merged init_hw.h and interrupt_hw.h into mcu.h - added battery voltage monitoring for fixedwing on stm32

conf/autopilot/rotorcraft.makefile

@@ -54,6 +54,8 @@ ap.ARCHDIR = $(ARCH)
 ap.CFLAGS += $(ROTORCRAFT_INC)
 ap.CFLAGS += -DBOARD_CONFIG=$(BOARD_CFG) -DPERIPHERALS_AUTO_INIT
 ap.srcs    = $(SRC_FIRMWARE)/main.c
+ap.srcs   += mcu.c
+ap.srcs   += $(SRC_ARCH)/mcu_arch.c
 
 ifeq ($(ARCH), stm32)
 ap.srcs += lisa/plug_sys.c

conf/autopilot/subsystems/fixedwing/autopilot.makefile

@@ -29,7 +29,7 @@
 
 # temporary hack for ADCs
 ifeq ($(ARCH), stm32)
-$(TARGET).CFLAGS += -DSTM32
+# FIXME : this is for the battery
 $(TARGET).CFLAGS += -DUSE_AD1_3
 endif
 #
@@ -37,8 +37,12 @@ endif
 #
 
 $(TARGET).CFLAGS 	+= -DBOARD_CONFIG=$(BOARD_CFG)
+$(TARGET).CFLAGS 	+= -DPERIPHERALS_AUTO_INIT
 $(TARGET).CFLAGS 	+= $(FIXEDWING_INC)
 
+$(TARGET).srcs 	+= mcu.c
+$(TARGET).srcs 	+= $(SRC_ARCH)/mcu_arch.c
+
 #
 # Common Options
 #
@@ -54,7 +58,7 @@ $(TARGET).CFLAGS 	+= -DTRAFFIC_INFO
 # LEDs
 #
 
-$(TARGET).CFLAGS 	+= -DLED
+$(TARGET).CFLAGS 	+= -DUSE_LED
 ifneq ($(ARCH), lpc21)
   ifneq ($(ARCH), jsbsim)
     $(TARGET).srcs 	+= $(SRC_ARCH)/led_hw.c
@@ -135,9 +139,6 @@ ns_srcs 		+= $(SRC_ARCH)/uart_hw.c
   ns_CFLAGS 		+= -DADC
 #ifeq ($(ARCH), lpc21)
   ns_srcs 		+= $(SRC_ARCH)/adc_hw.c
-#else ifeq ($(ARCH), stm32)
-#  ns_srcs 		+= lisa/lisa_analog_plug.c
-#endif
 ifeq ($(ARCH), stm32)
   ns_CFLAGS 		+= -DUSE_ADC1_2_IRQ_HANDLER
 endif

conf/boards/lisa_l_1.0.makefile

@@ -78,8 +78,8 @@ ADC_IR2      = 2
 ADC_IR2_CHAN = 1
 endif
 ifndef ADC_IR3
-ADC_IR_TOP      = 3
+ADC_IR_TOP      = 4
-ADC_IR_TOP_CHAN = 2
+ADC_IR_TOP_CHAN = 3
 endif
 ifndef ADC_IR_NB_SAMPLES
 ADC_IR_NB_SAMPLES = 16

sw/airborne/adc.h

@@ -58,7 +58,7 @@
     See @ref adc_buf_channel.
 */
 struct adc_buf {
-  uint16_t sum;                      /* Sum of samples in buffer (avg = sum / av_nb_sample) */
+  uint32_t sum;                      /* Sum of samples in buffer (avg = sum / av_nb_sample) */
   uint16_t values[MAX_AV_NB_SAMPLE]; /* Buffer for sample values from ADC                   */
   uint8_t  head;                     /* Position index of write head in buffer              */
   uint8_t  av_nb_sample;             /* Number of samples to use in buffer (used for avg)   */

sw/airborne/arch/lpc21/mcu_arch.c

@@ -0,0 +1,75 @@
+/*
+ * Paparazzi lpc21 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.
+ *
+ */
+
+#include "mcu.h"
+
+
+#include <inttypes.h>
+#include BOARD_CONFIG
+#include "LPC21xx.h"
+
+
+/* declare functions and values from crt0.S & the linker control file */
+extern void reset(void);
+
+void mcu_arch_init(void) {
+
+  /* set PLL multiplier & divisor. */
+  /* values computed from config.h */
+  PLLCFG = PLLCFG_MSEL | PLLCFG_PSEL;
+  /* enable PLL                    */
+  PLLCON = PLLCON_PLLE;
+  /* commit changes                */
+  PLLFEED = 0xAA;
+  PLLFEED = 0x55;
+
+  /* wait for PLL lock */
+  while (!(PLLSTAT & PLLSTAT_LOCK))
+    continue;
+
+  /* enable & connect PLL */
+  PLLCON = PLLCON_PLLE | PLLCON_PLLC;
+  /* commit changes                */
+  PLLFEED = 0xAA;
+  PLLFEED = 0x55;
+
+  /* setup & enable the MAM */
+  MAMTIM = MAMTIM_CYCLES;
+  MAMCR = MAMCR_FULL;
+
+  /* set the peripheral bus speed */
+  /* value computed from config.h */
+  VPBDIV = VPBDIV_VALUE;
+
+  /* set the interrupt controller to flash */
+  MEMMAP = MEMMAP_FLASH;
+  
+  /* clear all interrupts     */
+  VICIntEnClear = 0xFFFFFFFF;
+  /* clear all FIQ selections */
+  VICIntSelect = 0x00000000;
+  /* point unvectored IRQs to reset() */
+  VICDefVectAddr = (uint32_t)reset;
+
+}

