mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-30 03:27:33 +08:00
merged init_hw.h and interrupt_hw.h into mcu.h - added battery voltage monitoring for fixedwing on stm32
This commit is contained in:
Antoine Drouin
@@ -54,6 +54,8 @@ ap.ARCHDIR = $(ARCH)
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ap.CFLAGS += $(ROTORCRAFT_INC)
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ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
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ap.srcs = $(SRC_FIRMWARE)/main.c
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ap.srcs += mcu.c
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ap.srcs += $(SRC_ARCH)/mcu_arch.c
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ifeq ($(ARCH), stm32)
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ap.srcs += lisa/plug_sys.c
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@@ -29,7 +29,7 @@
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# temporary hack for ADCs
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ifeq ($(ARCH), stm32)
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$(TARGET).CFLAGS += -DSTM32
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# FIXME : this is for the battery
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$(TARGET).CFLAGS += -DUSE_AD1_3
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endif
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#
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@@ -37,8 +37,12 @@ endif
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#
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$(TARGET).CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG)
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$(TARGET).CFLAGS += -DPERIPHERALS_AUTO_INIT
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$(TARGET).CFLAGS += $(FIXEDWING_INC)
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$(TARGET).srcs += mcu.c
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$(TARGET).srcs += $(SRC_ARCH)/mcu_arch.c
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#
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# Common Options
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#
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@@ -54,7 +58,7 @@ $(TARGET).CFLAGS += -DTRAFFIC_INFO
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# LEDs
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#
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$(TARGET).CFLAGS += -DLED
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$(TARGET).CFLAGS += -DUSE_LED
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ifneq ($(ARCH), lpc21)
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ifneq ($(ARCH), jsbsim)
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$(TARGET).srcs += $(SRC_ARCH)/led_hw.c
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@@ -135,9 +139,6 @@ ns_srcs += $(SRC_ARCH)/uart_hw.c
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ns_CFLAGS += -DADC
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#ifeq ($(ARCH), lpc21)
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ns_srcs += $(SRC_ARCH)/adc_hw.c
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#else ifeq ($(ARCH), stm32)
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# ns_srcs += lisa/lisa_analog_plug.c
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#endif
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ifeq ($(ARCH), stm32)
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ns_CFLAGS += -DUSE_ADC1_2_IRQ_HANDLER
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endif
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@@ -78,8 +78,8 @@ ADC_IR2 = 2
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ADC_IR2_CHAN = 1
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endif
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ifndef ADC_IR3
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ADC_IR_TOP = 3
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ADC_IR_TOP_CHAN = 2
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ADC_IR_TOP = 4
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ADC_IR_TOP_CHAN = 3
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endif
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ifndef ADC_IR_NB_SAMPLES
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ADC_IR_NB_SAMPLES = 16
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+1
-1
@@ -58,7 +58,7 @@
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See @ref adc_buf_channel.
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*/
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struct adc_buf {
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uint16_t sum; /* Sum of samples in buffer (avg = sum / av_nb_sample) */
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uint32_t sum; /* Sum of samples in buffer (avg = sum / av_nb_sample) */
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uint16_t values[MAX_AV_NB_SAMPLE]; /* Buffer for sample values from ADC */
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uint8_t head; /* Position index of write head in buffer */
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uint8_t av_nb_sample; /* Number of samples to use in buffer (used for avg) */
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@@ -0,0 +1,75 @@
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/*
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* Paparazzi lpc21 arch dependant microcontroller initialisation function
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*
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* Copyright (C) 2010 The Paparazzi team
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*
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* This file is part of Paparazzi.
