ardupilot/libraries/AP_HAL_ChibiOS/hwdef/common/board.c

/*
 * This file 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 file 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/>.
 * 
 * Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
 */

#include "hal.h"
#include "usbcfg.h"
#include "stm32_util.h"
#include "watchdog.h"


/*===========================================================================*/
/* Driver local definitions.                                                 */
/*===========================================================================*/

/*===========================================================================*/
/* Driver exported variables.                                                */
/*===========================================================================*/

/*===========================================================================*/
/* Driver local variables and types.                                         */
/*===========================================================================*/

/**
 * @brief   STM32 GPIO static initialization data.
 */
#if defined(STM32F100_MCUCONF) || defined(STM32F103_MCUCONF) || defined(STM32F105_MCUCONF)

const PALConfig pal_default_config =
{
  {VAL_GPIOA_ODR, VAL_GPIOA_CRL, VAL_GPIOA_CRH},
  {VAL_GPIOB_ODR, VAL_GPIOB_CRL, VAL_GPIOB_CRH},
  {VAL_GPIOC_ODR, VAL_GPIOC_CRL, VAL_GPIOC_CRH},
  {VAL_GPIOD_ODR, VAL_GPIOD_CRL, VAL_GPIOD_CRH},
  {VAL_GPIOE_ODR, VAL_GPIOE_CRL, VAL_GPIOE_CRH},
};

#else //Other than STM32F1/F3 series

/**
 * @brief   Type of STM32 GPIO port setup.
 */
typedef struct {
  uint32_t              moder;
  uint32_t              otyper;
  uint32_t              ospeedr;
  uint32_t              pupdr;
  uint32_t              odr;
  uint32_t              afrl;
  uint32_t              afrh;
} gpio_setup_t;

/**
 * @brief   Type of STM32 GPIO initialization data.
 */
typedef struct {
#if STM32_HAS_GPIOA || defined(__DOXYGEN__)
  gpio_setup_t          PAData;
#endif
#if STM32_HAS_GPIOB || defined(__DOXYGEN__)
  gpio_setup_t          PBData;
#endif
#if STM32_HAS_GPIOC || defined(__DOXYGEN__)
  gpio_setup_t          PCData;
#endif
#if STM32_HAS_GPIOD || defined(__DOXYGEN__)
  gpio_setup_t          PDData;
#endif
#if STM32_HAS_GPIOE || defined(__DOXYGEN__)
  gpio_setup_t          PEData;
#endif
#if STM32_HAS_GPIOF || defined(__DOXYGEN__)
  gpio_setup_t          PFData;
#endif
#if STM32_HAS_GPIOG || defined(__DOXYGEN__)
  gpio_setup_t          PGData;
#endif
#if STM32_HAS_GPIOH || defined(__DOXYGEN__)
  gpio_setup_t          PHData;
#endif
#if STM32_HAS_GPIOI || defined(__DOXYGEN__)
  gpio_setup_t          PIData;
#endif
#if STM32_HAS_GPIOJ || defined(__DOXYGEN__)
  gpio_setup_t          PJData;
#endif
#if STM32_HAS_GPIOK || defined(__DOXYGEN__)
  gpio_setup_t          PKData;
#endif
} gpio_config_t;