sw/airborne/arch/lpc21/mcu_arch.h

@@ -0,0 +1,35 @@
+/*
+ * Paparazzi lpc21 arch dependant microcontroller initialisation 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.
+ *
+ */
+
+#ifndef LPC21_MCU_ARCH_H
+#define LPC21_MCU_ARCH_H
+
+extern void mcu_arch_init(void);
+
+#include "armVIC.h"
+
+#define mcu_int_enable() enableIRQ()
+#define mcu_int_disable() disableIRQ()
+
+#endif /* LPC21_MCU_ARCH_H */

sw/airborne/arch/stm32/adc_hw.c

@@ -125,16 +125,16 @@ static inline void adc_init_irq( void );
 // {{{
 
 /*
-  GPIO mapping for ADC1 pins (PA.B, PB.1, PC.3, PC.5).
+  GPIO mapping for ADC1 pins (PB.1, PB.0, PC.5, PC.3).
     Can be changed by predefining ADC1_GPIO_INIT.
 */
 #ifdef USE_AD1
 #ifndef ADC1_GPIO_INIT
 #define ADC1_GPIO_INIT(gpio) { \
-    (gpio).GPIO_Pin  = GPIO_Pin_0 | GPIO_Pin_1; \
+    (gpio).GPIO_Pin  = GPIO_Pin_1 | GPIO_Pin_0; \
     (gpio).GPIO_Mode = GPIO_Mode_AIN; \
     GPIO_Init(GPIOB, (&gpio)); \
-    (gpio).GPIO_Pin  = GPIO_Pin_3 | GPIO_Pin_5; \
+    (gpio).GPIO_Pin  = GPIO_Pin_5 | GPIO_Pin_3; \
     GPIO_Init(GPIOC, (&gpio)); \
 }
 #endif // ADC1_GPIO_INIT
@@ -387,7 +387,9 @@ void adc_init( void ) {
     // using defines.
     adc_channel_map[0] = ADC_Channel_8;
     adc_channel_map[1] = ADC_Channel_9;
-    adc_channel_map[2] = ADC_Channel_13;
+    //    adc_channel_map[2] = ADC_Channel_13;
+    // FIXME for now we get battery voltage this way
+    adc_channel_map[2] = ADC_Channel_0;
     adc_channel_map[3] = ADC_Channel_15;
 
     adc_init_rcc();

sw/airborne/arch/stm32/mcu_arch.c

@@ -0,0 +1,82 @@
+/*
+ * 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.
+ *
+ */
+
+#include "mcu.h"
+
+
+#include <inttypes.h>
+#include <stm32/gpio.h>
+#include <stm32/rcc.h>
+#include <stm32/flash.h>
+#include <stm32/misc.h>
+
+#include BOARD_CONFIG
+
+void mcu_arch_init(void) {
+
+#ifdef HSE_TYPE_EXT_CLK
+  /* Setup the microcontroller system.
+   *  Initialize the Embedded Flash Interface,
+   *  initialize the PLL and update the SystemFrequency variable.
+   */
+  /* RCC system reset(for debug purpose) */
+  RCC_DeInit();
+  /* Enable HSE with external clock ( HSE_Bypass ) */
+  RCC_HSEConfig( RCC_HSE_Bypass );
+  /* Wait till HSE is ready */
+  ErrorStatus HSEStartUpStatus = RCC_WaitForHSEStartUp();
+  if (HSEStartUpStatus != SUCCESS) {
+    /* block if something went wrong */
+    while(1) {}
+  }
+  else {
+    /* Enable Prefetch Buffer */
+    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
+    /* Flash 2 wait state */
+    FLASH_SetLatency(FLASH_Latency_2);
+    /* HCLK = SYSCLK */
+    RCC_HCLKConfig(RCC_SYSCLK_Div1);
+    /* PCLK2 = HCLK */
+    RCC_PCLK2Config(RCC_HCLK_Div1);
+    /* PCLK1 = HCLK/2 */
+    RCC_PCLK1Config(RCC_HCLK_Div2);
+    /* PLLCLK = 8MHz * 9 = 72 MHz */
+    RCC_PLLConfig(RCC_PLLSource_HSE_Div1, RCC_PLLMul_9);
+    /* Enable PLL */
+    RCC_PLLCmd(ENABLE);
+    /* Wait till PLL is ready */
+    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);
+
+}
+

sw/airborne/arch/stm32/mcu_arch.h

@@ -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 */

sw/airborne/boards/lisa_l_1.0.h

@@ -20,8 +20,8 @@
 #define IMU_ACC_DRDY_GPIO_PORTSOURCE  GPIO_PortSourceGPIOD
 
 
-#define ADC_CHANNEL_VSUPPLY 4
+#define ADC_CHANNEL_VSUPPLY 2
-#define DefaultVoltageOfAdc(adc) (0.01787109375*adc)
+#define DefaultVoltageOfAdc(adc) (0.0059*adc)
 
 
 #endif /* CONFIG_LISA_V1_0_H */

sw/airborne/firmwares/fixedwing/main_ap.c

@@ -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);

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -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 "firmwares/fixedwing/main_fbw.h"
-#include "interrupt_hw.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, &current_adc_buf, DEFAULT_AV_NB_SAMPLE);
-#  endif
+#endif
-#endif /* ! STM32 */
 #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)

sw/airborne/firmwares/rotorcraft/main.c

@@ -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();
 
 }
 

sw/airborne/firmwares/rotorcraft/main.h

@@ -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.
  *

sw/airborne/mcu.c

@@ -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 */
+ 
+}

sw/airborne/mcu.h

@@ -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 */
+
+