diff options
Diffstat (limited to 'driver_fw/src/main.c')
| -rw-r--r-- | driver_fw/src/main.c | 252 |
1 files changed, 252 insertions, 0 deletions
diff --git a/driver_fw/src/main.c b/driver_fw/src/main.c new file mode 100644 index 0000000..ae1bd08 --- /dev/null +++ b/driver_fw/src/main.c @@ -0,0 +1,252 @@ + +#include <global.h> +#include <string.h> + +volatile uint64_t sys_time_us; + +uint32_t read_fuse_monitor(void); +void set_rj45_leds(uint32_t leds); +void set_status_leds(uint32_t leds); + + +int main(void) { + /* Configure clocks for 168 MHz system clock. + * + * HSE @ 8 MHz --[PLL x16 /2]--> PLL "R" clock @ 64 MHz + */ + /* Enable peripherals */ + RCC->APBENR1 |= RCC_APBENR1_PWREN; + /* Enable High-speed external crystal oscillator. The board has an 8 MHz crystal. */ + RCC->CR |= RCC_CR_HSEON; + while (!(RCC->CR & RCC_CR_HSERDY)) { + /* wait for HSE osc to stabilize. */ + } + /* Increase flash wait states to 5 required for operation above 136 MHz */ + FLASH->ACR = (FLASH->ACR & ~FLASH_ACR_LATENCY_Msk) | (2<<FLASH_ACR_LATENCY_Pos); + while ((FLASH->ACR & FLASH_ACR_LATENCY_Msk) != (2<<FLASH_ACR_LATENCY_Pos)) { + /* wait for flash controller to acknowledge change. */ + } + /* Configure PLL with multiplier 16, divisor 2 for "R" output, and enable "R" (sysclk) output */ + RCC->PLLCFGR = (16<<RCC_PLLCFGR_PLLN_Pos) | (3<<RCC_PLLCFGR_PLLSRC_Pos) | (1<<RCC_PLLCFGR_PLLR_Pos) | RCC_PLLCFGR_PLLREN; + RCC->CR |= RCC_CR_PLLON; + while (!(RCC->CR & RCC_CR_PLLRDY)) { + /* wait for PLL to stabilize. */ + } + /* Switch SYSCLK to PLL source. */ + RCC->CFGR |= (2<<RCC_CFGR_SW_Pos); + while ((RCC->CFGR & RCC_CFGR_SWS_Msk) != (2<<RCC_CFGR_SWS_Pos)) { + /* wait for RCC to switch over. */ + } + + RCC->AHBENR |= RCC_AHBENR_DMA1EN; + RCC->APBENR1 |= RCC_APBENR1_USART3EN | RCC_APBENR1_I2C1EN; + RCC->APBENR2 |= RCC_APBENR2_USART1EN | RCC_APBENR2_TIM1EN; + RCC->IOPENR |= RCC_IOPENR_GPIOAEN | RCC_IOPENR_GPIOBEN | RCC_IOPENR_GPIOCEN | RCC_IOPENR_GPIODEN; + + /* GPIOA: + * A0: MON_H + * A1: MON_FAULT_CURRENT + * A2: MON_L + * A3: (testpoint) + * A4: VIN_MON + * A5: (testpoint) + * A6: RJ45 LED 2 + * A7: Pulse RX + * A8: Fuse monitor 6 + * A9: RS485 TX + * A10: RS485 RX + * A11: Fuse monitor 1 + * A12: RS485 DE + * A13: SWDIO + * A14: SWCLK + * A15: Fuse monitor 4 + */ + GPIOA->MODER = + ANALOG(0) | ANALOG(1) | ANALOG(2) | ANALOG(4) | + IN(3) | IN(5) | + OUT(6) | + ANALOG(7) | + IN(8) | IN(11) | IN(15) | + AF(9) | AF(10) | AF(12) | + AF(13) | AF(14); + GPIOA->AFR[1] = AFRH(9, 1) | AFRH(10, 1) | AFRH(12, 1) | AFRH(13, 0) | AFRH(14, 0); + GPIOA->OSPEEDR = (3<<(2*9)) | (3<<(2*12)) | (3<<(2*13)); + + /* GPIOB: + * B0: Driver A low (TIM1_CH2N) + * B1: Driver B low (TIM1_CH3N) + * B2: RJ45 LED 1 + * B3: Driver A high (TIM1_CH2) + * B4: V_ISO_SENSE + * B5: (testpoint) + * B6: SCL + * B7: SDA + * B8: DBG_TX + * B9: DBG_RX + * B10: LED 3 "On" + * B11: LED 5 "RS458 Ping" + * B12: LED 1 "Overheating" + * B13: LED 6 "Control Error" + * B14: LED 4 "Input Error" + * B15: LED 2 "Output Error" + */ + GPIOB->MODER = + AF(0) | AF(1) | AF(3) | + OUT(2) | + IN(4) | + IN(5) | + AF(6) | AF(7) | + AF(8) | AF(9) | + OUT(10) | OUT(11) | OUT(12) | OUT(13) | OUT(14) | OUT(15); + GPIOB->AFR[0] = AFRL(0, 2) | AFRL(1, 2) | AFRL(3, 1) | AFRL(6, 6) | AFRL(7, 6); + GPIOB->AFR[1] = AFRH(8, 4) | AFRH(9, 4); + + /* GPIOC: + * C0-C3: (testpoint) + * C4: RJ45 LED 4 + * C5: RJ45 LED 3 + * C6: Fuse monitor 7 + * C7: Fuse monitor 2 + * C8: Fuse monitor 5 + * C9: (testpoint) + * C10: Driver B high + * C11-C15: (testpoint) + */ + GPIOC->MODER = + IN(0) | IN(1) | IN(2) | IN(3) | IN(9) | IN(11) | IN(12) | IN(13) | IN(14) | IN(15) | + OUT(4) | OUT(5) | + IN(6) | IN(7) | IN(8) | + AF(10); + GPIOC->AFR[1] = AFRH(10, 2); + + /* GPIOD: + * D0-D6: (testpoint) + * D8: Fuse monitor 3 + * D9: Fuse monitor 0 + */ + GPIOD->MODER = IN(0) | IN(1) | IN(2) | IN(3) | IN(4) | IN(5) | IN(6) | + IN(8) | IN(9); + + TIM1->CCMR1 = (6<<TIM_CCMR1_OC2M_Pos); + TIM1->CCMR2 = (6<<TIM_CCMR2_OC3M_Pos); + TIM1->CCER = TIM_CCER_CC2E | TIM_CCER_CC2NE | TIM_CCER_CC3E | TIM_CCER_CC3NE; + TIM1->BDTR = TIM_BDTR_MOE | (32<<TIM_BDTR_DTG_Pos); + TIM1->PSC = 0; + TIM1->ARR = 256; + TIM1->CR1 |= TIM_CR1_CEN; + + int i = 0; + int j = 0; + while (23) { + i++; + j++; + i %= 6; + j %= 4; + delay_us(100000); + set_rj45_leds(1 << j); + set_status_leds(1 << i); + } +} + +uint32_t read_fuse_monitor() { + uint32_t idr_a = GPIOA->IDR; + uint32_t idr_c = GPIOC->IDR; + uint32_t idr_d = GPIOD->IDR; + + int fm0 = !!(idr_d & (1<<9)); + int fm1 = !!(idr_a & (1<<11)); + int fm2 = !!(idr_c & (1<<7)); + int fm3 = !!(idr_d & (1<<8)); + int fm4 = !!(idr_a & (1<<15)); + int fm5 = !!(idr_c & (1<<8)); + int fm6 = !!(idr_a & (1<<8)); + int fm7 = !!(idr_c & (1<<6)); + + return (fm0<<0) | (fm1<<1) | (fm2<<2) | (fm3<<3) | (fm4<<4) | (fm5<<5) | (fm6<<6) | (fm7<<7); +} + +void set_rj45_leds(uint32_t leds) { + leds = ~leds; + + if (leds&1) { + GPIOB->BSRR = (1<<2); + } else { + GPIOB->BSRR = (1<<2)<<16; + } + + if (leds&2) { + GPIOA->BSRR = (1<<6); + } else { + GPIOA->BSRR = (1<<6)<<16; + } + + if (leds&4) { + GPIOC->BSRR = (1<<5); + } else { + GPIOC->BSRR = (1<<5)<<16; + } + + if (leds&8) { + GPIOC->BSRR = (1<<4); + } else { + GPIOC->BSRR = (1<<4)<<16; + } +} + +void set_status_leds(uint32_t leds) { + GPIOB->BSRR = ((0x3f<<10)<<16) | (((~leds)&0x3f)<<10); +} + +void SysTick_Handler() { + sys_time_us += SYSTICK_INTERVAL_US; +} + +void HardFault_Handler() { + asm volatile ("bkpt"); +} + +void delay_us(int duration_us) { + while (duration_us--) { + for (int i=0; i<3; i++) { + asm volatile ("nop"); + } + } +} + +void *memcpy(void *restrict dest, const void *restrict src, size_t n) +{ + unsigned char *d = dest; + const unsigned char *s = src; + + for (; n; n--) { + *d++ = *s++; + } + return dest; +} + +void *memmove(void *dest, const void *src, size_t n) +{ + return memcpy(dest, src, n); +} + +void *memset(void *dest, int c, size_t n) +{ + unsigned char *d = dest; + while (n--) { + *d++ = c; + } + return dest; +} + +size_t strlen(const char *s) +{ + const char *start = s; + while (*s) { + s++; + } + return s - start; +} + +void __libc_init_array (void) __attribute__((weak)); +void __libc_init_array () { +} |