LibrePilot/flight/pios/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 /* ifdef USE_FULL_ASSERT */

#endif /* if defined(PIOS_INCLUDE_SYS) */