Merge #51
51: factor CPU and board-specific initialisation out of main r=jordens a=cjbe Co-authored-by: Chris Ballance <chris.ballance@physics.ox.ac.uk>
This commit is contained in:
bors[bot]
GitHub
commit
e923dd6993
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@ -0,0 +1,532 @@
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use super::pac;
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use super::i2c;
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use super::eth;
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fn pwr_setup(pwr: &pac::PWR) {
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// go to VOS1 voltage scale for high perf
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pwr.cr3.write(|w|
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w.scuen().set_bit()
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.ldoen().set_bit()
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.bypass().clear_bit()
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);
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while pwr.csr1.read().actvosrdy().bit_is_clear() {}
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pwr.d3cr.write(|w| unsafe { w.vos().bits(0b11) }); // vos1
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while pwr.d3cr.read().vosrdy().bit_is_clear() {}
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}
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fn rcc_reset(rcc: &pac::RCC) {
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// Reset all peripherals
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rcc.ahb1rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.ahb1rstr.write(|w| unsafe { w.bits(0)});
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rcc.apb1lrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.apb1lrstr.write(|w| unsafe { w.bits(0)});
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rcc.apb1hrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.apb1hrstr.write(|w| unsafe { w.bits(0)});
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rcc.ahb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.ahb2rstr.write(|w| unsafe { w.bits(0)});
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rcc.apb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.apb2rstr.write(|w| unsafe { w.bits(0)});
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// do not reset the cpu
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rcc.ahb3rstr.write(|w| unsafe { w.bits(0x7FFF_FFFF) });
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rcc.ahb3rstr.write(|w| unsafe { w.bits(0)});
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rcc.apb3rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.apb3rstr.write(|w| unsafe { w.bits(0)});
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rcc.ahb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.ahb4rstr.write(|w| unsafe { w.bits(0)});
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rcc.apb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
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rcc.apb4rstr.write(|w| unsafe { w.bits(0)});
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}
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fn rcc_pll_setup(rcc: &pac::RCC, flash: &pac::FLASH) {
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// Switch to HSI to mess with HSE
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rcc.cr.modify(|_, w| w.hsion().on());
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while rcc.cr.read().hsirdy().is_not_ready() {}
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rcc.cfgr.modify(|_, w| w.sw().hsi());
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while !rcc.cfgr.read().sws().is_hsi() {}
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rcc.cr.write(|w| w.hsion().on());
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rcc.cfgr.reset();
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// Ensure HSE is on and stable
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rcc.cr.modify(|_, w|
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w.hseon().on()
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.hsebyp().not_bypassed());
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while !rcc.cr.read().hserdy().is_ready() {}
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rcc.pllckselr.modify(|_, w|
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w.pllsrc().hse()
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.divm1().bits(1) // ref prescaler
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.divm2().bits(1) // ref prescaler
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);
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// Configure PLL1: 8MHz /1 *100 /2 = 400 MHz
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rcc.pllcfgr.modify(|_, w|
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w.pll1vcosel().wide_vco() // 192-836 MHz VCO
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.pll1rge().range8() // 8-16 MHz PFD
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.pll1fracen().reset()
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.divp1en().enabled()
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.pll2vcosel().medium_vco() // 150-420 MHz VCO
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.pll2rge().range8() // 8-16 MHz PFD
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.pll2fracen().reset()
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.divp2en().enabled()
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.divq2en().enabled()
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);
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rcc.pll1divr.write(|w| unsafe {
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w.divn1().bits(100 - 1) // feebdack divider
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.divp1().div2() // p output divider
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});
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rcc.cr.modify(|_, w| w.pll1on().on());
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while !rcc.cr.read().pll1rdy().is_ready() {}
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// Configure PLL2: 8MHz /1 *25 / 2 = 100 MHz
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rcc.pll2divr.write(|w| unsafe {
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w.divn2().bits(25 - 1) // feebdack divider
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.divp2().bits(2 - 1) // p output divider
