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EUSTM32F103RC - First cut of support for this High-Density STM32F103 

series development board.

These boards can be picked up for less than $11, coupled with a 10DOF
sensor board they make a great development platform or cheap expandable
FC.

Pretty much all pins are available to be used, unlike on the less
capable and more expensive OLIMEXINO.
This commit is contained in:
Dominic Clifton 2014-09-03 01:38:27 +01:00
parent 9977fce4bb
commit 3d382ea4c7
18 changed files with 705 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

56
Makefile
View File

@ -32,7 +32,7 @@ SERIAL_DEVICE ?= /dev/ttyUSB0
FORKNAME = cleanflight
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU
VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC
# Working directories
ROOT = $(dir $(lastword $(MAKEFILE_LIST)))
@ -76,7 +76,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
LD_SCRIPT = $(ROOT)/stm32_flash_f303.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
DEVICE_FLAGS = -DSTM32F303xC
DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
TARGET_FLAGS = -D$(TARGET)
ifeq ($(TARGET),CHEBUZZF3)
# CHEBUZZ is a VARIANT of STM32F3DISCOVERY
@ -84,6 +84,31 @@ TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
endif
else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC))
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
# Search path and source files for the CMSIS sources
VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(STDPERIPH_DIR)/inc \
$(CMSIS_DIR)/CM3/CoreSupport \
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \
LD_SCRIPT = $(ROOT)/stm32_flash_f103_256k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic
DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
else
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
@ -104,7 +129,7 @@ LD_SCRIPT = $(ROOT)/stm32_flash_f103_128k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic
DEVICE_FLAGS = -DSTM32F10X_MD
DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
@ -202,6 +227,31 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \
$(HIGHEND_SRC) \
$(COMMON_SRC)
EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \
drivers/accgyro_mpu6050.c \
drivers/adc.c \
drivers/adc_stm32f10x.c \
drivers/barometer_bmp085.c \
drivers/bus_i2c_stm32f10x.c \
drivers/bus_spi.c \
drivers/compass_hmc5883l.c \
drivers/gpio_stm32f10x.c \
drivers/light_led_stm32f10x.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/pwm_mapping.c \
drivers/pwm_output.c \
drivers/pwm_rx.c \
drivers/serial_softserial.c \
drivers/serial_uart.c \
drivers/serial_uart_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sound_beeper_stm32f10x.c \
drivers/system_stm32f10x.c \
drivers/timer.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
OLIMEXINO_SRC = startup_stm32f10x_md_gcc.S \
drivers/accgyro_mpu6050.c \
drivers/adc.c \

23
src/main/config/config.c
View File

@ -75,11 +75,20 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
#define FLASH_PAGE_SIZE ((uint16_t)0x800)
#endif
#ifndef FLASH_PAGE_COUNT
#ifdef STM32F10X_MD
#define FLASH_PAGE_COUNT 128
#define FLASH_PAGE_SIZE ((uint16_t)0x400)
#endif
#ifdef STM32F10X_HD
#define FLASH_PAGE_COUNT 128
#define FLASH_PAGE_SIZE ((uint16_t)0x800)
#endif
#ifndef FLASH_PAGE_COUNT
#error "Flash page count not defined for target."
#endif
// use the last flash pages for storage
static uint32_t flashWriteAddress = (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG));
@ -465,14 +474,14 @@ void validateAndFixConfig(void)
}
if (feature(FEATURE_CURRENT_METER)) {
#if defined(STM32F10X_MD)
#if defined(STM32F10X)
// rssi adc needs the same ports
featureClear(FEATURE_RSSI_ADC);
// current meter needs the same ports
featureClear(FEATURE_CURRENT_METER);
#endif
#if defined(STM32F10X_MD) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY)
#if defined(STM32F10X) || defined(CHEBUZZ) || defined(STM32F3DISCOVERY)
// led strip needs the same ports
featureClear(FEATURE_LED_STRIP);
#endif
@ -482,7 +491,7 @@ void validateAndFixConfig(void)
}
#if defined(STM32F10X_MD)
#if defined(STM32F10X)
// led strip needs the same timer as softserial
if (feature(FEATURE_SOFTSERIAL)) {
featureClear(FEATURE_LED_STRIP);
@ -513,7 +522,7 @@ void validateAndFixConfig(void)
void initEEPROM(void)
{
#if defined(STM32F10X_MD)
#if defined(STM32F10X)
#define FLASH_SIZE_REGISTER 0x1FFFF7E0
@ -569,10 +578,10 @@ void writeEEPROM(void)
// write it
FLASH_Unlock();
while (attemptsRemaining--) {
#ifdef STM32F3DISCOVERY
#ifdef STM32F303
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPERR);
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
FLASH_ClearFlag(FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
#endif
for (wordOffset = 0; wordOffset < sizeof(master_t); wordOffset += 4) {

