Paparazzi UAS  v5.15_devel-109-gee85905
Paparazzi is a free software Unmanned Aircraft System.
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mcu.c
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1 /*
2  * Copyright (C) 2010-2012 The Paparazzi team
3  *
4  * This file is part of Paparazzi.
5  *
6  * Paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * Paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with Paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
28 #include "mcu.h"
29 #include "std.h"
30 
31 #ifdef PERIPHERALS_AUTO_INIT
32 #include "mcu_periph/gpio.h"
33 #include "mcu_periph/sys_time.h"
34 #ifdef USE_LED
35 #include "led.h"
36 #endif
37 #if defined RADIO_CONTROL
38 #if defined RADIO_CONTROL_BIND_IMPL_FUNC & defined SPEKTRUM_BIND_PIN_PORT
40 #endif
41 #endif
42 #if USE_UART0 || USE_UART1 || USE_UART2 || USE_UART3 || USE_UART4 || USE_UART5 || USE_UART6 || USE_UART7 || USE_UART8
43 #define USING_UART 1
44 #include "mcu_periph/uart.h"
45 #endif
46 #if USE_I2C0 || USE_I2C1 || USE_I2C2 || USE_I2C3 || USE_I2C4
47 #define USING_I2C 1
48 #include "mcu_periph/i2c.h"
49 #endif
50 #if USE_ADC
51 #include "mcu_periph/adc.h"
52 #endif
53 #if USE_USB_SERIAL
54 #include "mcu_periph/usb_serial.h"
55 #endif
56 #ifdef USE_UDP
57 #include "mcu_periph/udp.h"
58 #endif
59 #if USE_SPI
60 #include "mcu_periph/spi.h"
61 #endif
62 #ifdef USE_DAC
63 #include "mcu_periph/dac.h"
64 #endif
65 #ifdef USE_RNG
66 #include "mcu_periph/rng.h"
67 #endif
68 #ifdef USE_PIPE
69 #include "mcu_periph/pipe.h"
70 #endif
71 #endif /* PERIPHERALS_AUTO_INIT */
72 
73 void WEAK board_init(void)
74 {
75  /* default board init function does nothing... */
76 }
77 
78 void WEAK board_init2(void)
79 {
80  /* default board init function does nothing... */
81 }
82 
83 void mcu_init(void)
84 {
85  /* If we have a board specific init function, call it.
86  * Otherwise it will simply call the empty weak function.
87  *
88  * For example the ARDrone2 has this implemented to prevent stray data of IMU
89  * from OEM program still running and also accessing AC sensors
90  */
91  board_init();
92 
93  mcu_arch_init();
94 
95  /* First enable the power of the MCU if needed */
96 #if defined MCU_PWR
99 
100 #if defined BTN_ON
103  {
105  }
106  else {
107  // Turn off and stop: wait until all power is off
108  while(true) {
110  }
111  }
112 #endif //BTN_ON
113 
114 #endif //MCU_PWR
115 
116 #ifdef PERIPHERALS_AUTO_INIT
117  sys_time_init();
118 #ifdef USE_LED
119  led_init();
120 #endif
121  /* First enable power of RC */
122 #if defined RADIO_CONTROL_POWER_PORT
125 #endif
126 #ifdef PERIPHERAL3V3_ENABLE_PORT
129 #endif
130  /* for now this means using spektrum */
131 #if defined RADIO_CONTROL & defined RADIO_CONTROL_BIND_IMPL_FUNC & defined SPEKTRUM_BIND_PIN_PORT
132  RADIO_CONTROL_BIND_IMPL_FUNC();
133 #endif
134 #if USE_UART0
135  uart0_init();
136 #endif
137 #if USE_UART1
138  uart1_init();
139 #endif
140 #if USE_UART2
141  uart2_init();
142 #endif
143 #if USE_UART3
144  uart3_init();
145 #endif
146 #if USE_UART4
147  uart4_init();
148 #endif
149 #if USE_UART5
150  uart5_init();
151 #endif
152 #if USE_UART6
153  uart6_init();
154 #endif
155 #if USE_UART7
156  uart7_init();
157 #endif
158 #if USE_UART8
159  uart8_init();
160 #endif
161 #if USING_UART
162  uart_arch_init();
163 #endif
164 #ifdef USE_I2C0
165  i2c0_init();
166 #endif
167 #ifdef USE_I2C1
168  i2c1_init();
169 #endif
170 #ifdef USE_I2C2
171  i2c2_init();
172 #endif
173 #ifdef USE_I2C3
174  i2c3_init();
175 #endif
176 #ifdef USE_I2C4
177  i2c4_init();
178 #endif
179 #if USE_ADC
180  adc_init();
181 #endif
182 #if USE_USB_SERIAL
183  VCOM_init();
184 #endif
185 
186 #if USE_SPI
187 #if SPI_MASTER
188 
189 #if USE_SPI0
190  spi0_init();
191 #endif
192 #if USE_SPI1
193  spi1_init();
194 #endif
195 #if USE_SPI2
196  spi2_init();
197 #endif
198 #if USE_SPI3
199  spi3_init();
200 #endif
201 #if USE_SPI4
202  spi4_init();
203 #endif
204  spi_init_slaves();
205 #endif // SPI_MASTER
206 
207 #if SPI_SLAVE
208 #if USE_SPI0_SLAVE
209  spi0_slave_init();
210 #endif
211 #if USE_SPI1_SLAVE
212  spi1_slave_init();
213 #endif
214 #if USE_SPI2_SLAVE
215  spi2_slave_init();
216 #endif
217 #if USE_SPI3_SLAVE
218  spi3_slave_init();
219 #endif
220 #endif // SPI_SLAVE
221 
222 #if SPI_SLAVE_HS
224 #endif
225 #endif // USE_SPI
226 
227 #ifdef USE_DAC
228  dac_init();
229 #endif
230 
231 #if USE_UDP0 || USE_UDP1 || USE_UDP2
232  udp_arch_init();
233 #endif
234 
235 #ifdef USE_RNG
236  rng_init();