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.divq2().bits(2 - 1) // q output divider
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});
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rcc.cr.modify(|_, w| w.pll2on().on());
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while !rcc.cr.read().pll2rdy().is_ready() {}
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// hclk 200 MHz, pclk 100 MHz
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rcc.d1cfgr.write(|w|
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w.d1cpre().div1() // sys_ck not divided
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.hpre().div2() // rcc_hclk3 = sys_d1cpre_ck / 2
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.d1ppre().div2() // rcc_pclk3 = rcc_hclk3 / 2
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);
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rcc.d2cfgr.write(|w|
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w.d2ppre1().div2() // rcc_pclk1 = rcc_hclk3 / 2
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.d2ppre2().div2() // rcc_pclk2 = rcc_hclk3 / 2
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);
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rcc.d3cfgr.write(|w|
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w.d3ppre().div2() // rcc_pclk4 = rcc_hclk3 / 2
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);
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// 2 wait states, 0b10 programming delay
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// 185-210 MHz
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flash.acr.write(|w| unsafe {
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w.wrhighfreq().bits(2)
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.latency().bits(2)
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});
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while flash.acr.read().latency().bits() != 2 {}
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// CSI for I/O compensationc ell
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rcc.cr.modify(|_, w| w.csion().on());
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while !rcc.cr.read().csirdy().is_ready() {}
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// Set system clock to pll1_p
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rcc.cfgr.modify(|_, w| w.sw().pll1());
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while !rcc.cfgr.read().sws().is_pll1() {}
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rcc.d1ccipr.write(|w| w.ckpersel().hse());
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rcc.d2ccip1r.modify(|_, w|
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w.spi123sel().pll2_p()
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.spi45sel().pll2_q()
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);
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rcc.d3ccipr.modify(|_, w| w.spi6sel().pll2_q());
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}
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fn io_compensation_setup(syscfg: &pac::SYSCFG) {
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syscfg.cccsr.modify(|_, w|
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w.en().set_bit()
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.cs().clear_bit()
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.hslv().clear_bit()
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);
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while syscfg.cccsr.read().ready().bit_is_clear() {}
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}
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fn gpio_setup(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB, gpiod: &pac::GPIOD,
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gpioe: &pac::GPIOE, gpiof: &pac::GPIOF, gpiog: &pac::GPIOG) {
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// FP_LED0
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gpiod.otyper.modify(|_, w| w.ot5().push_pull());
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gpiod.moder.modify(|_, w| w.moder5().output());
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gpiod.odr.modify(|_, w| w.odr5().low());
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// FP_LED1
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gpiod.otyper.modify(|_, w| w.ot6().push_pull());
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gpiod.moder.modify(|_, w| w.moder6().output());
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gpiod.odr.modify(|_, w| w.odr6().low());
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// LED_FP2
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gpiog.otyper.modify(|_, w| w.ot4().push_pull());
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gpiog.moder.modify(|_, w| w.moder4().output());
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gpiog.odr.modify(|_, w| w.odr4().low());
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// LED_FP3
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gpiod.otyper.modify(|_, w| w.ot12().push_pull());
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gpiod.moder.modify(|_, w| w.moder12().output());
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gpiod.odr.modify(|_, w| w.odr12().low());
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// AFE0_A0,1: PG2,PG3
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gpiog.otyper.modify(|_, w|
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w.ot2().push_pull()
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.ot3().push_pull()
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);
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gpiog.moder.modify(|_, w|
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w.moder2().output()
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.moder3().output()
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);
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gpiog.odr.modify(|_, w|
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w.odr2().low()
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.odr3().low()
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);
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// ADC0
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// SCK: PG11
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gpiog.moder.modify(|_, w| w.moder11().alternate());
