--- /dev/null
+/*
+ * Copyright © 2018 Keith Packard <keithp@keithp.com>
+ *
+ * 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 2 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, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include <ao_task.h>
+
+#ifndef HAS_TICK
+#define HAS_TICK 1
+#endif
+
+#if HAS_TICK || defined(AO_TIMER_HOOK)
+
+#if HAS_TICK
+volatile AO_TICK_TYPE ao_tick_count;
+
+AO_TICK_TYPE
+ao_time(void)
+{
+ return ao_tick_count;
+}
+#endif
+
+#if AO_DATA_ALL
+volatile uint8_t ao_data_interval = 1;
+volatile uint8_t ao_data_count;
+#endif
+
+void stm_systick_isr(void)
+{
+ ao_validate_cur_stack();
+ if (stm_systick.csr & (1 << STM_SYSTICK_CSR_COUNTFLAG)) {
+#if HAS_TICK
+ ++ao_tick_count;
+#endif
+#if HAS_TASK_QUEUE
+ if (ao_task_alarm_tick && (int16_t) (ao_tick_count - ao_task_alarm_tick) >= 0)
+ ao_task_check_alarm((uint16_t) ao_tick_count);
+#endif
+#if AO_DATA_ALL
+ if (++ao_data_count == ao_data_interval) {
+ ao_data_count = 0;
+#if HAS_FAKE_FLIGHT
+ if (ao_fake_flight_active)
+ ao_fake_flight_poll();
+ else
+#endif
+ ao_adc_poll();
+#if (AO_DATA_ALL & ~(AO_DATA_ADC))
+ ao_wakeup((void *) &ao_data_count);
+#endif
+ }
+#endif
+#ifdef AO_TIMER_HOOK
+ AO_TIMER_HOOK;
+#endif
+ }
+}
+
+#if HAS_ADC
+void
+ao_timer_set_adc_interval(uint8_t interval)
+{
+ ao_arch_critical(
+ ao_data_interval = interval;
+ ao_data_count = 0;
+ );
+}
+#endif
+
+#define SYSTICK_RELOAD ((AO_SYSTICK / 8) / 100 - 1)
+
+void
+ao_timer_init(void)
+{
+ stm_systick.rvr = SYSTICK_RELOAD;
+ stm_systick.cvr = 0;
+ stm_systick.csr = ((1 << STM_SYSTICK_CSR_ENABLE) |
+ (1 << STM_SYSTICK_CSR_TICKINT) |
+ (STM_SYSTICK_CSR_CLKSOURCE_AHB_8 << STM_SYSTICK_CSR_CLKSOURCE));
+ stm_scb.shpr3 |= AO_STM_NVIC_CLOCK_PRIORITY << 24;
+}
+
+#endif
+
+void
+ao_clock_init(void)
+{
+ uint32_t cfgr;
+ uint32_t pllcfgr;
+
+ /* Switch to HSI while messing about */
+ stm_rcc.cr |= (1 << STM_RCC_CR_HSION);
+ while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSIRDY)))
+ ao_arch_nop();
+
+ stm_rcc.cfgr = (stm_rcc.cfgr & ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW)) |
+ (STM_RCC_CFGR_SW_HSI << STM_RCC_CFGR_SW);
+
+ /* wait for system to switch to HSI */
+ while ((stm_rcc.cfgr & (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS)) !=
+ (STM_RCC_CFGR_SWS_HSI << STM_RCC_CFGR_SWS))
+ ao_arch_nop();
+
+ /* reset everything but the HSI selection and status */
+ stm_rcc.cfgr &= (uint32_t)0x0000000f;
+
+ /* reset everything but HSI */