12
src/main/drivers/bus_spi.c
View File

@ -166,7 +166,7 @@ uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
#ifdef STM32F303xC
SPI_SendData8(instance, data);
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
SPI_I2S_SendData(instance, data);
#endif
spiTimeout = 1000;
@ -177,7 +177,7 @@ uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t data)
#ifdef STM32F303xC
return ((uint8_t)SPI_ReceiveData8(instance));
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
return ((uint8_t)SPI_I2S_ReceiveData(instance));
#endif
}
@ -194,20 +194,20 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *out, uint8_t *in, int len)
if ((spiTimeout--) == 0)
return spiTimeoutUserCallback(instance);
}
#ifdef STM32F303xC
#ifdef STM32F303
SPI_I2S_SendData16(instance, b);
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
SPI_I2S_SendData(instance, b);
#endif
while (SPI_I2S_GetFlagStatus(instance, SPI_I2S_FLAG_RXNE) == RESET) {
if ((spiTimeout--) == 0)
return spiTimeoutUserCallback(instance);
}
#ifdef STM32F303xC
#ifdef STM32F303
b = SPI_I2S_ReceiveData16(instance);
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
b = SPI_I2S_ReceiveData(instance);
#endif
if (out)

2
src/main/drivers/gpio.h
View File

@ -17,7 +17,7 @@
#pragma once
#ifdef STM32F10X_MD
#ifdef STM32F10X
typedef enum
{
Mode_AIN = 0x0,

14
src/main/drivers/pwm_mapping.c
View File

@ -69,7 +69,7 @@ enum {
MAP_TO_SERVO_OUTPUT,
};
#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY)
#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(EUSTM32F103RC)
static const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
@ -277,13 +277,13 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue;
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
// skip UART2 ports
if (init->useUART2 && (timerIndex == PWM3 || timerIndex == PWM4))
continue;
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
// skip softSerial ports
if (init->useSoftSerial && (timerIndex == PWM5 || timerIndex == PWM6 || timerIndex == PWM7 || timerIndex == PWM8))
continue;
@ -302,7 +302,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue;
#endif
#if defined(STM32F10X_MD) && !defined(CC3D)
#if defined(STM32F10X) && !defined(CC3D)
#define LED_STRIP_TIMER TIM3
#endif
@ -310,7 +310,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#define LED_STRIP_TIMER TIM3
#endif
#if defined(STM32F303xC)
#if defined(STM32F303)
#define LED_STRIP_TIMER TIM16
#endif
@ -320,7 +320,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue;
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
// skip ADC for RSSI
if (init->useRSSIADC && timerIndex == PWM2)
continue;
@ -334,7 +334,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
type = 0;
if (init->useServos && !init->airplane) {
#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
#if defined(STM32F10X) || defined(CHEBUZZF3)
// remap PWM9+10 as servos
if (timerIndex == PWM9 || timerIndex == PWM10)
type = MAP_TO_SERVO_OUTPUT;

2
src/main/drivers/pwm_mapping.h
View File

@ -39,7 +39,7 @@ typedef struct drv_pwm_config_t {
bool useParallelPWM;
bool usePPM;
bool useRSSIADC;
#ifdef STM32F10X_MD
#ifdef STM32F10X
bool useUART2;
#endif
bool useSoftSerial;

