2 ******************************************************************************
3 * @addtogroup PIOS PIOS Core hardware abstraction layer
5 * @addtogroup PIOS_SYS System Functions
6 * @brief PIOS System Initialization code
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
15 *****************************************************************************/
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.
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
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
34 #ifdef PIOS_INCLUDE_SYS
36 /* Private Function Prototypes */
37 void NVIC_Configuration(void);
38 void SysTick_Handler(void);
41 #define MEM8(addr) (*((volatile uint8_t *)(addr)))
42 #define MEM16(addr) (*((volatile uint16_t *)(addr)))
43 #define MEM32(addr) (*((volatile uint32_t *)(addr)))
46 * Initialises all system peripherals
48 void PIOS_SYS_Init(void)
50 /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
53 /* Init the delay system */
56 /* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
57 RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA
| RCC_APB2Periph_GPIOB
| RCC_APB2Periph_GPIOC
| RCC_APB2Periph_GPIOD
| RCC_APB2Periph_GPIOE
|
58 RCC_APB2Periph_AFIO
, ENABLE
);
60 #if (PIOS_USB_ENABLED)
61 /* Ensure that pull-up is active on detect pin */
62 GPIO_InitTypeDef GPIO_InitStructure
;
63 GPIO_StructInit(&GPIO_InitStructure
);
64 GPIO_InitStructure
.GPIO_Mode
= GPIO_Mode_IPU
;
65 GPIO_InitStructure
.GPIO_Pin
= PIOS_USB_DETECT_GPIO_PIN
;
66 GPIO_Init(PIOS_USB_DETECT_GPIO_PORT
, &GPIO_InitStructure
);
69 /* Initialise Basic NVIC */
74 * Shutdown PIOS and reset the microcontroller:<BR>
76 * <LI>Disable all RTOS tasks
77 * <LI>Disable all interrupts
78 * <LI>Turn off all board LEDs
81 * \return < 0 if reset failed
83 int32_t PIOS_SYS_Reset(void)
85 /* Disable all RTOS tasks */
86 #if defined(PIOS_INCLUDE_FREERTOS)
87 /* port specific FreeRTOS function to disable tasks (nested) */
91 // disable all interrupts
94 // turn off all board LEDs
95 #if defined(PIOS_LED_HEARTBEAT)
96 PIOS_LED_Off(PIOS_LED_HEARTBEAT
);
97 #endif /* PIOS_LED_HEARTBEAT */
98 #if defined(PIOS_LED_ALARM)
99 PIOS_LED_Off(PIOS_LED_ALARM
);
100 #endif /* PIOS_LED_ALARM */
102 RCC_APB2PeriphResetCmd(0xffffffff, DISABLE
);
103 RCC_APB1PeriphResetCmd(0xffffffff, DISABLE
);
110 /* We will never reach this point */
115 * Returns the CPU's flash size (in bytes)
117 uint32_t PIOS_SYS_getCPUFlashSize(void)
119 return (uint32_t)MEM16(0x1FFFF7E0) * 1000;
123 * Returns the serial number as a string
124 * param[out] uint8_t pointer to a string which can store at least 12 bytes
125 * (12 bytes returned for STM32)
126 * return < 0 if feature not supported
128 int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array
)
132 /* Stored in the so called "electronic signature" */
133 for (i
= 0; i
< PIOS_SYS_SERIAL_NUM_BINARY_LEN
; ++i
) {
134 uint8_t b
= MEM8(0x1ffff7e8 + i
);
144 * Returns the serial number as a string
145 * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
146 * (24 digits returned for STM32)
147 * return < 0 if feature not supported
149 int32_t PIOS_SYS_SerialNumberGet(char *str
)
153 /* Stored in the so called "electronic signature" */
154 for (i
= 0; i
< PIOS_SYS_SERIAL_NUM_ASCII_LEN
; ++i
) {
155 uint8_t b
= MEM8(0x1ffff7e8 + (i
/ 2));
161 str
[i
] = ((b
> 9) ? ('A' - 10) : '0') + b
;
170 * Configures Vector Table base location and SysTick
172 void NVIC_Configuration(void)
174 /* Set the Vector Table base address as specified in .ld file */
175 extern void *pios_isr_vector_table_base
;
177 NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base
, 0x0);
179 /* 4 bits for Interrupt priorities so no sub priorities */
180 NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4
);
182 /* Configure HCLK clock as SysTick clock source. */
183 SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK
);
186 #ifdef USE_FULL_ASSERT
188 * Reports the name of the source file and the source line number
189 * where the assert_param error has occurred.
190 * \param[in] file pointer to the source file name
191 * \param[in] line assert_param error line source number
194 void assert_failed(uint8_t *file
, uint32_t line
)
196 /* When serial debugging is implemented, use something like this. */
197 /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
199 /* Setup the LEDs to Alternate */
200 #if defined(PIOS_LED_HEARTBEAT)
201 PIOS_LED_On(PIOS_LED_HEARTBEAT
);
202 #endif /* PIOS_LED_HEARTBEAT */
203 #if defined(PIOS_LED_ALARM)
204 PIOS_LED_Off(PIOS_LED_ALARM
);
205 #endif /* PIOS_LED_ALARM */
209 #if defined(PIOS_LED_HEARTBEAT)
210 PIOS_LED_Toggle(PIOS_LED_HEARTBEAT
);
211 #endif /* PIOS_LED_HEARTBEAT */
212 #if defined(PIOS_LED_ALARM)
213 PIOS_LED_Toggle(PIOS_LED_ALARM
);
214 #endif /* PIOS_LED_ALARM */
215 for (int i
= 0; i
< 1000000; i
++) {
220 #endif /* ifdef USE_FULL_ASSERT */
222 #endif /* PIOS_INCLUDE_SYS */