mirror of https://github.com/ArduPilot/ardupilot
347 lines
8.6 KiB
C++
347 lines
8.6 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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#include <assert.h>
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#include <hal.h>
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#include "HAL_ChibiOS_Class.h"
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#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
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#include <AP_HAL_ChibiOS/AP_HAL_ChibiOS_Private.h>
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#include "shared_dma.h"
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#include "sdcard.h"
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#include "hwdef/common/usbcfg.h"
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#include "hwdef/common/stm32_util.h"
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#include "hwdef/common/watchdog.h"
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_InternalError/AP_InternalError.h>
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#ifndef HAL_BOOTLOADER_BUILD
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#include <AP_Logger/AP_Logger.h>
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#endif
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#include <AP_Vehicle/AP_Vehicle_Type.h>
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#include <AP_HAL/SIMState.h>
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#include <hwdef.h>
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#ifndef HAL_NO_UARTDRIVER
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static HAL_UARTA_DRIVER;
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static HAL_UARTB_DRIVER;
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static HAL_UARTC_DRIVER;
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static HAL_UARTD_DRIVER;
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static HAL_UARTE_DRIVER;
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static HAL_UARTF_DRIVER;
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static HAL_UARTG_DRIVER;
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static HAL_UARTH_DRIVER;
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static HAL_UARTI_DRIVER;
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static HAL_UARTJ_DRIVER;
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#else
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static Empty::UARTDriver uartADriver;
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static Empty::UARTDriver uartBDriver;
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static Empty::UARTDriver uartCDriver;
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static Empty::UARTDriver uartDDriver;
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static Empty::UARTDriver uartEDriver;
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static Empty::UARTDriver uartFDriver;
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static Empty::UARTDriver uartGDriver;
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static Empty::UARTDriver uartHDriver;
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static Empty::UARTDriver uartIDriver;
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static Empty::UARTDriver uartJDriver;
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#endif
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#if HAL_USE_I2C == TRUE && defined(HAL_I2C_DEVICE_LIST)
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static ChibiOS::I2CDeviceManager i2cDeviceManager;
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#else
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static Empty::I2CDeviceManager i2cDeviceManager;
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#endif
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#if HAL_USE_SPI == TRUE
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static ChibiOS::SPIDeviceManager spiDeviceManager;
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#else
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static Empty::SPIDeviceManager spiDeviceManager;
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#endif
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#if HAL_USE_ADC == TRUE && !defined(HAL_DISABLE_ADC_DRIVER)
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static ChibiOS::AnalogIn analogIn;
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#else
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static Empty::AnalogIn analogIn;
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#endif
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#ifdef HAL_USE_EMPTY_STORAGE
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static Empty::Storage storageDriver;
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#else
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static ChibiOS::Storage storageDriver;
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#endif
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static ChibiOS::GPIO gpioDriver;
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static ChibiOS::RCInput rcinDriver;
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#if HAL_USE_PWM == TRUE
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static ChibiOS::RCOutput rcoutDriver;
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#else
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static Empty::RCOutput rcoutDriver;
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#endif
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static ChibiOS::Scheduler schedulerInstance;
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static ChibiOS::Util utilInstance;
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static Empty::OpticalFlow opticalFlowDriver;
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#if AP_SIM_ENABLED
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static AP_HAL::SIMState xsimstate;
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#endif
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#if HAL_WITH_DSP
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static ChibiOS::DSP dspDriver;
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#else
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static Empty::DSP dspDriver;
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#endif
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#ifndef HAL_NO_FLASH_SUPPORT
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static ChibiOS::Flash flashDriver;
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#else
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static Empty::Flash flashDriver;
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#endif
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#if HAL_NUM_CAN_IFACES > 0
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static ChibiOS::CANIface* canDrivers[HAL_NUM_CAN_IFACES];
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#endif
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#if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)
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static ChibiOS::QSPIDeviceManager qspiDeviceManager;
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#endif
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#if HAL_WITH_IO_MCU
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HAL_UART_IO_DRIVER;
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#include <AP_IOMCU/AP_IOMCU.h>
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AP_IOMCU iomcu(uart_io);
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#endif
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HAL_ChibiOS::HAL_ChibiOS() :
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AP_HAL::HAL(
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&uartADriver,
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&uartBDriver,
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&uartCDriver,
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&uartDDriver,
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&uartEDriver,
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&uartFDriver,
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&uartGDriver,
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&uartHDriver,
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&uartIDriver,
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&uartJDriver,
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&i2cDeviceManager,
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&spiDeviceManager,
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#if HAL_USE_WSPI == TRUE && defined(HAL_QSPI_DEVICE_LIST)
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&qspiDeviceManager,
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#else
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nullptr,
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#endif
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&analogIn,
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&storageDriver,
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&uartADriver,
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&gpioDriver,
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&rcinDriver,
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&rcoutDriver,
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&schedulerInstance,
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&utilInstance,
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&opticalFlowDriver,
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&flashDriver,
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#if AP_SIM_ENABLED
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&xsimstate,
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#endif
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&dspDriver,
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#if HAL_NUM_CAN_IFACES
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(AP_HAL::CANIface**)canDrivers
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#else
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nullptr
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#endif
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)
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{}
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static bool thread_running = false; /**< Daemon status flag */
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static thread_t* daemon_task; /**< Handle of daemon task / thread */
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extern const AP_HAL::HAL& hal;
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/*
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set the priority of the main APM task
