flight/pios/stm32f30x/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  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
  12  * @author     Tau Labs, http://taulabs.org, Copyright (C) 2012-2014
  13  * @brief      Sets up basic STM32 system hardware, functions are called from Main.
  14  * @see        The GNU Public License (GPL) Version 3
  15  *
  16  *****************************************************************************/
  17 /*
  18  * This program is free software; you can redistribute it and/or modify
  19  * it under the terms of the GNU General Public License as published by
  20  * the Free Software Foundation; either version 3 of the License, or
  21  * (at your option) any later version.
  22  *
  23  * This program is distributed in the hope that it will be useful, but
  24  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  25  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  26  * for more details.
  27  *
  28  * You should have received a copy of the GNU General Public License along
  29  * with this program; if not, write to the Free Software Foundation, Inc.,
  30  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  31  */
  32
  33 /* Project Includes */
  34 #include "pios.h"
  35
  36 #if defined(PIOS_INCLUDE_SYS)
  37
  38 #define MEM8(addr) (*((volatile uint8_t *)(addr)))
  39
  40 /* Private Function Prototypes */
  41 static void NVIC_Configuration(void);
  42
  43 /**
  44  * Initialises all system peripherals
  45  */
  46 void PIOS_SYS_Init(void)
  47 {
  48     /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
  49     SystemInit();
  50     SystemCoreClockUpdate(); /* update SystemCoreClock for use elsewhere */
  51
  52     /*
  53      * @todo might make sense to fetch the bus clocks and save them somewhere to avoid
  54      * having to use the clunky get-all-clocks API everytime we need one.
  55      */
  56
  57     /* Initialise Basic NVIC */
  58     /* do this early to ensure that we take exceptions in the right place */
  59     NVIC_Configuration();
  60
  61     /* Init the delay system */
  62     PIOS_DELAY_Init();
  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_GPIOD |
  74         RCC_AHBPeriph_GPIOE |
  75         RCC_AHBPeriph_GPIOF |
  76         RCC_AHBPeriph_TS |
  77         RCC_AHBPeriph_CRC |
  78         RCC_AHBPeriph_FLITF |
  79         RCC_AHBPeriph_SRAM |
  80         RCC_AHBPeriph_DMA2 |
  81         RCC_AHBPeriph_DMA1 |
  82         RCC_AHBPeriph_ADC34 |
  83         RCC_AHBPeriph_ADC12 |
  84         0, ENABLE);
  85
  86     RCC_APB1PeriphClockCmd(
  87         RCC_APB1Periph_TIM2 |
  88         RCC_APB1Periph_TIM3 |
  89         RCC_APB1Periph_TIM4 |
  90         RCC_APB1Periph_TIM6 |
  91         RCC_APB1Periph_TIM7 |
  92         RCC_APB1Periph_WWDG |
  93         RCC_APB1Periph_SPI2 |
  94         RCC_APB1Periph_SPI3 |
  95         RCC_APB1Periph_USART2 |
  96         RCC_APB1Periph_USART3 |
  97         RCC_APB1Periph_UART4 |
  98         RCC_APB1Periph_UART5 |
  99         RCC_APB1Periph_I2C1 |
 100         RCC_APB1Periph_I2C2 |
 101         RCC_APB1Periph_USB |
 102         RCC_APB1Periph_CAN1 |
 103         RCC_APB1Periph_PWR |
 104         RCC_APB1Periph_DAC |
 105         0, ENABLE);
 106
 107     RCC_APB2PeriphClockCmd(
 108         RCC_APB2Periph_TIM1 |
 109         RCC_APB2Periph_TIM8 |
 110         RCC_APB2Periph_TIM15 |
 111         RCC_APB2Periph_TIM16 |
 112         RCC_APB2Periph_TIM17 |
 113         RCC_APB2Periph_USART1 |
 114         RCC_APB2Periph_SPI1 |
 115         RCC_APB2Periph_SYSCFG |
 116         0, ENABLE);
 117
 118     /*
 119      * Configure all pins as input / pullup to avoid issues with
 120      * uncommitted pins, excepting special-function pins that we need to
 121      * remain as-is.
