pios_sys.c

Go to the documentation of this file.

/*
 * This program is free software; you can redistribute it and/or modify
 * it 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.
 *
 * This program is distributed in the hope that it 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 program; if not, see <http://www.gnu.org/licenses/>
 */

/* Project Includes */
#include "pios.h"

#if defined(PIOS_INCLUDE_SYS)

/* Private Function Prototypes */
void NVIC_Configuration(void);
void SysTick_Handler(void);

/* Local Macros */
#define MEM8(addr)  (*((volatile uint8_t  *)(addr)))
#define MEM16(addr)  (*((volatile uint16_t  *)(addr)))
#define MEM32(addr)  (*((volatile uint32_t  *)(addr)))

void PIOS_SYS_Init(void)
{
        PWR_PVDLevelConfig(PWR_PVDLevel_7);
        PWR_PVDCmd(ENABLE);

        // Wait for VCC to exceed 2.9V
        while (PWR_GetFlagStatus(PWR_FLAG_PVDO) == SET);

#if !defined(PIOS_INCLUDE_CHIBIOS)
        /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
        SystemInit();
        SystemCoreClockUpdate();        /* update SystemCoreClock for use elsewhere */
#endif /* !defined(PIOS_INCLUDE_CHIBIOS) */

        /*
         * @todo might make sense to fetch the bus clocks and save them somewhere to avoid
         * having to use the clunky get-all-clocks API everytime we need one.
         */

        /* Initialise Basic NVIC */
        /* do this early to ensure that we take exceptions in the right place */
        NVIC_Configuration();

        /* Enable specific rather than generic hard faults */
        SCB->SHCSR |= SCB_SHCSR_USGFAULTENA_Msk | SCB_SHCSR_BUSFAULTENA_Msk | SCB_SHCSR_MEMFAULTENA_Msk;

        /* Init the delay system */
        PIOS_DELAY_Init();

        /*
         * Turn on all the peripheral clocks.
         * Micromanaging clocks makes no sense given the power situation in the system, so
         * light up everything we might reasonably use here and just leave it on.
         */
        RCC_AHB1PeriphClockCmd(
                               RCC_AHB1Periph_GPIOA |
                               RCC_AHB1Periph_GPIOB |
                               RCC_AHB1Periph_GPIOC |
                               RCC_AHB1Periph_GPIOD |
                               RCC_AHB1Periph_GPIOE |
                               RCC_AHB1Periph_GPIOF |
                               RCC_AHB1Periph_GPIOG |
                               RCC_AHB1Periph_GPIOH |
                               RCC_AHB1Periph_GPIOI |
                               RCC_AHB1Periph_CRC |
                               RCC_AHB1Periph_FLITF |
                               RCC_AHB1Periph_SRAM1 |
                               RCC_AHB1Periph_SRAM2 |
                               RCC_AHB1Periph_BKPSRAM |
                               RCC_AHB1Periph_DMA1 |
                               RCC_AHB1Periph_DMA2 |
                               //RCC_AHB1Periph_ETH_MAC |                       No ethernet
                               //RCC_AHB1Periph_ETH_MAC_Tx |
                               //RCC_AHB1Periph_ETH_MAC_Rx |
                               //RCC_AHB1Periph_ETH_MAC_PTP |
                               //RCC_AHB1Periph_OTG_HS |                        No high-speed USB (requires external PHY)
                               //RCC_AHB1Periph_OTG_HS_ULPI |           No ULPI PHY (see above)
                        0, ENABLE);
        RCC_AHB2PeriphClockCmd(
                               //RCC_AHB2Periph_DCMI |                          No camera   @todo might make sense later for basic vision support?
                               //RCC_AHB2Periph_CRYP |                          No crypto
                               //RCC_AHB2Periph_HASH |                          No hash generator
                               //RCC_AHB2Periph_RNG |                           No random numbers @todo might be good to have later if entropy is desired
                               //RCC_AHB2Periph_OTG_FS |
                        0, ENABLE);
        RCC_AHB3PeriphClockCmd(
                               //RCC_AHB3Periph_FSMC |                          No external static memory
                        0, ENABLE);
        RCC_APB1PeriphClockCmd(
                               RCC_APB1Periph_TIM2 |
                               RCC_APB1Periph_TIM3 |
                               RCC_APB1Periph_TIM4 |
                               RCC_APB1Periph_TIM5 |
                               RCC_APB1Periph_TIM6 |
                               RCC_APB1Periph_TIM7 |
                               RCC_APB1Periph_TIM12 |
                               RCC_APB1Periph_TIM13 |
                               RCC_APB1Periph_TIM14 |
                               RCC_APB1Periph_WWDG |
                               RCC_APB1Periph_SPI2 |
                               RCC_APB1Periph_SPI3 |
                               RCC_APB1Periph_USART2 |
                               RCC_APB1Periph_USART3 |
                               RCC_APB1Periph_UART4 |
                               RCC_APB1Periph_UART5 |
                               RCC_APB1Periph_I2C1 |
                               RCC_APB1Periph_I2C2 |
                               RCC_APB1Periph_I2C3 |
                               RCC_APB1Periph_CAN1 |
                               RCC_APB1Periph_CAN2 |
                               RCC_APB1Periph_PWR |
                               RCC_APB1Periph_DAC |
                        0, ENABLE);

        RCC_APB2PeriphClockCmd(
                               RCC_APB2Periph_TIM1 |
                               RCC_APB2Periph_TIM8 |
                               RCC_APB2Periph_USART1 |
                               RCC_APB2Periph_USART6 |
                               RCC_APB2Periph_ADC |
                               RCC_APB2Periph_ADC1 |
                               RCC_APB2Periph_ADC2 |
                               RCC_APB2Periph_ADC3 |
                               RCC_APB2Periph_SDIO |
                               RCC_APB2Periph_SPI1 |
                               RCC_APB2Periph_SYSCFG |
                               RCC_APB2Periph_TIM9 |
                               RCC_APB2Periph_TIM10 |
                               RCC_APB2Periph_TIM11 |
                        0, ENABLE);

