amiro-os / modules / PowerManagement_1-1 / board.c @ 4df853e0
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | 37bacabf | Thomas Schöpping | * @file
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21 | 53710ca3 | Marc Rothmann | * @brief PowerManagement v1.1 Board specific initializations.
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22 | *
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23 | * @addtogroup powermanagement_board
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24 | * @{
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25 | */
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26 | |||
27 | e545e620 | Thomas Schöpping | #include <hal.h> |
28 | 0128be0f | Marc Rothmann | #include <stm32_gpio.h> |
29 | e545e620 | Thomas Schöpping | |
30 | /**
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31 | 37bacabf | Thomas Schöpping | * @brief GPIO initialization.
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32 | *
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33 | * @param[in] gpiop GPIO register block.
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34 | * @param[in] config GPIO configuration.
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35 | e545e620 | Thomas Schöpping | */
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36 | 0128be0f | Marc Rothmann | |
37 | |||
38 | |||
39 | /**
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40 | * @brief GPIO initialization.
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41 | *
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42 | 37bacabf | Thomas Schöpping | * @param[in] gpiop GPIO register block.
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43 | * @param[in] moder Mode register configuration.
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44 | * @param[in] otyper Otype register configuration.
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45 | * @param[in] ospeedr Ospeed register configuration.
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46 | * @param[in] pupdr Pupd register configuration.
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47 | * @param[in] odr OD register configuration.
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48 | * @param[in] afrl AF register (low) configuration.
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49 | * @param[in] afrh AF register (high ) configuration.
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50 | * @param[in] ignmask Mask to ignore individual pads.
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51 | 0128be0f | Marc Rothmann | */
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52 | acc97cbf | Thomas Schöpping | static void _gpio_init(stm32_gpio_t *gpiop, |
53 | 37bacabf | Thomas Schöpping | const uint32_t moder,
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54 | const uint32_t otyper,
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55 | const uint32_t ospeedr,
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56 | const uint32_t pupdr,
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57 | const uint32_t odr,
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58 | const uint32_t afrl,
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59 | const uint32_t afrh,
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60 | const uint16_t ignmask) {
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61 | |||
62 | const uint8_t lut[] = {0x00, 0x03, 0x0C, 0x0F, |
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63 | 0x30, 0x33, 0x3C, 0x3F, |
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64 | 0xC0, 0xC3, 0xCC, 0xCF, |
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65 | 0xF0, 0xF3, 0xFC, 0xFF}; |
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66 | 1fa17188 | Thomas Schöpping | |
67 | /* some bit-magic to fan out the mask */
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68 | const uint32_t ignmask2 = (lut[(ignmask >> 12) ] << 24) | |
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69 | (lut[(ignmask >> 8) & 0x0F] << 16) | |
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70 | (lut[(ignmask >> 4) & 0x0F] << 8) | |
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71 | (lut[(ignmask ) & 0x0F]);
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72 | const uint32_t ignmask4_low = (lut[lut[(ignmask >> 6) & 0x03]] << 24) | |
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73 | (lut[lut[(ignmask >> 4) & 0x03]] << 16) | |
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74 | (lut[lut[(ignmask >> 2) & 0x03]] << 8) | |
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75 | (lut[lut[(ignmask ) & 0x03]]);
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76 | const uint32_t ignmask4_high = (lut[lut[(ignmask >> 14) ]] << 24) | |
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77 | (lut[lut[(ignmask >> 12) & 0x03]] << 16) | |
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78 | (lut[lut[(ignmask >> 10) & 0x03]] << 8) | |
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79 | (lut[lut[(ignmask >> 8) & 0x03]]); |
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80 | 37bacabf | Thomas Schöpping | |
81 | gpiop->OTYPER = (gpiop->OTYPER & ignmask ) | (otyper & ~ignmask ); |
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82 | gpiop->OSPEEDR = (gpiop->OSPEEDR & ignmask2 ) | (ospeedr & ~ignmask2 ); |
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83 | gpiop->PUPDR = (gpiop->PUPDR & ignmask2 ) | (pupdr & ~ignmask2 ); |
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84 | gpiop->ODR = (gpiop->ODR & ignmask ) | (odr & ~ignmask ); |
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85 | gpiop->AFRL = (gpiop->AFRL & ignmask4_low ) | (afrl & ~ignmask4_low ); |
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86 | gpiop->AFRH = (gpiop->AFRH & ignmask4_high) | (afrh & ~ignmask4_high); |
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87 | gpiop->MODER = (gpiop->MODER & ignmask2 ) | (moder & ~ignmask2 ); |
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88 | 0128be0f | Marc Rothmann | } |
89 | |||
90 | /**
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91 | * @brief GPIO initilization for all ports.
