mirror of https://github.com/ArduPilot/ardupilot
181 lines
6.9 KiB
C
181 lines
6.9 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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* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include "hal.h"
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#if HAL_USE_PAL || defined(__DOXYGEN__)
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/**
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* @brief PAL setup.
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* @details Digital I/O ports static configuration as defined in @p board.h.
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* This variable is used by the HAL when initializing the PAL driver.
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*/
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const PALConfig pal_default_config = {
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{VAL_GPIOA_MODER, VAL_GPIOA_OTYPER, VAL_GPIOA_OSPEEDR, VAL_GPIOA_PUPDR, VAL_GPIOA_ODR, VAL_GPIOA_AFRL, VAL_GPIOA_AFRH},
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{VAL_GPIOB_MODER, VAL_GPIOB_OTYPER, VAL_GPIOB_OSPEEDR, VAL_GPIOB_PUPDR, VAL_GPIOB_ODR, VAL_GPIOB_AFRL, VAL_GPIOB_AFRH},
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{VAL_GPIOC_MODER, VAL_GPIOC_OTYPER, VAL_GPIOC_OSPEEDR, VAL_GPIOC_PUPDR, VAL_GPIOC_ODR, VAL_GPIOC_AFRL, VAL_GPIOC_AFRH},
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{VAL_GPIOD_MODER, VAL_GPIOD_OTYPER, VAL_GPIOD_OSPEEDR, VAL_GPIOD_PUPDR, VAL_GPIOD_ODR, VAL_GPIOD_AFRL, VAL_GPIOD_AFRH},
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{VAL_GPIOE_MODER, VAL_GPIOE_OTYPER, VAL_GPIOE_OSPEEDR, VAL_GPIOE_PUPDR, VAL_GPIOE_ODR, VAL_GPIOE_AFRL, VAL_GPIOE_AFRH},
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{VAL_GPIOF_MODER, VAL_GPIOF_OTYPER, VAL_GPIOF_OSPEEDR, VAL_GPIOF_PUPDR, VAL_GPIOF_ODR, VAL_GPIOF_AFRL, VAL_GPIOF_AFRH},
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{VAL_GPIOG_MODER, VAL_GPIOG_OTYPER, VAL_GPIOG_OSPEEDR, VAL_GPIOG_PUPDR, VAL_GPIOG_ODR, VAL_GPIOG_AFRL, VAL_GPIOG_AFRH},
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{VAL_GPIOH_MODER, VAL_GPIOH_OTYPER, VAL_GPIOH_OSPEEDR, VAL_GPIOH_PUPDR, VAL_GPIOH_ODR, VAL_GPIOH_AFRL, VAL_GPIOH_AFRH},
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{VAL_GPIOI_MODER, VAL_GPIOI_OTYPER, VAL_GPIOI_OSPEEDR, VAL_GPIOI_PUPDR, VAL_GPIOI_ODR, VAL_GPIOI_AFRL, VAL_GPIOI_AFRH}
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};
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#endif
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/**
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* @brief Early initialization code.
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* @details This initialization must be performed just after stack setup
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* and before any other initialization.
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*/
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void __early_init(void) {
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stm32_clock_init();
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}
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void __late_init(void) {
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halInit();
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chSysInit();
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#ifdef HAL_USB_PRODUCT_ID
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setup_usb_strings();
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#endif
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}
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#if HAL_USE_SDC || defined(__DOXYGEN__)
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/**
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* @brief SDC card detection.
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*/
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bool sdc_lld_is_card_inserted(SDCDriver *sdcp) {
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static bool last_status = false;
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if (blkIsTransferring(sdcp))
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return last_status;
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return last_status = (bool)palReadPad(GPIOC, 11);
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}
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/**
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* @brief SDC card write protection detection.
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*/
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bool sdc_lld_is_write_protected(SDCDriver *sdcp) {
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(void)sdcp;
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return false;
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}
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#endif /* HAL_USE_SDC */
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#if HAL_USE_MMC_SPI || defined(__DOXYGEN__)
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/**
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* @brief MMC_SPI card detection.
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*/
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bool mmc_lld_is_card_inserted(MMCDriver *mmcp) {
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(void)mmcp;
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/* TODO: Fill the implementation.*/
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return true;
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}
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/**
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* @brief MMC_SPI card write protection detection.