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||||
*
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||||
* Paparazzi is free software; you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
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||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
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||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#include "mcu.h"
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#include <inttypes.h>
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#include BOARD_CONFIG
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#include "LPC21xx.h"
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/* declare functions and values from crt0.S & the linker control file */
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extern void reset(void);
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void mcu_arch_init(void) {
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/* set PLL multiplier & divisor. */
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/* values computed from config.h */
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PLLCFG = PLLCFG_MSEL | PLLCFG_PSEL;
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/* enable PLL */
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PLLCON = PLLCON_PLLE;
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/* commit changes */
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PLLFEED = 0xAA;
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PLLFEED = 0x55;
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/* wait for PLL lock */
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while (!(PLLSTAT & PLLSTAT_LOCK))
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continue;
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/* enable & connect PLL */
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PLLCON = PLLCON_PLLE | PLLCON_PLLC;
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/* commit changes */
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PLLFEED = 0xAA;
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PLLFEED = 0x55;
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/* setup & enable the MAM */
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MAMTIM = MAMTIM_CYCLES;
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MAMCR = MAMCR_FULL;
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/* set the peripheral bus speed */
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/* value computed from config.h */
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VPBDIV = VPBDIV_VALUE;
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/* set the interrupt controller to flash */
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MEMMAP = MEMMAP_FLASH;
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/* clear all interrupts */
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VICIntEnClear = 0xFFFFFFFF;
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/* clear all FIQ selections */
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VICIntSelect = 0x00000000;
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/* point unvectored IRQs to reset() */
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VICDefVectAddr = (uint32_t)reset;
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}
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@@ -0,0 +1,35 @@
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/*
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* Paparazzi lpc21 arch dependant microcontroller initialisation functions
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||||
*
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||||
* Copyright (C) 2010 The Paparazzi team
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||||
*
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||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
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||||
* Boston, MA 02111-1307, USA.
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||||
*
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*/
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#ifndef LPC21_MCU_ARCH_H
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#define LPC21_MCU_ARCH_H
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extern void mcu_arch_init(void);
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#include "armVIC.h"
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#define mcu_int_enable() enableIRQ()
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#define mcu_int_disable() disableIRQ()
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#endif /* LPC21_MCU_ARCH_H */
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@@ -125,16 +125,16 @@ static inline void adc_init_irq( void );
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// {{{
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/*
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GPIO mapping for ADC1 pins (PA.B, PB.1, PC.3, PC.5).
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GPIO mapping for ADC1 pins (PB.1, PB.0, PC.5, PC.3).
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Can be changed by predefining ADC1_GPIO_INIT.
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*/
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#ifdef USE_AD1
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#ifndef ADC1_GPIO_INIT
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#define ADC1_GPIO_INIT(gpio) { \
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(gpio).GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; \
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(gpio).GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_0; \
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(gpio).GPIO_Mode = GPIO_Mode_AIN; \
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GPIO_Init(GPIOB, (&gpio)); \
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(gpio).GPIO_Pin = GPIO_Pin_3 | GPIO_Pin_5; \
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(gpio).GPIO_Pin = GPIO_Pin_5 | GPIO_Pin_3; \
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GPIO_Init(GPIOC, (&gpio)); \
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}
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#endif // ADC1_GPIO_INIT
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@@ -387,7 +387,9 @@ void adc_init( void ) {
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// using defines.
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adc_channel_map[0] = ADC_Channel_8;
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adc_channel_map[1] = ADC_Channel_9;
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adc_channel_map[2] = ADC_Channel_13;
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// adc_channel_map[2] = ADC_Channel_13;
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// FIXME for now we get battery voltage this way
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adc_channel_map[2] = ADC_Channel_0;
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adc_channel_map[3] = ADC_Channel_15;
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adc_init_rcc();
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@@ -0,0 +1,82 @@
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/*
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* Paparazzi stm32 arch dependant microcontroller initialisation function
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*
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||||
* Copyright (C) 2010 The Paparazzi team
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||||
*
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||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
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||||
*/
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#include "mcu.h"
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#include <inttypes.h>
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#include <stm32/gpio.h>
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#include <stm32/rcc.h>
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#include <stm32/flash.h>
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#include <stm32/misc.h>
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#include BOARD_CONFIG
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void mcu_arch_init(void) {
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#ifdef HSE_TYPE_EXT_CLK
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/* Setup the microcontroller system.
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* Initialize the Embedded Flash Interface,
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* initialize the PLL and update the SystemFrequency variable.
