betaflight/src/platform/AT32/system_at32f43x.c

/*
 * This file is part of Cleanflight and Betaflight.
 *
 * Cleanflight and Betaflight are free software. You can redistribute
 * this software and/or modify this software under the terms of the
 * GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option)
 * any later version.
 *
 * Cleanflight and Betaflight are distributed in the hope that they
 * will be useful, but WITHOUT ANY WARRANTY; without even the implied
 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
 * See the GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */

#include <stdbool.h>
#include <stdint.h>

#include "platform.h"

#include "drivers/exti.h"
#include "drivers/nvic.h"
#include "drivers/system.h"
#include "drivers/persistent.h"
#include "at32f435_437_clock.h"

// See RM_AT32F435_437_EN_V2.05.pdf reference manual table 5-6 for more info.
#if 256 < TARGET_FLASH_SIZE
#define USD_EOPB0_SRAM_CONFIG_MASK 0x7
#else
#define USD_EOPB0_SRAM_CONFIG_MASK 0x3
#endif

static flash_usd_eopb0_type get_sram_config(void)
{
    extern uint32_t _SRAM_SIZE; // Defined in linker file
    switch ((uint32_t)&_SRAM_SIZE) {
#if 256 == TARGET_FLASH_SIZE
    case 448:
        return FLASH_EOPB0_SRAM_448K;
    case 512:
        return FLASH_EOPB0_SRAM_512K;
    case 384:
    default:
        return FLASH_EOPB0_SRAM_384K;
#elif 448 == TARGET_FLASH_SIZE
    case 256:
        return FLASH_EOPB0_SRAM_256K;
    case 320:
        return FLASH_EOPB0_SRAM_320K;
    case 384:
        return FLASH_EOPB0_SRAM_384K;
    case 448:
        return FLASH_EOPB0_SRAM_448K;
    case 512:
        return FLASH_EOPB0_SRAM_512K;
    case 192:
    default:
        return FLASH_EOPB0_SRAM_192K;
#elif 1024 <= TARGET_FLASH_SIZE
    case 128:
        return FLASH_EOPB0_SRAM_128K;
    case 256:
        return FLASH_EOPB0_SRAM_256K;
    case 320:
        return FLASH_EOPB0_SRAM_320K;
    case 384:
        return FLASH_EOPB0_SRAM_384K;
    case 448:
        return FLASH_EOPB0_SRAM_448K;
    case 512:
        return FLASH_EOPB0_SRAM_512K;
    case 192:
    default:
        return FLASH_EOPB0_SRAM_192K;
#endif
    }
}

static void init_sram_config(void)
{
    // Make sure the SRAM config is correct
    const flash_usd_eopb0_type sram_cfg = get_sram_config();
    if (((USD->eopb0) & USD_EOPB0_SRAM_CONFIG_MASK) != sram_cfg) {
        flash_unlock();
        flash_user_system_data_erase();
        flash_eopb0_config(sram_cfg);
        systemReset();
    }
}

void systemReset(void)
{
    __disable_irq();
    NVIC_SystemReset();
}

void systemResetToBootloader(bootloaderRequestType_e requestType)
{
    switch (requestType) {
    case BOOTLOADER_REQUEST_ROM:
    default:
        persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST_ROM);

        break;
    }

    __disable_irq();
    NVIC_SystemReset();
}

typedef void resetHandler_t(void);

typedef struct isrVector_s {
    __I uint32_t    stackEnd;
    resetHandler_t *resetHandler;
} isrVector_t;

void checkForBootLoaderRequest(void)
{
    volatile uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);

    if (bootloaderRequest != RESET_BOOTLOADER_REQUEST_ROM) {
        return;
    }
    persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);

    extern isrVector_t system_isr_vector_table_base;

    __set_MSP(system_isr_vector_table_base.stackEnd);
    system_isr_vector_table_base.resetHandler();
    while (1);
}

void enableGPIOPowerUsageAndNoiseReductions(void)
{
    //enable all needed periph
    crm_periph_clock_enable(
            CRM_GPIOA_PERIPH_CLOCK    |
            CRM_GPIOB_PERIPH_CLOCK    |
            CRM_GPIOC_PERIPH_CLOCK    |
            CRM_GPIOD_PERIPH_CLOCK    |
            CRM_GPIOE_PERIPH_CLOCK    |
            CRM_DMA1_PERIPH_CLOCK     |
            CRM_DMA2_PERIPH_CLOCK     |
            0,TRUE);
}

bool isMPUSoftReset(void)
{
    if (cachedRccCsrValue & CRM_SW_RESET_FLAG)
        return true;
    else
        return false;
}

void systemInit(void)
{
    init_sram_config();

    persistentObjectInit();

    checkForBootLoaderRequest();

    system_clock_config();//config system clock to 288mhz usb 48mhz

    // Configure NVIC preempt/priority groups
    nvic_priority_group_config(NVIC_PRIORITY_GROUPING);

    // cache RCC->CSR value to use it in isMPUSoftReset() and others
    cachedRccCsrValue = CRM->ctrlsts;

    // Although VTOR is already loaded with a possible vector table in RAM,
    // removing the call to NVIC_SetVectorTable causes USB not to become active,
    extern uint8_t isr_vector_table_base;
    nvic_vector_table_set((uint32_t)&isr_vector_table_base, 0x0);

    crm_periph_clock_enable(CRM_OTGFS2_PERIPH_CLOCK|CRM_OTGFS1_PERIPH_CLOCK,FALSE);

    CRM->ctrlsts_bit.rstfc = TRUE;

    enableGPIOPowerUsageAndNoiseReductions();

    // Init cycle counter
    cycleCounterInit();

    // SysTick
    SysTick_Config(system_core_clock / 1000);
}