2
src/main/drivers/pwm_output.c
View File

@ -38,7 +38,7 @@ typedef struct {
volatile uint32_t *ccr;
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
volatile uint16_t *ccr;
#endif
uint16_t period;

4
src/main/drivers/serial_softserial.c
View File

@ -32,14 +32,14 @@
#include "serial.h"
#include "serial_softserial.h"
#if defined(STM32F10X_MD) || defined(CHEBUZZF3)
#if defined(STM32F10X) || defined(CHEBUZZF3)
#define SOFT_SERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
#define SOFT_SERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
#define SOFT_SERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
#define SOFT_SERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
#endif
#if defined(STM32F303xC) && !defined(CHEBUZZF3)
#if defined(STM32F303) && !defined(CHEBUZZF3)
#define SOFT_SERIAL_1_TIMER_RX_HARDWARE 8 // PWM 9
#define SOFT_SERIAL_1_TIMER_TX_HARDWARE 9 // PWM 10
#define SOFT_SERIAL_2_TIMER_RX_HARDWARE 10 // PWM 11

10
src/main/drivers/system.c
View File

@ -39,7 +39,7 @@ static volatile uint32_t sysTickUptime = 0;
// from system_stm32f30x.c
void SetSysClock(void);
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
// from system_stm32f10x.c
void SetSysClock(bool overclock);
#endif
@ -77,7 +77,7 @@ uint32_t millis(void)
void systemInit(bool overclock)
{
#ifdef STM32F303xC
#ifdef STM32F303
// start fpu
SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
#endif
@ -85,7 +85,7 @@ void systemInit(bool overclock)
#ifdef STM32F303xC
SetSysClock();
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
// Configure the Flash Latency cycles and enable prefetch buffer
SetSysClock(overclock);
@ -94,7 +94,7 @@ void systemInit(bool overclock)
// Configure NVIC preempt/priority groups
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
#ifdef STM32F10X_MD
#ifdef STM32F10X
// Turn on clocks for stuff we use
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
#endif
@ -105,7 +105,7 @@ void systemInit(bool overclock)
enableGPIOPowerUsageAndNoiseReductions();
#ifdef STM32F10X_MD
#ifdef STM32F10X
// Turn off JTAG port 'cause we're using the GPIO for leds
#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;

8
src/main/drivers/timer.c
View File

@ -67,7 +67,7 @@
TIM4 4 channels
*/
#if (defined(STM32F10X_MD) || defined(NAZE)) && !defined(CC3D)
#if (defined(STM32F10X) || defined(NAZE)) && !defined(CC3D)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD}, // PWM1
{ TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD}, // PWM2
@ -122,7 +122,7 @@ static const TIM_TypeDef const *timers[MAX_TIMERS] = {
#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB)
#endif
#if (defined(STM32F303xC) || defined(STM32F3DISCOVERY)) && !(defined(CHEBUZZF3) || defined(NAZE32PRO))
#if (defined(STM32F303) || defined(STM32F3DISCOVERY)) && !(defined(CHEBUZZF3) || defined(NAZE32PRO))
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP_PD}, // PWM1 - PA8
{ TIM16, GPIOB, Pin_8, TIM_Channel_1, TIM1_UP_TIM16_IRQn, 0, Mode_AF_PP_PD}, // PWM2 - PB8
@ -424,7 +424,7 @@ void TIM4_IRQHandler(void)
timCCxHandler(TIM4);
}
#if defined(STM32F303xC) || defined(STM32F3DISCOVERY)
#if defined(STM32F303) || defined(STM32F3DISCOVERY)
void TIM8_CC_IRQHandler(void)
{
timCCxHandler(TIM8);
@ -467,7 +467,7 @@ void timerInit(void)
#endif
#ifdef STM32F303xC
#ifdef STM32F303
GPIO_PinAFConfig(GPIOA, GPIO_PinSource8, GPIO_AF_6);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_1);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource9, GPIO_AF_1);

