moved source files around in preparation to adding makefile build way

added makefile (thx gke)
added linker script (thx gke)
moved startups into src directory as well
no code changes.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@105 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/drv_system.c

@@ -0,0 +1,169 @@
+#include "board.h"
+
+// Cycle counter stuff - these should be defined by CMSIS, but they aren't
+#define DWT_CTRL	(*(volatile uint32_t *)0xE0001000)
+#define DWT_CYCCNT	((volatile uint32_t *)0xE0001004)
+#define CYCCNTENA	(1 << 0)
+
+// cycles per microsecond
+static volatile uint32_t usTicks = 0;
+// current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
+static volatile uint32_t sysTickUptime = 0;
+static volatile uint32_t sysTickCycleCounter = 0;
+
+static void cycleCounterInit(void)
+{
+	RCC_ClocksTypeDef clocks;
+	RCC_GetClocksFreq(&clocks);
+	usTicks = clocks.SYSCLK_Frequency / 1000000;
+
+    // enable DWT access
+    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
+	// enable the CPU cycle counter
+	DWT_CTRL |= CYCCNTENA;
+}
+
+
+// SysTick
+void SysTick_Handler(void)
+{
+    sysTickCycleCounter = *DWT_CYCCNT;
+    sysTickUptime++;
+}
+
+// Return system uptime in microseconds (rollover in 70minutes)
+uint32_t micros(void)
+{
+    register uint32_t oldCycle, cycle, timeMs;
+    __disable_irq();
+    cycle = *DWT_CYCCNT;
+    oldCycle = sysTickCycleCounter;
+    timeMs = sysTickUptime;
+    __enable_irq();
+    return (timeMs * 1000) + (cycle - oldCycle) / usTicks;
+}
+
+// Return system uptime in milliseconds (rollover in 49 days)
+uint32_t millis(void)
+{
+    return sysTickUptime;
+}
+
+void systemInit(void)
+{
+    GPIO_InitTypeDef GPIO_InitStructure;
+
+    // Turn on clocks for stuff we use
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_AFIO, ENABLE);
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
+    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);
+    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE);
+    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
+    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA2, ENABLE);
+    RCC_ClearFlag();
+
+    // Make all GPIO in by default to save power and reduce noise
+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
+    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    GPIO_Init(GPIOC, &GPIO_InitStructure);
+    
+    // Turn off JTAG port 'cause we're using the GPIO for leds
+    GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
+    
+    // Configure gpio
+    
+    // PB3, PB4 (LEDs)
+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_4;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+    GPIO_Init(GPIOB, &GPIO_InitStructure);
+    LED0_OFF;
+    LED1_OFF;
+
+    // PA12 (Buzzer)
+    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
+    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;
+    GPIO_Init(GPIOA, &GPIO_InitStructure);
+    BEEP_OFF;
+
+    // Init cycle counter
+    cycleCounterInit();
+    
+    // SysTick
+    SysTick_Config(SystemCoreClock / 1000);
+
+    // Configure the rest of the stuff
+    adcInit();
+    i2cInit(I2C2);
+    uartInit();
+    
+    // sleep for 100ms
+    delay(100);
+}
+
+void delayMicroseconds(uint32_t us)
+{
+	uint32_t elapsed = 0;
+	uint32_t lastCount = *DWT_CYCCNT;
+
+	for (;;) {
+		register uint32_t current_count = *DWT_CYCCNT;
+		uint32_t elapsed_us;
+
+		// measure the time elapsed since the last time we checked
+		elapsed += current_count - lastCount;
+		lastCount = current_count;
+
+		// convert to microseconds
+		elapsed_us = elapsed / usTicks;
+		if (elapsed_us >= us)
+			break;
+
+		// reduce the delay by the elapsed time
+		us -= elapsed_us;
+
+		// keep fractional microseconds for the next iteration
+		elapsed %= usTicks;
+	}
+}
+
+void delay(uint32_t ms)
+{
+	while (ms--)
+		delayMicroseconds(1000);
+}
+
+void failureMode(uint8_t mode)
+{
+    LED1_ON;
+    LED0_OFF;
+    while (1) {
+        LED1_TOGGLE;
+        LED0_TOGGLE;
+        delay(475);
+        BEEP_ON
+        delay(25);
+        BEEP_OFF;
+    }
+}
+
+#define AIRCR_VECTKEY_MASK    ((uint32_t)0x05FA0000)
+
+void systemReset(bool toBootloader)
+{
+    if (toBootloader) {
+        // 1FFFF000 -> 20000200 -> SP
+        // 1FFFF004 -> 1FFFF021 -> PC
+        *((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
+    }        
+
+    // Generate system reset
+    SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
+}