Paparazzi UAS  v6.3_unstable
Paparazzi is a free software Unmanned Aircraft System.
mcu.c
Go to the documentation of this file.
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 || USE_SOFTI2C0 || USE_SOFTI2C1
47 #define USING_I2C 1
48 #include "mcu_periph/i2c.h"
49 #endif
50 #if USE_SOFTI2C0 || USE_SOFTI2C1
51 #define USING_SOFTI2C 1
52 #include "mcu_periph/softi2c.h"
53 #endif
54 #if USE_ADC
55 #include "mcu_periph/adc.h"
56 #endif
57 #if USE_USB_SERIAL || USE_USB_SERIAL_DEBUG
58 #define USING_USB_SERIAL 1
59 #include "mcu_periph/usb_serial.h"
60 #endif
61 #ifdef USE_UDP
62 #include "mcu_periph/udp.h"
63 #endif
64 #if USE_SPI
65 #include "mcu_periph/spi.h"
66 #endif
67 #ifdef USE_DAC
68 #include "mcu_periph/dac.h"
69 #endif
70 #ifdef USE_RNG
71 #include "mcu_periph/rng.h"
72 #endif
73 #ifdef USE_PIPE
74 #include "mcu_periph/pipe.h"
75 #endif
76 #endif /* PERIPHERALS_AUTO_INIT */
77 
78 void WEAK board_init(void)
79 {
80  /* default board init function does nothing... */
81 }
82 
83 void WEAK board_init2(void)
84 {
85  /* default board init function does nothing... */
86 }
87 
88 void WEAK mcu_reboot(enum reboot_state_t reboot_state __attribute__((unused)))
89 {
90  /* default reboot function does nothing... */
91 }
92 
93 void WEAK mcu_energy_save(void)
94 {
95  /* default power saving function does nothing... */
96 }
97 
98 void mcu_init(void)
99 {
100  /* If we have a board specific init function, call it.
101  * Otherwise it will simply call the empty weak function.
102  *
103  * For example the ARDrone2 has this implemented to prevent stray data of IMU
104  * from OEM program still running and also accessing AC sensors
105  */
106  board_init();
107 
108  mcu_arch_init();
109 
110  /* First enable the power of the MCU if needed */
111 #if defined MCU_PWR
114 
115 #if defined BTN_ON
117  if (gpio_get(BTN_ON, BTN_ON_PIN)) {
119  } else {
120  // Turn off and stop: wait until all power is off
121  while (true) {
123  }
124  }
125 #endif //BTN_ON
126 
127 #endif //MCU_PWR
128 
129 #ifdef PERIPHERALS_AUTO_INIT
130  sys_time_init();
131 #ifdef USE_LED
132  led_init();
133 #endif
134  /* First enable power of RC */
135 #if defined RADIO_CONTROL_POWER_PORT
138 #endif
139 #ifdef PERIPHERAL3V3_ENABLE_PORT
142 #endif
143  /* for now this means using spektrum */
144 #if defined RADIO_CONTROL && defined RADIO_CONTROL_BIND_IMPL_FUNC && defined SPEKTRUM_BIND_PIN_PORT
145  RADIO_CONTROL_BIND_IMPL_FUNC();
146 #endif
147 #if USE_UART0
148  uart0_init();
149 #endif
150 #if USE_UART1
151  uart1_init();
152 #endif
153 #if USE_UART2
154  uart2_init();
155 #endif
156 #if USE_UART3
157  uart3_init();
158 #endif
159 #if USE_UART4
160  uart4_init();
161 #endif
162 #if USE_UART5
163  uart5_init();
164 #endif
165 #if USE_UART6
166  uart6_init();
167 #endif
168 #if USE_UART7
169  uart7_init();
170 #endif
171 #if USE_UART8
172  uart8_init();
173 #endif
174 #if USING_UART
175  uart_arch_init();
176 #endif
177 #ifdef USE_I2C0
178  i2c0_init();
179 #endif
180 #ifdef USE_I2C1
181  i2c1_init();
182 #endif
183 #ifdef USE_I2C2
184  i2c2_init();
185 #endif
186 #ifdef USE_I2C3
187  i2c3_init();
188 #endif
189 #ifdef USE_I2C4
190  i2c4_init();
191 #endif
192 #ifdef USE_SOFTI2C0
193  softi2c0_init();
194 #endif
195 #ifdef USE_SOFTI2C1
196  softi2c1_init();
197 #endif
198 #if USE_ADC
199  adc_init();
200 #endif
201 #if USING_USB_SERIAL
202  VCOM_init();
203 #endif
204 
205 #if USE_SPI
206 #if SPI_MASTER
207 
208 #if USE_SPI0
209  spi0_init();
210 #endif
211 #if USE_SPI1
212  spi1_init();
213 #endif
214 #if USE_SPI2
215  spi2_init();
216 #endif
217 #if USE_SPI3
218  spi3_init();
219 #endif
220 #if USE_SPI4
221  spi4_init();
222 #endif
223  spi_init_slaves();
224 #endif // SPI_MASTER
225 
226 #if SPI_SLAVE
227 #if USE_SPI0_SLAVE
228  spi0_slave_init();
229 #endif
230 #if USE_SPI1_SLAVE
231  spi1_slave_init();
232 #endif
233 #if USE_SPI2_SLAVE
234  spi2_slave_init();
235 #endif
236 #if USE_SPI3_SLAVE
237  spi3_slave_init();
238 #endif
239 #endif // SPI_SLAVE
240 
241 #if SPI_SLAVE_HS
242  spi_slave_hs_init();
243 #endif
244 #endif // USE_SPI
245 
246 #ifdef USE_DAC
247  dac_init();
248 #endif
249 
250 #if USE_UDP0 || USE_UDP1 || USE_UDP2
251  udp_arch_init();
252 #endif
253 
254 #ifdef USE_RNG
255  rng_init();