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gpiog.otyper.modify(|_, w| w.ot11().push_pull());
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gpiog.ospeedr.modify(|_, w| w.ospeedr11().very_high_speed());
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gpiog.afrh.modify(|_, w| w.afr11().af5());
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// MOSI: PD7
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// MISO: PA6
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gpioa.moder.modify(|_, w| w.moder6().alternate());
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gpioa.afrl.modify(|_, w| w.afr6().af5());
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// NSS: PG10
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gpiog.moder.modify(|_, w| w.moder10().alternate());
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gpiog.otyper.modify(|_, w| w.ot10().push_pull());
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gpiog.ospeedr.modify(|_, w| w.ospeedr10().very_high_speed());
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gpiog.afrh.modify(|_, w| w.afr10().af5());
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// DAC0
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// SCK: PB10
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gpiob.moder.modify(|_, w| w.moder10().alternate());
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gpiob.otyper.modify(|_, w| w.ot10().push_pull());
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gpiob.ospeedr.modify(|_, w| w.ospeedr10().very_high_speed());
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gpiob.afrh.modify(|_, w| w.afr10().af5());
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// MOSI: PB15
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gpiob.moder.modify(|_, w| w.moder15().alternate());
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gpiob.otyper.modify(|_, w| w.ot15().push_pull());
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gpiob.ospeedr.modify(|_, w| w.ospeedr15().very_high_speed());
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gpiob.afrh.modify(|_, w| w.afr15().af5());
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// MISO: PB14
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// NSS: PB9
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gpiob.moder.modify(|_, w| w.moder9().alternate());
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gpiob.otyper.modify(|_, w| w.ot9().push_pull());
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gpiob.ospeedr.modify(|_, w| w.ospeedr9().very_high_speed());
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gpiob.afrh.modify(|_, w| w.afr9().af5());
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// DAC0_LDAC: PE11
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gpioe.moder.modify(|_, w| w.moder11().output());
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gpioe.otyper.modify(|_, w| w.ot11().push_pull());
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gpioe.odr.modify(|_, w| w.odr11().low());
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// DAC_CLR: PE12
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gpioe.moder.modify(|_, w| w.moder12().output());
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gpioe.otyper.modify(|_, w| w.ot12().push_pull());
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gpioe.odr.modify(|_, w| w.odr12().high());
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// AFE1_A0,1: PD14,PD15
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gpiod.otyper.modify(|_, w|
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w.ot14().push_pull()
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.ot15().push_pull()
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);
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gpiod.moder.modify(|_, w|
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w.moder14().output()
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.moder15().output()
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);
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gpiod.odr.modify(|_, w|
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w.odr14().low()
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.odr15().low()
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);
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// I2C2: SDA,SCL: PF0,PF1
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gpiof.moder.modify(|_, w|
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w.moder0().alternate()
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.moder1().alternate()
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|
);
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gpiof.afrl.modify(|_, w|
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w.afr0().af4()
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.afr1().af4()
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|
);
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gpiof.otyper.modify(|_, w|
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w.ot0().open_drain()
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.ot1().open_drain()
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|
);
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|
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// ADC1
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// SCK: PF6
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gpiof.moder.modify(|_, w| w.moder7().alternate());
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|
gpiof.otyper.modify(|_, w| w.ot7().push_pull());
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|
gpiof.ospeedr.modify(|_, w| w.ospeedr7().very_high_speed());
|
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|
gpiof.afrl.modify(|_, w| w.afr7().af5());
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|
// MOSI: PF9
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// MISO: PF7
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|
gpiof.moder.modify(|_, w| w.moder8().alternate());
|
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|
gpiof.afrh.modify(|_, w| w.afr8().af5());
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|
// NSS: PF8
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|
gpiof.moder.modify(|_, w| w.moder6().alternate());
|
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|
gpiof.otyper.modify(|_, w| w.ot6().push_pull());
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|
gpiof.ospeedr.modify(|_, w| w.ospeedr6().very_high_speed());