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*/
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void hal_chibios_set_priority(uint8_t priority)
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{
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chSysLock();
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#if CH_CFG_USE_MUTEXES == TRUE
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if ((daemon_task->hdr.pqueue.prio == daemon_task->realprio) || (priority > daemon_task->hdr.pqueue.prio)) {
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daemon_task->hdr.pqueue.prio = priority;
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}
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daemon_task->realprio = priority;
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#endif
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chSchRescheduleS();
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chSysUnlock();
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}
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thread_t* get_main_thread()
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{
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return daemon_task;
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}
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static AP_HAL::HAL::Callbacks* g_callbacks;
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static void main_loop()
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{
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daemon_task = chThdGetSelfX();
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/*
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switch to high priority for main loop
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*/
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chThdSetPriority(APM_MAIN_PRIORITY);
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#ifdef HAL_I2C_CLEAR_BUS
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// Clear all I2C Buses. This can be needed on some boards which
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// can get a stuck I2C peripheral on boot
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ChibiOS::I2CBus::clear_all();
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#endif
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#ifndef HAL_NO_SHARED_DMA
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ChibiOS::Shared_DMA::init();
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#endif
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peripheral_power_enable();
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hal.serial(0)->begin(115200);
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#ifdef HAL_SPI_CHECK_CLOCK_FREQ
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// optional test of SPI clock frequencies
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ChibiOS::SPIDevice::test_clock_freq();
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#endif
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hal.analogin->init();
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hal.scheduler->init();
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/*
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run setup() at low priority to ensure CLI doesn't hang the
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system, and to allow initial sensor read loops to run
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*/
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hal_chibios_set_priority(APM_STARTUP_PRIORITY);
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if (stm32_was_watchdog_reset()) {
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// load saved watchdog data
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stm32_watchdog_load((uint32_t *)&utilInstance.persistent_data, (sizeof(utilInstance.persistent_data)+3)/4);
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utilInstance.last_persistent_data = utilInstance.persistent_data;
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}
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schedulerInstance.hal_initialized();
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g_callbacks->setup();
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#if HAL_ENABLE_SAVE_PERSISTENT_PARAMS
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utilInstance.apply_persistent_params();
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#endif
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#ifdef HAL_FLASH_PROTECTION
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if (AP_BoardConfig::unlock_flash()) {
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stm32_flash_unprotect_flash();
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} else {
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stm32_flash_protect_flash(false, AP_BoardConfig::protect_flash());
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stm32_flash_protect_flash(true, AP_BoardConfig::protect_bootloader());
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}
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#endif
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#if !defined(DISABLE_WATCHDOG)
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#ifdef IOMCU_FW
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stm32_watchdog_init();
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#elif !defined(HAL_BOOTLOADER_BUILD)
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// setup watchdog to reset if main loop stops
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if (AP_BoardConfig::watchdog_enabled()) {
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stm32_watchdog_init();
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}
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if (hal.util->was_watchdog_reset()) {
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INTERNAL_ERROR(AP_InternalError::error_t::watchdog_reset);
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}
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#endif // IOMCU_FW
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#endif // DISABLE_WATCHDOG
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schedulerInstance.watchdog_pat();
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hal.scheduler->set_system_initialized();
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thread_running = true;
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chRegSetThreadName(SKETCHNAME);
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/*
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switch to high priority for main loop
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*/
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chThdSetPriority(APM_MAIN_PRIORITY);
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while (true) {
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g_callbacks->loop();
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/*
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give up 50 microseconds of time if the INS loop hasn't
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called delay_microseconds_boost(), to ensure low priority
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drivers get a chance to run. Calling
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delay_microseconds_boost() means we have already given up
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time from the main loop, so we don't need to do it again
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here
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*/
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#if !defined(HAL_DISABLE_LOOP_DELAY) && !APM_BUILD_TYPE(APM_BUILD_Replay)
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if (!schedulerInstance.check_called_boost()) {
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hal.scheduler->delay_microseconds(50);
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}
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#endif
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schedulerInstance.watchdog_pat();
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}
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thread_running = false;
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}
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void HAL_ChibiOS::run(int argc, char * const argv[], Callbacks* callbacks) const
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{
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/*
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* System initializations.
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* - ChibiOS HAL initialization, this also initializes the configured device drivers
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* and performs the board-specific initializations.
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* - Kernel initialization, the main() function becomes a thread and the
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* RTOS is active.
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*/
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#if HAL_USE_SERIAL_USB == TRUE
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usb_initialise();
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#endif
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#ifdef HAL_STDOUT_SERIAL
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//STDOUT Initialisation
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SerialConfig stdoutcfg =
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{
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HAL_STDOUT_BAUDRATE,
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0,
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USART_CR2_STOP1_BITS,
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0
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};
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sdStart((SerialDriver*)&HAL_STDOUT_SERIAL, &stdoutcfg);
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#endif
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g_callbacks = callbacks;
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//Takeover main
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main_loop();
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}
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const AP_HAL::HAL& AP_HAL::get_HAL() {
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static const HAL_ChibiOS hal_chibios;
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return hal_chibios;
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}
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#endif
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