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258 lines
8.2 KiB
C
258 lines
8.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2021 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david.sidrane@nscdg.com>
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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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* Included Files
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****************************************************************************/
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#include <px4_config.h>
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#include <stdint.h>
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#include "boot_config.h"
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#include "board.h"
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#include "led.h"
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#include <debug.h>
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#include <string.h>
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#include <arch/board/board.h>
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#include <nuttx/board.h>
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#include "s32k1xx_periphclocks.h"
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#include "s32k1xx_flexcan.h"
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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 initialization -- 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 s32k1xx_board_initialize(void)
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{
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struct peripheral_clock_config_s c;
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c.clkname = FLEXCAN0_CLK,
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c.clkgate = true,
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// CAN clocking
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s32k1xx_periphclocks(1, &c);
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// Can GPIO
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s32k1xx_pinconfig(PIN_CAN0_TX);
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s32k1xx_pinconfig(PIN_CAN0_RX);
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s32k1xx_pinconfig(BOARD_REVISION_DETECT_PIN);
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if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
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/* Config Pins to do CAN tranceiver HW selftest */
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s32k1xx_pinconfig(PIN_CAN0_ERRN);
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s32k1xx_pinconfig(PIN_CAN0_STB);
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s32k1xx_pinconfig(PIN_CAN0_EN);
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/* EN high & STB high -> normal mode */
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s32k1xx_gpiowrite(PIN_CAN0_STB, 1);
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s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
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up_udelay(3000); // Wait for startup to normal mode
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/* EN low & STB high -> listen only mode */
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s32k1xx_gpiowrite(PIN_CAN0_STB, 1);
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s32k1xx_gpiowrite(PIN_CAN0_EN, 0);
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up_udelay(100); // t moch ERRN_N
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/* Check for HW err and wait untill ERR has been cleared */
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while (!s32k1xx_gpioread(PIN_CAN0_ERRN)) {
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board_indicate(hardware_failure);
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s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
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up_udelay(50);
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s32k1xx_gpiowrite(PIN_CAN0_EN, 0);
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up_udelay(50);
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}
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/* Enter normal-mode */
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s32k1xx_gpiowrite(PIN_CAN0_EN, 1);
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} else {
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/* STB low -> active CAN phy */
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s32k1xx_pinconfig(PIN_CAN0_STB | GPIO_OUTPUT_ZERO);
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}
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//s32k1xx_gpiowrite
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#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
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s32k1xx_pinconfig(GPIO_GETNODEINFO_JUMPER);
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#endif
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ucans32k_timer_initialize();
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}
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/************************************************************************************
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* Name: board_deinitialize
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*
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* Description:
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* This function is called by the bootloader code prior to booting
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* the application. Is should place the HW into an benign initialized state.
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*
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************************************************************************************/
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void board_deinitialize(void)
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{
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uint32_t regval = getreg32(S32K1XX_CAN0_MCR);
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regval |= CAN_MCR_MDIS;
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putreg32(regval, S32K1XX_CAN0_MCR);
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do {
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regval = getreg32(S32K1XX_CAN0_MCR);
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up_udelay(10);
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} while ((regval & CAN_MCR_LPMACK) == 0);
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if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
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/* STB high -> standby CAN phy */
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s32k1xx_pinconfig(PIN_CAN0_STB | GPIO_OUTPUT_ZERO);
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} else {
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/* STB low -> standby CAN phy */
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s32k1xx_pinconfig(PIN_CAN0_STB | GPIO_OUTPUT_ONE);
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}
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}
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/****************************************************************************
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* Name: board_get_product_name
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*
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* Description:
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* Called to retrieve the product name. The returned value is a assumed
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* to be written to a pascal style string that will be length prefixed
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* and not null terminated
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*
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* Input Parameters:
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* product_name - A pointer to a buffer to write the name.
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* maxlen - The maximum number of charter that can be written
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*
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* Returned Value:
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* The length of characters written to the buffer.
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*
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****************************************************************************/
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uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
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{
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DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
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memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
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return UAVCAN_STRLEN(HW_UAVCAN_NAME);
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}
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/****************************************************************************
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* Name: board_get_hardware_version
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*
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* Description:
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* Called to retrieve the hardware version information. The function
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* will first initialize the the callers struct to all zeros.
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*
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* Input Parameters:
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* hw_version - A pointer to a uavcan_hardwareversion_t.
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*
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* Returned Value:
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* Length of the unique_id
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*
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****************************************************************************/
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size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
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{
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memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
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hw_version->major = HW_VERSION_MAJOR;
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hw_version->minor = HW_VERSION_MINOR;
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return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
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}
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/****************************************************************************
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* Name: board_indicate
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*
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* Description:
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* Provides User feedback to indicate the state of the bootloader
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* on board specific hardware.
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*
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* Input Parameters:
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* indication - A member of the uiindication_t
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
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typedef begin_packed_struct struct led_t {
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uint16_t red : 5;
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uint16_t green : 6;
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uint16_t blue : 5;
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uint8_t hz;
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} end_packed_struct led_t;
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static const led_t i2l[] = {
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led(0, off, 0, 0, 0, 0),
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led(1, reset, 10, 63, 31, 255),
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led(2, autobaud_start, 0, 63, 0, 1),
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led(3, autobaud_end, 0, 63, 0, 2),
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led(4, allocation_start, 0, 0, 31, 2),
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led(5, allocation_end, 0, 63, 31, 3),
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led(6, fw_update_start, 15, 63, 31, 3),
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led(7, fw_update_erase_fail, 15, 63, 15, 3),
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led(8, fw_update_invalid_response, 31, 0, 0, 1),
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led(9, fw_update_timeout, 31, 0, 0, 2),
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led(a, fw_update_invalid_crc, 31, 0, 0, 4),
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led(b, jump_to_app, 0, 63, 0, 10),
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led(c, hardware_failure, 31, 0, 0, 10),
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};
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void board_indicate(uiindication_t indication)
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{
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rgb_led(i2l[indication].red << 3,
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i2l[indication].green << 2,
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i2l[indication].blue << 3,
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i2l[indication].hz);
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}
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#include <drivers/drv_watchdog.h>
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// Stubs
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void watchdog_init(void)
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{
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}
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void watchdog_pet(void)
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{
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}
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