 122      */
 123     GPIO_InitTypeDef GPIO_InitStructure;
 124     GPIO_StructInit(&GPIO_InitStructure);
 125     GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input
 126
 127     GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;
 128 #if (PIOS_USB_ENABLED)
 129     GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12); // leave USB D+/D- alone
 130 #endif
 131     GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); // leave JTAG pins alone
 132     GPIO_Init(GPIOA, &GPIO_InitStructure);
 133
 134     GPIO_InitStructure.GPIO_Pin  = GPIO_Pin_All;
 135     GPIO_Init(GPIOB, &GPIO_InitStructure);
 136     GPIO_Init(GPIOC, &GPIO_InitStructure);
 137     GPIO_Init(GPIOD, &GPIO_InitStructure);
 138     GPIO_Init(GPIOE, &GPIO_InitStructure);
 139     GPIO_Init(GPIOF, &GPIO_InitStructure);
 140 }
 141
 142 /**
 143  * Shutdown PIOS and reset the microcontroller:<BR>
 144  * <UL>
 145  *   <LI>Disable all RTOS tasks
 146  *   <LI>Disable all interrupts
 147  *   <LI>Turn off all board LEDs
 148  *   <LI>Reset STM32
 149  * </UL>
 150  * \return < 0 if reset failed
 151  */
 152 int32_t PIOS_SYS_Reset(void)
 153 {
 154     // disable all interrupts
 155     PIOS_IRQ_Disable();
 156
 157     // turn off all board LEDs
 158 #ifdef PIOS_INCLUDE_LED
 159 # ifdef PIOS_LED_HEARTBEAT
 160     PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 161 # endif /* PIOS_LED_HEARTBEAT */
 162 # ifdef PIOS_LED_ALARM
 163     PIOS_LED_Off(PIOS_LED_ALARM);
 164 # endif /* PIOS_LED_ALARM */
 165 # ifdef PIOS_BUZZER_ALARM
 166     PIOS_LED_Off(PIOS_BUZZER_ALARM);
 167 # endif /* PIOS_BUZZER_ALARM */
 168 #endif /* PIOS_INCLUDE_LED */
 169     /* XXX F10x port resets most (but not all) peripherals ... do we care? */
 170
 171     /* Reset STM32 */
 172     NVIC_SystemReset();
 173
 174     while (1) {
 175         ;
 176     }
 177
 178     /* We will never reach this point */
 179     return -1;
 180 }
 181
 182 /**
 183  * Returns the serial number as byte array
 184  * param[out] pointer to a byte array which can store at least 12 bytes
 185  * (12 bytes returned for STM32)
 186  * return < 0 if feature not supported
 187  */
 188 int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
 189 {
 190     int i;
 191
 192     /* Stored in the so called "electronic signature" */
 193     for (i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
 194         uint8_t b = MEM8(0x1ffff7ac + i);
 195
 196         array[i] = b;
 197     }
 198
 199     /* No error */
 200     return 0;
 201 }
 202
 203 /**
 204  * Returns the serial number as a string
 205  * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
 206  * (24 digits returned for STM32)
 207  * return < 0 if feature not supported
 208  */
 209 int32_t PIOS_SYS_SerialNumberGet(char *str)
 210 {
 211     int i;
 212
 213     /* Stored in the so called "electronic signature" */
 214     for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
 215         uint8_t b = MEM8(0x1ffff7ac + (i / 2));
 216         if (!(i & 1)) {
 217             b >>= 4;
 218         }
 219         b &= 0x0f;
 220
 221         str[i] = ((b > 9) ? ('A' - 10) : '0') + b;
 222     }
 223     str[i] = '\0';
 224
 225     /* No error */
 226     return 0;
 227 }
 228
 229 /**
 230  * Configures Vector Table base location and SysTick
 231  */
 232 static void NVIC_Configuration(void)
 233 {
 234     /* Set the Vector Table base address as specified in .ld file */
 235     extern void *pios_isr_vector_table_base;
 236
 237     NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);
 238
 239     /* 4 bits for Interrupt priorities so no sub priorities */
 240     NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 241
 242     /* Configure HCLK clock as SysTick clock source. */
 243     SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
 244 }
 245
 246 #ifdef USE_FULL_ASSERT
 247 /**
 248  * Reports the name of the source file and the source line number
 249  *   where the assert_param error has occurred.
 250  * \param[in]  file pointer to the source file name
 251  * \param[in]  line assert_param error line source number
 252  * \retval None
 253  */
 254 void assert_failed(uint8_t *file, uint32_t line)
 255 {
 256     /* When serial debugging is implemented, use something like this. */
 257     /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
 258
 259     /* Setup the LEDs to Alternate */
 260 #if defined(PIOS_LED_HEARTBEAT)
 261     PIOS_LED_On(PIOS_LED_HEARTBEAT);
 262 #endif /* PIOS_LED_HEARTBEAT */
 263 #if defined(PIOS_LED_ALARM)
 264     PIOS_LED_Off(PIOS_LED_ALARM);
 265 #endif /* PIOS_LED_ALARM */
 266
 267     /* Infinite loop */
 268     while (1) {
 269 #if defined(PIOS_LED_HEARTBEAT)
 270         PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 271 #endif /* PIOS_LED_HEARTBEAT */
 272 #if defined(PIOS_LED_ALARM)
 273         PIOS_LED_Toggle(PIOS_LED_ALARM);
 274 #endif /* PIOS_LED_ALARM */
 275         for (int i = 0; i < 1000000; i++) {
 276             ;
 277         }
 278     }
 279 }
 280 #endif /* ifdef USE_FULL_ASSERT */
 281
 282 #endif /* if defined(PIOS_INCLUDE_SYS) */
 283
 284 /**
 285  * @}
 286  * @}
 287  */