mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-25 08:36:08 +08:00
CAN node STM32F7 support and Freefly RTK GPS CAN node
This commit is contained in:
Daniel Agar
GitHub
@@ -72,6 +72,7 @@ elseif("${PX4_BOARD_LABEL}" STREQUAL "canbootloader")
|
||||
-Wl,-wrap,nxsched_process_timer
|
||||
-Wl,-wrap,nxsem_post
|
||||
-Wl,-wrap,nxsem_wait
|
||||
-Wl,-wrap,nxsem_wait_uninterruptible
|
||||
-Wl,-wrap,arm_svcall
|
||||
-Wl,-wrap,nx_start
|
||||
-Wl,-wrap,exit
|
||||
@@ -248,6 +249,9 @@ if(NOT NUTTX_DIR MATCHES "external")
|
||||
elseif(CONFIG_ARCH_CHIP_STM32F469I)
|
||||
set(DEBUG_DEVICE "STM32F469II")
|
||||
set(DEBUG_SVD_FILE "STM32F469.svd")
|
||||
elseif(CONFIG_ARCH_CHIP_STM32F722RE)
|
||||
set(DEBUG_DEVICE "STM32F722RE")
|
||||
set(DEBUG_SVD_FILE "STM32F7x2.svd")
|
||||
elseif(CONFIG_ARCH_CHIP_STM32F745VG)
|
||||
set(DEBUG_DEVICE "STM32F745VG")
|
||||
set(DEBUG_SVD_FILE "STM32F7x5.svd")
|
||||
|
||||
@@ -40,6 +40,7 @@ px4_add_library(canbootloader
|
||||
sched/timer.c
|
||||
uavcan/main.c
|
||||
util/random.c
|
||||
util/cxx_init.c
|
||||
)
|
||||
|
||||
include_directories(include)
|
||||
|
||||
@@ -0,0 +1,44 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2019 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
include_directories(../../../include)
|
||||
|
||||
px4_add_library(arch_canbootloader
|
||||
board_identity.c
|
||||
drivers/can/driver.c
|
||||
)
|
||||
|
||||
target_link_libraries(arch_canbootloader
|
||||
PRIVATE
|
||||
arch_watchdog_iwdg
|
||||
)
|
||||
@@ -0,0 +1,56 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2017 PX4 Development Team. All rights reserved.
|
||||
* Author: @author David Sidrane <david_s5@nscdg.com>
|
||||
*
|
||||
* 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 board_identity.c
|
||||
* Implementation of STM32 based Board identity API
|
||||
*/
|
||||
|
||||
#include <px4_config.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
|
||||
#define SWAP_UINT32(x) (((x) >> 24) | (((x) & 0x00ff0000) >> 8) | (((x) & 0x0000ff00) << 8) | ((x) << 24))
|
||||
|
||||
int board_get_mfguid(mfguid_t mfgid)
|
||||
{
|
||||
uint32_t *chip_uuid = (uint32_t *) STM32_SYSMEM_UID;
|
||||
uint32_t *rv = (uint32_t *) &mfgid[0];
|
||||
|
||||
for (unsigned int i = 0; i < PX4_CPU_UUID_WORD32_LENGTH; i++) {
|
||||
*rv++ = SWAP_UINT32(chip_uuid[(PX4_CPU_UUID_WORD32_LENGTH - 1) - i]);
|
||||
}
|
||||
|
||||
return PX4_CPU_MFGUID_BYTE_LENGTH;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -40,6 +40,7 @@
|
||||
#include "nuttx/arch.h"
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include "boot_config.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
@@ -81,6 +82,12 @@ int main(int argc, char **argv);
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int __wrap_nxsem_wait_uninterruptible(void *sem)
|
||||
{
|
||||
return 0;
|
||||
|
||||
}
|
||||
|
||||
int __wrap_nxsem_wait(void *sem)
|
||||
{
|
||||
return 0;
|
||||
@@ -174,13 +181,27 @@ void __wrap_nx_start(void)
|
||||
* Name: malloc
|
||||
*
|
||||
* Description:
|
||||
* This function hijacks the OS's malloc and provides no allocation
|
||||
* This function hijacks the OS's malloc and provides no or small
|
||||
* allocation
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
FAR void *malloc(size_t size)
|
||||
{
|
||||
#if defined(OPT_SIMPLE_MALLOC_HEAP_SIZE)
|
||||
static int aloc = 0;
|
||||