237 #endif
238 
239 #else
240  INFO("PERIPHERALS_AUTO_INIT not enabled! Peripherals (including sys_time) need explicit initialization.")
241 #endif /* PERIPHERALS_AUTO_INIT */
242 
243  board_init2();
244 }
245 
246 
247 
248 void mcu_event(void)
249 {
250 #if USING_I2C
251  i2c_event();
252 #endif
253 
254 #if USE_USB_SERIAL
255  VCOM_event();
256 #endif
257 }
#define MCU_PWR_OFF
Definition: opa_ftd_1.0.h:40
arch independent PIPE API
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
void mcu_init(void)
Microcontroller peripherals initialization.
Definition: mcu.c:83
#define MCU_PWR
Definition: opa_ftd_1.0.h:37
void VCOM_event(void)
Definition: usb_ser_hw.c:571
#define PERIPHERAL3V3_ENABLE_PORT
Definition: px4fmu.h:282
Some architecture independent helper functions for GPIOs.
#define PERIPHERAL3V3_ENABLE_PIN
Definition: px4fmu.h:283
void mcu_arch_init(void)
Definition: mcu_arch.c:109
void spi_slave_hs_init(void)
#define RADIO_CONTROL_POWER_PORT
Definition: opa_ftd_1.0.h:149
#define MCU_PWR_PIN
Definition: opa_ftd_1.0.h:38
void gpio_setup_output(ioportid_t port, uint16_t gpios)
Setup one or more pins of the given GPIO port as outputs.
Definition: gpio_arch.c:33
arch independent ADC (Analog to Digital Converter) API
Architecture independent SPI (Serial Peripheral Interface) API.
#define RADIO_CONTROL_POWER_PIN
Definition: opa_ftd_1.0.h:150
#define BTN_ON
Definition: opa_ftd_1.0.h:73
void uart_arch_init(void)
Definition: uart_arch.c:54
void WEAK board_init2(void)
Optional board init function called at the end of mcu_init().
Definition: mcu.c:78
Architecture independent timing functions.
void udp_arch_init(void)
Definition: udp_arch.c:43
static void led_init(void)
Automatic initialization of actived LED Set to OFF at startup.
Definition: led.h:39
void rng_init(void)
Definition: rng_arch.c:34
void WEAK board_init(void)
Optional board init function called at the start of mcu_init().
Definition: mcu.c:73
#define RADIO_CONTROL_POWER_ON
Definition: opa_ftd_1.0.h:151
arch independent Random Number Generator API
void sys_time_init(void)
Definition: sys_time.c:78
void spi1_init(void)
Definition: spi.c:48
Arch independent mcu ( Micro Controller Unit ) utilities.
static uint8_t gpio_get(ioportid_t port, uint16_t pin)
Get level of a gpio.
Definition: gpio_arch.h:88
void spi2_init(void)
Definition: spi.c:59
#define MCU_PWR_ON
Definition: opa_ftd_1.0.h:39
arch independent LED (Light Emitting Diodes) API
void dac_init(void)
Definition: dac_arch.c:33
void mcu_event(void)
MCU event functions.
Definition: mcu.c:248
void adc_init(void)
Adc init.
Definition: adc_arch.c:304
void i2c_event(void)
i2c_event() function
Definition: i2c_arch.c:406
void gpio_setup_input(ioportid_t port, uint16_t gpios)
Setup one or more pins of the given GPIO port as inputs.
Definition: gpio_arch.c:40
void spi_init_slaves(void)
spi_init_slaves() function
Definition: spi_arch.c:651
#define BTN_ON_PIN
Definition: opa_ftd_1.0.h:74
arch independent UDP API
void VCOM_init(void)
Definition: usb_ser_hw.c:586
void spi0_init(void)
Definition: spi.c:37
arch independent USB API
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
#define PERIPHERAL3V3_ENABLE_ON
Definition: px4fmu.h:284