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*/
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/* RCC system reset(for debug purpose) */
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RCC_DeInit();
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/* Enable HSE with external clock ( HSE_Bypass ) */
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RCC_HSEConfig( RCC_HSE_Bypass );
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/* Wait till HSE is ready */
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ErrorStatus HSEStartUpStatus = RCC_WaitForHSEStartUp();
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if (HSEStartUpStatus != SUCCESS) {
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/* block if something went wrong */
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while(1) {}
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}
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else {
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/* Enable Prefetch Buffer */
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FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
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/* Flash 2 wait state */
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FLASH_SetLatency(FLASH_Latency_2);
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/* HCLK = SYSCLK */
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RCC_HCLKConfig(RCC_SYSCLK_Div1);
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/* PCLK2 = HCLK */
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RCC_PCLK2Config(RCC_HCLK_Div1);
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/* PCLK1 = HCLK/2 */
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RCC_PCLK1Config(RCC_HCLK_Div2);
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/* PLLCLK = 8MHz * 9 = 72 MHz */
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RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
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/* Enable PLL */
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RCC_PLLCmd(ENABLE);
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||||
/* Wait till PLL is ready */
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||||
while (RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET) {}
|
||||
/* Select PLL as system clock source */
|
||||
RCC_SYSCLKConfig(RCC_SYSCLKSource_PLLCLK);
|
||||
/* Wait till PLL is used as system clock source */
|
||||
while(RCC_GetSYSCLKSource() != 0x08) {}
|
||||
}
|
||||
#else /* HSE_TYPE_EXT_CLK */
|
||||
SystemInit();
|
||||
#endif /* HSE_TYPE_EXT_CLK */
|
||||
/* Set the Vector Table base location at 0x08000000 */
|
||||
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
|
||||
|
||||
}
|
||||
|
||||
@@ -0,0 +1,45 @@
|
||||
/*
|
||||
* Paparazzi stm32 arch dependant microcontroller initialisation function
|
||||
*
|
||||
* Copyright (C) 2010 The Paparazzi team
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef STM32_MCU_ARCH_H
|
||||
#define STM32_MCU_ARCH_H
|
||||
|
||||
extern void mcu_arch_init(void);
|
||||
|
||||
|
||||
/* should probably not be here
|
||||
* a couple of macros to use the rev instruction
|
||||
*/
|
||||
#define MyByteSwap16(in, out) { \
|
||||
asm volatile ( \
|
||||
"rev16 %0, %1\n\t" \
|
||||
: "=r" (out) \
|
||||
: "r"(in) \
|
||||
); \
|
||||
}
|
||||
|
||||
#define mcu_int_enable() {}
|
||||
#define mcu_int_disable() {}
|
||||
|
||||
#endif /* STM32_MCU_ARCH_H */
|
||||
@@ -20,8 +20,8 @@
|
||||
#define IMU_ACC_DRDY_GPIO_PORTSOURCE GPIO_PortSourceGPIOD
|
||||
|
||||
|
||||
#define ADC_CHANNEL_VSUPPLY 4
|
||||
#define DefaultVoltageOfAdc(adc) (0.01787109375*adc)
|
||||
#define ADC_CHANNEL_VSUPPLY 2
|
||||
#define DefaultVoltageOfAdc(adc) (0.0059*adc)
|
||||
|
||||
|
||||
#endif /* CONFIG_LISA_V1_0_H */
|
||||
|
||||
@@ -34,9 +34,8 @@
|
||||
#include <math.h>
|
||||
|
||||
