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297 lines
8.3 KiB
297 lines
8.3 KiB
/* |
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* This file is free software: you can redistribute it and/or modify it |
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* under the terms of the GNU General Public License as published by the |
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* Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This file is distributed in the hope that it will be useful, but |
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* WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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* See the GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit |
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*/ |
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#include "hal.h" |
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#include "usbcfg.h" |
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#include "stm32_util.h" |
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#include "watchdog.h" |
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/*===========================================================================*/ |
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/* Driver local definitions. */ |
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/*===========================================================================*/ |
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/*===========================================================================*/ |
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/* Driver exported variables. */ |
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/*===========================================================================*/ |
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/*===========================================================================*/ |
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/* Driver local variables and types. */ |
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/*===========================================================================*/ |
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/** |
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* @brief STM32 GPIO static initialization data. |
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*/ |
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#if defined(STM32F100_MCUCONF) || defined(STM32F103_MCUCONF) || defined(STM32F105_MCUCONF) |
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const PALConfig pal_default_config = |
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{ |
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{VAL_GPIOA_ODR, VAL_GPIOA_CRL, VAL_GPIOA_CRH}, |
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{VAL_GPIOB_ODR, VAL_GPIOB_CRL, VAL_GPIOB_CRH}, |
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{VAL_GPIOC_ODR, VAL_GPIOC_CRL, VAL_GPIOC_CRH}, |
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{VAL_GPIOD_ODR, VAL_GPIOD_CRL, VAL_GPIOD_CRH}, |
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{VAL_GPIOE_ODR, VAL_GPIOE_CRL, VAL_GPIOE_CRH}, |
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}; |
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#else //Other than STM32F1/F3 series |
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/** |
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* @brief Type of STM32 GPIO port setup. |
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*/ |
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typedef struct { |
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uint32_t moder; |
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uint32_t otyper; |
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uint32_t ospeedr; |
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uint32_t pupdr; |
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uint32_t odr; |
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uint32_t afrl; |
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uint32_t afrh; |
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} gpio_setup_t; |
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/** |
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* @brief Type of STM32 GPIO initialization data. |
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*/ |
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typedef struct { |
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#if STM32_HAS_GPIOA || defined(__DOXYGEN__) |
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gpio_setup_t PAData; |
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#endif |
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#if STM32_HAS_GPIOB || defined(__DOXYGEN__) |
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gpio_setup_t PBData; |
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#endif |
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#if STM32_HAS_GPIOC || defined(__DOXYGEN__) |
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gpio_setup_t PCData; |
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#endif |
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#if STM32_HAS_GPIOD || defined(__DOXYGEN__) |
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gpio_setup_t PDData; |
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#endif |
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#if STM32_HAS_GPIOE || defined(__DOXYGEN__) |
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gpio_setup_t PEData; |
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#endif |
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#if STM32_HAS_GPIOF || defined(__DOXYGEN__) |
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gpio_setup_t PFData; |
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#endif |
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#if STM32_HAS_GPIOG || defined(__DOXYGEN__) |
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gpio_setup_t PGData; |
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#endif |
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#if STM32_HAS_GPIOH || defined(__DOXYGEN__) |
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gpio_setup_t PHData; |
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#endif |
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#if STM32_HAS_GPIOI || defined(__DOXYGEN__) |
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gpio_setup_t PIData; |
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#endif |
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#if STM32_HAS_GPIOJ || defined(__DOXYGEN__) |
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gpio_setup_t PJData; |
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#endif |
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#if STM32_HAS_GPIOK || defined(__DOXYGEN__) |
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gpio_setup_t PKData; |
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#endif |
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} gpio_config_t; |
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/** |
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* @brief STM32 GPIO static initialization data. |
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*/ |
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static const gpio_config_t gpio_default_config = { |
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#if STM32_HAS_GPIOA |
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{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR, |
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VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOB |
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{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR, |
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VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOC |
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{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, |
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VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOD |
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{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, |
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VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOE |
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{VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR, |
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VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOF |
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{VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR, |
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VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOG |
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{VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR, |
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VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOH |
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{VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR, |
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VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOI |
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{VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR, |
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VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOJ |
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{VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR, |
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VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH}, |
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#endif |
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#if STM32_HAS_GPIOK |
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{VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR, |
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VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH} |
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#endif |
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}; |
