flight/pios/stm32f0x/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     Michael Smith Copyright (C) 2011
  11  *                      The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  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 __IO uint32_t VectorTable[48] __attribute__((section(".ram_vector_table")));
  37
  38 /* Private Function Prototypes */
  39 void NVIC_Configuration(void);
  40 void stopHandler();
  41 /* Local Macros */
  42 #define MEM8(addr)  (*((volatile uint8_t *)(addr)))
  43 #define MEM16(addr) (*((volatile uint16_t *)(addr)))
  44 #define MEM32(addr) (*((volatile uint32_t *)(addr)))
  45
  46 /**
  47  * Initialises all system peripherals
  48  */
  49 void PIOS_SYS_Init(void)
  50 {
  51     /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
  52     SystemInit();
  53     SystemCoreClockUpdate(); /* update SystemCoreClock for use elsewhere */
  54
  55     /*
  56      * @todo might make sense to fetch the bus clocks and save them somewhere to avoid
  57      * having to use the clunky get-all-clocks API everytime we need one.
  58      */
  59
  60     /* Initialise Basic NVIC */
  61     /* do this early to ensure that we take exceptions in the right place */
  62     NVIC_Configuration();
  63
  64     /*
  65      * Turn on all the peripheral clocks.
  66      * Micromanaging clocks makes no sense given the power situation in the system, so
  67      * light up everything we might reasonably use here and just leave it on.
  68      */
  69     RCC_AHBPeriphClockCmd(
  70         RCC_AHBPeriph_GPIOA |
  71         RCC_AHBPeriph_GPIOB |
  72         RCC_AHBPeriph_GPIOC |
  73         RCC_AHBPeriph_FLITF |
  74         RCC_AHBPeriph_SRAM |
  75         RCC_AHBPeriph_DMA1 |
  76         RCC_AHBPeriph_CRC
  77         , ENABLE);
  78
  79     RCC_APB1PeriphClockCmd(
  80         RCC_APB1Periph_USART2 |
  81         RCC_APB1Periph_USART3 |
  82         RCC_APB1Periph_WWDG |
  83         RCC_APB1Periph_PWR |
  84         RCC_APB1Periph_TIM2 |
  85         RCC_APB1Periph_TIM3 |
  86         RCC_APB1Periph_I2C1 |
  87         RCC_APB1Periph_I2C2 |
  88         RCC_APB1Periph_SPI2
  89         , ENABLE);
  90
  91     RCC_APB2PeriphClockCmd(
  92         RCC_APB2Periph_SYSCFG |
  93         RCC_APB2Periph_USART1 |
  94         RCC_APB2Periph_SPI1 |
  95         RCC_APB2Periph_TIM1 |
  96         0, ENABLE);
  97
  98     /* Init the delay system */
  99     PIOS_DELAY_Init();
 100
 101     /*
 102      * Configure all pins as input / pullup to avoid issues with
 103      * uncommitted pins, excepting special-function pins that we need to
 104      * remain as-is.
 105      */
 106     GPIO_InitTypeDef GPIO_InitStructure;
 107     GPIO_StructInit(&GPIO_InitStructure);
 108     GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input
 109
 110     GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;
 111
 112     GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14); // leave SWD pins alone
 113     GPIO_Init(GPIOA, &GPIO_InitStructure);
 114
 115     GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;
 116     GPIO_Init(GPIOB, &GPIO_InitStructure);
 117
 118     GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;
 119     GPIO_Init(GPIOC, &GPIO_InitStructure);
 120 }
 121
 122 /**
 123  * Shutdown PIOS and reset the microcontroller:<BR>
 124  * <UL>
 125  *   <LI>Disable all RTOS tasks
 126  *   <LI>Disable all interrupts
 127  *   <LI>Turn off all board LEDs
 128  *   <LI>Reset STM32
 129  * </UL>
 130  * \return < 0 if reset failed
 131  */
 132 int32_t PIOS_SYS_Reset(void)
 133 {
 134     /* Disable all RTOS tasks */
 135 #if defined(PIOS_INCLUDE_FREERTOS)
 136     /* port specific FreeRTOS function to disable tasks (nested) */
 137     portENTER_CRITICAL();
 138 #endif
 139
 140     // disable all interrupts
 141     PIOS_IRQ_Disable();
 142
 143     // turn off all board LEDs
 144 #ifdef PIOS_INCLUDE_LED
 145 # ifdef PIOS_LED_HEARTBEAT
 146     PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 147 # endif /* PIOS_LED_HEARTBEAT */
 148 # ifdef PIOS_LED_ALARM
 149     PIOS_LED_Off(PIOS_LED_ALARM);
 150 # endif /* PIOS_LED_ALARM */
 151 # ifdef PIOS_BUZZER_ALARM
 152     PIOS_LED_Off(PIOS_BUZZER_ALARM);
 153 # endif /* PIOS_BUZZER_ALARM */
 154 #endif /* PIOS_INCLUDE_LED */
 155
 156     /* Reset STM32 */
 157     NVIC_SystemReset();
 158
 159     while (1) {
 160         ;
 161     }
 162
