void i2c2_hw_init(void) {
i2c2.reg_addr = (void *)I2C2;
i2c2.init_struct = NULL;
i2c2.errors = &i2c2_errors;
i2c2_watchdog_counter = 0;
/* zeros error counter */
ZEROS_ERR_COUNTER(i2c2_errors);
/* reset peripheral to default state ( sometimes not achieved on reset :( ) */
//i2c_reset(I2C2);
/* Configure priority grouping 0 bits for pre-emption priority and 4 bits for sub-priority. */
scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_NOGROUP_SUB16);
/* Configure and enable I2C2 event interrupt --------------------------------*/
nvic_set_priority(NVIC_I2C2_EV_IRQ, 0);
nvic_enable_irq(NVIC_I2C2_EV_IRQ);
/* Configure and enable I2C2 err interrupt ----------------------------------*/
nvic_set_priority(NVIC_I2C2_ER_IRQ, 1);
nvic_enable_irq(NVIC_I2C2_ER_IRQ);
/* Enable peripheral clocks -------------------------------------------------*/
/* Enable I2C2 clock */
rcc_peripheral_enable_clock(&RCC_APB1ENR, RCC_APB1ENR_I2C2EN);
/* Enable GPIO clock */
gpio_enable_clock(I2C2_GPIO_PORT);
#if defined(STM32F1)
gpio_set_mode(I2C2_GPIO_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
#elif defined(STM32F4)
gpio_mode_setup(I2C2_GPIO_PORT, GPIO_MODE_AF, GPIO_PUPD_NONE,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_output_options(I2C2_GPIO_PORT, GPIO_OTYPE_OD, GPIO_OSPEED_25MHZ,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
gpio_set_af(I2C2_GPIO_PORT, GPIO_AF4,
I2C2_GPIO_SCL | I2C2_GPIO_SDA);
#endif
i2c_reset(I2C2);
// enable peripheral
i2c_peripheral_enable(I2C2);
/*
* XXX: there is a function to do that already in libopencm3 but I am not
* sure if it is correct, using direct register instead (esden)
*/
//i2c_set_own_7bit_slave_address(I2C2, 0);
I2C_OAR1(I2C2) = 0 | 0x4000;
// enable error interrupts
I2C_CR2(I2C1) |= I2C_CR2_ITERREN;
i2c_setbitrate(&i2c2, I2C2_CLOCK_SPEED);
}
void mcu_arch_init(void)
{
#if LUFTBOOT
PRINT_CONFIG_MSG("We are running luftboot, the interrupt vector is being relocated.")
#if defined STM32F4
SCB_VTOR = 0x00004000;
#else
SCB_VTOR = 0x00002000;
#endif
#endif
#if EXT_CLK == 8000000
#if defined(STM32F1)
PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 72MHz.")
rcc_clock_setup_in_hse_8mhz_out_72mhz();
#elif defined(STM32F4)
PRINT_CONFIG_MSG("Using 8MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
#endif
#elif EXT_CLK == 12000000
#if defined(STM32F1)
PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 72MHz.")
rcc_clock_setup_in_hse_12mhz_out_72mhz();
#elif defined(STM32F4)
PRINT_CONFIG_MSG("Using 12MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&rcc_hse_12mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
#endif
#elif EXT_CLK == 16000000
#if defined(STM32F4)
PRINT_CONFIG_MSG("Using 16MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&rcc_hse_16mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
#endif
#elif EXT_CLK == 24000000
#if defined(STM32F4)
PRINT_CONFIG_MSG("Using 24MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&rcc_hse_24mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
#elif defined(STM32F1)
rcc_clock_setup_in_hse_24mhz_out_24mhz_pprz();
#endif
#elif EXT_CLK == 25000000
#if defined(STM32F4)
PRINT_CONFIG_MSG("Using 25MHz external clock to PLL it to 168MHz.")
rcc_clock_setup_hse_3v3(&rcc_hse_25mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
#endif
#else
#error EXT_CLK is either set to an unsupported frequency or not defined at all. Please check!
#endif
/* Configure priority grouping 0 bits for pre-emption priority and 4 bits for sub-priority.
* this was previously in i2c driver
* FIXME is it really needed ?
*/
scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_NOGROUP_SUB16);
}
void platform_init() {
/* 168 Mhz clock */
rcc_clock_setup_hse_3v3(&rcc_hse_8mhz_3v3[RCC_CLOCK_3V3_168MHZ]);
/* Enable clocks for subsystems */
rcc_periph_clock_enable(RCC_GPIOA);
rcc_periph_clock_enable(RCC_GPIOB);
rcc_periph_clock_enable(RCC_GPIOC);
rcc_periph_clock_enable(RCC_GPIOD);
rcc_periph_clock_enable(RCC_GPIOE);
rcc_periph_clock_enable(RCC_SYSCFG);
rcc_periph_clock_enable(RCC_ADC1);
rcc_periph_clock_enable(RCC_USART1);
rcc_periph_clock_enable(RCC_DMA2);
rcc_periph_clock_enable(RCC_TIM1);
rcc_periph_clock_enable(RCC_TIM2);
rcc_periph_clock_enable(RCC_TIM3);
scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_GROUP16_NOSUB);
platform_init_eventtimer();
platform_init_adc();
platform_init_scheduled_outputs();
platform_init_usart();
platform_init_pwm();
for (int i = 0; i < NUM_SENSORS; ++i) {
if (config.sensors[i].method == SENSOR_FREQ) {
platform_init_freqsensor(config.sensors[i].pin);
}
if (config.sensors[i].method == SENSOR_DIGITAL) {
gpio_mode_setup(GPIOE, GPIO_MODE_INPUT, GPIO_PUPD_PULLDOWN,
(1 << config.sensors[i].pin));
}
}
}
//--------------------------------------------------------------
void USB_OTG_BSP_EnableInterrupt(USB_OTG_CORE_HANDLE *pdev)
{
scb_set_priority_grouping(SCB_AIRCR_PRIGROUP_GROUP2_SUB8);
//nvic_set_priority(NVIC_OTG_FS_IRQ, 3);
nvic_enable_irq(NVIC_OTG_FS_IRQ);
}