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/*===========================================================================*/ |
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/* Driver local functions. */ |
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/*===========================================================================*/ |
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static void gpio_init(stm32_gpio_t *gpiop, const gpio_setup_t *config) { |
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gpiop->OTYPER = config->otyper; |
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gpiop->OSPEEDR = config->ospeedr; |
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gpiop->PUPDR = config->pupdr; |
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gpiop->ODR = config->odr; |
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gpiop->AFRL = config->afrl; |
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gpiop->AFRH = config->afrh; |
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gpiop->MODER = config->moder; |
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} |
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static void stm32_gpio_init(void) { |
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/* Enabling GPIO-related clocks, the mask comes from the |
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registry header file.*/ |
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#if defined(STM32H7) |
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rccResetAHB4(STM32_GPIO_EN_MASK); |
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rccEnableAHB4(STM32_GPIO_EN_MASK, true); |
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#elif defined(STM32F3) |
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rccResetAHB(STM32_GPIO_EN_MASK); |
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rccEnableAHB(STM32_GPIO_EN_MASK, true); |
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#else |
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rccResetAHB1(STM32_GPIO_EN_MASK); |
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rccEnableAHB1(STM32_GPIO_EN_MASK, true); |
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#endif |
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/* Initializing all the defined GPIO ports.*/ |
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#if STM32_HAS_GPIOA |
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gpio_init(GPIOA, &gpio_default_config.PAData); |
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#endif |
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#if STM32_HAS_GPIOB |
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gpio_init(GPIOB, &gpio_default_config.PBData); |
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#endif |
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#if STM32_HAS_GPIOC |
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gpio_init(GPIOC, &gpio_default_config.PCData); |
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#endif |
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#if STM32_HAS_GPIOD |
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gpio_init(GPIOD, &gpio_default_config.PDData); |
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#endif |
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#if STM32_HAS_GPIOE |
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gpio_init(GPIOE, &gpio_default_config.PEData); |
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#endif |
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#if STM32_HAS_GPIOF |
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gpio_init(GPIOF, &gpio_default_config.PFData); |
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#endif |
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#if STM32_HAS_GPIOG |
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gpio_init(GPIOG, &gpio_default_config.PGData); |
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#endif |
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#if STM32_HAS_GPIOH |
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gpio_init(GPIOH, &gpio_default_config.PHData); |
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#endif |
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#if STM32_HAS_GPIOI |
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gpio_init(GPIOI, &gpio_default_config.PIData); |
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#endif |
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#if STM32_HAS_GPIOJ |
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gpio_init(GPIOJ, &gpio_default_config.PJData); |
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#endif |
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#if STM32_HAS_GPIOK |
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gpio_init(GPIOK, &gpio_default_config.PKData); |
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#endif |
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} |
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#endif //!STM32F100_MCUCONF |
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/** |
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* @brief Early initialization code. |
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* @details This initialization must be performed just after stack setup |
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* and before any other initialization. |
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*/ |
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void __early_init(void) { |
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#if !defined(STM32F1) |
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stm32_gpio_init(); |
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#endif |
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stm32_clock_init(); |
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#if defined(HAL_DISABLE_DCACHE) |
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SCB_DisableDCache(); |
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#endif |
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} |
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void __late_init(void) { |
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halInit(); |
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chSysInit(); |
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stm32_watchdog_save_reason(); |
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#ifndef HAL_BOOTLOADER_BUILD |
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stm32_watchdog_clear_reason(); |
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#endif |
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#if CH_CFG_USE_HEAP == TRUE |
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malloc_init(); |
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#endif |
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#ifdef HAL_USB_PRODUCT_ID |
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setup_usb_strings(); |
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#endif |
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} |
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#if HAL_USE_SDC || defined(__DOXYGEN__) |
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/** |
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* @brief SDC card detection. |
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*/ |
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bool sdc_lld_is_card_inserted(SDCDriver *sdcp) { |
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(void)sdcp; |
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return true; |
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} |
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/** |
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* @brief SDC card write protection detection. |
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*/ |
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bool sdc_lld_is_write_protected(SDCDriver *sdcp) { |
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(void)sdcp; |
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return false; |
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} |
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#endif /* HAL_USE_SDC */ |
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#if HAL_USE_MMC_SPI || defined(__DOXYGEN__) |
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/** |
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* @brief MMC_SPI card detection. |
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*/ |
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bool mmc_lld_is_card_inserted(MMCDriver *mmcp) { |
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(void)mmcp; |
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/* TODO: Fill the implementation.*/ |
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return true; |
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} |
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/** |
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* @brief MMC_SPI card write protection detection. |
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*/ |
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bool mmc_lld_is_write_protected(MMCDriver *mmcp) { |
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(void)mmcp; |
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/* TODO: Fill the implementation.*/ |
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return false; |
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} |
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#endif |
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/** |
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* @brief Board-specific initialization code. |
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* @todo Add your board-specific code, if any. |
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*/ |
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void boardInit(void) { |
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HAL_BOARD_INIT_HOOK_CALL |
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}
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