chibi_main.c

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/*
 * 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, see <http://www.gnu.org/licenses/>
 */


/* OpenPilot Includes */
#include "openpilot.h"

#include "misc_math.h"

#include "pios_config.h"
#include "pios_hal.h"
#include "uavobjectsinit.h"
#include "systemmod.h"
#include "pios_thread.h"

/* Function Prototypes */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
static void initTask(void);

void __early_init(void) {

  stm32_clock_init();
}

void boardInit(void) {
}

int main()
{
        /* NOTE: Do NOT modify the following start-up sequence */
        PIOS_heap_initialize_blocks();

        halInit();
        chSysInit();    /* Enables interrupts */

        boardInit();

        /* Brings up System using CMSIS functions, enables the LEDs. */
        PIOS_SYS_Init();
        
        initTask();

        while(1)
                PIOS_Thread_Sleep(PIOS_THREAD_TIMEOUT_MAX);

        return 0;
}

#if defined(STM32F4XX)

#include <stm32f4xx_flash.h>
void check_bor()
{
        uint8_t bor = FLASH_OB_GetBOR();

        if (bor != OB_BOR_LEVEL3) {
                FLASH_OB_Unlock();
                FLASH_OB_BORConfig(OB_BOR_LEVEL3);
                FLASH_OB_Launch();
                while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
                        ;
                }
                FLASH_OB_Lock();
                while (FLASH_WaitForLastOperation() == FLASH_BUSY) {
                        ;
                }
        }
}

#else
void check_bor()
{
}
#endif

void system_task();

void initTask(void)
{
        /* Ensure BOR is programmed sane */
        check_bor();

        /* Init delay system */
        PIOS_DELAY_Init();

        /* Initialize the task monitor library */
        TaskMonitorInitialize();

        /* Initialize UAVObject libraries */
        UAVObjInitialize();

#ifndef PIPXTREME
        /* Initialize the alarms library. Reads RCC reset flags */
        AlarmsInitialize();
#endif

        uint8_t serial[PIOS_SYS_SERIAL_NUM_BINARY_LEN];
        PIOS_SYS_SerialNumberGetBinary(serial);

        for (int i = 0; i < PIOS_SYS_SERIAL_NUM_BINARY_LEN; i += 4) {
                /* TODO: consider mixing in HRNG on F4 */
                randomize_addseed(
                                (serial[i]) |
                                (serial[i+1] << 8) |
                                (serial[i+2] << 16) |
                                (serial[i+3] << 24));
        }

        PIOS_HAL_InitUAVTalkReceiver();

        /* board driver init */
        PIOS_Board_Init();

        /* Initialize modules */
        MODULE_INITIALISE_ALL(PIOS_WDG_Clear);

        /* create all modules thread */
        MODULE_TASKCREATE_ALL;

        /* Explicitly invoke system task, in this thread stack. */
        system_task();
}