static uint8_t mem[OPT_SIMPLE_MALLOC_HEAP_SIZE];
|
||||
void *rv = &mem[aloc];
|
||||
aloc += size;
|
||||
|
||||
if (aloc > OPT_SIMPLE_MALLOC_HEAP_SIZE) {
|
||||
PANIC();
|
||||
}
|
||||
|
||||
return rv;
|
||||
#else
|
||||
return NULL;
|
||||
#endif
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
|
||||
@@ -0,0 +1,51 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <David.Sidrnae@nscdg.com>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#pragma once
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cxx_initialize
|
||||
*
|
||||
* Description:
|
||||
* This function initialises static C++N objects
|
||||
*
|
||||
*
|
||||
* Input Parameters:
|
||||
* None
|
||||
*
|
||||
* Returned value:
|
||||
* None
|
||||
*
|
||||
****************************************************************************/
|
||||
void cxx_initialize(void);
|
||||
@@ -0,0 +1,126 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2013 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <sched.h>
|
||||
#include <stdlib.h>
|
||||
#include <assert.h>
|
||||
|
||||
#ifdef CONFIG_HAVE_CXXINITIALIZE
|
||||
#include "cxx_init.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/* This type defines one entry in initialization array */
|
||||
|
||||
typedef CODE void (*initializer_t)(void);
|
||||
|
||||
/****************************************************************************
|
||||
* External References
|
||||
****************************************************************************/
|
||||
|
||||
/* _sinit and _einit are symbols exported by the linker script that mark the
|
||||
* beginning and the end of the C++ initialization section.
|
||||
*/
|
||||
|
||||
extern initializer_t _sinit;
|
||||
extern initializer_t _einit;
|
||||
|
||||
/* _stext and _etext are symbols exported by the linker script that mark the
|
||||
* beginning and the end of text.
|
||||
*/
|
||||
|
||||
extern uintptr_t _stext;
|
||||
extern uintptr_t _etext;
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: cxx_initialize
|
||||
*
|
||||
* Description:
|
||||
* If C++ and C++ static constructors are supported, then this function
|
||||
* must be provided by board-specific logic in order to perform
|
||||
* initialization of the static C++ class instances.
|
||||
*
|
||||
* This function should then be called in the application-specific
|
||||
* user_start logic in order to perform the C++ initialization. NOTE
|
||||
* that no component of the core NuttX RTOS logic is involved; this
|
||||
* function definition only provides the 'contract' between application
|
||||
* specific C++ code and platform-specific toolchain support.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void cxx_initialize(void)
|
||||
{
|
||||
static int inited = 0;
|
||||
|
||||
if (inited == 0) {
|
||||
initializer_t *initp;
|
||||
|
||||
sinfo("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
|
||||
&_sinit, &_einit, &_stext, &_etext);
|
||||
|
||||
/* Visit each entry in the initialization table */
|
||||
|
||||
for (initp = &_sinit; initp != &_einit; initp++) {
|
||||
initializer_t initializer = *initp;
|
||||
sinfo("initp: %p initializer: %p\n", initp, initializer);
|
||||
|
||||
/* Make sure that the address is non-NULL and lies in the text
|
||||
* region defined by the linker script. Some toolchains may put
|
||||
* NULL values or counts in the initialization table.
