mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-08 00:41:36 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
166 lines
5.2 KiB
C
166 lines
5.2 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file px4iov2_init.c
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*
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* PX4FMU-specific early startup code. This file implements the
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* stm32_boardinitialize() function that is called during cpu startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/board.h>
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#include <stm32.h>
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#include "board_config.h"
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#include <arch/board/board.h>
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point. This entry point
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* is called early in the intitialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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*
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************************************************************************************/
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__EXPORT void stm32_boardinitialize(void)
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{
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/* configure GPIOs */
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/* Set up for sensing HW */
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stm32_configgpio(GPIO_SENSE_PC14_DN);
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stm32_configgpio(GPIO_SENSE_PC15_UP);
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/* LEDS - default to off */
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stm32_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED2);
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stm32_configgpio(GPIO_LED3);
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stm32_configgpio(GPIO_LED4);
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/* PixHawk 1:
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* PC14 Floating
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* PC15 Floating
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*
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* PixHawk 2:
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* PC14 3.3v
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* PC15 GND
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*/
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uint8_t sense = stm32_gpioread(GPIO_SENSE_PC15_UP) << 1 | stm32_gpioread(GPIO_SENSE_PC14_DN);
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if (sense == SENSE_PH2) {
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stm32_configgpio(GPIO_HEATER_OFF);
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}
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stm32_configgpio(GPIO_PC14);
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stm32_configgpio(GPIO_PC15);
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stm32_configgpio(GPIO_BTN_SAFETY);
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/* spektrum power enable is active high - enable it by default */
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stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
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stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
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/* RSSI inputs */
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stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
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stm32_configgpio(GPIO_ADC_RSSI);
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/* servo rail voltage */
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stm32_configgpio(GPIO_ADC_VSERVO);
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stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
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stm32_configgpio(GPIO_SBUS_OUTPUT);
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/* sbus output enable is active low - disable it by default */
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stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
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stm32_configgpio(GPIO_SBUS_OENABLE);
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stm32_configgpio(GPIO_PPM); /* xxx alternate function */
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stm32_gpiowrite(GPIO_PWM1, true);
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stm32_configgpio(GPIO_PWM1);
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stm32_gpiowrite(GPIO_PWM2, true);
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stm32_configgpio(GPIO_PWM2);
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stm32_gpiowrite(GPIO_PWM3, true);
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stm32_configgpio(GPIO_PWM3);
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stm32_gpiowrite(GPIO_PWM4, true);
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stm32_configgpio(GPIO_PWM4);
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stm32_gpiowrite(GPIO_PWM5, true);
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stm32_configgpio(GPIO_PWM5);
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stm32_gpiowrite(GPIO_PWM6, true);
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stm32_configgpio(GPIO_PWM6);
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stm32_gpiowrite(GPIO_PWM7, true);
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stm32_configgpio(GPIO_PWM7);
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stm32_gpiowrite(GPIO_PWM8, true);
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stm32_configgpio(GPIO_PWM8);
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}
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