/**
 * @brief   STM32 GPIO static initialization data.
 */
static const gpio_config_t gpio_default_config = {
#if STM32_HAS_GPIOA
  {VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR,
   VAL_GPIOA_ODR,   VAL_GPIOA_AFRL,   VAL_GPIOA_AFRH},
#endif
#if STM32_HAS_GPIOB
  {VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR,
   VAL_GPIOB_ODR,   VAL_GPIOB_AFRL,   VAL_GPIOB_AFRH},
#endif
#if STM32_HAS_GPIOC
  {VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR,
   VAL_GPIOC_ODR,   VAL_GPIOC_AFRL,   VAL_GPIOC_AFRH},
#endif
#if STM32_HAS_GPIOD
  {VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR,
   VAL_GPIOD_ODR,   VAL_GPIOD_AFRL,   VAL_GPIOD_AFRH},
#endif
#if STM32_HAS_GPIOE
  {VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR,
   VAL_GPIOE_ODR,   VAL_GPIOE_AFRL,   VAL_GPIOE_AFRH},
#endif
#if STM32_HAS_GPIOF
  {VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR,
   VAL_GPIOF_ODR,   VAL_GPIOF_AFRL,   VAL_GPIOF_AFRH},
#endif
#if STM32_HAS_GPIOG
  {VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR,
   VAL_GPIOG_ODR,   VAL_GPIOG_AFRL,   VAL_GPIOG_AFRH},
#endif
#if STM32_HAS_GPIOH
  {VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR,
   VAL_GPIOH_ODR,   VAL_GPIOH_AFRL,   VAL_GPIOH_AFRH},
#endif
#if STM32_HAS_GPIOI
  {VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR,
   VAL_GPIOI_ODR,   VAL_GPIOI_AFRL,   VAL_GPIOI_AFRH},
#endif
#if STM32_HAS_GPIOJ
  {VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR,
   VAL_GPIOJ_ODR,   VAL_GPIOJ_AFRL,   VAL_GPIOJ_AFRH},
#endif
#if STM32_HAS_GPIOK
  {VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR,
   VAL_GPIOK_ODR,   VAL_GPIOK_AFRL,   VAL_GPIOK_AFRH}
#endif
};

/*===========================================================================*/
/* Driver local functions.                                                   */
/*===========================================================================*/

static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) {

  gpiop->OTYPER  = config->otyper;
  gpiop->OSPEEDR = config->ospeedr;
  gpiop->PUPDR   = config->pupdr;
  gpiop->ODR     = config->odr;
  gpiop->AFRL    = config->afrl;
  gpiop->AFRH    = config->afrh;
  gpiop->MODER   = config->moder;
}

static void stm32_gpio_init(void) {

  /* Enabling GPIO-related clocks, the mask comes from the
     registry header file.*/
#if defined(STM32H7)
#if !EXT_FLASH_SIZE_MB // if we have external flash resetting GPIO might disable all comms with it
  rccResetAHB4(STM32_GPIO_EN_MASK);
#endif
  rccEnableAHB4(STM32_GPIO_EN_MASK, true);
#elif defined(STM32F3)
  rccResetAHB(STM32_GPIO_EN_MASK);
  rccEnableAHB(STM32_GPIO_EN_MASK, true);
#elif defined(STM32G4) || defined(STM32L4) || defined(STM32L4PLUS)
  rccResetAHB2(STM32_GPIO_EN_MASK);
  rccEnableAHB2(STM32_GPIO_EN_MASK, true);
#else
  rccResetAHB1(STM32_GPIO_EN_MASK);
  rccEnableAHB1(STM32_GPIO_EN_MASK, true);
#endif

  /* Initializing all the defined GPIO ports.*/
#if STM32_HAS_GPIOA
  gpio_init(GPIOA, &gpio_default_config.PAData);
#endif
#if STM32_HAS_GPIOB
  gpio_init(GPIOB, &gpio_default_config.PBData);
#endif
#if STM32_HAS_GPIOC
  gpio_init(GPIOC, &gpio_default_config.PCData);
#endif
#if STM32_HAS_GPIOD
  gpio_init(GPIOD, &gpio_default_config.PDData);
#endif
#if STM32_HAS_GPIOE
  gpio_init(GPIOE, &gpio_default_config.PEData);
#endif
#if STM32_HAS_GPIOF
  gpio_init(GPIOF, &gpio_default_config.PFData);
#endif
#if STM32_HAS_GPIOG
  gpio_init(GPIOG, &gpio_default_config.PGData);
#endif
#if STM32_HAS_GPIOH
  gpio_init(GPIOH, &gpio_default_config.PHData);
#endif
#if STM32_HAS_GPIOI
  gpio_init(GPIOI, &gpio_default_config.PIData);
#endif
#if STM32_HAS_GPIOJ
  gpio_init(GPIOJ, &gpio_default_config.PJData);
#endif
#if STM32_HAS_GPIOK
  gpio_init(GPIOK, &gpio_default_config.PKData);
#endif
}

