AMiRo-OS

#include "ch.h"

#include "hal.h"

/**

 * @brief   PAL setup.

 * @details Digital I/O ports static configuration as defined in @p board.h.

 *          This variable is used by the HAL when initializing the PAL driver.

 */

#if HAL_USE_PAL || defined(__DOXYGEN__)

const PALConfig pal_default_config =

{

  {VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH},

  {VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH},

  {VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH},

  {VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH},

  {VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH},

  {VAL_GPIOFODR, VAL_GPIOFCRL, VAL_GPIOFCRH},

  {VAL_GPIOGODR, VAL_GPIOGCRL, VAL_GPIOGCRH},

};

#endif

/*

 * Early initialization code.

 * This initialization must be performed just after stack setup and before

 * any other initialization.

 */

void __early_init(void) {

  stm32_clock_init();

}

/*

 * Board-specific initialization code.

 */

void boardInit(void) {

  /*

   * Several I/O pins are re-mapped:

   *   JTAG disabled and SWJ enabled

   *   TIM2 to the PA15/PB3/PA2/PA3 pins.

   *   TIM3 to PC6/PC7 pins.

   *   USART3 to the PC10/PC11 pins.

   *   I2C1 to the PB8/PB9 pins.

   */

  AFIO->MAPR = AFIO_MAPR_SWJ_CFG_DISABLE |

               AFIO_MAPR_TIM2_REMAP_PARTIALREMAP1 |

               AFIO_MAPR_TIM3_REMAP_FULLREMAP |

               AFIO_MAPR_USART3_REMAP_PARTIALREMAP |

               AFIO_MAPR_I2C1_REMAP;

}

inline void boardWriteIoPower(const uint8_t value)

{

    if (value) {

        // drive pins

        palSetPadMode(GPIOA, GPIOA_CAN_TX, PAL_MODE_STM32_ALTERNATE_PUSHPULL);

    } else {

        // float pins

        palSetPadMode(GPIOA, GPIOA_CAN_TX, PAL_MODE_INPUT);

    }

}

inline void boardWriteLed(int value)

{

    palWritePad(GPIOA, GPIOA_LED, !value);

}

inline void boardRequestShutdown(void)

{

  palClearPad(GPIOC, GPIOC_SYS_PD_N);

}

inline void boardStandby(void)

{

  palSetPad(GPIOC, GPIOC_SYS_PD_N);

  chSysLock();

  // Standby

  // set deepsleep bit

  SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;

  // enable wakeup pin

  //PWR->CSR |= PWR_CSR_EWUP;

  // set PDDS, clear WUF, clear SBF

  PWR->CR |= (PWR_CR_CWUF | PWR_CR_PDDS | PWR_CR_CSBF);

  // clear RTC wakeup source flags

  RTC->CRL &= ~(RTC_CRL_ALRF);

  // Wait for Interrupt

  __WFI();

}

inline void boardWakeup(void) {

  palClearPad(GPIOC, GPIOC_SYS_PD_N);

  chThdSleepMicroseconds(10);

  palSetPad(GPIOC, GPIOC_SYS_PD_N);

}

inline void boardClearI2CBus(const uint8_t scl_pad, const uint8_t sda_pad) {

  uint8_t i;

  // configure I²C SCL and SDA open drain

  palSetPadMode(GPIOB, scl_pad, PAL_MODE_OUTPUT_OPENDRAIN);

  palSetPadMode(GPIOB, sda_pad, PAL_MODE_OUTPUT_OPENDRAIN);

  // perform a 2-wire software reset for the eeprom (see AT24C01BN-SH-B datasheet, chapter 3)

  // note: clock is ~50kHz (20us per cycle)

  palSetPad(GPIOB, sda_pad);

  palClearPad(GPIOB, scl_pad);

  chThdSleepMicroseconds(10);

  palSetPad(GPIOB, scl_pad);

  chThdSleepMicroseconds(5);

  palClearPad(GPIOB, sda_pad);

  chThdSleepMicroseconds(5);

  palClearPad(GPIOB, scl_pad);

  chThdSleepMicroseconds(5);

  palSetPad(GPIOB, sda_pad);

  chThdSleepMicroseconds(5);

  for (i = 0; i < 9; ++i) {

    palSetPad(GPIOB, scl_pad);

    chThdSleepMicroseconds(10);

    palClearPad(GPIOB, scl_pad);

    chThdSleepMicroseconds(10);

  }

  palSetPad(GPIOB, scl_pad);

  chThdSleepMicroseconds(5);

  palClearPad(GPIOB, sda_pad);

  chThdSleepMicroseconds(5);

  palClearPad(GPIOB, scl_pad);

  chThdSleepMicroseconds(10);

  palSetPad(GPIOB, scl_pad);

  chThdSleepMicroseconds(5);

  palSetPad(GPIOB, sda_pad);

  chThdSleepMicroseconds(5);

  palClearPad(GPIOB, scl_pad);

  chThdSleepMicroseconds(10);

  // perform bus clear as per I²C Specification v6 3.1.16

  // note: clock is 100kHz (10us per cycle)

  for (i = 0; i < 10; i++) {

    palClearPad(GPIOB, scl_pad);

    chThdSleepMicroseconds(5);

    palSetPad(GPIOB, scl_pad);

    chThdSleepMicroseconds(5);

  }

  // reconfigure I²C SCL

  palSetPadMode(GPIOB, scl_pad, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);

  palSetPadMode(GPIOB, sda_pad, PAL_MODE_STM32_ALTERNATE_OPENDRAIN);

  return;

}