 163     /* We will never reach this point */
 164     return -1;
 165 }
 166
 167 /**
 168  * Returns the CPU's flash size (in bytes)
 169  */
 170 uint32_t PIOS_SYS_getCPUFlashSize(void)
 171 {
 172     return (uint32_t)MEM16(0x1fff7a22) * 1024; // it might be possible to locate in the OTP area, but haven't looked and not documented
 173 }
 174
 175 /**
 176  * Returns the serial number as a string
 177  * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
 178  * (24 digits returned for STM32)
 179  * return < 0 if feature not supported
 180  */
 181 int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
 182 {
 183     int i;
 184
 185     /* Stored in the so called "electronic signature" */
 186     for (i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
 187         uint8_t b = MEM8(0x1FFFF7AC + i);
 188
 189         array[i] = b;
 190     }
 191
 192     /* No error */
 193     return 0;
 194 }
 195
 196 /**
 197  * Returns the serial number as a string
 198  * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
 199  * (24 digits returned for STM32)
 200  * return < 0 if feature not supported
 201  */
 202 int32_t PIOS_SYS_SerialNumberGet(char *str)
 203 {
 204     int i;
 205
 206     /* Stored in the so called "electronic signature" */
 207     for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
 208         uint8_t b = MEM8(0x1FFFF7AC + (i / 2));
 209         if (!(i & 1)) {
 210             b >>= 4;
 211         }
 212         b &= 0x0f;
 213
 214         str[i] = ((b > 9) ? ('A' - 10) : '0') + b;
 215     }
 216     str[i] = '\0';
 217
 218     /* No error */
 219     return 0;
 220 }
 221
 222 /**
 223  * Configures Vector Table base location and SysTick
 224  */
 225 void NVIC_Configuration(void)
 226 {
 227     /* Relocate by software the vector table to the internal SRAM at 0x20000000 ***/
 228     extern uint32_t pios_isr_vector_table_base;
 229     uint32_t *romTable = &pios_isr_vector_table_base;
 230
 231     /* Copy the vector table from the Flash (mapped at the base of the application
 232        load address 0x0800X000) to the base address of the SRAM at 0x20000000. */
 233
 234     for (uint32_t i = 0; i < 48; i++) {
 235         VectorTable[i] = romTable[i];
 236     }
 237     // Ensure all memory operation completes prior the remap
 238     __DSB();
 239
 240     /* Enable the SYSCFG peripheral clock*/
 241     RCC_APB2PeriphResetCmd(RCC_APB2Periph_SYSCFG, ENABLE);
 242     /* Remap SRAM at 0x00000000 */
 243     SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SRAM);
 244
 245     /* Configure HCLK clock as SysTick clock source. */
 246     SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
 247 }
 248
 249 #ifdef USE_FULL_ASSERT
 250 /**
 251  * Reports the name of the source file and the source line number
 252  *   where the assert_param error has occurred.
 253  * \param[in]  file pointer to the source file name
 254  * \param[in]  line assert_param error line source number
 255  * \retval None
 256  */
 257 void assert_failed(uint8_t *file, uint32_t line)
 258 {
 259     /* When serial debugging is implemented, use something like this. */
 260     /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
 261
 262     /* Setup the LEDs to Alternate */
 263 #if defined(PIOS_LED_HEARTBEAT)
 264     PIOS_LED_On(PIOS_LED_HEARTBEAT);
 265 #endif /* PIOS_LED_HEARTBEAT */
 266 #if defined(PIOS_LED_ALARM)
 267     PIOS_LED_Off(PIOS_LED_ALARM);
 268 #endif /* PIOS_LED_ALARM */
 269
 270     /* Infinite loop */
 271     while (1) {
 272 #if defined(PIOS_LED_HEARTBEAT)
 273         PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 274 #endif /* PIOS_LED_HEARTBEAT */
 275 #if defined(PIOS_LED_ALARM)
 276         PIOS_LED_Toggle(PIOS_LED_ALARM);
 277 #endif /* PIOS_LED_ALARM */
 278         for (int i = 0; i < 1000000; i++) {
 279             ;
 280         }
 281     }
 282 }
 283 #endif /* ifdef USE_FULL_ASSERT */
 284
 285 void NMI_Handler(void)
 286 {
 287     stopHandler();
 288 }
 289
 290 void HardFault_Handler(void)
 291 {
 292     stopHandler();
 293 }
 294
 295 void MemManage_Handler(void)
 296 {
 297     stopHandler();
 298 }
 299
 300 void BusFault_Handler(void)
 301 {
 302     stopHandler();
 303 }
 304
 305 void UsageFault_Handler(void)
 306 {
 307     stopHandler();
 308 }
 309
 310 void stopHandler()
 311 {
 312     while (1) {}
 313 }
 314 #endif /* PIOS_INCLUDE_SYS */
 315
 316 /**
 317  * @}
 318  * @}
 319  */