2
src/main/drivers/timer.h
View File

@ -32,7 +32,7 @@
#ifdef STM32F303xC
typedef uint32_t captureCompare_t;
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
typedef uint16_t captureCompare_t;
#endif

2
src/main/main.c
View File

@ -185,7 +185,7 @@ void init(void)
else
pwm_params.airplane = false;
#ifdef STM32F10X_MD
#ifdef STM32F10X
if (!feature(FEATURE_RX_PARALLEL_PWM)) {
pwm_params.useUART2 = doesConfigurationUsePort(SERIAL_PORT_USART2);
}

4
src/main/platform.h
View File

@ -30,7 +30,7 @@
#endif
#ifdef STM32F10X_MD
#ifdef STM32F10X
#include "stm32f10x_conf.h"
#include "stm32f10x_gpio.h"
@ -41,7 +41,7 @@
#define U_ID_1 (*(uint32_t*)0x1FFFF7EC)
#define U_ID_2 (*(uint32_t*)0x1FFFF7F0)
#endif // STM32F10X_MD
#endif // STM32F10X
#include "target.h"

2
src/main/sensors/initialisation.c
View File

@ -96,7 +96,7 @@
#undef USE_GYRO_SPI_MPU6000
#endif
#if defined(OLIMEXINO)
#if defined(OLIMEXINO) || defined(EUSTM32F103RC)
#undef USE_GYRO_L3GD20
#undef USE_GYRO_L3G4200D
#undef USE_GYRO_MPU3050

2
src/main/sensors/sonar.c
View File

@ -39,7 +39,7 @@ int32_t sonarAlt = -1; // in cm , -1 indicate sonar is not in range
void Sonar_init(void)
{
#if defined(NAZE)
#if defined(NAZE) || defined(EUSTM32F103RC)
static const sonarHardware_t const sonarPWM56 = {
.trigger_pin = Pin_8, // PWM5 (PB8) - 5v tolerant
.echo_pin = Pin_9, // PWM6 (PB9) - 5v tolerant

