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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 14:50:05 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-28 14:50:05 +0200 |
commit | 1df5e98aa507c7a89f1491254d7f34f94c04ede6 (patch) | |
tree | 6b68fcd19ac8efd5d67357c08d42b1c0c4ae3b04 /src/drivers/boards/px4iov2/px4iov2_init.c | |
parent | 13d58afd0a57698710c18fd1ffc6192d6aabe07a (diff) | |
download | px4-firmware-1df5e98aa507c7a89f1491254d7f34f94c04ede6.tar.gz px4-firmware-1df5e98aa507c7a89f1491254d7f34f94c04ede6.tar.bz2 px4-firmware-1df5e98aa507c7a89f1491254d7f34f94c04ede6.zip |
XXX: WIP: Disabled mixer on IOv2 due to CXX compile issue
Diffstat (limited to 'src/drivers/boards/px4iov2/px4iov2_init.c')
-rw-r--r-- | src/drivers/boards/px4iov2/px4iov2_init.c | 171 |
1 files changed, 171 insertions, 0 deletions
diff --git a/src/drivers/boards/px4iov2/px4iov2_init.c b/src/drivers/boards/px4iov2/px4iov2_init.c new file mode 100644 index 000000000..09469d7e8 --- /dev/null +++ b/src/drivers/boards/px4iov2/px4iov2_init.c @@ -0,0 +1,171 @@ +/**************************************************************************** + * + * 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_internal.h" +#include "px4iov2_internal.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 */ + + /* turn off - all leds are active low */ + stm32_gpiowrite(GPIO_LED1, true); + stm32_gpiowrite(GPIO_LED2, true); + stm32_gpiowrite(GPIO_LED3, true); + stm32_configgpio(GPIO_LED1); + stm32_configgpio(GPIO_LED2); + stm32_configgpio(GPIO_LED3); + + + stm32_configgpio(GPIO_BTN_SAFETY); + + /* spektrum power enable is active high - disable it by default */ + stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, false); + stm32_configgpio(GPIO_SPEKTRUM_PWR_EN); + + /* servo power enable is active low, and has a pull down resistor + * to keep it low during boot (since it may power the whole board.) + */ + stm32_gpiowrite(GPIO_SERVO_PWR_EN, false); + stm32_configgpio(GPIO_SERVO_PWR_EN); + + stm32_configgpio(GPIO_SERVO_FAULT_DETECT); + + stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */ + stm32_configgpio(GPIO_ADC_RSSI); + stm32_configgpio(GPIO_ADC_VSERVO); + + stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */ + + stm32_gpiowrite(GPIO_SBUS_OUTPUT, false); + 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); + +// message("[boot] Successfully initialized px4iov2 gpios\n"); +} |