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Adding common source location in ./src/platform (#14044)
* Adding common source location in ./src/platform To enable the continued clean up of multiple files still in ./src/main/driver (more PRs to follow) that are specifically for AT32, APM32 and STM32 Source will be moved to MCU_COMMON_SRC where it is specifically for that MCU (or variant). The test will be to ensure no files in the MCU_EXCLUDES for SITL. * Use of +=
This commit is contained in:
Jay Blackman
GitHub
parent
63514c2b54
commit
53d44aa1b1
27 changed files with 264 additions and 127 deletions
324
src/platform/common/stm32/system.c
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324
src/platform/common/stm32/system.c
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/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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#include "build/atomic.h"
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#include "drivers/io.h"
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#include "drivers/light_led.h"
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#include "drivers/nvic.h"
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#include "drivers/resource.h"
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#include "drivers/sound_beeper.h"
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#include "drivers/system.h"
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#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(AT32F4) || defined(APM32F4)
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// See "RM CoreSight Architecture Specification"
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// B2.3.10 "LSR and LAR, Software Lock Status Register and Software Lock Access Register"
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// "E1.2.11 LAR, Lock Access Register"
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#define DWT_LAR_UNLOCK_VALUE 0xC5ACCE55
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#endif
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// cycles per microsecond
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static uint32_t usTicks = 0;
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static float usTicksInv = 0.0f;
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// current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
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static volatile uint32_t sysTickUptime = 0;
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static volatile uint32_t sysTickValStamp = 0;
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// cached value of RCC->CSR
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uint32_t cachedRccCsrValue;
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static uint32_t cpuClockFrequency = 0;
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void cycleCounterInit(void)
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{
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#if defined(USE_HAL_DRIVER)
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cpuClockFrequency = HAL_RCC_GetSysClockFreq();
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#elif defined(USE_ATBSP_DRIVER)
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crm_clocks_freq_type clocks;
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crm_clocks_freq_get(&clocks);
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cpuClockFrequency = clocks.sclk_freq;
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#else
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RCC_ClocksTypeDef clocks;
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RCC_GetClocksFreq(&clocks);
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cpuClockFrequency = clocks.SYSCLK_Frequency;
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#endif
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usTicks = cpuClockFrequency / 1000000;
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usTicksInv = 1e6f / cpuClockFrequency;
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CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
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#if defined(DWT_LAR_UNLOCK_VALUE)
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#if defined(STM32H7) || defined(AT32F4)
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ITM->LAR = DWT_LAR_UNLOCK_VALUE;
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#elif defined(STM32F7)
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DWT->LAR = DWT_LAR_UNLOCK_VALUE;
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#elif defined(STM32F4) || defined(APM32F4)
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// Note: DWT_Type does not contain LAR member.
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#define DWT_LAR
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__O uint32_t *DWTLAR = (uint32_t *)(DWT_BASE + 0x0FB0);
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*(DWTLAR) = DWT_LAR_UNLOCK_VALUE;
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#endif
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#endif
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DWT->CYCCNT = 0;
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DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
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}
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// SysTick
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static volatile int sysTickPending = 0;
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void SysTick_Handler(void)
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{
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ATOMIC_BLOCK(NVIC_PRIO_MAX) {
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sysTickUptime++;
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sysTickValStamp = SysTick->VAL;
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sysTickPending = 0;
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(void)(SysTick->CTRL);
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}
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#ifdef USE_HAL_DRIVER
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// used by the HAL for some timekeeping and timeouts, should always be 1ms
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HAL_IncTick();
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#endif
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}
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// Return system uptime in microseconds (rollover in 70minutes)
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MMFLASH_CODE_NOINLINE uint32_t microsISR(void)
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{
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register uint32_t ms, pending, cycle_cnt;
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ATOMIC_BLOCK(NVIC_PRIO_MAX) {
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cycle_cnt = SysTick->VAL;
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if (SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) {
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// Update pending.
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// Record it for multiple calls within the same rollover period
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// (Will be cleared when serviced).
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// Note that multiple rollovers are not considered.
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sysTickPending = 1;
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// Read VAL again to ensure the value is read after the rollover.
