void timer_select_internal_clock(openlab_timer_t timer, uint16_t prescaler)
{
const _openlab_timer_t *_timer = timer;
// Disable slave mode
*timer_get_SMCR(_timer) &= ~TIMER_SMCR__SMS_MASK;
// Set the prescaler
*timer_get_PSC(_timer) = prescaler;
// Compute and save the timer frequency
uint32_t freq;
// Get internal frequency
if (_timer->apb_bus == 1)
{
freq = rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM);
}
else
{
freq = rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK2_TIM);
}
// Divide by prescaler
freq /= (prescaler + 1);
// Store
_timer->data->frequency = freq;
}
uint32_t timer_get_frequency(openlab_timer_t timer)
{
const _openlab_timer_t *_timer = timer;
if (_timer->data->frequency != 0)
{
// Return the estimated frequency
return _timer->data->frequency;
}
else
{
// Assume internal clock
uint32_t freq;
// Get internal frequency
if (_timer->apb_bus == 1)
{
freq = rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM);
}
else
{
freq = rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK2_TIM);
}
return freq;
}
}
static void timer_drivers_setup()
{
// Enable Motor timer
timer_enable(TIM_1);
timer_enable(TIM_8);
// Enable Soft timer
timer_enable(TIM_2);
// Setting Motor timer to about 2MHz (2^21) = 2097152
timer_select_internal_clock(TIM_1,
(rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM) / 2097152)
- 1);
boot_success("Starting TIM_1 at about 2MHz\n");
// Setting servo timer to about 30Hz (2^5) = 32
// Setting Motor timer to about 2MHz (2^21) = 2097152
timer_select_internal_clock(TIM_8,
(rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM) / 2097152)
- 1);
boot_success("Starting TIM_8 at about 30Hz\n");
// Setting Soft timer to about 32kHz
timer_select_internal_clock(TIM_2,
(rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_PCLK1_TIM) / 2097152)//32768)
- 1);
boot_success("Starting TIM_2 at about 32kHz\n");
// Start ALL timers
timer_start(TIM_1, 0xFFFF, NULL, NULL, TIMER_MODE_CLOCK);
timer_start(TIM_2, 0xFFFF, NULL, NULL, TIMER_MODE_CLOCK);
timer_start(TIM_8, 0xFFFF, NULL, NULL, TIMER_MODE_CLOCK);
timer_set_channel_compare(TIM_1, TIMER_CHANNEL_1, 0x00FF, NULL, NULL);
timer_set_channel_compare(TIM_8, TIMER_CHANNEL_1, 0x00FF, NULL, NULL);
}
void platform_drivers_setup()
{
// Set base address and AHB bit for all GPIO ports
gpio_enable(GPIO_A);
gpio_enable(GPIO_B);
gpio_enable(GPIO_C);
gpio_enable(GPIO_D);
// Enable the AFIO
rcc_apb_enable(RCC_APB_BUS_AFIO, RCC_APB_BIT_AFIO);
// Start the TIM3 at ~32kHz
timer_enable(TIM_3);
timer_select_internal_clock(TIM_3, (rcc_sysclk_get_clock_frequency(
RCC_SYSCLK_CLOCK_PCLK1_TIM) / 32768) - 1);
timer_start(TIM_3, 0xFFFF, NULL, NULL);
// Enable the print uart
gpio_set_uart_tx(GPIO_A, GPIO_PIN_9);
gpio_set_uart_rx(GPIO_A, GPIO_PIN_10);
uart_enable(UART_1, PLATFORM_UART_PRINT_BAUDRATE);
// Configure the DMA for the SPIs
dma_enable(DMA_1_CH4);
dma_enable(DMA_1_CH5);
// Configure the SPI 2
gpio_set_spi_clk(GPIO_B, GPIO_PIN_13);
gpio_set_spi_miso(GPIO_B, GPIO_PIN_14);
gpio_set_spi_mosi(GPIO_B, GPIO_PIN_15);
spi_set_dma(SPI_2, DMA_1_CH4, DMA_1_CH5);
spi_enable(SPI_2, 4000000, SPI_CLOCK_MODE_IDLE_LOW_RISING);
// Configure the I2C 1
gpio_set_i2c_scl(GPIO_B, GPIO_PIN_6);
gpio_set_i2c_sda(GPIO_B, GPIO_PIN_7);
