imported STM32 multiwii port into baseflight dir

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@86 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
2025-07-26 09:45:37 +03:00 · 2012-02-16 09:39:58 +00:00 · 2012-02-16 09:39:58 +00:00 · d262c6e66c
commit d262c6e66c
128 changed files with 71076 additions and 0 deletions
--- a/drv_system.c
+++ b/drv_system.c
@ -0,0 +1,188 @@
+#include "board.h"
+
+static uint32_t enabledSensors = 0;
+static uint32_t enabledFeatures = 0;
+
+// 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);
+}
+
+bool sensors(uint32_t mask)
+{
+    return enabledSensors & mask;
+}
+
+void sensorsSet(uint32_t mask)
+{
+    enabledSensors |= mask;
+}
+
+void sensorsClear(uint32_t mask)
+{
+    enabledSensors &= ~(mask);
+}
+
+bool feature(uint32_t mask)
+{
+    return enabledFeatures & mask;
+}
+
+void featureSet(uint32_t mask)
+{
+    enabledFeatures |= mask;
+}
+
+void featureClear(uint32_t mask)
+{
+    enabledFeatures &= ~(mask);
+}
+
+void failureMode(uint8_t mode)
+{
+    LED1_ON;
+    LED0_OFF;
+    while (1) {
+        LED1_TOGGLE;
+        LED0_TOGGLE;
+        delay(475);
+        BEEP_ON
+        delay(25);
+        BEEP_OFF;
+    }
+}