|
||||
*/
|
||||
|
||||
if ((FAR void *)initializer >= (FAR void *)&_stext &&
|
||||
(FAR void *)initializer < (FAR void *)&_etext) {
|
||||
sinfo("Calling %p\n", initializer);
|
||||
initializer();
|
||||
}
|
||||
}
|
||||
|
||||
inited = 1;
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
@@ -45,4 +45,4 @@ add_subdirectory(../stm32_common/tone_alarm tone_alarm)
|
||||
add_subdirectory(../stm32_common/version version)
|
||||
|
||||
add_subdirectory(px4io_serial)
|
||||
|
||||
add_subdirectory(watchdog)
|
||||
|
||||
@@ -39,11 +39,15 @@ __BEGIN_DECLS
|
||||
|
||||
#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_STM32F7
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_can.h>
|
||||
#include <hardware/stm32_flash.h>
|
||||
#include <arm_internal.h> //include up_systemreset() which is included on stm32.h
|
||||
#include <stm32_bbsram.h>
|
||||
#define PX4_BBSRAM_SIZE STM32F7_BBSRAM_SIZE
|
||||
#define PX4_BBSRAM_GETDESC_IOCTL STM32F7_BBSRAM_GETDESC_IOCTL
|
||||
#if defined(CONFIG_STM32F7_BKPSRAM)
|
||||
# include <stm32_bbsram.h>
|
||||
# define PX4_BBSRAM_SIZE STM32F7_BBSRAM_SIZE
|
||||
# define PX4_BBSRAM_GETDESC_IOCTL STM32F7_BBSRAM_GETDESC_IOCTL
|
||||
#endif // CONFIG_STM32F7_BKPSRAM
|
||||
#define PX4_FLASH_BASE 0x08000000
|
||||
#define PX4_NUMBER_I2C_BUSES STM32F7_NI2C
|
||||
#define PX4_ADC_INTERNAL_TEMP_SENSOR_CHANNEL 18
|
||||
|
||||
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(arch_watchdog_iwdg
|
||||
iwdg.c
|
||||
)
|
||||
@@ -0,0 +1,104 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
* Author: David Sidrane <david.sidrane@nscdg.com>
|
||||
*
|
||||
* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include "arm_internal.h"
|
||||
#include "arm_arch.h"
|
||||
#include "chip.h"
|
||||
|
||||
#include "nvic.h"
|
||||
|
||||
#include "stm32_wdg.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Name: watchdog_pet()
|
||||
*
|
||||
* Description:
|
||||
* This function resets the Independent watchdog (IWDG)
|
||||
*
|
||||
*
|
||||
* Input Parameters:
|
||||
* none.
|
||||
*
|
||||
* Returned value:
|
||||
* none.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void watchdog_pet(void)
|
||||
{
|
||||
putreg32(IWDG_KR_KEY_RELOAD, STM32_IWDG_KR);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: watchdog_init()
|
||||
*
|
||||
* Description:
|
||||
* This function initialize the Independent watchdog (IWDG)
|
||||
*
|
||||
*
|
||||
* Input Parameters:
|
||||
* none.
|
||||
*
|
||||
* Returned value:
|
||||
* none.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
void watchdog_init(void)
|
||||
{
|
||||
#if defined(CONFIG_STM32F7_JTAG_FULL_ENABLE) || \
|
||||
defined(CONFIG_STM32F7_JTAG_NOJNTRST_ENABLE) || \
|
||||
defined(CONFIG_STM32F7_JTAG_SW_ENABLE)
|
||||
putreg32(getreg32(STM32_DBGMCU_APB1_FZ) | DBGMCU_APB1_IWDGSTOP, STM32_DBGMCU_APB1_FZ);
|
||||
#endif
|
||||
|
||||
/* unlock */
|
||||
|
||||
putreg32(IWDG_KR_KEY_ENABLE, STM32_IWDG_KR);
|
||||
|
||||
/* Set the prescale value */
|
||||
|
||||
putreg32(IWDG_PR_DIV16, STM32_IWDG_PR);
|
||||
|
||||
/* Set the reload value */
|
||||
|
||||
putreg32(IWDG_RLR_MAX, STM32_IWDG_RLR);
|
||||
|
||||
/* Start the watch dog */
|
||||
|
||||
putreg32(IWDG_KR_KEY_START, STM32_IWDG_KR);
|
||||
|
||||
watchdog_pet();
|
||||
}
|
||||
@@ -0,0 +1,162 @@
|
||||
/************************************************************************************
|
||||
* arch/arm/src/stm32/hardware/stm32_wdg.h
|
||||
*
|
||||
* Copyright (C) 2009, 2011-2013 Gregory Nutt. All rights reserved.