408
src/main/startup/startup_stm32f10x_hd_gcc.S Normal file
View File

@ -0,0 +1,408 @@
/**
******************************************************************************
* @file startup_stm32f10x_hd.s
* @author MCD Application Team
* @version V3.5.0
* @date 11-March-2011
* @brief STM32F10x Medium Density Devices vector table for Atollic toolchain.
* This module performs:
* - Set the initial SP
* - Set the initial PC == Reset_Handler,
* - Set the vector table entries with the exceptions ISR address
* - Configure the clock system
* - Branches to main in the C library (which eventually
* calls main()).
* After Reset the Cortex-M3 processor is in Thread mode,
* priority is Privileged, and the Stack is set to Main.
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
.syntax unified
.cpu cortex-m3
.fpu softvfp
.thumb
.global g_pfnVectors
.global Default_Handler
/* start address for the initialization values of the .data section.
defined in linker script */
.word _sidata
/* start address for the .data section. defined in linker script */
.word _sdata
/* end address for the .data section. defined in linker script */
.word _edata
/* start address for the .bss section. defined in linker script */
.word _sbss
/* end address for the .bss section. defined in linker script */
.word _ebss
.equ BootRAM, 0xF108F85F
/**
* @brief This is the code that gets called when the processor first
* starts execution following a reset event. Only the absolutely
* necessary set is performed, after which the application
* supplied main() routine is called.
* @param None
* @retval : None
*/
.section .text.Reset_Handler
.weak Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
ldr r0, =0x2000CFF0 // HJI - TC bootloader entry on reset mod
ldr r1, =0xDEADBEEF // HJI - TC bootloader entry on reset mod
ldr r2, [r0, #0] // HJI - TC bootloader entry on reset mod
str r0, [r0, #0] // HJI - TC bootloader entry on reset mod
cmp r2, r1 // HJI - TC bootloader entry on reset mod
beq Reboot_Loader // HJI - TC bootloader entry on reset mod
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
CopyDataInit:
ldr r3, =_sidata
ldr r3, [r3, r1]
str r3, [r0, r1]
adds r1, r1, #4
LoopCopyDataInit:
ldr r0, =_sdata
ldr r3, =_edata
adds r2, r0, r1
cmp r2, r3
bcc CopyDataInit
ldr r2, =_sbss
b LoopFillZerobss
/* Zero fill the bss segment. */
FillZerobss:
movs r3, #0
str r3, [r2], #4
LoopFillZerobss:
ldr r3, = _ebss
cmp r2, r3
bcc FillZerobss
/* Call the clock system intitialization function.*/
bl SystemInit
/* Call the application's entry point.*/
bl main
/* Atollic update, branch LoopForever */
LoopForever:
b LoopForever
.equ RCC_APB2ENR, 0x40021018 // HJI - TC bootloader entry on reset mod
.equ GPIO_AFIO_MASK, 0x00000009 // HJI - TC bootloader entry on reset mod
.equ GPIOB_CRL, 0x40010C00 // HJI - TC bootloader entry on reset mod
.equ GPIOB_BRR, 0x40010C14 // HJI - TC bootloader entry on reset mod
.equ AFIO_MAPR, 0x40010004 // HJI - TC bootloader entry on reset mod
Reboot_Loader: // HJI - TC bootloader entry on reset mod
// RCC Enable GPIOB+AFIO // HJI - TC bootloader entry on reset mod
ldr r6, =RCC_APB2ENR // HJI - TC bootloader entry on reset mod
ldr r0, =GPIO_AFIO_MASK // HJI - TC bootloader entry on reset mod
str R0, [r6]; // HJI - TC bootloader entry on reset mod
// MAPR pt1 // HJI - TC bootloader entry on reset mod
ldr r0, =AFIO_MAPR // HJI - TC bootloader entry on reset mod
ldr r1, [r0] // HJI - TC bootloader entry on reset mod
bic r1, r1, #0x0F000000 // HJI - TC bootloader entry on reset mod
str r1, [r0] // HJI - TC bootloader entry on reset mod
// MAPR pt2 // HJI - TC bootloader entry on reset mod