|
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|
gpiof.afrl.modify(|_, w| w.afr6().af5());
|
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|
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|
// DAC1
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|
// SCK: PE2
|
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|
gpioe.moder.modify(|_, w| w.moder2().alternate());
|
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|
gpioe.otyper.modify(|_, w| w.ot2().push_pull());
|
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|
gpioe.ospeedr.modify(|_, w| w.ospeedr2().very_high_speed());
|
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|
gpioe.afrl.modify(|_, w| w.afr2().af5());
|
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|
// MOSI: PE6
|
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|
gpioe.moder.modify(|_, w| w.moder6().alternate());
|
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|
gpioe.otyper.modify(|_, w| w.ot6().push_pull());
|
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|
gpioe.ospeedr.modify(|_, w| w.ospeedr6().very_high_speed());
|
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|
gpioe.afrl.modify(|_, w| w.afr6().af5());
|
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|
// MISO: PE5
|
||||||
|
// NSS: PE4
|
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|
gpioe.moder.modify(|_, w| w.moder4().alternate());
|
||||||
|
gpioe.otyper.modify(|_, w| w.ot4().push_pull());
|
||||||
|
gpioe.ospeedr.modify(|_, w| w.ospeedr4().very_high_speed());
|
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|
gpioe.afrl.modify(|_, w| w.afr4().af5());
|
||||||
|
|
||||||
|
// DAC1_LDAC: PE15
|
||||||
|
gpioe.moder.modify(|_, w| w.moder15().output());
|
||||||
|
gpioe.otyper.modify(|_, w| w.ot15().push_pull());
|
||||||
|
gpioe.odr.modify(|_, w| w.odr15().low());
|
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|
}
|
||||||
|
|
||||||
|
// ADC0
|
||||||
|
fn spi1_setup(spi1: &pac::SPI1) {
|
||||||
|
spi1.cfg1.modify(|_, w|
|
||||||
|
w.mbr().div4()
|
||||||
|
.dsize().bits(16 - 1)
|
||||||
|
.fthlv().one_frame()
|
||||||
|
);
|
||||||
|
spi1.cfg2.modify(|_, w|
|
||||||
|
w.afcntr().controlled()
|
||||||
|
.ssom().not_asserted()
|
||||||
|
.ssoe().enabled()
|
||||||
|
.ssiop().active_low()
|
||||||
|
.ssm().disabled()
|
||||||
|
.cpol().idle_high()
|
||||||
|
.cpha().second_edge()
|
||||||
|
.lsbfrst().msbfirst()
|
||||||
|
.master().master()
|
||||||
|
.sp().motorola()
|
||||||
|
.comm().receiver()
|
||||||
|
.ioswp().disabled()
|
||||||
|
.midi().bits(0)
|
||||||
|
.mssi().bits(6)
|
||||||
|
);
|
||||||
|
spi1.cr2.modify(|_, w| w.tsize().bits(1));
|
||||||
|
spi1.cr1.write(|w| w.spe().enabled());
|
||||||
|
}
|
||||||
|
|
||||||
|
// ADC1
|
||||||
|
fn spi5_setup(spi5: &pac::SPI5) {
|
||||||
|
spi5.cfg1.modify(|_, w|
|
||||||
|
w.mbr().div4()
|
||||||
|
.dsize().bits(16 - 1)
|
||||||
|
.fthlv().one_frame()
|
||||||
|
);
|
||||||
|
spi5.cfg2.modify(|_, w|
|
||||||
|
w.afcntr().controlled()
|
||||||
|
.ssom().not_asserted()
|
||||||
|
.ssoe().enabled()
|
||||||
|
.ssiop().active_low()
|
||||||
|
.ssm().disabled()
|
||||||
|
.cpol().idle_high()
|
||||||
|
.cpha().second_edge()
|
||||||
|
.lsbfrst().msbfirst()
|
||||||
|
.master().master()
|
||||||
|
.sp().motorola()
|
||||||
|
.comm().receiver()
|
||||||
|
.ioswp().disabled()
|
||||||
|
.midi().bits(0)
|
||||||
|
.mssi().bits(6)
|
||||||
|
);
|
||||||
|
spi5.cr2.modify(|_, w| w.tsize().bits(1));
|
||||||
|
spi5.cr1.write(|w| w.spe().enabled());
|
||||||
|
}
|
||||||
|
|
||||||
|
// DAC0
|
||||||
|
fn spi2_setup(spi2: &pac::SPI2) {
|
||||||
|
spi2.cfg1.modify(|_, w|
|
||||||
|
w.mbr().div2()
|
||||||
|
.dsize().bits(16 - 1)
|
||||||
|
.fthlv().one_frame()
|
||||||
|
);
|
||||||
|
spi2.cfg2.modify(|_, w|
|
||||||
|
w.afcntr().controlled()
|
||||||
|
.ssom().not_asserted()
|
||||||
|
.ssoe().enabled()
|
||||||
|
.ssiop().active_low()
|
||||||
|
.ssm().disabled()
|
||||||
|
.cpol().idle_low()
|
||||||
|
.cpha().first_edge()
|
||||||
|
.lsbfrst().msbfirst()
|
||||||
|
.master().master()
|
||||||
|
.sp().motorola()
|
||||||
|
.comm().transmitter()
|
||||||
|
.ioswp().disabled()
|
||||||
|
.midi().bits(0)
|
||||||
|
.mssi().bits(0)
|
||||||
|
);
|
||||||
|
spi2.cr2.modify(|_, w| w.tsize().bits(0));
|
||||||
|
spi2.cr1.write(|w| w.spe().enabled());
|
||||||
|
spi2.cr1.modify(|_, w| w.cstart().started());
|
||||||
|
}
|
||||||
|
|
||||||
|
// DAC1
|
||||||
|
fn spi4_setup(spi4: &pac::SPI4) {
|
||||||
|
spi4.cfg1.modify(|_, w|
|
||||||
|
w.mbr().div2()
|
||||||
|
.dsize().bits(16 - 1)
|
||||||
|
.fthlv().one_frame()
|
||||||
|
);
|
||||||
|
spi4.cfg2.modify(|_, w|
|
||||||
|
w.afcntr().controlled()
|
||||||
|
.ssom().not_asserted()
|
||||||
|
.ssoe().enabled()
|
||||||
|
.ssiop().active_low()
|
||||||
|
.ssm().disabled()
|
||||||
|
.cpol().idle_low()
|
||||||
|
.cpha().first_edge()
|
||||||
|
.lsbfrst().msbfirst()
|
||||||
|
.master().master()
|
||||||
|
.sp().motorola()
|
||||||
|
.comm().transmitter()
|
||||||
|
.ioswp().disabled()
|
||||||
|
.midi().bits(0)
|
||||||
|
.mssi().bits(0)
|
||||||
|
);
|
||||||
|
spi4.cr2.modify(|_, w| w.tsize().bits(0));
|
||||||
|
spi4.cr1.write(|w| w.spe().enabled());
|
||||||
|
spi4.cr1.modify(|_, w| w.cstart().started());
|
||||||
|
}
|
||||||
|
|
||||||
|
fn tim2_setup(tim2: &pac::TIM2) {
|
||||||
|
tim2.psc.write(|w| w.psc().bits(200 - 1)); // from 200 MHz
|
||||||
|
tim2.arr.write(|w| unsafe { w.bits(2 - 1) }); // µs
|
||||||
|
tim2.dier.write(|w| w.ude().set_bit());
|
||||||
|
tim2.egr.write(|w| w.ug().set_bit());
|
||||||
|
tim2.cr1.modify(|_, w|
|
||||||
|
w.dir().clear_bit() // up
|
||||||
|
.cen().set_bit()); // enable
|
||||||
|
}
|
||||||
|
|
||||||
|
fn dma1_setup(dma1: &pac::DMA1, dmamux1: &pac::DMAMUX1, ma: usize, pa0: usize, pa1: usize) {
|
||||||
|
dma1.st[0].cr.modify(|_, w| w.en().clear_bit());
|
||||||
|
while dma1.st[0].cr.read().en().bit_is_set() {}
|
||||||
|
|
||||||
|
dma1.st[0].par.write(|w| unsafe { w.bits(pa0 as u32) });
|
||||||
|
dma1.st[0].m0ar.write(|w| unsafe { w.bits(ma as u32) });
|
||||||
|
dma1.st[0].ndtr.write(|w| unsafe { w.ndt().bits(1) });
|
||||||
|
dmamux1.ccr[0].modify(|_, w| w.dmareq_id().tim2_up());
|
||||||
|
dma1.st[0].cr.modify(|_, w| unsafe {
|
||||||
|
w.pl().bits(0b01) // medium
|
||||||
|
.circ().set_bit() // reload ndtr
|
||||||
|
.msize().bits(0b10) // 32
|
||||||
|
.minc().clear_bit()
|
||||||
|
.mburst().bits(0b00)
|
||||||
|
.psize().bits(0b10) // 32
|
||||||
|
.pinc().clear_bit()
|
||||||
|
.pburst().bits(0b00)