+ stm_rcc.cr &= 0x0000ffff;
+
+ /* Disable and clear all interrupts */
+ stm_rcc.cir = 0xffff0000;
+
+#if AO_HSE
+#if AO_HSE_BYPASS
+ stm_rcc.cr |= (1 << STM_RCC_CR_HSEBYP);
+#else
+ stm_rcc.cr &= ~(1 << STM_RCC_CR_HSEBYP);
+#endif
+ /* Enable HSE clock */
+ stm_rcc.cr |= (1 << STM_RCC_CR_HSEON);
+ while (!(stm_rcc.cr & (1 << STM_RCC_CR_HSERDY)))
+ asm("nop");
+
+#endif
+
+ /* Set flash latency to tolerate SYSCLK */
+
+#define FLASH_LATENCY ((AO_SYSCLK - 1) / 25000000)
+
+ /* Enable icache, dcache and prefetch. Set latency */
+ stm_flash.acr = ((1 << STM_FLASH_ACR_DCEN) |
+ (1 << STM_FLASH_ACR_ICEN) |
+ (1 << STM_FLASH_ACR_PRFTEN) |
+ (FLASH_LATENCY << STM_FLASH_ACR_LATENCY));
+
+ /* Enable power interface clock */
+ stm_rcc.apb1enr |= (1 << STM_RCC_APB1ENR_PWREN);
+
+#if AO_SYSCLK <= 64000000
+#define VOS_SCALE_MODE STM_PWR_CR_VOS_SCALE_MODE_1
+#elif AO_SYSCLK <= 84000000
+#define VOS_SCALE_MODE STM_PWR_CR_VOS_SCALE_MODE_2
+#else
+#define VOS_SCALE_MODE STM_PWR_CR_VOS_SCALE_MODE_1
+#endif
+
+ /* Set voltage scale mode */
+ stm_pwr.cr = ((stm_pwr.cr & ~(STM_PWR_CR_VOS_SCALE_MODE_MASK)) |
+ (VOS_SCALE_MODE << STM_PWR_CR_VOS));
+
+ /* HCLK */
+ cfgr = stm_rcc.cfgr;
+ cfgr &= ~(STM_RCC_CFGR_HPRE_MASK << STM_RCC_CFGR_HPRE);
+ cfgr |= (AO_RCC_CFGR_HPRE_DIV << STM_RCC_CFGR_HPRE);
+ stm_rcc.cfgr = cfgr;
+
+ /* APB1 Prescaler = AO_APB1_PRESCALER */
+ cfgr = stm_rcc.cfgr;
+ cfgr &= ~(STM_RCC_CFGR_PPRE1_MASK << STM_RCC_CFGR_PPRE1);
+ cfgr |= (AO_RCC_CFGR_PPRE1_DIV << STM_RCC_CFGR_PPRE1);
+ stm_rcc.cfgr = cfgr;
+
+ /* APB2 Prescaler = AO_APB2_PRESCALER */
+ cfgr = stm_rcc.cfgr;
+ cfgr &= ~(STM_RCC_CFGR_PPRE2_MASK << STM_RCC_CFGR_PPRE2);
+ cfgr |= (AO_RCC_CFGR_PPRE2_DIV << STM_RCC_CFGR_PPRE2);
+ stm_rcc.cfgr = cfgr;
+
+ /* Clock configuration register DCKCFGR2; mostly make sure USB
+ * gets clocked from PLL_Q
+ */
+ stm_rcc.dckcfgr2 = ((STM_RCC_DCKCFGR2_LPTIMER1SEL_APB << STM_RCC_DCKCFGR2_LPTIMER1SEL) |
+ (STM_RCC_DCKCFGR2_SDIOSEL_CK_48MHZ << STM_RCC_DCKCFGR2_SDIOSEL) |
+ (STM_RCC_DCKCFGR2_CK48MSEL_PLL_Q << STM_RCC_DCKCFGR2_CK48MSEL) |
+ (STM_RCC_DCKCFGR2_I2CFMP1SEL_APB << STM_RCC_DCKCFGR2_I2CFMP1SEL));
+
+ /* Disable the PLL */
+ stm_rcc.cr &= ~(1 << STM_RCC_CR_PLLON);
+ while (stm_rcc.cr & (1 << STM_RCC_CR_PLLRDY))
+ asm("nop");
+
+ /* PLL1VCO */
+ pllcfgr = stm_rcc.pllcfgr;
+ pllcfgr &= ~(STM_RCC_PLLCFGR_PLLM_MASK << STM_RCC_PLLCFGR_PLLM);
+ pllcfgr &= ~(STM_RCC_PLLCFGR_PLLN_MASK << STM_RCC_PLLCFGR_PLLN);
+ pllcfgr &= ~(STM_RCC_PLLCFGR_PLLP_MASK << STM_RCC_PLLCFGR_PLLP);
