LibrePilot/flight/PiOS.posix/posix/pios_sys.c

/**
 ******************************************************************************
 *
 * @file       pios_sys.c  
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * 	        Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
 * @brief      Sets up basic system hardware, functions are called from Main.
 * @see        The GNU Public License (GPL) Version 3
 * @defgroup   PIOS_SYS System Functions
 * @{
 *
 *****************************************************************************/
/* 
 * This program 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 program 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, write to the Free Software Foundation, Inc., 
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */


/* Project Includes */
#include "pios.h"

#if defined(PIOS_INCLUDE_SYS)


/* Private Function Prototypes */
void NVIC_Configuration(void);
void SysTick_Handler(void);

/* Local Macros */
#define MEM8(addr)  (*((volatile uint8_t  *)(addr)))

/**
* Initialises all system peripherals
*/
void PIOS_SYS_Init(void)
{

	/**
	 * stub
	 */
	printf("PIOS_SYS_Init\n");

	/* Initialise Basic NVIC */
	NVIC_Configuration();

#if defined(PIOS_INCLUDE_LED)
	/* Initialise LEDs */
	PIOS_LED_Init();
#endif
}

/**
* Shutdown PIOS and reset the microcontroller:<BR>
* <UL>
*   <LI>Disable all RTOS tasks
*   <LI>Disable all interrupts
*   <LI>Turn off all board LEDs
*   <LI>Reset STM32
* </UL>
* \return < 0 if reset failed
*/
int32_t PIOS_SYS_Reset(void)
{
	/**
	 * stub
	 */
	printf("PIOS_SYS_Reset\n");
	/* Disable all RTOS tasks */
#if defined(PIOS_INCLUDE_FREERTOS)
	/* port specific FreeRTOS function to disable tasks (nested) */
	portENTER_CRITICAL();
#endif

	// disable all interrupts
	//PIOS_IRQ_Disable();

	// turn off all board LEDs
	#if (PIOS_LED_NUM == 1)
	PIOS_LED_Off(LED1);
	#elif (PIOS_LED_NUM == 2)
	PIOS_LED_Off(LED1);
	PIOS_LED_Off(LED2);
	#endif



	/* Reset STM32 */
	//RCC_APB2PeriphResetCmd(0xfffffff8, ENABLE); /* MBHP_CORE_STM32: don't reset GPIOA/AF due to USB pins */
	//RCC_APB1PeriphResetCmd(0xff7fffff, ENABLE); /* don't reset USB, so that the connection can survive! */

	//RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
	//RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
	//SCB->AIRCR = NVIC_AIRCR_VECTKEY | (1 << NVIC_VECTRESET);
	exit(1);

	while(1);

	/* We will never reach this point */
	return -1;
}

/**
* Returns the serial number as a string
* param[out] uint8_t pointer to a string which can store at least 12 bytes
* (12 bytes returned for STM32)
* return < 0 if feature not supported
*/
int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
{
	/* Stored in the so called "electronic signature" */
	for (int i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; ++i) {
		array[i] = 0xff;
	}

	/* No error */
	return 0;
}

/**
* Returns the serial number as a string
* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
* (24 digits returned for STM32)
* return < 0 if feature not supported
*/
int32_t PIOS_SYS_SerialNumberGet(char *str)
{
	/* Stored in the so called "electronic signature" */
	int i;
	for (i = 0; i < PIOS_SYS_SERIAL_NUM_ASCII_LEN; ++i) {
		str[i] = 'F';
	}
	str[i] = '\0';

	/* No error */
	return 0;
}

/**
* Configures Vector Table base location and SysTick
*/
void NVIC_Configuration(void)
{
	/**
	 * stub
	 */
	printf("NVIC_Configuration\n");
	/* Set the Vector Table base address as specified in .ld file */
	//NVIC_SetVectorTable(PIOS_NVIC_VECTTAB_FLASH, 0x0);

	/* 4 bits for Interrupt priorities so no sub priorities */
	//NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

	/* Configure HCLK clock as SysTick clock source. */
	//SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
}

#ifdef USE_FULL_ASSERT
/**
* Reports the name of the source file and the source line number
*   where the assert_param error has occurred.
* \param[in]  file pointer to the source file name
* \param[in]  line assert_param error line source number
* \retval None
*/
void assert_failed(uint8_t* file, uint32_t line)
{
	/* When serial debugging is implemented, use something like this. */
	/* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
	printf("Wrong parameters value: file %s on line %d\r\n", file, line);

	/* Setup the LEDs to Alternate */
	PIOS_LED_On(LED1);
	PIOS_LED_Off(LED2);

	/* Infinite loop */
	while (1)
	{
		PIOS_LED_Toggle(LED1);
		PIOS_LED_Toggle(LED2);
		for(int i = 0; i < 1000000; i++);
	}
}
#endif

#endif