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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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173 lines
6.3 KiB
C
173 lines
6.3 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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* nsh_archinitialize() function that is called early by nsh during 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 initialisation.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/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/arch.h>
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#include "stm32_internal.h"
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#include "px4iov2_internal.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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/* Configuration ************************************************************/
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/* Debug ********************************************************************/
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lowsyslog(__VA_ARGS__)
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# else
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# define message(...) printf(__VA_ARGS__)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lowsyslog
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# else
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# define message printf
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# endif
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#endif
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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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/* turn off - all leds are active low */
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stm32_gpiowrite(BOARD_GPIO_LED1, true);
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stm32_gpiowrite(BOARD_GPIO_LED2, true);
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stm32_gpiowrite(BOARD_GPIO_LED3, true);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED1));
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED2));
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_LED3));
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_BTN_SAFETY));
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/* spektrum power enable is active high - disable it by default */
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stm32_gpiowrite(BOARD_GPIO_SPEKTRUM_PWR_EN, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SPEKTRUM_PWR_EN));
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/* servo power enable is active low, and has a pull down resistor
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* to keep it low during boot (since it may power the whole board.)
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*/
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stm32_gpiowrite(BOARD_GPIO_SERVO_PWR_EN, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SERVO_PWR_EN));
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stm32_configgpio(BOARD_GPIO_INPUT_PUP(BOARD_GPIO_SERVO_FAULT_DETECT));
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_TIM_RSSI)); /* xxx alternate function */
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stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_RSSI));
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stm32_configgpio(BOARD_GPIO_INPUT_ANALOG(BOARD_GPIO_ADC_VSERVO));
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_SBUS_INPUT)); /* xxx alternate function */
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stm32_gpiowrite(BOARD_GPIO_SBUS_OUTPUT, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OUTPUT));
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/* sbus output enable is active low - disable it by default */
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stm32_gpiowrite(BOARD_GPIO_SBUS_OENABLE, true);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_SBUS_OENABLE));
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stm32_configgpio(BOARD_GPIO_INPUT_FLOAT(BOARD_GPIO_PPM)); /* xxx alternate function */
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stm32_gpiowrite(BOARD_GPIO_PWM1, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM1));
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stm32_gpiowrite(BOARD_GPIO_PWM2, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM2));
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stm32_gpiowrite(BOARD_GPIO_PWM3, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM3));
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stm32_gpiowrite(BOARD_GPIO_PWM4, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM4));
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stm32_gpiowrite(BOARD_GPIO_PWM5, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM5));
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stm32_gpiowrite(BOARD_GPIO_PWM6, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM6));
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stm32_gpiowrite(BOARD_GPIO_PWM7, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM7));
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stm32_gpiowrite(BOARD_GPIO_PWM8, false);
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stm32_configgpio(BOARD_GPIO_OUTPUT(BOARD_GPIO_PWM8));
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// message("[boot] Successfully initialized px4iov2 gpios\n");
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return OK;
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}
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