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cycle_cnt = SysTick->VAL;
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}
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ms = sysTickUptime;
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pending = sysTickPending;
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}
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return ((ms + pending) * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
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}
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uint32_t micros(void)
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{
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register uint32_t ms, cycle_cnt;
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// Call microsISR() in interrupt and elevated (non-zero) BASEPRI context
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if ((SCB->ICSR & SCB_ICSR_VECTACTIVE_Msk) || (__get_BASEPRI())) {
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return microsISR();
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}
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do {
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ms = sysTickUptime;
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cycle_cnt = SysTick->VAL;
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} while (ms != sysTickUptime || cycle_cnt > sysTickValStamp);
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return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
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}
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uint32_t getCycleCounter(void)
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{
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return DWT->CYCCNT;
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}
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int32_t clockCyclesToMicros(int32_t clockCycles)
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{
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return clockCycles / usTicks;
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}
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float clockCyclesToMicrosf(int32_t clockCycles)
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{
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return clockCycles * usTicksInv;
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}
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// Note that this conversion is signed as this is used for periods rather than absolute timestamps
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int32_t clockCyclesTo10thMicros(int32_t clockCycles)
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{
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return 10 * clockCycles / (int32_t)usTicks;
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}
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// Note that this conversion is signed as this is used for periods rather than absolute timestamps
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int32_t clockCyclesTo100thMicros(int32_t clockCycles)
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{
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return 100 * clockCycles / (int32_t)usTicks;
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}
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uint32_t clockMicrosToCycles(uint32_t micros)
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{
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return micros * usTicks;
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}
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// Return system uptime in milliseconds (rollover in 49 days)
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uint32_t millis(void)
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{
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return sysTickUptime;
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}
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#if 1
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void delayMicroseconds(uint32_t us)
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{
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uint32_t now = micros();
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while (micros() - now < us);
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}
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#else
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void delayMicroseconds(uint32_t us)
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{
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uint32_t elapsed = 0;
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uint32_t lastCount = SysTick->VAL;
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for (;;) {
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register uint32_t current_count = SysTick->VAL;
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uint32_t elapsed_us;
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// measure the time elapsed since the last time we checked
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elapsed += current_count - lastCount;
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lastCount = current_count;
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// convert to microseconds
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elapsed_us = elapsed / usTicks;
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if (elapsed_us >= us)
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break;
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// reduce the delay by the elapsed time
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us -= elapsed_us;
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// keep fractional microseconds for the next iteration
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elapsed %= usTicks;
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}
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}
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#endif
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void delay(uint32_t ms)
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{
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while (ms--)
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delayMicroseconds(1000);
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}
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static void indicate(uint8_t count, uint16_t duration)
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{
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if (count) {
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LED1_ON;
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LED0_OFF;
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while (count--) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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BEEP_ON;
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delay(duration);
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LED1_TOGGLE;
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LED0_TOGGLE;
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BEEP_OFF;
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delay(duration);
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}
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}
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}
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void indicateFailure(failureMode_e mode, int codeRepeatsRemaining)
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{
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while (codeRepeatsRemaining--) {
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indicate(WARNING_FLASH_COUNT, WARNING_FLASH_DURATION_MS);
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delay(WARNING_PAUSE_DURATION_MS);
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indicate(mode + 1, WARNING_CODE_DURATION_LONG_MS);
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delay(1000);
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}
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}
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void failureMode(failureMode_e mode)
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{
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indicateFailure(mode, 10);
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#ifdef DEBUG
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systemReset();
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#else
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systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
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#endif
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}
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void initialiseMemorySections(void)
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{
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#ifdef USE_ITCM_RAM
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/* Load fast-functions into ITCM RAM */
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extern uint8_t tcm_code_start;
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extern uint8_t tcm_code_end;
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extern uint8_t tcm_code;
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memcpy(&tcm_code_start, &tcm_code, (size_t) (&tcm_code_end - &tcm_code_start));
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#endif
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#ifdef USE_CCM_CODE
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/* Load functions into RAM */
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extern uint8_t ccm_code_start;
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extern uint8_t ccm_code_end;
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extern uint8_t ccm_code;
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memcpy(&ccm_code_start, &ccm_code, (size_t) (&ccm_code_end - &ccm_code_start));
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#endif
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#ifdef USE_FAST_DATA
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/* Load FAST_DATA variable initializers into DTCM RAM */
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extern uint8_t _sfastram_data;
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extern uint8_t _efastram_data;
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extern uint8_t _sfastram_idata;
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memcpy(&_sfastram_data, &_sfastram_idata, (size_t) (&_efastram_data - &_sfastram_data));
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#endif
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#ifdef USE_RAM_CODE
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/* Load slow-functions into ITCM RAM */
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extern uint8_t ram_code_start;
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extern uint8_t ram_code_end;
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extern uint8_t ram_code;
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memcpy(&ram_code_start, &ram_code, (size_t) (&ram_code_end - &ram_code_start));
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#endif
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}
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static void unusedPinInit(IO_t io)
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{
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if (IOGetOwner(io) == OWNER_FREE) {
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IOConfigGPIO(io, IOCFG_IPU);
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}
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}
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void unusedPinsInit(void)
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{
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IOTraversePins(unusedPinInit);
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}
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