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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* 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.
*
****************************************************************************/
/**
* @file px4iov2_init.c
*
* PX4FMU-specific early startup code. This file implements the
* nsh_archinitialize() function that is called early by nsh during startup.
*
* Code here is run before the rcS script is invoked; it should start required
* subsystems and perform board-specific initialisation.
*/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <debug.h>
#include <errno.h>
#include <nuttx/arch.h>
#include <stm32.h>
#include "board_config.h"
#include <arch/board/board.h>
/****************************************************************************
* Pre-Processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lowsyslog(__VA_ARGS__)
# else
# define message(...) printf(__VA_ARGS__)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lowsyslog
# else
# define message printf
# endif
#endif
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
{
/* configure GPIOs */
/* LEDS - default to off */
stm32_configgpio(GPIO_LED1);
stm32_configgpio(GPIO_LED2);
stm32_configgpio(GPIO_LED3);
stm32_configgpio(GPIO_LED4);
stm32_configgpio(GPIO_BTN_SAFETY);
/* spektrum power enable is active high - enable it by default */
stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
/* RSSI inputs */
stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
stm32_configgpio(GPIO_ADC_RSSI);
/* servo rail voltage */
stm32_configgpio(GPIO_ADC_VSERVO);
stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
stm32_configgpio(GPIO_SBUS_OUTPUT);
/* sbus output enable is active low - disable it by default */
stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
stm32_configgpio(GPIO_SBUS_OENABLE);
stm32_configgpio(GPIO_PPM); /* xxx alternate function */
stm32_gpiowrite(GPIO_PWM1, false);
stm32_configgpio(GPIO_PWM1);
stm32_gpiowrite(GPIO_PWM2, false);
stm32_configgpio(GPIO_PWM2);
stm32_gpiowrite(GPIO_PWM3, false);
stm32_configgpio(GPIO_PWM3);
stm32_gpiowrite(GPIO_PWM4, false);
stm32_configgpio(GPIO_PWM4);
stm32_gpiowrite(GPIO_PWM5, false);
stm32_configgpio(GPIO_PWM5);
stm32_gpiowrite(GPIO_PWM6, false);
stm32_configgpio(GPIO_PWM6);
stm32_gpiowrite(GPIO_PWM7, false);
stm32_configgpio(GPIO_PWM7);
stm32_gpiowrite(GPIO_PWM8, false);
stm32_configgpio(GPIO_PWM8);
}
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