112     RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
 113     RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 114     NVIC_SystemReset();
 115
 116     while (1) {
 117         ;
 118     }
 119
 120     /* We will never reach this point */
 121     return -1;
 122 }
 123
 124 /**
 125  * Returns the CPU's flash size (in bytes)
 126  */
 127 uint32_t PIOS_SYS_getCPUFlashSize(void)
 128 {
 129     return (uint32_t)MEM16(0x1FFFF7E0) * 1000;
 130 }
 131
 132 /**
 133  * Returns the serial number as a string
 134  * param[out] uint8_t pointer to a string which can store at least 12 bytes
 135  * (12 bytes returned for STM32)
 136  * return < 0 if feature not supported
 137  */
 138 int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
 139 {
 140     int i;
 141
 142     /* Stored in the so called "electronic signature" */
 143     for (i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
 144         uint8_t b = MEM8(0x1ffff7e8 + i);
 145
 146         array[i] = b;
 147     }
 148
 149     /* No error */
 150     return 0;
 151 }
 152
 153 /**
 154  * Returns the serial number as a string
 155  * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
 156  * (24 digits returned for STM32)
 157  * return < 0 if feature not supported
 158  */
 159 int32_t PIOS_SYS_SerialNumberGet(char *str)
 160 {
 161     int i;
 162
 163     /* Stored in the so called "electronic signature" */
 164     for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
 165         uint8_t b = MEM8(0x1ffff7e8 + (i / 2));
 166         if (!(i & 1)) {
 167             b >>= 4;
 168         }
 169         b &= 0x0f;
 170
 171         str[i] = ((b > 9) ? ('A' - 10) : '0') + b;
 172     }
 173     str[i] = '\0';
 174
 175     /* No error */
 176     return 0;
 177 }
 178
 179 /**
 180  * Configures Vector Table base location and SysTick
 181  */
 182 void NVIC_Configuration(void)
 183 {
 184     /* Set the Vector Table base address as specified in .ld file */
 185     extern void *pios_isr_vector_table_base;
 186
 187     NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);
 188
 189     /* 4 bits for Interrupt priorities so no sub priorities */
 190     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 191
 192     /* Configure HCLK clock as SysTick clock source. */
 193     SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
 194 }
 195
 196 #ifdef USE_FULL_ASSERT
 197 /**
 198  * Reports the name of the source file and the source line number
 199  *   where the assert_param error has occurred.
 200  * \param[in]  file pointer to the source file name
 201  * \param[in]  line assert_param error line source number
 202  * \retval None
 203  */
 204 void assert_failed(uint8_t *file, uint32_t line)
 205 {
 206     /* When serial debugging is implemented, use something like this. */
 207     /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
 208
 209     /* Setup the LEDs to Alternate */
 210 #if defined(PIOS_LED_HEARTBEAT)
 211     PIOS_LED_On(PIOS_LED_HEARTBEAT);
 212 #endif /* PIOS_LED_HEARTBEAT */
 213 #if defined(PIOS_LED_ALARM)
 214     PIOS_LED_Off(PIOS_LED_ALARM);
 215 #endif /* PIOS_LED_ALARM */
 216
 217     /* Infinite loop */
 218     while (1) {
 219 #if defined(PIOS_LED_HEARTBEAT)
 220         PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 221 #endif /* PIOS_LED_HEARTBEAT */
 222 #if defined(PIOS_LED_ALARM)
 223         PIOS_LED_Toggle(PIOS_LED_ALARM);
 224 #endif /* PIOS_LED_ALARM */
 225         for (int i = 0; i < 1000000; i++) {
 226             ;
 227         }
 228     }
 229 }
 230 #endif /* ifdef USE_FULL_ASSERT */
 231
 232 #endif /* PIOS_INCLUDE_SYS */
 233
 234 /**
 235  * @}
 236  * @}
 237  */