i2c_enable(I2C_1, I2C_CLOCK_MODE_FAST);
// Force inclusion of EXTI
exti_set_handler(EXTI_LINE_Px0, NULL, NULL);
}
void ethmac_init(ethmac_mode_t mode, int always_on)
{
// Initialize the descriptors
ethmac_descriptors_init();
// Configure the desired mode
if (mode == ETHMAC_MODE_MII)
{
// MII mode
syscfg_pmc_config(SYSCFG_PMC__MII_RMII_SEL, 0);
}
else
{
// RMII mode
syscfg_pmc_config(SYSCFG_PMC__MII_RMII_SEL, 1);
}
// Set default PHY address
mac.phy_addr = 0;
// Set the always_on value
mac.always_on = always_on;
// Compute MII divider
switch (rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_HCLK))
{
case 20000000 ... 35000000:
mac.mii_cr = ETHMAC_MACMIIAR__CR_Div16;
break;
case 35000001 ... 60000000:
mac.mii_cr = ETHMAC_MACMIIAR__CR_Div26;
break;
case 60000001 ... 100000000:
mac.mii_cr = ETHMAC_MACMIIAR__CR_Div42;
break;
case 100000001 ... 168000000:
mac.mii_cr = ETHMAC_MACMIIAR__CR_Div42;
break;
}
}
void i2c_enable(i2c_t i2c, i2c_clock_mode_t mode)
{
uint32_t pclk, freq;
const _i2c_t *_i2c = i2c;
// Disable the I2C EV and ERR interrupt lines in the NVIC
nvic_disable_interrupt_line(_i2c->irq_line_ev);
nvic_disable_interrupt_line(_i2c->irq_line_er);
// Enable the clock for this peripheral
rcc_apb_enable(_i2c->apb_bus, _i2c->apb_bit);
// Reset the peripheral
*i2c_get_CR1(_i2c) = I2C_CR1__SWRST;
// Clear all registers
*i2c_get_CR2(_i2c) = 0;
*i2c_get_CCR(_i2c) = 0;
*i2c_get_TRISE(_i2c) = 0;
*i2c_get_SR1(_i2c) = 0;
*i2c_get_SR2(_i2c) = 0;
*i2c_get_OAR1(_i2c) = 0;
*i2c_get_OAR2(_i2c) = 0;
// Release SWRST
*i2c_get_CR1(_i2c) = 0;
/* Step 1: program the peripheral input clock in CR2 */
// Compute clock frequency
pclk = rcc_sysclk_get_clock_frequency(
_i2c->apb_bus == 1 ? RCC_SYSCLK_CLOCK_PCLK1
: RCC_SYSCLK_CLOCK_PCLK2);
freq = pclk / 1000000;
*i2c_get_CR2(_i2c) = freq & I2C_CR2__FREQ_MASK;
/* Step 2: configure the clock control registers */
if (mode == I2C_CLOCK_MODE_FAST)
{
// Set Fast Speed mode and bitrate: ~400kHz
uint32_t ccr = freq * 10;
ccr = ccr / 12 + (ccr % 12 ? 1 : 0);
*i2c_get_CCR(_i2c) = I2C_CCR__FS | ccr;
}
else
{
// Set Standard Speed mode and bitrate: 100kHz
*i2c_get_CCR(_i2c) = (freq * 5) & I2C_CCR__CCR_MASK;
}
/* Step 3: configure the rise time registers */
if (mode == I2C_CLOCK_MODE_FAST)
{
// Configure maximum rise time
*i2c_get_TRISE(_i2c) = (freq * 3 / 10 + 1) & I2C_TRISE__TRISE_MASK;
}
else
{
// Configure maximum rise time
*i2c_get_TRISE(_i2c) = (freq + 1) & I2C_TRISE__TRISE_MASK;
}
/* Step 4: program the CR1 register to enable the peripheral */
// Enable I2C
*i2c_get_CR1(_i2c) = I2C_CR1__PE;
// Enable EVT and ERR interrupt
// Note: do not enable BUF to avoid stm32f problem
*i2c_get_CR2(_i2c) |= I2C_CR2__ITEVTEN | I2C_CR2__ITERREN;
// Initialize I2C state
_i2c->data->state = I2C_IDLE;
_i2c->data->len_send = 0;
_i2c->data->len_recv = 0;
_i2c->data->cpt_send = 0;
_i2c->data->cpt_recv = 0;
_i2c->data->transfer_handler = NULL;
// Enable I2C EV and ERR interrupt line in the NVIC
nvic_enable_interrupt_line(_i2c->irq_line_ev);
nvic_enable_interrupt_line(_i2c->irq_line_er);
}
void i2c_enable(i2c_t i2c, i2c_clock_mode_t mode)
{
uint32_t pclk, freq;
_i2c_t *_i2c = i2c;
// Disable the I2C EV and ERR interrupt lines in the NVIC
nvic_disable_interrupt_line(_i2c->irq_line_ev);
nvic_disable_interrupt_line(_i2c->irq_line_er);
