flight/pios/posix/pios_sys.c

   1 /**
   2  ******************************************************************************
   3  *
   4  * @file       pios_sys.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  *              Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
   7  * @brief      Sets up basic system hardware, functions are called from Main.
   8  * @see        The GNU Public License (GPL) Version 3
   9  * @defgroup   PIOS_SYS System Functions
  10  * @{
  11  *
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29
  30 /* Project Includes */
  31 #include <pios.h>
  32
  33 #if defined(PIOS_INCLUDE_SYS)
  34
  35
  36 /* Private Function Prototypes */
  37 void NVIC_Configuration(void);
  38 void SysTick_Handler(void);
  39
  40 /* Local Macros */
  41 #define MEM8(addr) (*((volatile uint8_t *)(addr)))
  42
  43 /**
  44  * Initialises all system peripherals
  45  */
  46 void PIOS_SYS_Init(void)
  47 {
  48     /**
  49      * stub
  50      */
  51     printf("PIOS_SYS_Init\n");
  52
  53     /* Initialise Basic NVIC */
  54     NVIC_Configuration();
  55
  56 #if defined(PIOS_INCLUDE_LED)
  57     /* Initialise LEDs */
  58     PIOS_LED_Init();
  59 #endif
  60 }
  61
  62 /**
  63  * Shutdown PIOS and reset the microcontroller:<BR>
  64  * <UL>
  65  *   <LI>Disable all RTOS tasks
  66  *   <LI>Disable all interrupts
  67  *   <LI>Turn off all board LEDs
  68  *   <LI>Reset STM32
  69  * </UL>
  70  * \return < 0 if reset failed
  71  */
  72 int32_t PIOS_SYS_Reset(void)
  73 {
  74     /**
  75      * stub
  76      */
  77     printf("PIOS_SYS_Reset\n");
  78     /* Disable all RTOS tasks */
  79 #if defined(PIOS_INCLUDE_FREERTOS)
  80     /* port specific FreeRTOS function to disable tasks (nested) */
  81     portENTER_CRITICAL();
  82 #endif
  83
  84     // disable all interrupts
  85     // PIOS_IRQ_Disable();
  86
  87     // turn off all board LEDs
  88         #if (PIOS_LED_NUM == 1)
  89     PIOS_LED_Off(LED1);
  90         #elif (PIOS_LED_NUM == 2)
  91     PIOS_LED_Off(LED1);
  92     PIOS_LED_Off(LED2);
  93         #endif
  94
  95
  96     /* Reset STM32 */
  97     // RCC_APB2PeriphResetCmd(0xfffffff8, ENABLE); /* MBHP_CORE_STM32: don't reset GPIOA/AF due to USB pins */
  98     // RCC_APB1PeriphResetCmd(0xff7fffff, ENABLE); /* don't reset USB, so that the connection can survive! */
  99
 100     // RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
 101     // RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 102     // SCB->AIRCR = NVIC_AIRCR_VECTKEY | (1 << NVIC_VECTRESET);
 103     exit(1);
 104
 105     while (1) {
 106         ;
 107     }
 108
 109     /* We will never reach this point */
 110     return -1;
 111 }
 112
 113 /**
 114  * Returns the serial number as a string
 115  * param[out] uint8_t pointer to a string which can store at least 12 bytes
 116  * (12 bytes returned for STM32)
 117  * return < 0 if feature not supported
 118  */
 119 int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
 120 {
 121     /* Stored in the so called "electronic signature" */
 122     for (int i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
 123         array[i] = 0xff;
 124     }
 125
 126     /* No error */
 127     return 0;
 128 }
 129
 130 /**
 131  * Returns the serial number as a string
 132  * param[out] str pointer to a string which can store at least 32 digits + zero terminator!
 133  * (24 digits returned for STM32)
 134  * return < 0 if feature not supported
 135  */
 136 int32_t PIOS_SYS_SerialNumberGet(char *str)
 137 {
 138     /* Stored in the so called "electronic signature" */
 139     int i;
 140
 141     for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
 142         str[i] = 'F';
 143     }
 144     str[i] = '\0';
 145
 146     /* No error */
 147     return 0;
 148 }
 149
 150 /**
 151  * Configures Vector Table base location and SysTick
 152  */
 153 void NVIC_Configuration(void)
 154 {
 155     /**
 156      * stub
 157      */
 158     printf("NVIC_Configuration\n");
 159     /* Set the Vector Table base address as specified in .ld file */
 160     // NVIC_SetVectorTable(PIOS_NVIC_VECTTAB_FLASH, 0x0);
 161
 162     /* 4 bits for Interrupt priorities so no sub priorities */
 163     // NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
 164
 165     /* Configure HCLK clock as SysTick clock source. */
 166     // SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
 167 }
 168
 169 #ifdef USE_FULL_ASSERT
 170 /**
 171  * Reports the name of the source file and the source line number
 172  *   where the assert_param error has occurred.
 173  * \param[in]  file pointer to the source file name
 174  * \param[in]  line assert_param error line source number
 175  * \retval None
 176  */
 177 void assert_failed(uint8_t *file, uint32_t line)
 178 {
 179     /* When serial debugging is implemented, use something like this. */
 180     /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
 181     printf("Wrong parameters value: file %s on line %d\r\n", file, line);
 182
 183     /* Setup the LEDs to Alternate */
 184     PIOS_LED_On(LED1);
 185     PIOS_LED_Off(LED2);
 186
 187     /* Infinite loop */
 188     while (1) {
 189         PIOS_LED_Toggle(LED1);
 190         PIOS_LED_Toggle(LED2);
 191         for (int i = 0; i < 1000000; i++) {
 192             ;
 193         }
 194     }
 195 }
 196 #endif /* ifdef USE_FULL_ASSERT */
 197
 198 #endif /* if defined(PIOS_INCLUDE_SYS) */