mirror of
https://github.com/betaflight/betaflight.git
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a3476cf59c
Conflicts: Makefile src/board.h src/drivers/adc_fy90q.c src/drivers/pwm_fy90q.c src/drv_adc.h src/sensors.c src/startup/startup_stm32f10x_md_fy90q.s
294 lines
7.5 KiB
C
Executable file
294 lines
7.5 KiB
C
Executable file
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "gpio_common.h"
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#include "light_led.h"
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#include "sound_beeper.h"
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#include "bus_i2c.h"
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#include "bus_spi.h"
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#include "system_common.h"
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// cycles per microsecond
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static volatile uint32_t usTicks = 0;
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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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#ifdef STM32F303xC
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// from system_stm32f30x.c
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void SetSysClock(void);
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#endif
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#ifdef STM32F10X_MD
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// from system_stm32f10x.c
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void SetSysClock(bool overclock);
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#endif
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static void cycleCounterInit(void)
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{
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RCC_ClocksTypeDef clocks;
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RCC_GetClocksFreq(&clocks);
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usTicks = clocks.SYSCLK_Frequency / 1000000;
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}
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// SysTick
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void SysTick_Handler(void)
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{
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sysTickUptime++;
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}
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// Return system uptime in microseconds (rollover in 70minutes)
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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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do {
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ms = sysTickUptime;
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cycle_cnt = SysTick->VAL;
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} while (ms != sysTickUptime);
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return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / 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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void systemInit(bool overclock)
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{
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#ifdef STM32F303xC
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// start fpu
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SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
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#endif
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struct {
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GPIO_TypeDef *gpio;
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gpio_config_t cfg;
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} gpio_setup[] = {
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#ifdef LED0
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{
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.gpio = LED0_GPIO,
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.cfg = { LED0_PIN, Mode_Out_PP, Speed_2MHz }
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},
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#endif
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#ifdef LED1
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{
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.gpio = LED1_GPIO,
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.cfg = { LED1_PIN, Mode_Out_PP, Speed_2MHz }
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},
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#endif
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#ifdef BUZZER
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{
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.gpio = BEEP_GPIO,
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.cfg = { BEEP_PIN, Mode_Out_OD, Speed_2MHz }
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},
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#endif
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};
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gpio_config_t gpio;
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uint32_t i;
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uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]);
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#ifdef STM32F303xC
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SetSysClock();
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#endif
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#ifdef STM32F10X_MD
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// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
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// Configure the Flash Latency cycles and enable prefetch buffer
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SetSysClock(overclock);
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#endif
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// Configure NVIC preempt/priority groups
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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// Turn on clocks for stuff we use
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#ifdef STM32F10X_MD
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_I2C2, ENABLE);
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_TIM1 | RCC_APB2Periph_ADC1 | RCC_APB2Periph_USART1, ENABLE);
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RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
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#endif
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#ifdef STM32F303xC
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RCC_ADCCLKConfig(RCC_ADC12PLLCLK_Div256); // 72 MHz divided by 256 = 281.25 kHz
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RCC_APB1PeriphClockCmd(
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RCC_APB1Periph_TIM2 |
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RCC_APB1Periph_TIM3 |
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RCC_APB1Periph_TIM4 |
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RCC_APB1Periph_I2C2 |
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RCC_APB1Periph_USART2,
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ENABLE
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);
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RCC_APB2PeriphClockCmd(
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RCC_APB2Periph_TIM1 |
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RCC_APB2Periph_TIM8 |
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#ifdef CHEBUZZF3
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RCC_APB2Periph_TIM15 |
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#endif
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RCC_APB2Periph_TIM16 |
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RCC_APB2Periph_TIM17 |
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RCC_APB2Periph_USART1,
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ENABLE
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);
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RCC_AHBPeriphClockCmd(
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RCC_AHBPeriph_DMA1 |
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RCC_AHBPeriph_GPIOA |
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RCC_AHBPeriph_GPIOB |
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RCC_AHBPeriph_GPIOC |
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RCC_AHBPeriph_GPIOD |
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RCC_AHBPeriph_GPIOE |
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#ifdef CHEBUZZF3
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RCC_AHBPeriph_GPIOF |
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#endif
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RCC_AHBPeriph_ADC12,
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ENABLE
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);
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#endif
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RCC_ClearFlag();
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// Make all GPIO in by default to save power and reduce noise
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gpio.mode = Mode_AIN;
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gpio.pin = Pin_All;
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#ifdef STM32F3DISCOVERY
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gpio.pin = Pin_All & ~(Pin_13|Pin_14|Pin_15); // Leave JTAG pins alone
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gpioInit(GPIOA, &gpio);
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gpio.pin = Pin_All;
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#else
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gpioInit(GPIOA, &gpio);
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#endif
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gpioInit(GPIOB, &gpio);
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gpioInit(GPIOC, &gpio);
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#ifdef STM32F303xC
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gpioInit(GPIOD, &gpio);
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gpioInit(GPIOE, &gpio);
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#ifdef CHEBUZZF3
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gpioInit(GPIOF, &gpio);
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#endif
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#endif
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#ifdef STM32F10X_MD
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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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#endif
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#ifdef STM32F303xC
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GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_6);
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GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_1);
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GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_1);
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GPIO_PinAFConfig(GPIOC, GPIO_PinSource6, GPIO_AF_4);
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GPIO_PinAFConfig(GPIOC, GPIO_PinSource7, GPIO_AF_4);
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GPIO_PinAFConfig(GPIOC, GPIO_PinSource8, GPIO_AF_4);
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#ifdef CHEBUZZF3
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GPIO_PinAFConfig(GPIOF, GPIO_PinSource9, GPIO_AF_3);
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GPIO_PinAFConfig(GPIOF, GPIO_PinSource10, GPIO_AF_3);
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#endif
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GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_2);
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GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_2);
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GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_2);
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GPIO_PinAFConfig(GPIOD, GPIO_PinSource15, GPIO_AF_2);
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GPIO_PinAFConfig(GPIOA, GPIO_PinSource1, GPIO_AF_1);
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GPIO_PinAFConfig(GPIOA, GPIO_PinSource2, GPIO_AF_1);
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GPIO_PinAFConfig(GPIOB, GPIO_PinSource0, GPIO_AF_2);
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GPIO_PinAFConfig(GPIOB, GPIO_PinSource1, GPIO_AF_2);
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GPIO_PinAFConfig(GPIOA, GPIO_PinSource4, GPIO_AF_2);
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#endif
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beeperInit();
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LED0_OFF;
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LED1_OFF;
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for (i = 0; i < gpio_count; i++) {
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if (hse_value == 12000000 && gpio_setup[i].cfg.mode == Mode_Out_OD)
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gpio_setup[i].cfg.mode = Mode_Out_PP;
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gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg);
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}
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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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// Configure the rest of the stuff
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i2cInit(I2C2);
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spiInit();
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// sleep for 100ms
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delay(100);
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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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// FIXME replace mode with an enum so usage can be tracked, currently mode is a magic number
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void failureMode(uint8_t mode)
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{
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LED1_ON;
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LED0_OFF;
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while (1) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(475 * mode - 2);
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BEEP_ON
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delay(25);
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BEEP_OFF;
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}
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}
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#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
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void systemReset(bool toBootloader)
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{
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if (toBootloader) {
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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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}
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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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