|
||||
* Author: Gregory Nutt <gnutt@nuttx.org>
|
||||
*
|
||||
* 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 NuttX 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.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
#ifndef __ARCH_ARM_SRC_STM32_HARDWARE_STM32_WDG_H
|
||||
#define __ARCH_ARM_SRC_STM32_HARDWARE_STM32_WDG_H
|
||||
|
||||
/************************************************************************************
|
||||
* Included Files
|
||||
************************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include "chip.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Pre-processor Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/* Register Offsets *****************************************************************/
|
||||
|
||||
#define STM32_IWDG_KR_OFFSET 0x0000 /* Key register (32-bit) */
|
||||
#define STM32_IWDG_PR_OFFSET 0x0004 /* Prescaler register (32-bit) */
|
||||
#define STM32_IWDG_RLR_OFFSET 0x0008 /* Reload register (32-bit) */
|
||||
#define STM32_IWDG_SR_OFFSET 0x000c /* Status register (32-bit) */
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define STM32_IWDG_WINR_OFFSET 0x000c /* Window register (32-bit) */
|
||||
#endif
|
||||
|
||||
#define STM32_WWDG_CR_OFFSET 0x0000 /* Control Register (32-bit) */
|
||||
#define STM32_WWDG_CFR_OFFSET 0x0004 /* Configuration register (32-bit) */
|
||||
#define STM32_WWDG_SR_OFFSET 0x0008 /* Status register (32-bit) */
|
||||
|
||||
/* Register Addresses ***************************************************************/
|
||||
|
||||
#define STM32_IWDG_KR (STM32_IWDG_BASE+STM32_IWDG_KR_OFFSET)
|
||||
#define STM32_IWDG_PR (STM32_IWDG_BASE+STM32_IWDG_PR_OFFSET)
|
||||
#define STM32_IWDG_RLR (STM32_IWDG_BASE+STM32_IWDG_RLR_OFFSET)
|
||||
#define STM32_IWDG_SR (STM32_IWDG_BASE+STM32_IWDG_SR_OFFSET)
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define STM32_IWDG_WINR (STM32_IWDG_BASE+STM32_IWDG_WINR_OFFSET)
|
||||
#endif
|
||||
|
||||
#define STM32_WWDG_CR (STM32_WWDG_BASE+STM32_WWDG_CR_OFFSET)
|
||||
#define STM32_WWDG_CFR (STM32_WWDG_BASE+STM32_WWDG_CFR_OFFSET)
|
||||
#define STM32_WWDG_SR (STM32_WWDG_BASE+STM32_WWDG_SR_OFFSET)
|
||||
|
||||
/* Register Bitfield Definitions ****************************************************/
|
||||
|
||||
/* Key register (32-bit) */
|
||||
|
||||
#define IWDG_KR_KEY_SHIFT (0) /* Bits 15-0: Key value (write only, read 0000h) */
|
||||
#define IWDG_KR_KEY_MASK (0xffff << IWDG_KR_KEY_SHIFT)
|
||||
|
||||
#define IWDG_KR_KEY_ENABLE (0x5555) /* Enable register access */
|
||||
#define IWDG_KR_KEY_DISABLE (0x0000) /* Disable register access */
|
||||
#define IWDG_KR_KEY_RELOAD (0xaaaa) /* Reload the counter */
|
||||
#define IWDG_KR_KEY_START (0xcccc) /* Start the watchdog */
|
||||
|
||||
/* Prescaler register (32-bit) */
|
||||
|
||||
#define IWDG_PR_SHIFT (0) /* Bits 2-0: Prescaler divider */
|
||||
#define IWDG_PR_MASK (7 << IWDG_PR_SHIFT)
|
||||
