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Additions to note; PIOS_SPI, DosFS and PIOS_SDCARD. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@136 ebee16cc-31ac-478f-84a7-5cbb03baadba
116 lines
3.7 KiB
C
116 lines
3.7 KiB
C
/**
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******************************************************************************
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*
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* @file pios_sys.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2009.
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* @brief Sets up basic system hardware, functions are called from Main.
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* @see The GNU Public License (GPL) Version 3
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* @defgroup PIOS_SYS System Functions
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* @{
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the 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 program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* 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, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/* Project Includes */
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#include "pios.h"
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/* Private Function Prototypes */
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void NVIC_Configuration(void);
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void SysTick_Handler(void);
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/**
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* Initializes all system peripherals
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*/
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void PIOS_SYS_Init(void)
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{
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/* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
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SystemInit();
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/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC
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| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE);
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/* Activate pull-ups on all pins by default */
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
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GPIO_InitStructure.GPIO_Pin = 0xffff & ~GPIO_Pin_11 & ~GPIO_Pin_12; /* Exclude USB pins */
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GPIO_Init(GPIOA, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = 0xffff;
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GPIO_Init(GPIOB, &GPIO_InitStructure);
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GPIO_Init(GPIOD, &GPIO_InitStructure);
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/* Ensure that pull-down is active on USB detach pin */
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GPIO_InitStructure.GPIO_Pin = 0xffff & ~USB_PULLUP_PIN;
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Pin = USB_PULLUP_PIN;
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD;
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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GPIO_Init(GPIOC, &GPIO_InitStructure);
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/* Initialize Basic NVIC */
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NVIC_Configuration();
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/* Initialize LEDs */
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PIOS_LED_Init();
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}
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/**
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* Configures Vector Table base location and SysTick
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*/
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void NVIC_Configuration(void)
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{
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/* Set the Vector Table base address as specified in .ld file */
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NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x0);
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/* 4 bits for Interupt priorities so no sub priorities */
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
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/* Configure HCLK clock as SysTick clock source. */
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SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);
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}
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#ifdef USE_FULL_ASSERT
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/**
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* Reports the name of the source file and the source line number
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* where the assert_param error has occurred.
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* \param[in] file pointer to the source file name
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* \param[in] line assert_param error line source number
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* \retval None
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*/
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void assert_failed(uint8_t* file, uint32_t line)
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{
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/* When serial debugging is implemented, use something like this. */
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/* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */
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/* Setup the LEDs to Alternate */
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PIOS_LED_On(LED1);
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PIOS_LED_Off(LED2);
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/* Infinite loop */
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while (1)
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{
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PIOS_LED_Toggle(LED1);
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PIOS_LED_Toggle(LED2);
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for(int i = 0; i < 1000000; i++);
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}
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}
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#endif
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