#endif //!STM32F100_MCUCONF

/**
 * @brief   Early initialization code.
 * @details This initialization must be performed just after stack setup
 *          and before any other initialization.
 *
 * You must not rely on: 1) BSS variables being cleared 2) DATA Variables being initialized 3) RAM functions to be in RAM
 * You can rely on: 1) const variables or tables 2) flash code 3) automatic variables
 */
void __early_init(void) {
#if !defined(STM32F1)
  stm32_gpio_init();
#endif
#if !HAL_XIP_ENABLED
  // if running from external flash then the clocks must not be reset - instead rely on the bootloader to setup
  stm32_clock_init();
#endif
#if defined(HAL_DISABLE_DCACHE)
  SCB_DisableDCache();
#endif
#if defined(STM32H7)

  // ensure ITCM and DTCM are enabled. These could be disabled by the px4
  // bootloader
  SCB->ITCMCR |= 1; // ITCM enable
  SCB->DTCMCR |= 1; // DTCM enable

#ifdef STM32_NOCACHE_MPU_REGION_1
  // disable cache on configured regions so they can be used for DMA
  // this requires some coordination with the memory map in the MCU configuration script
  mpuConfigureRegion(STM32_NOCACHE_MPU_REGION_1,
                     STM32_NOCACHE_MPU_REGION_1_BASE,
                     MPU_RASR_ATTR_AP_RW_RW |
                     MPU_RASR_ATTR_NON_CACHEABLE |
                     STM32_NOCACHE_MPU_REGION_1_SIZE |
                     MPU_RASR_ENABLE);
#endif
#ifdef STM32_NOCACHE_MPU_REGION_2
  mpuConfigureRegion(STM32_NOCACHE_MPU_REGION_2,
                     STM32_NOCACHE_MPU_REGION_2_BASE,
                     MPU_RASR_ATTR_AP_RW_RW |
                     MPU_RASR_ATTR_NON_CACHEABLE |
                     STM32_NOCACHE_MPU_REGION_2_SIZE |
                     MPU_RASR_ENABLE);
#endif
#endif
}

void __late_init(void) {
  halInit();
  chSysInit();

  /*
   * Initialize RNG
   */
#if HAL_USE_HW_RNG && defined(RNG)
  rccEnableAHB2(RCC_AHB2ENR_RNGEN, 0);
  RNG->CR |= RNG_CR_IE;
  RNG->CR |= RNG_CR_RNGEN;
#endif

  stm32_watchdog_save_reason();
#ifndef HAL_BOOTLOADER_BUILD
  stm32_watchdog_clear_reason();
#endif
#if CH_CFG_USE_HEAP == TRUE
  malloc_init();
#endif
#ifdef HAL_USB_PRODUCT_ID
  setup_usb_strings();
#endif
}

#if HAL_USE_SDC || defined(__DOXYGEN__)
/**
 * @brief   SDC card detection.
 */
bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
    (void)sdcp;
    return true;
}

/**
 * @brief   SDC card write protection detection.
 */
bool sdc_lld_is_write_protected(SDCDriver *sdcp) {

  (void)sdcp;
  return false;
}
#endif /* HAL_USE_SDC */

#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
/**
 * @brief   MMC_SPI card detection.
 */
bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
  (void)mmcp;
  /* TODO: Fill the implementation.*/
  return true;
}

/**
 * @brief   MMC_SPI card write protection detection.
 */
bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
  (void)mmcp;
  /* TODO: Fill the implementation.*/
  return false;
}
#endif

/**
 * @brief   Board-specific initialization code.
 * @todo    Add your board-specific code, if any.
 */
void boardInit(void) {
  HAL_BOARD_INIT_HOOK_CALL
}