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92 | */
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93 | acc97cbf | Thomas Schöpping | static void _stm32_gpio_init(void) { |
94 | 0128be0f | Marc Rothmann | |
95 | /* Enabling GPIO-related clocks, the mask comes from the
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96 | registry header file.*/
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97 | rccResetAHB1(STM32_GPIO_EN_MASK); |
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98 | rccEnableAHB1(STM32_GPIO_EN_MASK, true);
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99 | |||
100 | /* Initializing all the defined GPIO ports.*/
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101 | #if STM32_HAS_GPIOA
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102 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOA, VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR, VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH, VAL_GPIOA_IGNORE); |
103 | 0128be0f | Marc Rothmann | #endif
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104 | #if STM32_HAS_GPIOB
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105 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOB, VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR, VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH, VAL_GPIOB_IGNORE); |
106 | 0128be0f | Marc Rothmann | #endif
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107 | #if STM32_HAS_GPIOC
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108 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOC, VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH, VAL_GPIOC_IGNORE); |
109 | 0128be0f | Marc Rothmann | #endif
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110 | #if STM32_HAS_GPIOD
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111 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOD, VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH, VAL_GPIOD_IGNORE); |
112 | 0128be0f | Marc Rothmann | #endif
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113 | #if STM32_HAS_GPIOE
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114 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOE, VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR, VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH, VAL_GPIOE_IGNORE); |
115 | 0128be0f | Marc Rothmann | #endif
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116 | #if STM32_HAS_GPIOF
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117 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOF, VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR, VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH, VAL_GPIOF_IGNORE); |
118 | 0128be0f | Marc Rothmann | #endif
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119 | #if STM32_HAS_GPIOG
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120 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOG, VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR, VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH, VAL_GPIOG_IGNORE); |
121 | 0128be0f | Marc Rothmann | #endif
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122 | #if STM32_HAS_GPIOH
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123 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOH, VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR, VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH, VAL_GPIOH_IGNORE); |
124 | 0128be0f | Marc Rothmann | #endif
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125 | #if STM32_HAS_GPIOI
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126 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOI, VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR, VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH, VAL_GPIOI_IGNORE); |
127 | e545e620 | Thomas Schöpping | #endif
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128 | 0128be0f | Marc Rothmann | #if STM32_HAS_GPIOJ
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129 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOJ, VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR, VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH, VAL_GPIOJ_IGNORE); |
130 | 0128be0f | Marc Rothmann | #endif
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131 | #if STM32_HAS_GPIOK
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132 | acc97cbf | Thomas Schöpping | _gpio_init(GPIOK, VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR, VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH, VAL_GPIOK_IGNORE); |
133 | 0128be0f | Marc Rothmann | #endif
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134 | } |
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135 | e545e620 | Thomas Schöpping | |
136 | /**
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137 | * @brief Early initialization code.
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138 | * @details This initialization must be performed just after stack setup
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139 | * and before any other initialization.
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140 | */
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141 | void __early_init(void) { |
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142 | |||
143 | acc97cbf | Thomas Schöpping | _stm32_gpio_init(); |
144 | e545e620 | Thomas Schöpping | stm32_clock_init(); |
145 | } |
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146 | |||
147 | /**
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148 | * @brief Board-specific initialization code.
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149 | * @todo Add your board-specific code, if any.
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150 | */
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151 | void boardInit(void) { |
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152 | } |
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153 | 53710ca3 | Marc Rothmann | |
154 | /** @} */ |