sl-firmware
81d76e4770
Root cause 1 (IWDG reset loop): safety_init() was called before mpu6000_init() — IWDG 50ms timeout fires during ~510ms IMU init, causing infinite MCU reset. Moved safety_init() to after all peripheral inits (IMU, hoverboard, balance). Root cause 2 (DCache coherency): USB TX/RX buffers merged into a single 512B-aligned struct in usbd_cdc_if.c. MPU Region 0 configured non-cacheable (TEX=1, C=0, B=0) in usbd_conf.c USBD_LL_Init() before HAL_PCD_Init(). DCache stays ON globally — MPU handles coherency. Removed SCB_DisableDCache() from main.c (caused boot crash). Also: fix safety.c IWDG_RELOAD macro (float literals not valid in #if); add crsf.c stub so crsf_state links (UART not yet wired). Fixes issue #9. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
126 lines
5.9 KiB
C
126 lines
5.9 KiB
C
/* Taken directly from Betaflight: usbd_conf_stm32f7xx.c */
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#include "stm32f7xx_hal.h"
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#include "usbd_core.h"
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#include "usbd_desc.h"
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#include "usbd_cdc.h"
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#include "usbd_conf.h"
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/*
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* Mark USB TX/RX buffers non-cacheable via MPU Region 0.
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* Cortex-M7 TEX=1, C=0, B=0 → Normal Non-cacheable.
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* Called before HAL_PCD_Init() so the region is active before the USB
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* hardware ever touches the buffers.
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*/
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extern void * const usb_nc_buf_base; /* defined in usbd_cdc_if.c */
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static void USB_NC_MPU_Config(void)
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{
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MPU_Region_InitTypeDef r = {0};
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HAL_MPU_Disable();
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r.Enable = MPU_REGION_ENABLE;
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r.Number = MPU_REGION_NUMBER0;
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r.BaseAddress = (uint32_t)usb_nc_buf_base;
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r.Size = MPU_REGION_SIZE_512B;
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r.SubRegionDisable = 0x00;
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r.TypeExtField = MPU_TEX_LEVEL1; /* TEX=1 */
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r.AccessPermission = MPU_REGION_FULL_ACCESS;
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r.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
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r.IsShareable = MPU_ACCESS_NOT_SHAREABLE;
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r.IsCacheable = MPU_ACCESS_NOT_CACHEABLE; /* C=0 */
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r.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE; /* B=0 */
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HAL_MPU_ConfigRegion(&r);
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HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);
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}
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PCD_HandleTypeDef hpcd;
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void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd)
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{
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GPIO_InitTypeDef GPIO_InitStruct;
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if (hpcd->Instance == USB_OTG_FS) {
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__HAL_RCC_GPIOA_CLK_ENABLE();
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GPIO_InitStruct.Pin = (GPIO_PIN_11 | GPIO_PIN_12);
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF10_OTG_FS;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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__HAL_RCC_USB_OTG_FS_CLK_ENABLE();
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HAL_NVIC_SetPriority(OTG_FS_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
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}
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}
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void HAL_PCD_MspDeInit(PCD_HandleTypeDef *hpcd)
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{
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if (hpcd->Instance == USB_OTG_FS) {
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__HAL_RCC_USB_OTG_FS_CLK_DISABLE();
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__HAL_RCC_SYSCFG_CLK_DISABLE();
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}
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}
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void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_SetupStage(hpcd->pData, (uint8_t *)hpcd->Setup); }
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void HAL_PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_DataOutStage(hpcd->pData, epnum, hpcd->OUT_ep[epnum].xfer_buff); }
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void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_DataInStage(hpcd->pData, epnum, hpcd->IN_ep[epnum].xfer_buff); }
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void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_SOF(hpcd->pData); }
