AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

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 3 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, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file

 * @brief   PowerManagement v1.1 Board specific initializations.

 *

 * @addtogroup powermanagement_board

 * @{

 */

#include <hal.h>

#include <stm32_gpio.h>

/*===========================================================================*/

/* Driver local definitions.                                                 */

/*===========================================================================*/

/*===========================================================================*/

/* Driver exported variables.                                                */

/*===========================================================================*/

/*===========================================================================*/

/* Driver local variables and types.                                         */

/*===========================================================================*/

/*===========================================================================*/

/* Driver local functions.                                                   */

/*===========================================================================*/

/**

 * @brief   GPIO initialization.

 *

 * @param[in] gpiop     GPIO register block.

 * @param[in] moder     Mode register configuration.

 * @param[in] otyper    Otype register configuration.

 * @param[in] ospeedr   Ospeed register configuration.

 * @param[in] pupdr     Pupd register configuration.

 * @param[in] odr       OD register configuration.

 * @param[in] afrl      AF register (low) configuration.

 * @param[in] afrh      AF register (high ) configuration.

 */

static void _gpio_init(stm32_gpio_t *gpiop,

                      const uint32_t moder,

                      const uint32_t otyper,

                      const uint32_t ospeedr,

                      const uint32_t pupdr,

                      const uint32_t odr,

                      const uint32_t afrl,

                      const uint32_t afrh) {

  gpiop->OTYPER  = otyper;

  gpiop->OSPEEDR = ospeedr;

  gpiop->PUPDR   = pupdr;

  gpiop->ODR     = odr;

  gpiop->AFRL    = afrl;

  gpiop->AFRH    = afrh;

  gpiop->MODER   = moder;

  return;

}

/**

 * @brief   GPIO initilization for all ports.

 */

static void _stm32_gpio_init(void) {

  /* Enabling GPIO-related clocks, the mask comes from the

     registry header file.*/

  rccResetAHB1(STM32_GPIO_EN_MASK);

  rccEnableAHB1(STM32_GPIO_EN_MASK, true);

  /* Initializing all the defined GPIO ports.*/

#if STM32_HAS_GPIOA

  _gpio_init(GPIOA, VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR, VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH);

#endif

#if STM32_HAS_GPIOB

  _gpio_init(GPIOB, VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR, VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH);

#endif

#if STM32_HAS_GPIOC

  _gpio_init(GPIOC, VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH);

#endif

#if STM32_HAS_GPIOD

  _gpio_init(GPIOD, VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH);

#endif

#if STM32_HAS_GPIOE

  _gpio_init(GPIOE, VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR, VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH);

#endif

#if STM32_HAS_GPIOF

  _gpio_init(GPIOF, VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR, VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH);

#endif

#if STM32_HAS_GPIOG

  _gpio_init(GPIOG, VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR, VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH);

#endif

#if STM32_HAS_GPIOH

  _gpio_init(GPIOH, VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR, VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH);

#endif

#if STM32_HAS_GPIOI

  _gpio_init(GPIOI, VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR, VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRL);

#endif

#if STM32_HAS_GPIOJ

  _gpio_init(GPIOJ, VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR, VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH);

#endif

#if STM32_HAS_GPIOK

  _gpio_init(GPIOK, VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR, VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH);

#endif

}

/*===========================================================================*/

/* Driver interrupt handlers.                                                */

/*===========================================================================*/

/*===========================================================================*/

/* Driver exported functions.                                                */

/*===========================================================================*/

/**

 * @brief   Early initialization code.

 * @details This initialization must be performed just after stack setup

 *          and before any other initialization.

 */

void __early_init(void) {

  _stm32_gpio_init();

  stm32_clock_init();

}

/**

 * @brief   Board-specific initialization code.

 * @todo    Add your board-specific code, if any.

 */

void boardInit(void) {

}

/** @} */