#include "firmwares/fixedwing/main_ap.h"
|
||||
#include "mcu.h"
|
||||
|
||||
#include "interrupt_hw.h"
|
||||
#include "init_hw.h"
|
||||
#include "adc.h"
|
||||
#include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
|
||||
#include "firmwares/fixedwing/guidance/guidance_v.h"
|
||||
@@ -60,13 +59,6 @@
|
||||
#include "rc_settings.h"
|
||||
#endif
|
||||
|
||||
#ifdef LED
|
||||
#include "led.h"
|
||||
#endif
|
||||
|
||||
#if defined USE_I2C0 || USE_I2C1
|
||||
#include "i2c.h"
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI
|
||||
#include "spi.h"
|
||||
@@ -480,12 +472,9 @@ void periodic_task_ap( void ) {
|
||||
|
||||
void init_ap( void ) {
|
||||
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
|
||||
hw_init();
|
||||
mcu_init();
|
||||
sys_time_init();
|
||||
|
||||
#ifdef LED
|
||||
led_init();
|
||||
#endif
|
||||
|
||||
#ifdef ADC
|
||||
adc_init();
|
||||
@@ -502,35 +491,11 @@ void init_ap( void ) {
|
||||
#ifdef USE_GPS
|
||||
gps_init();
|
||||
#endif
|
||||
#ifdef USE_UART0
|
||||
Uart0Init();
|
||||
#endif
|
||||
#ifdef USE_UART1
|
||||
Uart1Init();
|
||||
#endif
|
||||
#ifdef USE_UART2
|
||||
Uart2Init();
|
||||
#endif
|
||||
#ifdef USE_UART3
|
||||
Uart3Init();
|
||||
#endif
|
||||
#ifdef USE_USB_SERIAL
|
||||
VCOM_init();
|
||||
#endif
|
||||
|
||||
#ifdef USE_GPIO
|
||||
GpioInit();
|
||||
#endif
|
||||
|
||||
#ifdef USE_I2C0
|
||||
i2c0_init();
|
||||
#endif
|
||||
#ifdef USE_I2C1
|
||||
i2c1_init();
|
||||
#endif
|
||||
#ifdef USE_I2C2
|
||||
i2c2_init();
|
||||
#endif
|
||||
|
||||
/************* Links initialization ***************/
|
||||
#if defined USE_SPI
|
||||
@@ -555,7 +520,7 @@ void init_ap( void ) {
|
||||
modules_init();
|
||||
|
||||
/** - start interrupt task */
|
||||
int_enable();
|
||||
mcu_int_enable();
|
||||
|
||||
/** wait 0.5s (historical :-) */
|
||||
sys_time_usleep(500000);
|
||||
|
||||
@@ -1,22 +1,22 @@
|
||||
/*
|
||||
* Paparazzi $Id$
|
||||
*
|
||||
* Copyright (C) 2003-2006 Pascal Brisset, Antoine Drouin
|
||||
* Copyright (C) 2003-2010 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* paparazzi is free software; you can redistribute it and/or modify
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi is distributed in the hope that it will be useful,
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with paparazzi; see the file COPYING. If not, write to
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
@@ -31,11 +31,11 @@
|
||||
* ( for parameters like the supply )
|
||||
*/
|
||||
|
||||
#include "firmwares/fixedwing/main_fbw.h"
|
||||
#include "generated/airframe.h"
|
||||
|
||||
#include "init_hw.h"
|
||||
#include "interrupt_hw.h"
|
||||
#include "firmwares/fixedwing/main_fbw.h"
|
||||
#include "mcu.h"
|
||||
|
||||
#include "led.h"
|
||||
#include "uart.h"
|
||||
#include "spi.h"
|
||||
@@ -84,33 +84,17 @@ uint8_t fbw_mode;
|
||||
|
||||
/********** INIT *************************************************************/
|
||||
void init_fbw( void ) {
|
||||
hw_init();
|
||||
mcu_init();
|
||||
sys_time_init();
|
||||
#ifdef LED
|
||||
led_init();
|
||||
#endif
|
||||
|
||||
#ifdef USE_UART0
|
||||
uart0_init();
|
||||
#endif
|
||||
#ifdef USE_UART1
|
||||
uart1_init();
|
||||
#endif
|
||||
#ifdef USE_UART2
|
||||
uart2_init();
|
||||
#endif
|
||||
#ifdef USE_UART3
|
||||
uart3_init();
|
||||
#endif
|
||||
// FIXME: remove STM32 flag
|
||||
#ifdef ADC
|
||||
adc_init();
|
||||
#ifndef STM32
|
||||
#ifdef ADC_CHANNEL_VSUPPLY
|
||||
adc_buf_channel(ADC_CHANNEL_VSUPPLY, &vsupply_adc_buf, DEFAULT_AV_NB_SAMPLE);
|
||||
# ifdef ADC_CHANNEL_CURRENT
|
||||
#endif
|
||||
#ifdef ADC_CHANNEL_CURRENT
|
||||
adc_buf_channel(ADC_CHANNEL_CURRENT, ¤t_adc_buf, DEFAULT_AV_NB_SAMPLE);
|
||||
# endif
|
||||
#endif /* ! STM32 */
|
||||
#endif
|
||||
#endif /* ADC */
|
||||
|
||||
#ifdef ACTUATORS
|
||||
@@ -229,10 +213,12 @@ void periodic_task_fbw( void ) {
|
||||
if (!_10Hz)
|
||||