|
||||||
|
.dbm().clear_bit()
|
||||||
|
.dir().bits(0b01) // memory_to_peripheral
|
||||||
|
.pfctrl().clear_bit() // dma is FC
|
||||||
|
});
|
||||||
|
dma1.st[0].fcr.modify(|_, w| w.dmdis().clear_bit());
|
||||||
|
dma1.st[0].cr.modify(|_, w| w.en().set_bit());
|
||||||
|
|
||||||
|
dma1.st[1].cr.modify(|_, w| w.en().clear_bit());
|
||||||
|
while dma1.st[1].cr.read().en().bit_is_set() {}
|
||||||
|
|
||||||
|
dma1.st[1].par.write(|w| unsafe { w.bits(pa1 as u32) });
|
||||||
|
dma1.st[1].m0ar.write(|w| unsafe { w.bits(ma as u32) });
|
||||||
|
dma1.st[1].ndtr.write(|w| unsafe { w.ndt().bits(1) });
|
||||||
|
dmamux1.ccr[1].modify(|_, w| w.dmareq_id().tim2_up());
|
||||||
|
dma1.st[1].cr.modify(|_, w| unsafe {
|
||||||
|
w.pl().bits(0b01) // medium
|
||||||
|
.circ().set_bit() // reload ndtr
|
||||||
|
.msize().bits(0b10) // 32
|
||||||
|
.minc().clear_bit()
|
||||||
|
.mburst().bits(0b00)
|
||||||
|
.psize().bits(0b10) // 32
|
||||||
|
.pinc().clear_bit()
|
||||||
|
.pburst().bits(0b00)
|
||||||
|
.dbm().clear_bit()
|
||||||
|
.dir().bits(0b01) // memory_to_peripheral
|
||||||
|
.pfctrl().clear_bit() // dma is FC
|
||||||
|
});
|
||||||
|
dma1.st[1].fcr.modify(|_, w| w.dmdis().clear_bit());
|
||||||
|
dma1.st[1].cr.modify(|_, w| w.en().set_bit());
|
||||||
|
}
|
||||||
|
|
||||||
|
#[link_section = ".sram1.datspi"]
|
||||||
|
static mut DAT: u32 = 0x201; // EN | CSTART
|
||||||
|
|
||||||
|
pub fn init() {
|
||||||
|
let mut cp = unsafe{ cortex_m::Peripherals::steal() };
|
||||||
|
let dp = unsafe{ pac::Peripherals::steal()};
|
||||||
|
|
||||||
|
let rcc = dp.RCC;
|
||||||
|
rcc_reset(&rcc);
|
||||||
|
pwr_setup(&dp.PWR);
|
||||||
|
rcc_pll_setup(&rcc, &dp.FLASH);
|
||||||
|
rcc.apb4enr.modify(|_, w| w.syscfgen().set_bit());
|
||||||
|
io_compensation_setup(&dp.SYSCFG);
|
||||||
|
|
||||||
|
cp.SCB.enable_icache();
|
||||||
|
// TODO: ETH DMA coherence issues
|
||||||
|
// cp.SCB.enable_dcache(&mut cp.CPUID);
|
||||||
|
cp.DWT.enable_cycle_counter(); // japaric/cortex-m-rtfm#184
|
||||||
|
|
||||||
|
rcc.ahb4enr.modify(|_, w|
|
||||||
|
w.gpioaen().set_bit()
|
||||||
|
.gpioben().set_bit()
|
||||||
|
.gpiocen().set_bit()
|
||||||
|
.gpioden().set_bit()
|
||||||
|
.gpioeen().set_bit()
|
||||||
|
.gpiofen().set_bit()
|
||||||
|
.gpiogen().set_bit()
|
||||||
|
);
|
||||||
|
gpio_setup(&dp.GPIOA, &dp.GPIOB, &dp.GPIOD, &dp.GPIOE, &dp.GPIOF, &dp.GPIOG);
|
||||||
|
|
||||||
|
rcc.apb1lenr.modify(|_, w| w.spi2en().set_bit());
|
||||||
|
let spi2 = dp.SPI2;
|
||||||
|
spi2_setup(&spi2);
|
||||||
|
|
||||||
|
rcc.apb2enr.modify(|_, w| w.spi4en().set_bit());
|
||||||
|
let spi4 = dp.SPI4;
|
||||||
|
spi4_setup(&spi4);
|
||||||
|
|
||||||
|
rcc.apb2enr.modify(|_, w| w.spi1en().set_bit());
|
||||||
|
let spi1 = dp.SPI1;
|
||||||
|
spi1_setup(&spi1);
|
||||||
|
spi1.ier.write(|w| w.eotie().set_bit());
|
||||||
|
|
||||||
|
rcc.apb2enr.modify(|_, w| w.spi5en().set_bit());
|
||||||
|
let spi5 = dp.SPI5;
|
||||||
|
spi5_setup(&spi5);
|
||||||
|
// spi5.ier.write(|w| w.eotie().set_bit());
|
||||||
|
|
||||||
|
rcc.ahb2enr.modify(|_, w|
|
||||||
|
w
|
||||||
|
.sram1en().set_bit()
|
||||||
|
.sram2en().set_bit()
|
||||||
|
.sram3en().set_bit()
|
||||||
|
);
|
||||||
|
rcc.ahb1enr.modify(|_, w| w.dma1en().set_bit());
|
||||||
|
// init SRAM1 rodata can't load with sram1 disabled
|
||||||
|
unsafe { DAT = 0x201 }; // EN | CSTART
|
||||||
|
cortex_m::asm::dsb();
|
||||||
|
let dat_addr = unsafe { &DAT as *const _ } as usize;
|
||||||
|
cp.SCB.clean_dcache_by_address(dat_addr, 4);
|
||||||
|
|
||||||
|
dma1_setup(&dp.DMA1, &dp.DMAMUX1, dat_addr,
|
||||||
|
&spi1.cr1 as *const _ as usize,
|
||||||
|
&spi5.cr1 as *const _ as usize);
|
||||||
|
|
||||||
|
rcc.apb1lenr.modify(|_, w| w.tim2en().set_bit());
|
||||||
|
|
||||||
|
// work around the SPI stall erratum
|
||||||
|
let dbgmcu = dp.DBGMCU;
|
||||||
|
dbgmcu.apb1lfz1.modify(|_, w| w.tim2().set_bit());
|
||||||
|
|
||||||
|
tim2_setup(&dp.TIM2);
|
||||||
|
|
||||||
|
let i2c2 = dp.I2C2;
|
||||||
|
i2c::setup(&rcc, &i2c2);
|
||||||
|
|
||||||
|
eth::setup(&rcc, &dp.SYSCFG);
|
||||||
|
eth::setup_pins(&dp.GPIOA, &dp.GPIOB, &dp.GPIOC, &dp.GPIOG);
|
||||||
|
}
|
||||||
533
src/main.rs
533
src/main.rs
|
|
@ -45,6 +45,7 @@ use iir::*;
|
||||||
|
|
||||||
mod i2c;
|
mod i2c;
|
||||||
mod eeprom;
|
mod eeprom;
|
||||||
|
mod board;
|
||||||
|
|
||||||
#[cfg(not(feature = "semihosting"))]
|
#[cfg(not(feature = "semihosting"))]
|
||||||
fn init_log() {}
|
fn init_log() {}
|
||||||
|
|
@ -72,460 +73,9 @@ mod build_info {
|
||||||
// include!(concat!(env!("OUT_DIR"), "/built.rs"));
|
// include!(concat!(env!("OUT_DIR"), "/built.rs"));
|
||||||
}
|
}
|
||||||
|
|
||||||
fn pwr_setup(pwr: &pac::PWR) {
|
|
||||||
// go to VOS1 voltage scale for high perf
|
|
||||||
pwr.cr3.write(|w|
|
|
||||||
w.scuen().set_bit()
|
|
||||||
.ldoen().set_bit()
|
|
||||||
.bypass().clear_bit()
|
|
||||||
);
|
|
||||||
while pwr.csr1.read().actvosrdy().bit_is_clear() {}
|
|
||||||
pwr.d3cr.write(|w| unsafe { w.vos().bits(0b11) }); // vos1
|
|
||||||
while pwr.d3cr.read().vosrdy().bit_is_clear() {}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn rcc_reset(rcc: &pac::RCC) {
|
|
||||||
// Reset all peripherals
|
|
||||||
rcc.ahb1rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.ahb1rstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
rcc.apb1lrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.apb1lrstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
rcc.apb1hrstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.apb1hrstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
|
|
||||||
rcc.ahb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.ahb2rstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
rcc.apb2rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.apb2rstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
|
|
||||||
// do not reset the cpu
|
|
||||||
rcc.ahb3rstr.write(|w| unsafe { w.bits(0x7FFF_FFFF) });
|
|
||||||
rcc.ahb3rstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
rcc.apb3rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.apb3rstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
|
|
||||||
rcc.ahb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.ahb4rstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
rcc.apb4rstr.write(|w| unsafe { w.bits(0xFFFF_FFFF) });
|
|
||||||
rcc.apb4rstr.write(|w| unsafe { w.bits(0)});
|
|
||||||
}
|
|
||||||
|
|
||||||
fn rcc_pll_setup(rcc: &pac::RCC, flash: &pac::FLASH) {
|
|
||||||
// Switch to HSI to mess with HSE
|
|
||||||