lsls r1, r0, #9 // HJI - TC bootloader entry on reset mod
str r1, [r0] // HJI - TC bootloader entry on reset mod
// BRR // HJI - TC bootloader entry on reset mod
ldr r4, =GPIOB_BRR // HJI - TC bootloader entry on reset mod
movs r0, #0x18 // HJI - TC bootloader entry on reset mod
str r0, [r4] // HJI - TC bootloader entry on reset mod
// CRL // HJI - TC bootloader entry on reset mod
ldr r1, =GPIOB_CRL // HJI - TC bootloader entry on reset mod
ldr r0, =0x44433444 // HJI - TC bootloader entry on reset mod
str r0, [r1] // HJI - TC bootloader entry on reset mod
// Reboot to ROM // HJI - TC bootloader entry on reset mod
ldr r0, =0x1FFFF000 // HJI - TC bootloader entry on reset mod
ldr sp,[r0, #0] // HJI - TC bootloader entry on reset mod
ldr r0,[r0, #4] // HJI - TC bootloader entry on reset mod
bx r0 // HJI - TC bootloader entry on reset mod
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
* the system state for examination by a debugger.
*
* @param None
* @retval : None
*/
.section .text.Default_Handler,"ax",%progbits
Default_Handler:
Infinite_Loop:
b Infinite_Loop
.size Default_Handler, .-Default_Handler
/******************************************************************************
*
* The minimal vector table for a Cortex M3. Note that the proper constructs
* must be placed on this to ensure that it ends up at physical address
* 0x0000.0000.
*
******************************************************************************/
.section .isr_vector,"a",%progbits
.type g_pfnVectors, %object
.size g_pfnVectors, .-g_pfnVectors
g_pfnVectors:
.word _estack
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler
.word MemManage_Handler
.word BusFault_Handler
.word UsageFault_Handler
.word 0
.word 0
.word 0
.word 0
.word SVC_Handler
.word DebugMon_Handler
.word 0
.word PendSV_Handler
.word SysTick_Handler
.word WWDG_IRQHandler
.word PVD_IRQHandler
.word TAMPER_IRQHandler
.word RTC_IRQHandler
.word FLASH_IRQHandler
.word RCC_IRQHandler
.word EXTI0_IRQHandler
.word EXTI1_IRQHandler
.word EXTI2_IRQHandler
.word EXTI3_IRQHandler
.word EXTI4_IRQHandler
.word DMA1_Channel1_IRQHandler
.word DMA1_Channel2_IRQHandler
.word DMA1_Channel3_IRQHandler
.word DMA1_Channel4_IRQHandler
.word DMA1_Channel5_IRQHandler
.word DMA1_Channel6_IRQHandler
.word DMA1_Channel7_IRQHandler
.word ADC1_2_IRQHandler
.word USB_HP_CAN1_TX_IRQHandler
.word USB_LP_CAN1_RX0_IRQHandler
.word CAN1_RX1_IRQHandler
.word CAN1_SCE_IRQHandler
.word EXTI9_5_IRQHandler
.word TIM1_BRK_IRQHandler
.word TIM1_UP_IRQHandler
.word TIM1_TRG_COM_IRQHandler
.word TIM1_CC_IRQHandler
.word TIM2_IRQHandler
.word TIM3_IRQHandler
.word TIM4_IRQHandler
.word I2C1_EV_IRQHandler
.word I2C1_ER_IRQHandler
.word I2C2_EV_IRQHandler
.word I2C2_ER_IRQHandler
.word SPI1_IRQHandler
.word SPI2_IRQHandler
.word USART1_IRQHandler
.word USART2_IRQHandler
.word USART3_IRQHandler
.word EXTI15_10_IRQHandler
.word RTCAlarm_IRQHandler
.word USBWakeUp_IRQHandler
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word 0
.word BootRAM /* @0x108. This is for boot in RAM mode for
STM32F10x Medium Density devices. */
/*******************************************************************************
*
* Provide weak aliases for each Exception handler to the Default_Handler.
* As they are weak aliases, any function with the same name will override
* this definition.
*
*******************************************************************************/
.weak NMI_Handler
.thumb_set NMI_Handler,Default_Handler
.weak HardFault_Handler
.thumb_set HardFault_Handler,Default_Handler
.weak MemManage_Handler
