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Diffstat (limited to 'wirish/boards.cpp')
| -rw-r--r-- | wirish/boards.cpp | 219 |
1 files changed, 219 insertions, 0 deletions
diff --git a/wirish/boards.cpp b/wirish/boards.cpp new file mode 100644 index 0000000..77a05de --- /dev/null +++ b/wirish/boards.cpp @@ -0,0 +1,219 @@ +/****************************************************************************** + * The MIT License + * + * Copyright (c) 2010 Perry Hung. + * Copyright (c) 2011, 2012 LeafLabs, LLC. + * + * Permission is hereby granted, free of charge, to any person + * obtaining a copy of this software and associated documentation + * files (the "Software"), to deal in the Software without + * restriction, including without limitation the rights to use, copy, + * modify, merge, publish, distribute, sublicense, and/or sell copies + * of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be + * included in all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS + * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN + * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + *****************************************************************************/ + +/** + * @file wirish/boards.cpp + * @brief init() and board routines. + * + * This file is mostly interesting for the init() function, which + * configures Flash, the core clocks, and a variety of other available + * peripherals on the board so the rest of Wirish doesn't have to turn + * things on before using them. + * + * Prior to returning, init() calls boardInit(), which allows boards + * to perform any initialization they need to. This file includes a + * weak no-op definition of boardInit(), so boards that don't need any + * special initialization don't have to define their own. + * + * How init() works is chip-specific. See the boards_setup.cpp files + * under e.g. wirish/stm32f1/, wirish/stmf32f2 for the details, but be + * advised: their contents are unstable, and can/will change without + * notice. + */ + +#include <wirish/boards.h> +#include <libmaple/libmaple_types.h> +#include <libmaple/flash.h> +#include <libmaple/nvic.h> +#include <libmaple/systick.h> +#include "boards_private.h" + +static void setup_flash(void); +static void setup_clocks(void); +static void setup_nvic(void); +static void setup_adcs(void); +static void setup_timers(void); + +/* + * Exported functions + */ + +void init(void) { + setup_flash(); + setup_clocks(); + setup_nvic(); + systick_init(SYSTICK_RELOAD_VAL); + wirish::priv::board_setup_gpio(); + setup_adcs(); + setup_timers(); + wirish::priv::board_setup_usb(); + wirish::priv::series_init(); + boardInit(); +} + +/* Provide a default no-op boardInit(). */ +__weak void boardInit(void) { +} + +/* You could farm this out to the files in boards/ if e.g. it takes + * too long to test on boards with lots of pins. */ +bool boardUsesPin(uint8 pin) { + for (int i = 0; i < BOARD_NR_USED_PINS; i++) { + if (pin == boardUsedPins[i]) { + return true; + } + } + return false; +} + +/* + * Auxiliary routines + */ + +static void setup_flash(void) { + // Turn on as many Flash "go faster" features as + // possible. flash_enable_features() just ignores any flags it + // can't support. + flash_enable_features(FLASH_PREFETCH | FLASH_ICACHE | FLASH_DCACHE); + // Configure the wait states, assuming we're operating at "close + // enough" to 3.3V. + flash_set_latency(FLASH_SAFE_WAIT_STATES); +} + +static void setup_clocks(void) { + // Turn on HSI. We'll switch to and run off of this while we're + // setting up the main PLL. + rcc_turn_on_clk(RCC_CLK_HSI); + + // Turn off and reset the clock subsystems we'll be using, as well + // as the clock security subsystem (CSS). Note that resetting CFGR + // to its default value of 0 implies a switch to HSI for SYSCLK. + RCC_BASE->CFGR = 0x00000000; + rcc_disable_css(); + rcc_turn_off_clk(RCC_CLK_PLL); + rcc_turn_off_clk(RCC_CLK_HSE); + wirish::priv::board_reset_pll(); + // Clear clock readiness interrupt flags and turn off clock + // readiness interrupts. + RCC_BASE->CIR = 0x00000000; + + // Enable HSE, and wait until it's ready. + rcc_turn_on_clk(RCC_CLK_HSE); + while (!rcc_is_clk_ready(RCC_CLK_HSE)) + ; + + // Configure AHBx, APBx, etc. prescalers and the main PLL. + wirish::priv::board_setup_clock_prescalers(); + rcc_configure_pll(&wirish::priv::w_board_pll_cfg); + + // Enable the PLL, and wait until it's ready. + rcc_turn_on_clk(RCC_CLK_PLL); + while(!rcc_is_clk_ready(RCC_CLK_PLL)) + ; + + // Finally, switch to the now-ready PLL as the main clock source. + rcc_switch_sysclk(RCC_CLKSRC_PLL); +} + +/* + * These addresses are where usercode starts when a bootloader is + * present. If no bootloader is present, the user NVIC usually starts + * at the Flash base address, 0x08000000. + */ +#if defined(BOOTLOADER_maple) +#define USER_ADDR_ROM 0x08005000 +#elif defined(BOOTLOADER_robotis) +#define USER_ADDR_ROM 0x08003000 +#endif +#define USER_ADDR_RAM 0x20000C00 +extern char __text_start__; + +static void setup_nvic(void) { +#ifdef VECT_TAB_FLASH + nvic_init(USER_ADDR_ROM, 0); +#elif defined VECT_TAB_RAM + nvic_init(USER_ADDR_RAM, 0); +#elif defined VECT_TAB_BASE + nvic_init((uint32)0x08000000, 0); +#elif defined VECT_TAB_ADDR + // A numerically supplied value + nvic_init((uint32)VECT_TAB_ADDR, 0); +#else + // Use the __text_start__ value from the linker script; this + // should be the start of the vector table. + nvic_init((uint32)&__text_start__, 0); +#endif +} + +static void adc_default_config(const adc_dev *dev) { + adc_enable_single_swstart(dev); + adc_set_sample_rate(dev, wirish::priv::w_adc_smp); +} + +static void setup_adcs(void) { + adc_set_prescaler(wirish::priv::w_adc_pre); + adc_foreach(adc_default_config); +} + +static void timer_default_config(timer_dev *dev) { + timer_adv_reg_map *regs = (dev->regs).adv; + const uint16 full_overflow = 0xFFFF; + const uint16 half_duty = 0x8FFF; + + timer_init(dev); + timer_pause(dev); + + regs->CR1 = TIMER_CR1_ARPE; + regs->PSC = 1; + regs->SR = 0; + regs->DIER = 0; + regs->EGR = TIMER_EGR_UG; + switch (dev->type) { + case TIMER_ADVANCED: + regs->BDTR = TIMER_BDTR_MOE | TIMER_BDTR_LOCK_OFF; + // fall-through + case TIMER_GENERAL: + timer_set_reload(dev, full_overflow); + for (uint8 channel = 1; channel <= 4; channel++) { + if (timer_has_cc_channel(dev, channel)) { + timer_set_compare(dev, channel, half_duty); + timer_oc_set_mode(dev, channel, TIMER_OC_MODE_PWM_1, + TIMER_OC_PE); + } + } + // fall-through + case TIMER_BASIC: + break; + } + + timer_generate_update(dev); + timer_resume(dev); +} + +static void setup_timers(void) { + timer_foreach(timer_default_config); +} |