        /*
         * Configure all pins as input / pullup to avoid issues with
         * uncommitted pins, excepting special-function pins that we need to
         * remain as-is.
         */
        GPIO_InitTypeDef GPIO_InitStructure;
        GPIO_StructInit(&GPIO_InitStructure);
        GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;    // default is un-pulled input

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
#if (PIOS_USB_ENABLED)
        GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12);                            // leave USB D+/D- alone
#endif
        GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);      // leave JTAG pins alone
        GPIO_Init(GPIOA, &GPIO_InitStructure);

        GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All;
        GPIO_Init(GPIOB, &GPIO_InitStructure);
        GPIO_Init(GPIOC, &GPIO_InitStructure);
        GPIO_Init(GPIOD, &GPIO_InitStructure);
        GPIO_Init(GPIOE, &GPIO_InitStructure);
        GPIO_Init(GPIOF, &GPIO_InitStructure);
        GPIO_Init(GPIOG, &GPIO_InitStructure);
#if !defined(STM32F446xx)
        GPIO_Init(GPIOH, &GPIO_InitStructure);
        GPIO_Init(GPIOI, &GPIO_InitStructure);
#endif /* !defined(STM32F446xx) */
}

int32_t PIOS_SYS_Reset(void)
{
        // disable all interrupts
        PIOS_IRQ_Disable();

        // turn off all board LEDs
#ifdef PIOS_INCLUDE_ANNUNC
#if defined(PIOS_LED_HEARTBEAT)
        PIOS_ANNUNC_Off(PIOS_LED_HEARTBEAT);
#endif  /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
        PIOS_ANNUNC_Off(PIOS_LED_ALARM);
#endif  /* PIOS_LED_ALARM */
#endif

        /* XXX F10x port resets most (but not all) peripherals ... do we care? */

        /* Reset STM32 */
        NVIC_SystemReset();

        while (1) ;

        /* We will never reach this point */
        return -1;
}

int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
{
        int i;
        
        /* Stored in the so called "electronic signature" */
        for (i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
                uint8_t b = MEM8(0x1fff7a10 + i);
                
                array[i] = b;
        }
        
        /* No error */
        return 0;
}

int32_t PIOS_SYS_SerialNumberGet(char *str)
{
        int i;

        /* Stored in the so called "electronic signature" */
        for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
                uint8_t b = MEM8(0x1fff7a10 + (i / 2));
                if (!(i & 1))
                        b >>= 4;
                b &= 0x0f;

                str[i] = ((b > 9) ? ('A' - 10) : '0') + b;
        }
        str[i] = '\0';

        /* No error */
        return 0;
}

static inline size_t unused_mem(uint32_t *top, uint32_t *bot, uint32_t pattern)
{
        uint32_t *p = bot;
        for (; p < top && *p == pattern; p++);
        return (p - bot) * sizeof(uint32_t);
}

#ifdef PIOS_INCLUDE_CHIBIOS

#if !defined(CRT0_STACKS_FILL_PATTERN)
#define CRT0_STACKS_FILL_PATTERN    0x55555555 /* ChibiOS ResetHandler */
#endif
/* c.f. linker */
extern uint32_t __main_stack_base__;
extern uint32_t __main_stack_end__;
extern uint32_t __process_stack_base__;
extern uint32_t __process_stack_end__;

size_t PIOS_SYS_IrqStackUnused(void)
{
        return unused_mem(&__main_stack_end__, &__main_stack_base__,
                CRT0_STACKS_FILL_PATTERN);
}

size_t PIOS_SYS_OsStackUnused(void)
{
        return unused_mem(&__process_stack_end__, &__process_stack_base__,
                CRT0_STACKS_FILL_PATTERN);
}

#else

/* c.f. linker */
extern uint32_t _irq_stack_end;
extern uint32_t _irq_stack_top;

size_t PIOS_SYS_IrqStackUnused(void)
{
        return unused_mem(&_irq_stack_top, &_irq_stack_end, 0xa5a5a5a5);
}

size_t PIOS_SYS_OsStackUnused(void)
{
        return 0;
}

#endif /* PIOS_INCLUDE_CHIBIOS */

void NVIC_Configuration(void)
{
        /* Set the Vector Table base address as specified in .ld file */
        extern void *pios_isr_vector_table_base;
        NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);

        /* 4 bits for Interrupt priorities so no sub priorities */
        NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

        /* Configure HCLK clock as SysTick clock source. */
        SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
}

#ifdef USE_FULL_ASSERT

void assert_failed(uint8_t * file, uint32_t line)
{
        /* When serial debugging is implemented, use something like this. */
        /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */

        /* Setup the LEDs to Alternate */
#if defined(PIOS_LED_HEARTBEAT)
        PIOS_ANNUNC_On(PIOS_LED_HEARTBEAT);
#endif  /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
        PIOS_ANNUNC_Off(PIOS_LED_ALARM);
#endif  /* PIOS_LED_ALARM */

        /* Infinite loop */
        while (1) {
#if defined(PIOS_LED_HEARTBEAT)
                PIOS_ANNUNC_Toggle(PIOS_LED_HEARTBEAT);
#endif  /* PIOS_LED_HEARTBEAT */
#if defined(PIOS_LED_ALARM)
                PIOS_ANNUNC_Toggle(PIOS_LED_ALARM);
#endif  /* PIOS_LED_ALARM */
                for (int i = 0; i < 1000000; i++) ;
        }
}
#endif

#endif