// Enable the clock for this peripheral
rcc_apb_enable(_i2c->apb_bus, _i2c->apb_bit);
// Reset the peripheral
*i2c_get_CR1(_i2c) = I2C_CR1__SWRST;
// Clear all registers
*i2c_get_CR1(_i2c) = 0;
*i2c_get_CR2(_i2c) = 0;
*i2c_get_CCR(_i2c) = 0;
*i2c_get_TRISE(_i2c) = 0;
*i2c_get_SR1(_i2c) = 0;
*i2c_get_SR2(_i2c) = 0;
/* Step 1: program the peripheral input clock in CR2 */
// Compute clock frequency
pclk = rcc_sysclk_get_clock_frequency(
_i2c->apb_bus == 1 ? RCC_SYSCLK_CLOCK_PCLK1
: RCC_SYSCLK_CLOCK_PCLK2);
freq = pclk / 1000000;
*i2c_get_CR2(_i2c) = freq & I2C_CR2__FREQ_MASK;
/* Step 2: configure the clock control registers */
if (mode == I2C_CLOCK_MODE_FAST)
{
// Set Fast Speed mode and bitrate: 400kHz with duty t_low/t_high = 16/9
*i2c_get_CCR(_i2c) = I2C_CCR__FS | I2C_CCR__DUTY | (freq / 10 * 25);
}
else
{
// Set Standard Speed mode and bitrate: 100kHz
*i2c_get_CCR(_i2c) = (freq * 5) & I2C_CCR__CCR_MASK;
}
/* Step 3: configure the rise time registers */
if (mode == I2C_CLOCK_MODE_FAST)
{
// Configure maximum rise time
*i2c_get_TRISE(_i2c) = (freq * 3 / 10 + 1) & I2C_TRISE__TRISE_MASK;
}
else
{
// Configure maximum rise time
*i2c_get_TRISE(_i2c) = (freq + 1) & I2C_TRISE__TRISE_MASK;
}
/* Step 4: program the CR1 register to enable the peripheral */
// Set I2C mode, enable ACK and enable I2C
*i2c_get_CR1(_i2c) = I2C_CR1__ACK | I2C_CR1__PE;
// Enable EV and BUF interrupt
*i2c_get_CR2(_i2c) |= I2C_CR2__ITEVTEN | I2C_CR2__ITBUFEN
| I2C_CR2__ITERREN;
// Initialize I2C state
state = I2C_IDLE;
// Enable I2C EV and ERR interrupt line in the NVIC
nvic_enable_interrupt_line(_i2c->irq_line_ev);
nvic_enable_interrupt_line(_i2c->irq_line_er);
}
void platform_init()
{
// Enable watchdog if requested
if (platform_should_start_watchdog && platform_should_start_watchdog())
{
watchdog_enable(WATCHDOG_DIVIDER_256, 0xFFF);
}
// Enable floating point
*cm3_scb_get_CPACR() |= 0xF << 20; /* set CP10 and CP11 Full Access */
// Enable syscfg
rcc_apb_enable(RCC_APB_BUS_SYSCFG, RCC_APB_BIT_SYSCFG);
// At reset, HCLK is 16MHz, set flash latency to 5 wait state to handle 168MHz
flash_set_latency(5);
// Configure PLL to have 336MHz VCO, then 48MHz for USB and 168 MHz for sysclk
rcc_pll_enable(RCC_PLL_SOURCE_HSI, 8, 168, RCC_PLL_MAIN_DIV_2, 7);
// Now SYSCLK is at 168MHz, set AHB divider to 1, APB1 to 4 and APB2 to 4
/*
* The frequency of the AHB domain is 168 MHz.
* The frequency of the APBx domain is 42 MHz.
*/
rcc_sysclk_set_prescalers(RCC_SYSCLK_AHB_PRE_1, RCC_SYSCLK_APB_PRE_4,
RCC_SYSCLK_APB_PRE_4);
// Select PLL as SYSCLK source clock
rcc_sysclk_select_source(RCC_SYSCLK_SOURCE_PLL);
// Setup the drivers
platform_drivers_setup();
// Setup the LEDs
platform_leds_setup();
// Setup the libraries
platform_lib_setup();
// Setup the peripherals
platform_periph_setup();
// Setup the net stack
platform_net_setup();
// Feed the random number generator
random_init(uid->uid32[2]);
log_printf(
"HCLK @%uMHz, SYSTICK @%uMHz", rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_HCLK) / 1000000,
rcc_sysclk_get_clock_frequency(RCC_SYSCLK_CLOCK_SYSTICK_CLK) / 1000000);
log_printf("\n\nPlatform starting in ");
uint32_t i;
for (i = 1; i > 0; i--)
{
log_printf("%u... ", i);
soft_timer_delay_s(1);
}
log_printf("\nGO!\n");
}