mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-19 02:19:05 +08:00
187 lines
6.5 KiB
C
187 lines
6.5 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
|
* Author: Ben Dyer <ben_dyer@mac.com>
|
|
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
|
* David Sidrane <david_s5@nscdg.com>
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <px4_config.h>
|
|
#include <stdint.h>
|
|
#include "boot_config.h"
|
|
#include "board.h"
|
|
|
|
#include <debug.h>
|
|
#include <string.h>
|
|
#include <arch/board/board.h>
|
|
|
|
#include <nuttx/board.h>
|
|
|
|
__BEGIN_DECLS
|
|
extern void led_init(void);
|
|
extern void bootloader_led_on(int led);
|
|
extern void bootloader_led_off(int led);
|
|
__END_DECLS
|
|
|
|
/************************************************************************************
|
|
* Name: stm32_boardinitialize
|
|
*
|
|
* Description:
|
|
* All STM32 architectures must provide the following entry point. This entry point
|
|
* is called early in the initialization -- after all memory has been configured
|
|
* and mapped but before any devices have been initialized.
|
|
*
|
|
************************************************************************************/
|
|
|
|
__EXPORT void stm32_boardinitialize(void)
|
|
{
|
|
putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
|
|
stm32_configgpio(GPIO_CAN1_RX);
|
|
stm32_configgpio(GPIO_CAN1_TX);
|
|
stm32_configgpio(GPIO_CAN1_SILENT_S0);
|
|
stm32_configgpio(GPIO_CAN1_TERMINATION);
|
|
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
|
putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
|
|
|
led_init();
|
|
|
|
#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
|
|
stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
|
|
#endif
|
|
|
|
}
|
|
|
|
/************************************************************************************
|
|
* Name: board_deinitialize
|
|
*
|
|
* Description:
|
|
* This function is called by the bootloader code prior to booting
|
|
* the application. Is should place the HW into an benign initialized state.
|
|
*
|
|
************************************************************************************/
|
|
|
|
void board_deinitialize(void)
|
|
{
|
|
putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: board_get_product_name
|
|
*
|
|
* Description:
|
|
* Called to retrieve the product name. The returned value is a assumed
|
|
* to be written to a pascal style string that will be length prefixed
|
|
* and not null terminated
|
|
*
|
|
* Input Parameters:
|
|
* product_name - A pointer to a buffer to write the name.
|
|
* maxlen - The maximum number of charter that can be written
|
|
*
|
|
* Returned Value:
|
|
* The length of characters written to the buffer.
|
|
*
|
|
****************************************************************************/
|
|
|
|
uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
|
|
{
|
|
DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
|
memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
|
|
return UAVCAN_STRLEN(HW_UAVCAN_NAME);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: board_get_hardware_version
|
|
*
|
|
* Description:
|
|
* Called to retrieve the hardware version information. The function
|
|
* will first initialize the the callers struct to all zeros.
|
|
*
|
|
* Input Parameters:
|
|
* hw_version - A pointer to a uavcan_hardwareversion_t.
|
|
*
|
|
* Returned Value:
|
|
* Length of the unique_id
|
|
*
|
|
****************************************************************************/
|
|
|
|
size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
|
|
{
|
|
memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
|
|
|
|
hw_version->major = HW_VERSION_MAJOR;
|
|
hw_version->minor = HW_VERSION_MINOR;
|
|
|
|
return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: board_indicate
|
|
*
|
|
* Description:
|
|
* Provides User feedback to indicate the state of the bootloader
|
|
* on board specific hardware.
|
|
*
|
|
* Input Parameters:
|
|
* indication - A member of the uiindication_t
|
|
*
|
|
* Returned Value:
|
|
* None
|
|
*
|
|
****************************************************************************/
|
|
void board_indicate(uiindication_t indication)
|
|
{
|
|
if (indication == off) {
|
|
bootloader_led_off(GPIO_nLED_RED);
|
|
bootloader_led_off(GPIO_nLED_BLUE);
|
|
|
|
} else if (indication == fw_update_start) {
|
|
bootloader_led_on(GPIO_nLED_RED);
|
|
bootloader_led_on(GPIO_nLED_BLUE);
|
|
|
|
} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response)
|
|
|| (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
|
|
bootloader_led_on(GPIO_nLED_RED);
|
|
bootloader_led_off(GPIO_nLED_BLUE);
|
|
|
|
} else if (indication == allocation_start) {
|
|
bootloader_led_on(GPIO_nLED_RED);
|
|
bootloader_led_off(GPIO_nLED_BLUE);
|
|
|
|
} else {
|
|
bootloader_led_off(GPIO_nLED_RED);
|
|
bootloader_led_on(GPIO_nLED_BLUE);
|
|
}
|
|
}
|