rcc.cr.modify(|_, w| w.hsion().on());
|
|
||||||
while rcc.cr.read().hsirdy().is_not_ready() {}
|
|
||||||
rcc.cfgr.modify(|_, w| w.sw().hsi());
|
|
||||||
while !rcc.cfgr.read().sws().is_hsi() {}
|
|
||||||
rcc.cr.write(|w| w.hsion().on());
|
|
||||||
rcc.cfgr.reset();
|
|
||||||
|
|
||||||
// Ensure HSE is on and stable
|
|
||||||
rcc.cr.modify(|_, w|
|
|
||||||
w.hseon().on()
|
|
||||||
.hsebyp().not_bypassed());
|
|
||||||
while !rcc.cr.read().hserdy().is_ready() {}
|
|
||||||
|
|
||||||
rcc.pllckselr.modify(|_, w|
|
|
||||||
w.pllsrc().hse()
|
|
||||||
.divm1().bits(1) // ref prescaler
|
|
||||||
.divm2().bits(1) // ref prescaler
|
|
||||||
);
|
|
||||||
// Configure PLL1: 8MHz /1 *100 /2 = 400 MHz
|
|
||||||
rcc.pllcfgr.modify(|_, w|
|
|
||||||
w.pll1vcosel().wide_vco() // 192-836 MHz VCO
|
|
||||||
.pll1rge().range8() // 8-16 MHz PFD
|
|
||||||
.pll1fracen().reset()
|
|
||||||
.divp1en().enabled()
|
|
||||||
.pll2vcosel().medium_vco() // 150-420 MHz VCO
|
|
||||||
.pll2rge().range8() // 8-16 MHz PFD
|
|
||||||
.pll2fracen().reset()
|
|
||||||
.divp2en().enabled()
|
|
||||||
.divq2en().enabled()
|
|
||||||
);
|
|
||||||
rcc.pll1divr.write(|w| unsafe {
|
|
||||||
w.divn1().bits(100 - 1) // feebdack divider
|
|
||||||
.divp1().div2() // p output divider
|
|
||||||
});
|
|
||||||
rcc.cr.modify(|_, w| w.pll1on().on());
|
|
||||||
while !rcc.cr.read().pll1rdy().is_ready() {}
|
|
||||||
|
|
||||||
// Configure PLL2: 8MHz /1 *25 / 2 = 100 MHz
|
|
||||||
rcc.pll2divr.write(|w| unsafe {
|
|
||||||
w.divn2().bits(25 - 1) // feebdack divider
|
|
||||||
.divp2().bits(2 - 1) // p output divider
|
|
||||||
.divq2().bits(2 - 1) // q output divider
|
|
||||||
});
|
|
||||||
rcc.cr.modify(|_, w| w.pll2on().on());
|
|
||||||
while !rcc.cr.read().pll2rdy().is_ready() {}
|
|
||||||
|
|
||||||
// hclk 200 MHz, pclk 100 MHz
|
|
||||||
rcc.d1cfgr.write(|w|
|
|
||||||
w.d1cpre().div1() // sys_ck not divided
|
|
||||||
.hpre().div2() // rcc_hclk3 = sys_d1cpre_ck / 2
|
|
||||||
.d1ppre().div2() // rcc_pclk3 = rcc_hclk3 / 2
|
|
||||||
);
|
|
||||||
rcc.d2cfgr.write(|w|
|
|
||||||
w.d2ppre1().div2() // rcc_pclk1 = rcc_hclk3 / 2
|
|
||||||
.d2ppre2().div2() // rcc_pclk2 = rcc_hclk3 / 2
|
|
||||||
);
|
|
||||||
rcc.d3cfgr.write(|w|
|
|
||||||
w.d3ppre().div2() // rcc_pclk4 = rcc_hclk3 / 2
|
|
||||||
);
|
|
||||||
|
|
||||||
// 2 wait states, 0b10 programming delay
|
|
||||||
// 185-210 MHz
|
|
||||||
flash.acr.write(|w| unsafe {
|
|
||||||
w.wrhighfreq().bits(2)
|
|
||||||
.latency().bits(2)
|
|
||||||
});
|
|
||||||
while flash.acr.read().latency().bits() != 2 {}
|
|
||||||
|
|
||||||
// CSI for I/O compensationc ell
|
|
||||||
rcc.cr.modify(|_, w| w.csion().on());
|
|
||||||
while !rcc.cr.read().csirdy().is_ready() {}
|
|
||||||
|
|
||||||
// Set system clock to pll1_p
|
|
||||||
rcc.cfgr.modify(|_, w| w.sw().pll1());
|
|
||||||
while !rcc.cfgr.read().sws().is_pll1() {}
|
|
||||||
|
|
||||||
rcc.d1ccipr.write(|w| w.ckpersel().hse());
|
|
||||||
rcc.d2ccip1r.modify(|_, w|
|
|
||||||
w.spi123sel().pll2_p()
|
|
||||||
.spi45sel().pll2_q()
|
|
||||||
);
|
|
||||||
rcc.d3ccipr.modify(|_, w| w.spi6sel().pll2_q());
|
|
||||||
}
|
|
||||||
|
|
||||||
fn io_compensation_setup(syscfg: &pac::SYSCFG) {
|
|
||||||
syscfg.cccsr.modify(|_, w|
|
|
||||||
w.en().set_bit()
|
|
||||||
.cs().clear_bit()
|
|
||||||
.hslv().clear_bit()
|
|
||||||
);
|
|
||||||
while syscfg.cccsr.read().ready().bit_is_clear() {}
|
|
||||||
}
|
|
||||||
|
|
||||||
fn gpio_setup(gpioa: &pac::GPIOA, gpiob: &pac::GPIOB, gpiod: &pac::GPIOD,
|
|
||||||
gpioe: &pac::GPIOE, gpiof: &pac::GPIOF, gpiog: &pac::GPIOG) {
|
|
||||||
// FP_LED0
|
|
||||||
gpiod.otyper.modify(|_, w| w.ot5().push_pull());
|
|
||||||
gpiod.moder.modify(|_, w| w.moder5().output());
|
|
||||||
gpiod.odr.modify(|_, w| w.odr5().low());
|
|
||||||
|
|
||||||
// FP_LED1
|
|
||||||
gpiod.otyper.modify(|_, w| w.ot6().push_pull());
|
|
||||||
gpiod.moder.modify(|_, w| w.moder6().output());
|
|
||||||
gpiod.odr.modify(|_, w| w.odr6().low());
|
|
||||||
|
|
||||||
// LED_FP2
|
|
||||||
gpiog.otyper.modify(|_, w| w.ot4().push_pull());
|
|
||||||
gpiog.moder.modify(|_, w| w.moder4().output());
|
|
||||||
gpiog.odr.modify(|_, w| w.odr4().low());
|
|
||||||
|
|
||||||
// LED_FP3
|
|
||||||
gpiod.otyper.modify(|_, w| w.ot12().push_pull());
|
|
||||||
gpiod.moder.modify(|_, w| w.moder12().output());
|
|
||||||
gpiod.odr.modify(|_, w| w.odr12().low());
|
|
||||||
|
|
||||||
// AFE0_A0,1: PG2,PG3
|
|
||||||
gpiog.otyper.modify(|_, w|
|
|
||||||
w.ot2().push_pull()
|
|
||||||
.ot3().push_pull()
|
|
||||||
);
|
|
||||||
gpiog.moder.modify(|_, w|
|
|
||||||
w.moder2().output()
|
|
||||||
.moder3().output()
|
|
||||||
);
|
|
||||||
gpiog.odr.modify(|_, w|
|
|
||||||
w.odr2().low()
|
|
||||||
.odr3().low()
|
|
||||||
);
|
|
||||||
|
|
||||||
// ADC0
|
|
||||||
// SCK: PG11
|
|
||||||
gpiog.moder.modify(|_, w| w.moder11().alternate());
|
|
||||||
gpiog.otyper.modify(|_, w| w.ot11().push_pull());
|
|
||||||
gpiog.ospeedr.modify(|_, w| w.ospeedr11().very_high_speed());
|
|
||||||
gpiog.afrh.modify(|_, w| w.afr11().af5());
|
|
||||||
// MOSI: PD7
|
|
||||||
// MISO: PA6
|
|
||||||
gpioa.moder.modify(|_, w| w.moder6().alternate());
|
|
||||||
gpioa.afrl.modify(|_, w| w.afr6().af5());
|
|
||||||
// NSS: PG10
|
|
||||||
gpiog.moder.modify(|_, w| w.moder10().alternate());
|
|
||||||
gpiog.otyper.modify(|_, w| w.ot10().push_pull());
|
|
||||||
gpiog.ospeedr.modify(|_, w| w.ospeedr10().very_high_speed());
|
|
||||||
gpiog.afrh.modify(|_, w| w.afr10().af5());
|
|
||||||
|
|
||||||
// DAC0
|
|
||||||
// SCK: PB10
|
|
||||||
gpiob.moder.modify(|_, w| w.moder10().alternate());
|
|
||||||
gpiob.otyper.modify(|_, w| w.ot10().push_pull());
|
|
||||||
gpiob.ospeedr.modify(|_, w| w.ospeedr10().very_high_speed());
|
|
||||||
gpiob.afrh.modify(|_, w| w.afr10().af5());
|
|
||||||
// MOSI: PB15
|
|
||||||
gpiob.moder.modify(|_, w| w.moder15().alternate());
|
|
||||||
gpiob.otyper.modify(|_, w| w.ot15().push_pull());
|
|
||||||
gpiob.ospeedr.modify(|_, w| w.ospeedr15().very_high_speed());
|
|
||||||
gpiob.afrh.modify(|_, w| w.afr15().af5());
|
|
||||||
// MISO: PB14
|
|
||||||
// NSS: PB9
|
|
||||||
gpiob.moder.modify(|_, w| w.moder9().alternate());
|
|
||||||
gpiob.otyper.modify(|_, w| w.ot9().push_pull());
|
|
||||||
gpiob.ospeedr.modify(|_, w| w.ospeedr9().very_high_speed());
|
|
||||||
gpiob.afrh.modify(|_, w| w.afr9().af5());
|
|
||||||
|
|
||||||
// DAC0_LDAC: PE11
|
|
||||||
gpioe.moder.modify(|_, w| w.moder11().output());
|
|
||||||
gpioe.otyper.modify(|_, w| w.ot11().push_pull());