+ pllcfgr &= ~(STM_RCC_PLLCFGR_PLLQ_MASK << STM_RCC_PLLCFGR_PLLQ);
+ pllcfgr &= ~(STM_RCC_PLLCFGR_PLLR_MASK << STM_RCC_PLLCFGR_PLLR);
+
+ pllcfgr |= (AO_PLL_M << STM_RCC_PLLCFGR_PLLM);
+ pllcfgr |= (AO_PLL1_N << STM_RCC_PLLCFGR_PLLN);
+#if AO_PLL1_P == 2
+#define AO_RCC_PLLCFGR_PLLP STM_RCC_PLLCFGR_PLLP_DIV_2
+#endif
+#if AO_PLL1_P == 4
+#define AO_RCC_PLLCFGR_PLLP STM_RCC_PLLCFGR_PLLP_DIV_4
+#endif
+#if AO_PLL1_P == 6
+#define AO_RCC_PLLCFGR_PLLP STM_RCC_PLLCFGR_PLLP_DIV_6
+#endif
+#if AO_PLL1_P == 8
+#define AO_RCC_PLLCFGR_PLLP STM_RCC_PLLCFGR_PLLP_DIV_8
+#endif
+ pllcfgr |= (AO_RCC_PLLCFGR_PLLP << STM_RCC_PLLCFGR_PLLP);
+ pllcfgr |= (AO_PLL1_Q << STM_RCC_PLLCFGR_PLLQ);
+ pllcfgr |= (AO_PLL1_R << STM_RCC_PLLCFGR_PLLR);
+ /* PLL source */
+ pllcfgr &= ~(1 << STM_RCC_PLLCFGR_PLLSRC);
+#if AO_HSI
+ pllcfgr |= (STM_RCC_PLLCFGR_PLLSRC_HSI << STM_RCC_PLLCFGR_PLLSRC);
+#endif
+#if AO_HSE
+ pllcfgr |= (STM_RCC_PLLCFGR_PLLSRC_HSE << STM_RCC_PLLCFGR_PLLSRC);
+#endif
+ stm_rcc.pllcfgr = pllcfgr;
+
+ /* Enable the PLL and wait for it */
+ stm_rcc.cr |= (1 << STM_RCC_CR_PLLON);
+ while (!(stm_rcc.cr & (1 << STM_RCC_CR_PLLRDY)))
+ asm("nop");
+
+ /* Switch to the PLL for the system clock */
+
+ cfgr = stm_rcc.cfgr;
+ cfgr &= ~(STM_RCC_CFGR_SW_MASK << STM_RCC_CFGR_SW);
+ cfgr |= (STM_RCC_CFGR_SW_PLL << STM_RCC_CFGR_SW);
+ stm_rcc.cfgr = cfgr;
+ for (;;) {
+ uint32_t c, part, mask, val;
+
+ c = stm_rcc.cfgr;
+ mask = (STM_RCC_CFGR_SWS_MASK << STM_RCC_CFGR_SWS);
+ val = (STM_RCC_CFGR_SWS_PLL << STM_RCC_CFGR_SWS);
+ part = c & mask;
+ if (part == val)
+ break;
+ }
+
+#if AO_HSE
+ /* Disable HSI clock */
+ stm_rcc.cr &= ~(1 << STM_RCC_CR_HSION);
+#endif
+
+ /* Clear reset flags */
+ stm_rcc.csr |= (1 << STM_RCC_CSR_RMVF);
+
+#if DEBUG_THE_CLOCK
+ /* Output PLL clock on PA8 and SYCLK on PC9 for measurments */
+
+ stm_rcc.ahb1enr |= ((1 << STM_RCC_AHB1ENR_IOPAEN) |
+ (1 << STM_RCC_AHB1ENR_IOPCEN));
+
+ stm_afr_set(&stm_gpioa, 8, STM_AFR_AF0);
+ stm_moder_set(&stm_gpioa, 8, STM_MODER_ALTERNATE);
+ stm_ospeedr_set(&stm_gpioa, 8, STM_OSPEEDR_HIGH);
+
+ stm_afr_set(&stm_gpioc, 9, STM_AFR_AF0);
+ stm_moder_set(&stm_gpioc, 9, STM_MODER_ALTERNATE);
+ stm_ospeedr_set(&stm_gpioc, 9, STM_OSPEEDR_HIGH);
+
+ cfgr = stm_rcc.cfgr;
+ cfgr &= 0x001fffff;
+ cfgr |= ((0 << STM_RCC_CFGR_MCO2) |
+ (6 << STM_RCC_CFGR_MCO2PRE) |
+ (6 << STM_RCC_CFGR_MCO1PRE) |
+ (2 << STM_RCC_CFGR_MCO1));
+ stm_rcc.cfgr = cfgr;
+#endif
+}
projects / fw / altos / blobdiff