mirror of
https://github.com/betaflight/betaflight.git
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128 lines
3.2 KiB
C
128 lines
3.2 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* 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 Cleanflight. 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 "platform.h"
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#include "gpio.h"
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#include "nvic.h"
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#include "system.h"
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#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
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// from system_stm32f10x.c
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void SetSysClock(bool overclock);
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void systemReset(void)
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{
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// Generate system reset
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SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
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}
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void systemResetToBootloader(void)
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{
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// 1FFFF000 -> 20000200 -> SP
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// 1FFFF004 -> 1FFFF021 -> PC
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*((uint32_t *)0x20004FF0) = 0xDEADBEEF; // 20KB STM32F103
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systemReset();
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}
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void enableGPIOPowerUsageAndNoiseReductions(void)
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{
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC, ENABLE);
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gpio_config_t gpio;
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gpio.mode = Mode_AIN;
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gpio.pin = Pin_All;
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gpioInit(GPIOA, &gpio);
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gpioInit(GPIOB, &gpio);
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gpioInit(GPIOC, &gpio);
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}
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bool isMPUSoftReset(void)
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{
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if (cachedRccCsrValue & RCC_CSR_SFTRSTF)
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return true;
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else
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return false;
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}
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void systemInit(void)
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{
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checkForBootLoaderRequest();
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SetSysClock(false);
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#ifdef CC3D
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/* Accounts for OP Bootloader, set the Vector Table base address as specified in .ld file */
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extern void *isr_vector_table_base;
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NVIC_SetVectorTable((uint32_t)&isr_vector_table_base, 0x0);
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#endif
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// Configure NVIC preempt/priority groups
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NVIC_PriorityGroupConfig(NVIC_PRIORITY_GROUPING);
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// Turn on clocks for stuff we use
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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// cache RCC->CSR value to use it in isMPUSoftreset() and others
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cachedRccCsrValue = RCC->CSR;
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RCC_ClearFlag();
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enableGPIOPowerUsageAndNoiseReductions();
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// Set USART1 TX (PA9) to output and high state to prevent a rs232 break condition on reset.
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// See issue https://github.com/cleanflight/cleanflight/issues/1433
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gpio_config_t gpio;
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gpio.mode = Mode_Out_PP;
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gpio.speed = Speed_2MHz;
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gpio.pin = Pin_9;
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digitalHi(GPIOA, gpio.pin);
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gpioInit(GPIOA, &gpio);
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// Turn off JTAG port 'cause we're using the GPIO for leds
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#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)
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AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
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// Init cycle counter
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cycleCounterInit();
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// SysTick
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SysTick_Config(SystemCoreClock / 1000);
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}
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void checkForBootLoaderRequest(void)
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{
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void(*bootJump)(void);
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if (*((uint32_t *)0x20004FF0) == 0xDEADBEEF) {
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*((uint32_t *)0x20004FF0) = 0x0;
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__enable_irq();
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__set_MSP(*((uint32_t *)0x1FFFF000));
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bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFF004));
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bootJump();
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while (1);
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}
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}
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