.thumb_set MemManage_Handler,Default_Handler
.weak BusFault_Handler
.thumb_set BusFault_Handler,Default_Handler
.weak UsageFault_Handler
.thumb_set UsageFault_Handler,Default_Handler
.weak SVC_Handler
.thumb_set SVC_Handler,Default_Handler
.weak DebugMon_Handler
.thumb_set DebugMon_Handler,Default_Handler
.weak PendSV_Handler
.thumb_set PendSV_Handler,Default_Handler
.weak SysTick_Handler
.thumb_set SysTick_Handler,Default_Handler
.weak WWDG_IRQHandler
.thumb_set WWDG_IRQHandler,Default_Handler
.weak PVD_IRQHandler
.thumb_set PVD_IRQHandler,Default_Handler
.weak TAMPER_IRQHandler
.thumb_set TAMPER_IRQHandler,Default_Handler
.weak RTC_IRQHandler
.thumb_set RTC_IRQHandler,Default_Handler
.weak FLASH_IRQHandler
.thumb_set FLASH_IRQHandler,Default_Handler
.weak RCC_IRQHandler
.thumb_set RCC_IRQHandler,Default_Handler
.weak EXTI0_IRQHandler
.thumb_set EXTI0_IRQHandler,Default_Handler
.weak EXTI1_IRQHandler
.thumb_set EXTI1_IRQHandler,Default_Handler
.weak EXTI2_IRQHandler
.thumb_set EXTI2_IRQHandler,Default_Handler
.weak EXTI3_IRQHandler
.thumb_set EXTI3_IRQHandler,Default_Handler
.weak EXTI4_IRQHandler
.thumb_set EXTI4_IRQHandler,Default_Handler
.weak DMA1_Channel1_IRQHandler
.thumb_set DMA1_Channel1_IRQHandler,Default_Handler
.weak DMA1_Channel2_IRQHandler
.thumb_set DMA1_Channel2_IRQHandler,Default_Handler
.weak DMA1_Channel3_IRQHandler
.thumb_set DMA1_Channel3_IRQHandler,Default_Handler
.weak DMA1_Channel4_IRQHandler
.thumb_set DMA1_Channel4_IRQHandler,Default_Handler
.weak DMA1_Channel5_IRQHandler
.thumb_set DMA1_Channel5_IRQHandler,Default_Handler
.weak DMA1_Channel6_IRQHandler
.thumb_set DMA1_Channel6_IRQHandler,Default_Handler
.weak DMA1_Channel7_IRQHandler
.thumb_set DMA1_Channel7_IRQHandler,Default_Handler
.weak ADC1_2_IRQHandler
.thumb_set ADC1_2_IRQHandler,Default_Handler
.weak USB_HP_CAN1_TX_IRQHandler
.thumb_set USB_HP_CAN1_TX_IRQHandler,Default_Handler
.weak USB_LP_CAN1_RX0_IRQHandler
.thumb_set USB_LP_CAN1_RX0_IRQHandler,Default_Handler
.weak CAN1_RX1_IRQHandler
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
.weak CAN1_SCE_IRQHandler
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
.weak EXTI9_5_IRQHandler
.thumb_set EXTI9_5_IRQHandler,Default_Handler
.weak TIM1_BRK_IRQHandler
.thumb_set TIM1_BRK_IRQHandler,Default_Handler
.weak TIM1_UP_IRQHandler
.thumb_set TIM1_UP_IRQHandler,Default_Handler
.weak TIM1_TRG_COM_IRQHandler
.thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler
.weak TIM1_CC_IRQHandler
.thumb_set TIM1_CC_IRQHandler,Default_Handler
.weak TIM2_IRQHandler
.thumb_set TIM2_IRQHandler,Default_Handler
.weak TIM3_IRQHandler
.thumb_set TIM3_IRQHandler,Default_Handler
.weak TIM4_IRQHandler
.thumb_set TIM4_IRQHandler,Default_Handler
.weak I2C1_EV_IRQHandler
.thumb_set I2C1_EV_IRQHandler,Default_Handler
.weak I2C1_ER_IRQHandler
.thumb_set I2C1_ER_IRQHandler,Default_Handler
.weak I2C2_EV_IRQHandler
.thumb_set I2C2_EV_IRQHandler,Default_Handler
.weak I2C2_ER_IRQHandler
.thumb_set I2C2_ER_IRQHandler,Default_Handler
.weak SPI1_IRQHandler
.thumb_set SPI1_IRQHandler,Default_Handler
.weak SPI2_IRQHandler
.thumb_set SPI2_IRQHandler,Default_Handler
.weak USART1_IRQHandler
.thumb_set USART1_IRQHandler,Default_Handler
.weak USART2_IRQHandler
.thumb_set USART2_IRQHandler,Default_Handler
.weak USART3_IRQHandler
.thumb_set USART3_IRQHandler,Default_Handler
.weak EXTI15_10_IRQHandler
.thumb_set EXTI15_10_IRQHandler,Default_Handler
.weak RTCAlarm_IRQHandler
.thumb_set RTCAlarm_IRQHandler,Default_Handler
.weak USBWakeUp_IRQHandler
.thumb_set USBWakeUp_IRQHandler,Default_Handler
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/

