ardupilot/libraries/AP_HAL_ChibiOS/hwdef/common/board.c

/*
 * This file 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 3 of the License, or
 * (at your option) any later version.
 *
 * This file 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 this program.  If not, see <http://www.gnu.org/licenses/>.
 * 
 * Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
 */

#include "hal.h"
#include "usbcfg.h"

#if HAL_USE_PAL || defined(__DOXYGEN__)
/**
 * @brief   PAL setup.
 * @details Digital I/O ports static configuration as defined in @p board.h.
 *          This variable is used by the HAL when initializing the PAL driver.
 */
const PALConfig pal_default_config = {

  {VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR, VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
  {VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR, VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
  {VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
  {VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
  {VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR, VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
#if STM32_HAS_GPIOF
  {VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR, VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
#endif
#if STM32_HAS_GPIOG
  {VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR, VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
#endif
#if STM32_HAS_GPIOH
  {VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR, VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
#endif
#if STM32_HAS_GPIOI
  {VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR, VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH},
#endif
#if STM32_HAS_GPIOJ
  {VAL_GPIOJ_MODER, VAL_GPIOJ_OTYPER, VAL_GPIOJ_OSPEEDR, VAL_GPIOJ_PUPDR, VAL_GPIOJ_ODR, VAL_GPIOJ_AFRL, VAL_GPIOJ_AFRH},
#endif
#if STM32_HAS_GPIOK
  {VAL_GPIOK_MODER, VAL_GPIOK_OTYPER, VAL_GPIOK_OSPEEDR, VAL_GPIOK_PUPDR, VAL_GPIOK_ODR, VAL_GPIOK_AFRL, VAL_GPIOK_AFRH},
#endif
};
#endif

/**
 * @brief   Early initialization code.
 * @details This initialization must be performed just after stack setup
 *          and before any other initialization.
 */
void __early_init(void) {
  stm32_clock_init();
}

void __late_init(void) {
  halInit();
  chSysInit();
#ifdef HAL_USB_PRODUCT_ID
  setup_usb_strings();
#endif
}

#if HAL_USE_SDC || defined(__DOXYGEN__)
/**
 * @brief   SDC card detection.
 */
bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
  static bool last_status = false;

  if (blkIsTransferring(sdcp))
    return last_status;
  return last_status = (bool)palReadPad(GPIOC, 11);
}

/**
 * @brief   SDC card write protection detection.
 */
bool sdc_lld_is_write_protected(SDCDriver *sdcp) {

  (void)sdcp;
  return false;
}
#endif /* HAL_USE_SDC */

#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
/**
 * @brief   MMC_SPI card detection.
 */
bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
  (void)mmcp;
  /* TODO: Fill the implementation.*/
  return true;
}

/**
 * @brief   MMC_SPI card write protection detection.
 */
bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
  (void)mmcp;
  /* TODO: Fill the implementation.*/
  return false;
}
#endif

/**
 * @brief   Board-specific initialization code.
 * @todo    Add your board-specific code, if any.
 */
void boardInit(void) {
  HAL_BOARD_INIT_HOOK_CALL
}