256 #endif
257 
258 #else
259  INFO("PERIPHERALS_AUTO_INIT not enabled! Peripherals (including sys_time) need explicit initialization.")
260 #endif /* PERIPHERALS_AUTO_INIT */
261 
262  board_init2();
263 }
264 
265 
266 
267 void mcu_event(void)
268 {
269 #if USING_I2C
270  i2c_event();
271 #endif
272 #if USING_SOFTI2C
273  softi2c_event();
274 #endif
275 
276 #if USING_USB_SERIAL
277  VCOM_event();
278 #endif
279 }
arch independent ADC (Analog to Digital Converter) API
void mcu_arch_init(void)
Initialize the specific archittecture functions.
Definition: mcu_arch.c:124
void adc_init(void)
Adc init.
Definition: adc_arch.c:332
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
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
static uint8_t gpio_get(ioportid_t port, uint16_t pin)
Get level of a gpio.
Definition: gpio_arch.h:88
void rng_init(void)
Definition: rng_arch.c:77
void dac_init(void)
Some architecture independent helper functions for GPIOs.
void i2c_event(void)
i2c_event() function
Definition: i2c_arch.c:383
void WEAK mcu_reboot(enum reboot_state_t reboot_state)
Reboot the MCU Should not be called during flight or ciritcal operations.
Definition: mcu.c:88
reboot_state_t
The requested reboot states.
Definition: mcu.h:42
void WEAK board_init(void)
Optional board init function called at the start of mcu_init().
Definition: mcu.c:78
void mcu_init(void)
Microcontroller peripherals initialization.
Definition: mcu.c:98
void WEAK mcu_energy_save(void)
Puts the MCU in energy save mode This disables features of the MCU to save energy.
Definition: mcu.c:93
void mcu_event(void)
MCU event functions.
Definition: mcu.c:267
void WEAK board_init2(void)
Optional board init function called at the end of mcu_init().
Definition: mcu.c:83
void spi2_init(void)
Definition: spi.c:59
void spi0_init(void)
Definition: spi.c:37
void spi1_init(void)
Definition: spi.c:48
void spi_init_slaves(void)
spi_init_slaves() function
Definition: spi_arch.c:684
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
arch independent LED (Light Emitting Diodes) API
static void led_init(void)
Automatic initialization of actived LED Set to OFF at startup.
Definition: led.h:39
void uart_arch_init(void)
Definition: uart_arch.c:54
void udp_arch_init(void)
Definition: udp_arch.c:43
Arch independent mcu ( Micro Controller Unit ) utilities.
#define MCU_PWR
Definition: opa_ftd_1.0.h:37
#define MCU_PWR_OFF
Definition: opa_ftd_1.0.h:40
#define MCU_PWR_ON
Definition: opa_ftd_1.0.h:39
#define BTN_ON_PIN
Definition: opa_ftd_1.0.h:74
#define RADIO_CONTROL_POWER_ON
Definition: opa_ftd_1.0.h:151
#define RADIO_CONTROL_POWER_PIN
Definition: opa_ftd_1.0.h:150
#define RADIO_CONTROL_POWER_PORT
Definition: opa_ftd_1.0.h:149
#define MCU_PWR_PIN
Definition: opa_ftd_1.0.h:38
#define BTN_ON
Definition: opa_ftd_1.0.h:73
arch independent PIPE API
#define PERIPHERAL3V3_ENABLE_ON
Definition: px4fmu.h:276
#define PERIPHERAL3V3_ENABLE_PORT
Definition: px4fmu.h:274
#define PERIPHERAL3V3_ENABLE_PIN
Definition: px4fmu.h:275
arch independent Random Number Generator API
void softi2c_event(void)
Definition: softi2c.c:624
Platform-independent software I2C implementation.
Radio control spektrum interface.
Architecture independent SPI (Serial Peripheral Interface) API.
void VCOM_event(void)
Poll usb (required by libopencm3).
Definition: usb_ser_hw.c:468
void VCOM_init(void)
Definition: usb_ser_hw.c:565
void sys_time_init(void)
Definition: sys_time.c:92
Architecture independent timing functions.
arch independent UART (Universal Asynchronous Receiver/Transmitter) API
arch independent UDP API
arch independent USB API