# define IWDG_PR_DIV4 (0 << IWDG_PR_SHIFT) /* 000: divider /4 */
|
||||
# define IWDG_PR_DIV8 (1 << IWDG_PR_SHIFT) /* 001: divider /8 */
|
||||
# define IWDG_PR_DIV16 (2 << IWDG_PR_SHIFT) /* 010: divider /16 */
|
||||
# define IWDG_PR_DIV32 (3 << IWDG_PR_SHIFT) /* 011: divider /32 */
|
||||
# define IWDG_PR_DIV64 (4 << IWDG_PR_SHIFT) /* 100: divider /64 */
|
||||
# define IWDG_PR_DIV128 (5 << IWDG_PR_SHIFT) /* 101: divider /128 */
|
||||
# define IWDG_PR_DIV256 (6 << IWDG_PR_SHIFT) /* 11x: divider /256 */
|
||||
|
||||
/* Reload register (32-bit) */
|
||||
|
||||
#define IWDG_RLR_RL_SHIFT (0) /* Bits11:0 RL[11:0]: Watchdog counter reload value */
|
||||
#define IWDG_RLR_RL_MASK (0x0fff << IWDG_RLR_RL_SHIFT)
|
||||
|
||||
#define IWDG_RLR_MAX (0xfff)
|
||||
|
||||
/* Status register (32-bit) */
|
||||
|
||||
#define IWDG_SR_PVU (1 << 0) /* Bit 0: Watchdog prescaler value update */
|
||||
#define IWDG_SR_RVU (1 << 1) /* Bit 1: Watchdog counter reload value update */
|
||||
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define IWDG_SR_WVU (1 << 2) /* Bit 2: */
|
||||
#endif
|
||||
|
||||
/* Window register (32-bit) */
|
||||
|
||||
#if defined(CONFIG_STM32_STM32F30XX)
|
||||
# define IWDG_WINR_SHIFT (0)
|
||||
# define IWDG_WINR_MASK (0x0fff << IWDG_WINR_SHIFT)
|
||||
#endif
|
||||
|
||||
/* Control Register (32-bit) */
|
||||
|
||||
#define WWDG_CR_T_SHIFT (0) /* Bits 6:0 T[6:0]: 7-bit counter (MSB to LSB) */
|
||||
#define WWDG_CR_T_MASK (0x7f << WWDG_CR_T_SHIFT)
|
||||
# define WWDG_CR_T_MAX (0x3f << WWDG_CR_T_SHIFT)
|
||||
# define WWDG_CR_T_RESET (0x40 << WWDG_CR_T_SHIFT)
|
||||
#define WWDG_CR_WDGA (1 << 7) /* Bit 7: Activation bit */
|
||||
|
||||
/* Configuration register (32-bit) */
|
||||
|
||||
#define WWDG_CFR_W_SHIFT (0) /* Bits 6:0 W[6:0] 7-bit window value */
|
||||
#define WWDG_CFR_W_MASK (0x7f << WWDG_CFR_W_SHIFT)
|
||||
#define WWDG_CFR_WDGTB_SHIFT (7) /* Bits 8:7 [1:0]: Timer Base */
|
||||
#define WWDG_CFR_WDGTB_MASK (3 << WWDG_CFR_WDGTB_SHIFT)
|
||||
# define WWDG_CFR_PCLK1 (0 << WWDG_CFR_WDGTB_SHIFT) /* 00: CK Counter Clock (PCLK1 div 4096) div 1 */
|
||||
# define WWDG_CFR_PCLK1d2 (1 << WWDG_CFR_WDGTB_SHIFT) /* 01: CK Counter Clock (PCLK1 div 4096) div 2 */
|
||||
# define WWDG_CFR_PCLK1d4 (2 << WWDG_CFR_WDGTB_SHIFT) /* 10: CK Counter Clock (PCLK1 div 4096) div 4 */
|
||||
# define WWDG_CFR_PCLK1d8 (3 << WWDG_CFR_WDGTB_SHIFT) /* 11: CK Counter Clock (PCLK1 div 4096) div 8 */
|
||||
#define WWDG_CFR_EWI (1 << 9) /* Bit 9: Early Wakeup Interrupt */
|
||||
|
||||
/* Status register (32-bit) */
|
||||
|
||||
#define WWDG_SR_EWIF (1 << 0) /* Bit 0: Early Wakeup Interrupt Flag */
|
||||
|
||||
/************************************************************************************
|
||||
* Public Types
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Data
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
#endif /* __ARCH_ARM_SRC_STM32_HARDWARE_STM32_WDG_H */
|
||||
Reference in New Issue
Block a user