board.cpp

00001 /*
00002  * Copyright (C) 2015 Pavel Kirienko <pavel.kirienko@gmail.com>
00003  */
00004 
00005 #include "board.hpp"
00006 #include <cstring>
00007 #include <unistd.h>
00008 #include <ch.h>
00009 #include <ch.hpp>
00010 #include <hal.h>
00011 #include <zubax_chibios/sys/sys.h>
00012 
00013 /**
00014  * GPIO config for ChibiOS PAL driver
00015  */
00016 const PALConfig pal_default_config =
00017 {
00018     { VAL_GPIOAODR, VAL_GPIOACRL, VAL_GPIOACRH },
00019     { VAL_GPIOBODR, VAL_GPIOBCRL, VAL_GPIOBCRH },
00020     { VAL_GPIOCODR, VAL_GPIOCCRL, VAL_GPIOCCRH },
00021     { VAL_GPIODODR, VAL_GPIODCRL, VAL_GPIODCRH },
00022     { VAL_GPIOEODR, VAL_GPIOECRL, VAL_GPIOECRH }
00023 };
00024 
00025 namespace board
00026 {
00027 
00028 void init()
00029 {
00030     halInit();
00031 
00032     chibios_rt::System::init();
00033 
00034     sdStart(&STDOUT_SD, nullptr);
00035 }
00036 
00037 __attribute__((noreturn))
00038 void die(int error)
00039 {
00040     lowsyslog("Fatal error %i\n", error);
00041     while (1)
00042     {
00043         setLed(false);
00044         ::sleep(1);
00045         setLed(true);
00046         ::sleep(1);
00047     }
00048 }
00049 
00050 void setLed(bool state)
00051 {
00052     palWritePad(GPIO_PORT_LED, GPIO_PIN_LED, state);
00053 }
00054 
00055 void restart()
00056 {
00057     NVIC_SystemReset();
00058 }
00059 
00060 void readUniqueID(std::uint8_t bytes[UniqueIDSize])
00061 {
00062     std::memcpy(bytes, reinterpret_cast<const void*>(0x1FFFF7E8), UniqueIDSize);
00063 }
00064 
00065 }
00066 
00067 /*
00068  * Early init from ChibiOS
00069  */
00070 extern "C"
00071 {
00072 
00073 void __early_init(void)
00074 {
00075     stm32_clock_init();
00076 }
00077 
00078 void boardInit(void)
00079 {
00080     AFIO->MAPR |=
00081         AFIO_MAPR_CAN_REMAP_REMAP3 |
00082         AFIO_MAPR_CAN2_REMAP       |
00083         AFIO_MAPR_USART2_REMAP;
00084 
00085     /*
00086      * Enabling the CAN controllers, then configuring GPIO functions for CAN_TX.
00087      * Order matters, otherwise the CAN_TX pins will twitch, disturbing the CAN bus.
00088      * This is why we can't perform this initialization using ChibiOS GPIO configuration.
00089      */
00090     RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
00091     palSetPadMode(GPIOD, 1, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
00092 
00093 #if UAVCAN_STM32_NUM_IFACES > 1
00094     RCC->APB1ENR |= RCC_APB1ENR_CAN2EN;
00095     palSetPadMode(GPIOB, 6, PAL_MODE_STM32_ALTERNATE_PUSHPULL);
00096 #endif
00097 }
00098 
00099 }