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*/
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bool mmc_lld_is_write_protected(MMCDriver *mmcp) {
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(void)mmcp;
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/* TODO: Fill the implementation.*/
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return false;
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}
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#endif
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/**
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* @brief Board-specific initialization code.
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* @todo Add your board-specific code, if any.
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*/
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void boardInit(void) {
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//Setup ADC pins for Voltage and Current Sensing
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palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG); //Pin PA2
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palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG); //Pin PA3
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palSetPadMode(GPIOA, 4, PAL_MODE_INPUT_ANALOG); //Pin PA4
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palSetPadMode(GPIOE, 12, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_OSPEED_MID2);
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palClearPad(GPIOE, 12);
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/* External interrupts */
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// GPIO_GYRO_DRDY
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palSetPadMode(GPIOB, 0, PAL_STM32_MODE_INPUT | PAL_STM32_PUPDR_FLOATING);
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// GPIO_MAG_DRDY
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palSetPadMode(GPIOB, 1, PAL_STM32_MODE_INPUT | PAL_STM32_PUPDR_FLOATING);
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// GPIO_ACCEL_DRDY
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palSetPadMode(GPIOB, 4, PAL_STM32_MODE_INPUT | PAL_STM32_PUPDR_FLOATING);
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// GPIOI_MPU_DRDY
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palSetPadMode(GPIOD, 15, PAL_STM32_MODE_INPUT | PAL_STM32_PUPDR_FLOATING);
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/* SPI chip selects */
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// // SPIDEV_CS_MS5611
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//(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)
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palSetPadMode(GPIOD, 7, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_LOWEST);
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palSetPad(GPIOD, 7);
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// GPIO_SPI_CS_FRAM
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//(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
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palSetPadMode(GPIOD, 10, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_LOWEST);
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palSetPad(GPIOD, 10);
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// SPIDEV_CS_MPU
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//(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
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palSetPadMode(GPIOC, 2, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_LOWEST);
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palSetPad(GPIOC, 2);
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// SPIDEV_CS_EXT_MPU
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//(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
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palSetPadMode(GPIOE, 4, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_LOWEST);
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palSetPad(GPIOE, 4);
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// SPIDEV_CS_EXT_MS5611
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//(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN14)
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palSetPadMode(GPIOC, 14, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_LOWEST);
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palSetPad(GPIOC, 14);
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// SPIDEV_CS_EXT_LSM9DS0_AM
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//(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN15)
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palSetPadMode(GPIOC, 15, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_LOWEST);
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palSetPad(GPIOC, 15);
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// SPIDEV_CS_EXT_LSM9DS0_G
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//(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
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palSetPadMode(GPIOC, 13, PAL_STM32_MODE_OUTPUT | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_LOWEST);
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palSetPad(GPIOC, 13);
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//PWM O/P Setup
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// GPIO_TIM1_CH1OUT
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// (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN9)
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palSetPadMode(GPIOE, 9, PAL_STM32_MODE_ALTERNATE | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_MID2 | PAL_STM32_ALTERNATE(1));
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palClearPad(GPIOE, 9);
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// GPIO_TIM1_CH2OUT
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// (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN11)
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palSetPadMode(GPIOE, 11, PAL_STM32_MODE_ALTERNATE | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_MID2 | PAL_STM32_ALTERNATE(1));
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palClearPad(GPIOE, 11);
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// GPIO_TIM1_CH3OUT
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// (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN13)
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palSetPadMode(GPIOE, 13, PAL_STM32_MODE_ALTERNATE | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_MID2 | PAL_STM32_ALTERNATE(1));
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palClearPad(GPIOE, 13);
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// GPIO_TIM1_CH4OUT
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// (GPIO_ALT|GPIO_AF1|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PUSHPULL|GPIO_PORTE|GPIO_PIN14)
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palSetPadMode(GPIOE, 14, PAL_STM32_MODE_ALTERNATE | PAL_STM32_OTYPE_PUSHPULL | PAL_STM32_OSPEED_MID2 | PAL_STM32_ALTERNATE(1));
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palClearPad(GPIOE, 14);
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//call extra board specific initialisation method
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HAL_BOARD_INIT_HOOK_CALL
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}
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