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void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd) {
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USBD_LL_Reset(hpcd->pData);
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USBD_LL_SetSpeed(hpcd->pData, USBD_SPEED_FULL);
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}
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void HAL_PCD_SuspendCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_Suspend(hpcd->pData); }
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void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_Resume(hpcd->pData); }
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void HAL_PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_IsoOUTIncomplete(hpcd->pData, epnum); }
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void HAL_PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) { USBD_LL_IsoINIncomplete(hpcd->pData, epnum); }
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void HAL_PCD_ConnectCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_DevConnected(hpcd->pData); }
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void HAL_PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd) { USBD_LL_DevDisconnected(hpcd->pData); }
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USBD_StatusTypeDef USBD_LL_Init(USBD_HandleTypeDef *pdev)
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{
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hpcd.Instance = USB_OTG_FS;
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hpcd.Init.dev_endpoints = 4;
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hpcd.Init.use_dedicated_ep1 = 0;
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hpcd.Init.ep0_mps = 0x40;
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hpcd.Init.dma_enable = 0;
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hpcd.Init.low_power_enable = 0;
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hpcd.Init.phy_itface = PCD_PHY_EMBEDDED;
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hpcd.Init.Sof_enable = 0;
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hpcd.Init.speed = PCD_SPEED_FULL;
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hpcd.Init.vbus_sensing_enable = 0;
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hpcd.Init.lpm_enable = 0;
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hpcd.pData = pdev;
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pdev->pData = &hpcd;
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USB_NC_MPU_Config(); /* Mark USB buffers non-cacheable before USB hardware init */
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HAL_PCD_Init(&hpcd);
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HAL_PCDEx_SetRxFiFo(&hpcd, 0x80);
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HAL_PCDEx_SetTxFiFo(&hpcd, 0, 0x40);
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HAL_PCDEx_SetTxFiFo(&hpcd, 1, 0x80);
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return USBD_OK;
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}
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USBD_StatusTypeDef USBD_LL_DeInit(USBD_HandleTypeDef *pdev) { HAL_PCD_DeInit(pdev->pData); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_Start(USBD_HandleTypeDef *pdev) { HAL_PCD_Start(pdev->pData); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_Stop(USBD_HandleTypeDef *pdev) { HAL_PCD_Stop(pdev->pData); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_OpenEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t ep_type, uint16_t ep_mps) { HAL_PCD_EP_Open(pdev->pData, ep_addr, ep_mps, ep_type); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_CloseEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_Close(pdev->pData, ep_addr); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_FlushEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_Flush(pdev->pData, ep_addr); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_StallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_SetStall(pdev->pData, ep_addr); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_ClearStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { HAL_PCD_EP_ClrStall(pdev->pData, ep_addr); return USBD_OK; }
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uint8_t USBD_LL_IsStallEP(USBD_HandleTypeDef *pdev, uint8_t ep_addr) {
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PCD_HandleTypeDef *hpcd = pdev->pData;
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if ((ep_addr & 0x80) == 0x80) return hpcd->IN_ep[ep_addr & 0x7F].is_stall;
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else return hpcd->OUT_ep[ep_addr & 0x7F].is_stall;
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}
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USBD_StatusTypeDef USBD_LL_SetUSBAddress(USBD_HandleTypeDef *pdev, uint8_t dev_addr) { HAL_PCD_SetAddress(pdev->pData, dev_addr); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_Transmit(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size) { HAL_PCD_EP_Transmit(pdev->pData, ep_addr, pbuf, size); return USBD_OK; }
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USBD_StatusTypeDef USBD_LL_PrepareReceive(USBD_HandleTypeDef *pdev, uint8_t ep_addr, uint8_t *pbuf, uint32_t size) { HAL_PCD_EP_Receive(pdev->pData, ep_addr, pbuf, size); return USBD_OK; }
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uint32_t USBD_LL_GetRxDataSize(USBD_HandleTypeDef *pdev, uint8_t ep_addr) { return HAL_PCD_EP_GetRxCount(pdev->pData, ep_addr); }
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void USBD_LL_Delay(uint32_t Delay) { HAL_Delay(Delay); }
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