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98 lines
3.6 KiB
98 lines
3.6 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file px4io_init.c |
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* |
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* PX4IO-specific early startup code. This file implements the |
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* nsh_archinitialize() function that is called early by nsh during startup. |
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* |
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* Code here is run before the rcS script is invoked; it should start required |
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* subsystems and perform board-specific initialisation. |
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*/ |
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/**************************************************************************** |
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* Included Files |
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****************************************************************************/ |
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#include <nuttx/config.h> |
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#include <stdbool.h> |
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#include <stdio.h> |
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#include <debug.h> |
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#include <errno.h> |
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#include <nuttx/arch.h> |
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#include "stm32_internal.h" |
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#include "px4io_internal.h" |
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#include "stm32_uart.h" |
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#include <arch/board/board.h> |
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#include <drivers/drv_hrt.h> |
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#include <drivers/drv_led.h> |
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#include <drivers/drv_pwm_output.h> |
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/**************************************************************************** |
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* Public Functions |
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****************************************************************************/ |
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/************************************************************************************ |
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* Name: stm32_boardinitialize |
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* |
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* Description: |
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* All STM32 architectures must provide the following entry point. This entry point |
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* is called early in the intitialization -- after all memory has been configured |
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* and mapped but before any devices have been initialized. |
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* |
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************************************************************************************/ |
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__EXPORT void stm32_boardinitialize(void) |
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{ |
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/* configure GPIOs */ |
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stm32_configgpio(GPIO_ACC1_PWR_EN); |
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stm32_configgpio(GPIO_ACC2_PWR_EN); |
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stm32_configgpio(GPIO_SERVO_PWR_EN); |
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stm32_configgpio(GPIO_RELAY1_EN); |
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stm32_configgpio(GPIO_RELAY2_EN); |
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stm32_configgpio(GPIO_LED1); |
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stm32_configgpio(GPIO_LED2); |
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stm32_configgpio(GPIO_LED3); |
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stm32_configgpio(GPIO_ACC_OC_DETECT); |
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stm32_configgpio(GPIO_SERVO_OC_DETECT); |
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stm32_configgpio(GPIO_BTN_SAFETY); |
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stm32_configgpio(GPIO_ADC_VBATT); |
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stm32_configgpio(GPIO_ADC_IN5); |
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}
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