45
src/main/target/EUSTM32F103RC/target.h Normal file
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@ -0,0 +1,45 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define ACC
#define BARO
#define GYRO
#define MAG
#define SONAR
#define USE_USART1
#define USE_USART2
#define USE_SOFT_SERIAL
#define SERIAL_PORT_COUNT 4
#define I2C_DEVICE (I2CDEV_2)
// #define SOFT_I2C // enable to test software i2c
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
// #define SOFT_I2C_PB67
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define GPS
#define LED_STRIP
#define TELEMETRY
#define SOFT_SERIAL
#define SERIAL_RX
#define AUTOTUNE

150
stm32_flash_f103_256k.ld Normal file
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@ -0,0 +1,150 @@
/*
*****************************************************************************
**
** File : stm32_flash.ld
**
** Abstract : Linker script for STM32F103RC Device with
** 256KByte FLASH, 48KByte RAM
**
*****************************************************************************
*/
/* Entry Point */
ENTRY(Reset_Handler)
/* Highest address of the user mode stack */
_estack = 0x2000C000; /* end of 48K RAM */
/* Generate a link error if heap and stack don't fit into RAM */
_Min_Heap_Size = 0; /* required amount of heap */
_Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas. Flash is limited for last 2K for configuration storage */
MEMORY
{
FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 254K /* last 2kb used for config storage */
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 48K
MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K
}
/* Define output sections */
SECTIONS
{
/* The startup code goes first into FLASH */
.isr_vector :
{
. = ALIGN(4);
KEEP(*(.isr_vector)) /* Startup code */
. = ALIGN(4);
} >FLASH
/* The program code and other data goes into FLASH */
.text :
{
. = ALIGN(4);
*(.text) /* .text sections (code) */
*(.text*) /* .text* sections (code) */
*(.rodata) /* .rodata sections (constants, strings, etc.) */
*(.rodata*) /* .rodata* sections (constants, strings, etc.) */
*(.glue_7) /* glue arm to thumb code */
*(.glue_7t) /* glue thumb to arm code */
*(.eh_frame)
KEEP (*(.init))
KEEP (*(.fini))
. = ALIGN(4);
_etext = .; /* define a global symbols at end of code */
} >FLASH
.ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
.ARM : {
__exidx_start = .;
*(.ARM.exidx*)
__exidx_end = .;
} >FLASH
.preinit_array :
{
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP (*(.preinit_array*))
PROVIDE_HIDDEN (__preinit_array_end = .);
} >FLASH
.init_array :
{
PROVIDE_HIDDEN (__init_array_start = .);
KEEP (*(SORT(.init_array.*)))
KEEP (*(.init_array*))
PROVIDE_HIDDEN (__init_array_end = .);
} >FLASH
.fini_array :
{
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP (*(.fini_array*))
KEEP (*(SORT(.fini_array.*)))
PROVIDE_HIDDEN (__fini_array_end = .);
} >FLASH
/* used by the startup to initialize data */
_sidata = .;
/* Initialized data sections goes into RAM, load LMA copy after code */
.data :
{
. = ALIGN(4);
_sdata = .; /* create a global symbol at data start */
*(.data) /* .data sections */
*(.data*) /* .data* sections */
. = ALIGN(4);
_edata = .; /* define a global symbol at data end */
} >RAM AT> FLASH
/* Uninitialized data section */
. = ALIGN(4);
.bss :
{
/* This is used by the startup in order to initialize the .bss secion */
_sbss = .; /* define a global symbol at bss start */
__bss_start__ = _sbss;
*(.bss)
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .; /* define a global symbol at bss end */
__bss_end__ = _ebss;
} >RAM
/* User_heap_stack section, used to check that there is enough RAM left */
._user_heap_stack :
{
. = ALIGN(4);
PROVIDE ( end = . );
PROVIDE ( _end = . );
. = . + _Min_Heap_Size;
. = . + _Min_Stack_Size;
. = ALIGN(4);
} >RAM
/* MEMORY_bank1 section, code must be located here explicitly */
/* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */
.memory_b1_text :
{
*(.mb1text) /* .mb1text sections (code) */
*(.mb1text*) /* .mb1text* sections (code) */
*(.mb1rodata) /* read-only data (constants) */
*(.mb1rodata*)
} >MEMORY_B1
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
.ARM.attributes 0 : { *(.ARM.attributes) }
}