|
|
||||||
gpioe.odr.modify(|_, w| w.odr11().low());
|
|
||||||
|
|
||||||
// DAC_CLR: PE12
|
|
||||||
gpioe.moder.modify(|_, w| w.moder12().output());
|
|
||||||
gpioe.otyper.modify(|_, w| w.ot12().push_pull());
|
|
||||||
gpioe.odr.modify(|_, w| w.odr12().high());
|
|
||||||
|
|
||||||
// AFE1_A0,1: PD14,PD15
|
|
||||||
gpiod.otyper.modify(|_, w|
|
|
||||||
w.ot14().push_pull()
|
|
||||||
.ot15().push_pull()
|
|
||||||
);
|
|
||||||
gpiod.moder.modify(|_, w|
|
|
||||||
w.moder14().output()
|
|
||||||
.moder15().output()
|
|
||||||
);
|
|
||||||
gpiod.odr.modify(|_, w|
|
|
||||||
w.odr14().low()
|
|
||||||
.odr15().low()
|
|
||||||
);
|
|
||||||
|
|
||||||
// I2C2: SDA,SCL: PF0,PF1
|
|
||||||
gpiof.moder.modify(|_, w|
|
|
||||||
w.moder0().alternate()
|
|
||||||
.moder1().alternate()
|
|
||||||
);
|
|
||||||
gpiof.afrl.modify(|_, w|
|
|
||||||
w.afr0().af4()
|
|
||||||
.afr1().af4()
|
|
||||||
);
|
|
||||||
gpiof.otyper.modify(|_, w|
|
|
||||||
w.ot0().open_drain()
|
|
||||||
.ot1().open_drain()
|
|
||||||
);
|
|
||||||
|
|
||||||
// ADC1
|
|
||||||
// SCK: PF6
|
|
||||||
gpiof.moder.modify(|_, w| w.moder7().alternate());
|
|
||||||
gpiof.otyper.modify(|_, w| w.ot7().push_pull());
|
|
||||||
gpiof.ospeedr.modify(|_, w| w.ospeedr7().very_high_speed());
|
|
||||||
gpiof.afrl.modify(|_, w| w.afr7().af5());
|
|
||||||
// MOSI: PF9
|
|
||||||
// MISO: PF7
|
|
||||||
gpiof.moder.modify(|_, w| w.moder8().alternate());
|
|
||||||
gpiof.afrh.modify(|_, w| w.afr8().af5());
|
|
||||||
// NSS: PF8
|
|
||||||
gpiof.moder.modify(|_, w| w.moder6().alternate());
|
|
||||||
gpiof.otyper.modify(|_, w| w.ot6().push_pull());
|
|
||||||
gpiof.ospeedr.modify(|_, w| w.ospeedr6().very_high_speed());
|
|
||||||
gpiof.afrl.modify(|_, w| w.afr6().af5());
|
|
||||||
|
|
||||||
// DAC1
|
|
||||||
// SCK: PE2
|
|
||||||
gpioe.moder.modify(|_, w| w.moder2().alternate());
|
|
||||||
gpioe.otyper.modify(|_, w| w.ot2().push_pull());
|
|
||||||
gpioe.ospeedr.modify(|_, w| w.ospeedr2().very_high_speed());
|
|
||||||
gpioe.afrl.modify(|_, w| w.afr2().af5());
|
|
||||||
// MOSI: PE6
|
|
||||||
gpioe.moder.modify(|_, w| w.moder6().alternate());
|
|
||||||
gpioe.otyper.modify(|_, w| w.ot6().push_pull());
|
|
||||||
gpioe.ospeedr.modify(|_, w| w.ospeedr6().very_high_speed());
|
|
||||||
gpioe.afrl.modify(|_, w| w.afr6().af5());
|
|
||||||
// MISO: PE5
|
|
||||||
// NSS: PE4
|
|
||||||
gpioe.moder.modify(|_, w| w.moder4().alternate());
|
|
||||||
gpioe.otyper.modify(|_, w| w.ot4().push_pull());
|
|
||||||
gpioe.ospeedr.modify(|_, w| w.ospeedr4().very_high_speed());
|
|
||||||
gpioe.afrl.modify(|_, w| w.afr4().af5());
|
|
||||||
|
|
||||||
// DAC1_LDAC: PE15
|
|
||||||
gpioe.moder.modify(|_, w| w.moder15().output());
|
|
||||||
gpioe.otyper.modify(|_, w| w.ot15().push_pull());
|
|
||||||
gpioe.odr.modify(|_, w| w.odr15().low());
|
|
||||||
}
|
|
||||||
|
|
||||||
// ADC0
|
|
||||||
fn spi1_setup(spi1: &pac::SPI1) {
|
|
||||||
spi1.cfg1.modify(|_, w|
|
|
||||||
w.mbr().div4()
|
|
||||||
.dsize().bits(16 - 1)
|
|
||||||
.fthlv().one_frame()
|
|
||||||
);
|
|
||||||
spi1.cfg2.modify(|_, w|
|
|
||||||
w.afcntr().controlled()
|
|
||||||
.ssom().not_asserted()
|
|
||||||
.ssoe().enabled()
|
|
||||||
.ssiop().active_low()
|
|
||||||
.ssm().disabled()
|
|
||||||
.cpol().idle_high()
|
|
||||||
.cpha().second_edge()
|
|
||||||
.lsbfrst().msbfirst()
|
|
||||||
.master().master()
|
|
||||||
.sp().motorola()
|
|
||||||
.comm().receiver()
|
|
||||||
.ioswp().disabled()
|
|
||||||
.midi().bits(0)
|
|
||||||
.mssi().bits(6)
|
|
||||||
);
|
|
||||||
spi1.cr2.modify(|_, w| w.tsize().bits(1));
|
|
||||||
spi1.cr1.write(|w| w.spe().enabled());
|
|
||||||
}
|
|
||||||
|
|
||||||
// ADC1
|
|
||||||
fn spi5_setup(spi5: &pac::SPI5) {
|
|
||||||
spi5.cfg1.modify(|_, w|
|
|
||||||
w.mbr().div4()
|
|
||||||
.dsize().bits(16 - 1)
|
|
||||||
.fthlv().one_frame()
|
|
||||||
);
|
|
||||||
spi5.cfg2.modify(|_, w|
|
|
||||||
w.afcntr().controlled()
|
|
||||||
.ssom().not_asserted()
|
|
||||||
.ssoe().enabled()
|
|
||||||
.ssiop().active_low()
|
|
||||||
.ssm().disabled()
|
|
||||||
.cpol().idle_high()
|
|
||||||
.cpha().second_edge()
|
|
||||||
.lsbfrst().msbfirst()
|
|
||||||
.master().master()
|
|
||||||
.sp().motorola()
|
|
||||||
.comm().receiver()
|
|
||||||
.ioswp().disabled()
|
|
||||||
.midi().bits(0)
|
|
||||||
.mssi().bits(6)
|
|
||||||
);
|
|
||||||
spi5.cr2.modify(|_, w| w.tsize().bits(1));
|
|
||||||
spi5.cr1.write(|w| w.spe().enabled());
|
|
||||||
}
|
|
||||||
|
|
||||||
// DAC0
|
|
||||||
fn spi2_setup(spi2: &pac::SPI2) {
|
|
||||||
spi2.cfg1.modify(|_, w|
|
|
||||||
w.mbr().div2()
|
|
||||||
.dsize().bits(16 - 1)
|
|
||||||
.fthlv().one_frame()
|
|
||||||
);
|
|
||||||
spi2.cfg2.modify(|_, w|
|
|
||||||
w.afcntr().controlled()
|
|
||||||
.ssom().not_asserted()
|
|
||||||
.ssoe().enabled()
|
|
||||||
.ssiop().active_low()
|
|
||||||
.ssm().disabled()
|
|
||||||
.cpol().idle_low()
|
|
||||||
.cpha().first_edge()
|
|
||||||
.lsbfrst().msbfirst()
|
|
||||||
.master().master()
|
|
||||||
.sp().motorola()
|
|
||||||
.comm().transmitter()
|
|
||||||
.ioswp().disabled()
|
|
||||||
.midi().bits(0)
|
|
||||||
.mssi().bits(0)
|
|
||||||
);
|
|
||||||
spi2.cr2.modify(|_, w| w.tsize().bits(0));
|
|
||||||
spi2.cr1.write(|w| w.spe().enabled());
|
|
||||||
spi2.cr1.modify(|_, w| w.cstart().started());
|
|
||||||
}
|
|
||||||
|
|
||||||
// DAC1
|
|
||||||
fn spi4_setup(spi4: &pac::SPI4) {
|
|
||||||
spi4.cfg1.modify(|_, w|
|
|
||||||
w.mbr().div2()
|
|
||||||
.dsize().bits(16 - 1)
|
|
||||||
.fthlv().one_frame()
|
|
||||||
);
|
|
||||||
spi4.cfg2.modify(|_, w|
|
|
||||||
w.afcntr().controlled()
|
|
||||||
.ssom().not_asserted()
|
|
||||||
.ssoe().enabled()
|
|
||||||
.ssiop().active_low()
|
|
||||||
.ssm().disabled()
|
|
||||||
.cpol().idle_low()
|
|
||||||
.cpha().first_edge()
|
|
||||||
.lsbfrst().msbfirst()
|
|
||||||
.master().master()
|
|
||||||
.sp().motorola()
|
|
||||||
.comm().transmitter()
|
|
||||||
.ioswp().disabled()
|
|
||||||
.midi().bits(0)
|
|
||||||
.mssi().bits(0)
|
|
||||||
);
|
|
||||||
spi4.cr2.modify(|_, w| w.tsize().bits(0));
|
|
||||||
spi4.cr1.write(|w| w.spe().enabled());
|
|
||||||
spi4.cr1.modify(|_, w| w.cstart().started());
|
|
||||||
}
|
|
||||||
|
|
||||||
fn tim2_setup(tim2: &pac::TIM2) {
|
|
||||||
tim2.psc.write(|w| w.psc().bits(200 - 1)); // from 200 MHz
|
|
||||||
tim2.arr.write(|w| unsafe { w.bits(2 - 1) }); // µs
|
|
||||||
tim2.dier.write(|w| w.ude().set_bit());
|
|
||||||
tim2.egr.write(|w| w.ug().set_bit());
|
|
||||||
tim2.cr1.modify(|_, w|
|
|
||||||
