mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-26 01:17:51 +08:00
WIP: common board init
This commit is contained in:
Daniel Agar
@@ -46,3 +46,9 @@ add_subdirectory(../stm32_common/version version)
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add_subdirectory(px4io_serial)
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add_subdirectory(watchdog)
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px4_add_library(arch_init
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init.cpp
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)
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target_link_libraries(arch_init PRIVATE px4_layer)
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@@ -0,0 +1,147 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "board_config.h"
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform/gpio.h>
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#include <lib/systemlib/px4_macros.h>
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extern "C" __EXPORT void stm32_boardinitialize(void)
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{
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#if defined(BOARD_HAS_ON_RESET)
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// Reset PWM first thing
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board_on_reset(-1);
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#endif // BOARD_HAS_ON_RESET
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#if defined(PX4_GPIO_INIT_LIST)
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// configure pins
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static constexpr uint32_t gpio_init_list[] = PX4_GPIO_INIT_LIST;
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for (const auto &gpio : gpio_init_list) {
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px4_arch_configgpio(gpio);
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}
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#endif // PX4_GPIO_INIT_LIST
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board_control_spi_sensors_power_configgpio();
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// I2C
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#if defined(CONFIG_STM32F7_I2C1)
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL));
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA));
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#endif // CONFIG_STM32F7_I2C1
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#if defined(CONFIG_STM32F7_I2C2)
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL));
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA));
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#endif // CONFIG_STM32F7_I2C2
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#if defined(CONFIG_STM32F7_I2C3)
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL));
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA));
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#endif // CONFIG_STM32F7_I2C3
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#if defined(CONFIG_STM32F7_I2C4)
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL));
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px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA));
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#endif // CONFIG_STM32F7_I2C4
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// SPI
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#if defined(CONFIG_STM32F7_SPI1)
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI1_SCK));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI1_MISO));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI1_MOSI));
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#endif // CONFIG_STM32F7_SPI1
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#if defined(CONFIG_STM32F7_SPI2)
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI2_SCK));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI2_MISO));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI2_MOSI));
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#endif // CONFIG_STM32F7_SPI2
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#if defined(CONFIG_STM32F7_SPI3)
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI3_SCK));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI3_MISO));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI3_MOSI));
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#endif // CONFIG_STM32F7_SPI3
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#if defined(CONFIG_STM32F7_SPI4)
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI4_SCK));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI4_MISO));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI4_MOSI));
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#endif // CONFIG_STM32F7_SPI4
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#if defined(CONFIG_STM32F7_SPI5)
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI5_SCK));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI5_MISO));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI5_MOSI));
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#endif // CONFIG_STM32F7_SPI5
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#if defined(CONFIG_STM32F7_SPI6)
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI6_SCK));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI6_MISO));
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px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SPI6_MOSI));
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#endif // CONFIG_STM32F7_SPI6
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// CAN
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#if defined(GPIO_CAN1_TX) && defined(GPIO_CAN1_RX)
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px4_arch_configgpio(GPIO_CAN1_TX);
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px4_arch_configgpio(GPIO_CAN1_RX);
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# if defined(GPIO_CAN1_SILENT_S0)
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px4_arch_configgpio(GPIO_CAN1_SILENT_S0);
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# endif // GPIO_CAN1_SILENT_S0
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#endif // GPIO_CAN1_TX && GPIO_CAN1_RX
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#if defined(GPIO_CAN2_TX) && defined(GPIO_CAN2_RX)
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px4_arch_configgpio(GPIO_CAN2_TX);
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px4_arch_configgpio(GPIO_CAN2_RX);
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# if defined(GPIO_CAN2_SILENT_S0)
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px4_arch_configgpio(GPIO_CAN2_SILENT_S0);
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# endif // GPIO_CAN2_SILENT_S0
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#endif // GPIO_CAN2_TX && GPIO_CAN2_RX
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#if defined(GPIO_CAN3_TX) && defined(GPIO_CAN3_RX)
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px4_arch_configgpio(GPIO_CAN3_TX);
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px4_arch_configgpio(GPIO_CAN3_RX);
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# if defined(GPIO_CAN3_SILENT_S0)
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px4_arch_configgpio(GPIO_CAN3_SILENT_S0);
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# endif // GPIO_CAN3_SILENT_S0
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#endif // GPIO_CAN3_TX && GPIO_CAN3_RX
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#if defined(CONFIG_STM32F7_OTGFS)
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// configure USB interfaces
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stm32_configgpio(GPIO_OTGFS_VBUS);
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#endif // CONFIG_STM32F7_OTGFS
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#if defined(CONFIG_ARCH_LEDS)
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// configure LEDs
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board_autoled_initialize();
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#endif // CONFIG_ARCH_LEDS
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}
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