{
|
||||
#ifdef ADC
|
||||
#ifdef ADC_CHANNEL_VSUPPLY
|
||||
fbw_vsupply_decivolt = VoltageOfAdc((10*(vsupply_adc_buf.sum/vsupply_adc_buf.av_nb_sample)));
|
||||
# ifdef ADC_CHANNEL_CURRENT
|
||||
#endif
|
||||
#ifdef ADC_CHANNEL_CURRENT
|
||||
fbw_current_milliamp = MilliAmpereOfAdc((current_adc_buf.sum/current_adc_buf.av_nb_sample));
|
||||
# endif
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if ((! defined ADC_CHANNEL_CURRENT) && defined MILLIAMP_AT_FULL_THROTTLE)
|
||||
|
||||
@@ -25,10 +25,9 @@
|
||||
#define MODULES_C
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "init_hw.h"
|
||||
#include "mcu.h"
|
||||
#include "sys_time.h"
|
||||
#include "led.h"
|
||||
#include "interrupt_hw.h"
|
||||
|
||||
#include "downlink.h"
|
||||
#include "firmwares/rotorcraft/telemetry.h"
|
||||
@@ -95,7 +94,7 @@ STATIC_INLINE void main_init( void ) {
|
||||
}
|
||||
#endif
|
||||
|
||||
hw_init();
|
||||
mcu_init();
|
||||
|
||||
sys_time_init();
|
||||
|
||||
@@ -130,7 +129,7 @@ STATIC_INLINE void main_init( void ) {
|
||||
|
||||
modules_init();
|
||||
|
||||
int_enable();
|
||||
mcu_int_enable();
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
/*
|
||||
* $Id$
|
||||
*
|
||||
* Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
|
||||
* Copyright (C) 2008-2010 The Paparazzi Team
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
|
||||
@@ -0,0 +1,88 @@
|
||||
/*
|
||||
* Paparazzi microcontroller initialisation function
|
||||
*
|
||||
* Copyright (C) 2010 The Paparazzi team
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "mcu.h"
|
||||
|
||||
#ifdef PERIPHERALS_AUTO_INIT
|
||||
#ifdef USE_LED
|
||||
#include "led.h"
|
||||
#endif
|
||||
#if defined RADIO_CONTROL
|
||||
#if defined RADIO_CONTROL_LINK || defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT
|
||||
#include "subsystems/radio_control.h"
|
||||
#endif
|
||||
#endif
|
||||
#if defined USE_UART0 || defined USE_UART1 || defined USE_UART2 || defined USE_UART3 || defined USE_UART4 || defined USE_UART5
|
||||
#include "uart.h"
|
||||
#endif
|
||||
#if defined USE_I2C1 || defined USE_I2C2
|
||||
#include "i2c.h"
|
||||
#endif
|
||||
#endif /* PERIPHERALS_AUTO_INIT */
|
||||
|
||||
void mcu_init(void) {
|
||||
|
||||
mcu_arch_init();
|
||||
|
||||
#ifdef PERIPHERALS_AUTO_INIT
|
||||
#ifdef USE_LED
|
||||
led_init();
|
||||
#endif
|
||||
/* for now this means using spektrum */
|
||||
#if defined RADIO_CONTROL & defined RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT & defined RADIO_CONTROL_BIND_IMPL_FUNC
|
||||
RADIO_CONTROL_BIND_IMPL_FUNC();
|
||||
#endif
|
||||
#ifdef USE_UART0
|
||||
uart0_init();
|
||||
#endif
|
||||
#ifdef USE_UART1
|
||||
uart1_init();
|
||||
#endif
|
||||
#ifdef USE_UART2
|
||||
uart2_init();
|
||||
#endif
|
||||
#ifdef USE_UART3
|
||||
uart3_init();
|
||||
#endif
|
||||
#ifdef USE_UART4
|
||||
uart4_init();
|
||||
#endif
|
||||
#ifdef USE_UART5
|
||||
uart5_init();
|
||||
#endif
|
||||
#ifdef USE_I2C0
|
||||
i2c0_init();
|
||||
#endif
|
||||
#ifdef USE_I2C1
|
||||
i2c1_init();
|
||||
#endif
|
||||
#ifdef USE_I2C2
|
||||
i2c2_init();
|
||||
#endif
|
||||
#ifdef USE_USB_SERIAL
|
||||
VCOM_init();
|
||||
#endif
|
||||
#endif /* PERIPHERALS_AUTO_INIT */
|
||||
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
/*
|
||||
* Paparazzi microcontroller functions
|
||||
*
|
||||
* Copyright (C) 2010 The Paparazzi team
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
/** \file mcu.h
|
||||
* \brief arch independant mcu ( Micro Controller Unit ) utilities
|
||||
*/
|
||||
|
||||
#ifndef MCU_H
|
||||
#define MCU_H
|
||||
|
||||
|
||||
#include <mcu_arch.h>
|
||||
|
||||
/*
|
||||
* Microcontroller initialisation
|
||||
* This function is responisble for setting up the microcontroller
|
||||
* after Reset.
|
||||
*/
|
||||
extern void mcu_init(void);
|
||||
|
||||
|
||||
#endif /* MCU_H */
|
||||
|
||||
|
||||
Reference in New Issue
Block a user