w.dir().clear_bit() // up
|
|
||||||
.cen().set_bit()); // enable
|
|
||||||
}
|
|
||||||
|
|
||||||
fn dma1_setup(dma1: &pac::DMA1, dmamux1: &pac::DMAMUX1, ma: usize, pa0: usize, pa1: usize) {
|
|
||||||
dma1.st[0].cr.modify(|_, w| w.en().clear_bit());
|
|
||||||
while dma1.st[0].cr.read().en().bit_is_set() {}
|
|
||||||
|
|
||||||
dma1.st[0].par.write(|w| unsafe { w.bits(pa0 as u32) });
|
|
||||||
dma1.st[0].m0ar.write(|w| unsafe { w.bits(ma as u32) });
|
|
||||||
dma1.st[0].ndtr.write(|w| unsafe { w.ndt().bits(1) });
|
|
||||||
dmamux1.ccr[0].modify(|_, w| w.dmareq_id().tim2_up());
|
|
||||||
dma1.st[0].cr.modify(|_, w| unsafe {
|
|
||||||
w.pl().bits(0b01) // medium
|
|
||||||
.circ().set_bit() // reload ndtr
|
|
||||||
.msize().bits(0b10) // 32
|
|
||||||
.minc().clear_bit()
|
|
||||||
.mburst().bits(0b00)
|
|
||||||
.psize().bits(0b10) // 32
|
|
||||||
.pinc().clear_bit()
|
|
||||||
.pburst().bits(0b00)
|
|
||||||
.dbm().clear_bit()
|
|
||||||
.dir().bits(0b01) // memory_to_peripheral
|
|
||||||
.pfctrl().clear_bit() // dma is FC
|
|
||||||
});
|
|
||||||
dma1.st[0].fcr.modify(|_, w| w.dmdis().clear_bit());
|
|
||||||
dma1.st[0].cr.modify(|_, w| w.en().set_bit());
|
|
||||||
|
|
||||||
dma1.st[1].cr.modify(|_, w| w.en().clear_bit());
|
|
||||||
while dma1.st[1].cr.read().en().bit_is_set() {}
|
|
||||||
|
|
||||||
dma1.st[1].par.write(|w| unsafe { w.bits(pa1 as u32) });
|
|
||||||
dma1.st[1].m0ar.write(|w| unsafe { w.bits(ma as u32) });
|
|
||||||
dma1.st[1].ndtr.write(|w| unsafe { w.ndt().bits(1) });
|
|
||||||
dmamux1.ccr[1].modify(|_, w| w.dmareq_id().tim2_up());
|
|
||||||
dma1.st[1].cr.modify(|_, w| unsafe {
|
|
||||||
w.pl().bits(0b01) // medium
|
|
||||||
.circ().set_bit() // reload ndtr
|
|
||||||
.msize().bits(0b10) // 32
|
|
||||||
.minc().clear_bit()
|
|
||||||
.mburst().bits(0b00)
|
|
||||||
.psize().bits(0b10) // 32
|
|
||||||
.pinc().clear_bit()
|
|
||||||
.pburst().bits(0b00)
|
|
||||||
.dbm().clear_bit()
|
|
||||||
.dir().bits(0b01) // memory_to_peripheral
|
|
||||||
.pfctrl().clear_bit() // dma is FC
|
|
||||||
});
|
|
||||||
dma1.st[1].fcr.modify(|_, w| w.dmdis().clear_bit());
|
|
||||||
dma1.st[1].cr.modify(|_, w| w.en().set_bit());
|
|
||||||
}
|
|
||||||
|
|
||||||
const SCALE: f32 = ((1 << 15) - 1) as f32;
|
const SCALE: f32 = ((1 << 15) - 1) as f32;
|
||||||
|
|
||||||
#[link_section = ".sram1.datspi"]
|
|
||||||
static mut DAT: u32 = 0x201; // EN | CSTART
|
|
||||||
|
|
||||||
// static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
|
// static ETHERNET_PENDING: AtomicBool = AtomicBool::new(true);
|
||||||
|
|
||||||
const TCP_RX_BUFFER_SIZE: usize = 8192;
|
const TCP_RX_BUFFER_SIZE: usize = 8192;
|
||||||
|
|
@ -559,92 +109,19 @@ const APP: () = {
|
||||||
|
|
||||||
#[init(schedule = [tick])]
|
#[init(schedule = [tick])]
|
||||||
fn init(c: init::Context) -> init::LateResources {
|
fn init(c: init::Context) -> init::LateResources {
|
||||||
let dp = c.device;
|
board::init();
|
||||||
let mut cp = c.core;
|
|
||||||
|
|
||||||
let rcc = dp.RCC;
|
|
||||||
rcc_reset(&rcc);
|
|
||||||
|
|
||||||
init_log();
|
init_log();
|
||||||
// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
|
// info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
|
||||||
// info!("Built on {}", build_info::BUILT_TIME_UTC);
|
// info!("Built on {}", build_info::BUILT_TIME_UTC);
|
||||||
// info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
|
// info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
|
||||||
|
|
||||||
pwr_setup(&dp.PWR);
|
|
||||||
rcc_pll_setup(&rcc, &dp.FLASH);
|
|
||||||
rcc.apb4enr.modify(|_, w| w.syscfgen().set_bit());
|
|
||||||
io_compensation_setup(&dp.SYSCFG);
|
|
||||||
|
|
||||||
cp.SCB.enable_icache();
|
|
||||||
// TODO: ETH DMA coherence issues
|
|
||||||
// cp.SCB.enable_dcache(&mut cp.CPUID);
|
|
||||||
cp.DWT.enable_cycle_counter(); // japaric/cortex-m-rtfm#184
|
|
||||||
|
|
||||||
rcc.ahb4enr.modify(|_, w|
|
|
||||||
w.gpioaen().set_bit()
|
|
||||||
.gpioben().set_bit()
|
|
||||||
.gpiocen().set_bit()
|
|
||||||
.gpioden().set_bit()
|
|
||||||
.gpioeen().set_bit()
|
|
||||||
.gpiofen().set_bit()
|
|
||||||
.gpiogen().set_bit()
|
|
||||||
);
|
|
||||||
gpio_setup(&dp.GPIOA, &dp.GPIOB, &dp.GPIOD, &dp.GPIOE, &dp.GPIOF, &dp.GPIOG);
|
|
||||||
|
|
||||||
rcc.apb1lenr.modify(|_, w| w.spi2en().set_bit());
|
|
||||||
let spi2 = dp.SPI2;
|
|
||||||
spi2_setup(&spi2);
|
|
||||||
|
|
||||||
rcc.apb2enr.modify(|_, w| w.spi4en().set_bit());
|
|
||||||
let spi4 = dp.SPI4;
|
|
||||||
spi4_setup(&spi4);
|
|
||||||
|
|
||||||
rcc.apb2enr.modify(|_, w| w.spi1en().set_bit());
|
|
||||||
let spi1 = dp.SPI1;
|
|
||||||
spi1_setup(&spi1);
|
|
||||||
spi1.ier.write(|w| w.eotie().set_bit());
|
|
||||||
|
|
||||||
rcc.apb2enr.modify(|_, w| w.spi5en().set_bit());
|
|
||||||
let spi5 = dp.SPI5;
|
|
||||||
spi5_setup(&spi5);
|
|
||||||
// spi5.ier.write(|w| w.eotie().set_bit());
|
|
||||||
|
|
||||||
rcc.ahb2enr.modify(|_, w|
|
|
||||||
w
|
|
||||||
.sram1en().set_bit()
|
|
||||||
.sram2en().set_bit()
|
|
||||||
.sram3en().set_bit()
|
|
||||||
);
|
|
||||||
rcc.ahb1enr.modify(|_, w| w.dma1en().set_bit());
|
|
||||||
// init SRAM1 rodata can't load with sram1 disabled
|
|
||||||
unsafe { DAT = 0x201 }; // EN | CSTART
|
|
||||||
cortex_m::asm::dsb();
|
|
||||||
let dat_addr = unsafe { &DAT as *const _ } as usize;
|
|
||||||
cp.SCB.clean_dcache_by_address(dat_addr, 4);
|
|
||||||
|
|
||||||
dma1_setup(&dp.DMA1, &dp.DMAMUX1, dat_addr,
|
|
||||||
&spi1.cr1 as *const _ as usize,
|
|
||||||
&spi5.cr1 as *const _ as usize);
|
|
||||||
|
|
||||||
rcc.apb1lenr.modify(|_, w| w.tim2en().set_bit());
|
|
||||||
|
|
||||||
// work around the SPI stall erratum
|
|
||||||
let dbgmcu = dp.DBGMCU;
|
|
||||||
dbgmcu.apb1lfz1.modify(|_, w| w.tim2().set_bit());
|
|
||||||
|
|
||||||
tim2_setup(&dp.TIM2);
|
|
||||||
|
|
||||||
let i2c2 = dp.I2C2;
|
|
||||||
i2c::setup(&rcc, &i2c2);
|
|
||||||
|
|
||||||
eth::setup(&rcc, &dp.SYSCFG);
|
|
||||||
eth::setup_pins(&dp.GPIOA, &dp.GPIOB, &dp.GPIOC, &dp.GPIOG);
|
|
||||||
|
|
||||||
// c.schedule.tick(Instant::now()).unwrap();
|
// c.schedule.tick(Instant::now()).unwrap();
|
||||||
|
|
||||||
|
let dp = c.device;
|
||||||
init::LateResources {
|
init::LateResources {
|
||||||
spi: (spi1, spi2, spi4, spi5),
|
spi: (dp.SPI1, dp.SPI2, dp.SPI4, dp.SPI5),
|
||||||
i2c: i2c2,
|
i2c: dp.I2C2,
|
||||||
ethernet_periph: (dp.ETHERNET_MAC, dp.ETHERNET_DMA, dp.ETHERNET_MTL),
|
ethernet_periph: (dp.ETHERNET_MAC, dp.ETHERNET_DMA, dp.ETHERNET_MTL),
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue