retarget_hal.c

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#include "bsp/retarget_hal.h"
#include "bsp/error.h"
 
/* ============================================================================
 * FORWARD DECLARATIONS
 * ========================================================================= */
 
static void SystemClock_Config(void);
extern uint32_t task_active_sleep(uint32_t ticks);
 
/* Function prototypes */
int32_t platform_write(void* handle, uint8_t reg, const uint8_t *bufp, uint16_t len);
int32_t platform_read(void* handle, uint8_t reg, uint8_t *bufp, uint16_t len);
 
 
static void CPU_CACHE_Enable(void)
{
  /* Enable I-Cache */
  SCB_EnableICache();
 
  /* Enable D-Cache */
  SCB_EnableDCache();
}
 
/* ============================================================================
 * LED CONTROL FUNCTIONS
 * ========================================================================= */
 
void LED_Blink(uint32_t Hdelay, uint32_t Ldelay) {
    HAL_GPIO_WritePin(E3_GPIO_Port,E3_Pin,GPIO_PIN_SET);
    (void)task_active_sleep(Hdelay - 1u);
    HAL_GPIO_WritePin(E3_GPIO_Port,E3_Pin,GPIO_PIN_RESET);
    (void)task_active_sleep(Ldelay - 1u);
}
 
void LED_On(void) {
    HAL_GPIO_WritePin(E3_GPIO_Port,E3_Pin,GPIO_PIN_SET);
}
 
void LED_Off(void) {
    HAL_GPIO_WritePin(E3_GPIO_Port,E3_Pin,GPIO_PIN_RESET);
}
 
/* ============================================================================
 * I2C PLATFORM FUNCTIONS (IMU DRIVER)
 * ========================================================================= */
 
int32_t platform_write(void* handle, uint8_t reg, const uint8_t *bufp, uint16_t len) {
    /* HAL_I2C_Mem_Write requires non-const pointer, but we receive const
     * This is safe as HAL will only read from the buffer */
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wcast-qual"
    HAL_I2C_Mem_Write((I2C_HandleTypeDef*) handle, IMU_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
            (uint8_t *)bufp, len, HAL_MAX_DELAY);
#pragma GCC diagnostic pop
    return 0;
}
 
int32_t platform_read(void* handle, uint8_t reg, uint8_t *bufp, uint16_t len) {
    HAL_I2C_Mem_Read((I2C_HandleTypeDef*) handle, IMU_ADDRESS, reg, I2C_MEMADD_SIZE_8BIT,
            bufp, len, HAL_MAX_DELAY);
    return 0;
}
 
/* ============================================================================
 * HAL INITIALIZATION
 * ========================================================================= */
 
void hal_init(void) {
  /* USER CODE BEGIN 1 */
  #ifdef W25Qxx
    SCB->VTOR = QSPI_BASE;
  #else
    SCB->VTOR = BSP_FLASH_BASE;
  #endif
 
  MPU_Config();
  CPU_CACHE_Enable();
 
#ifndef HOST_TEST
  /* Enable individual fault handlers (otherwise escalate to HardFault) */
  SCB->SHCSR |= (1UL << 18) |  /* USGFAULTENA */
                (1UL << 17) |  /* BUSFAULTENA */
                (1UL << 16);   /* MEMFAULTENA */
#endif
 
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();
 
  /* Configure the system clock */
  SystemClock_Config();
 
#ifndef HOST_TEST
  /* Enable backup SRAM (RAM_D3, 0x38000000, 64KB).
   * Three steps required per RM0433:
   *   1. Unlock backup domain writes (DBP bit in PWR_CR1)
   *   2. Enable BKPRAM clock on AHB4
   *   3. Enable VBAT backup regulator for retention across VDD loss */
  HAL_PWR_EnableBkUpAccess();
  __HAL_RCC_BKPRAM_CLK_ENABLE();
  HAL_PWREx_EnableBkUpReg();
#endif
 
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
 
  // Early LED blink to confirm MCU is alive
  // LED_Blink(200, 200);
  // LED_Blink(200, 200);
  // LED_Blink(200, 200);
 
  MX_RTC_Init();
  MX_SPI4_Init();
  MX_TIM1_Init();
  MX_I2C2_Init();
  MX_USB_DEVICE_Init();
 
//  HAL_Delay(1000); // Give USB time to initialize
 
//  printf("TEST\n");
//  printf("USB initialized, starting debug output\n");
//
//  extern volatile uint8_t os_running;
//  printf("OS Running: %d\r\n", os_running);
//  printf("Starting ICARUS OS\r\n");
}
 
/* ============================================================================
 * SYSTEM CLOCK CONFIGURATION
 * ========================================================================= */
 
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
 
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);
 
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE0);
 
  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}
 
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI48 | RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 5;
  RCC_OscInitStruct.PLL.PLLN = 96;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_2;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
 
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
 
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
}