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UVify Core board support and airframes (Draco, Draco-R, IFO) (#12337)
* also includes minor changes to make it easy to keep in sync with px4_fmu-v4
This commit is contained in:
Hyon Lim
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/****************************************************************************
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*
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* Copyright (c) 2019 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 init.c
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*
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* UVify Core specific early startup code. This file implements the
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* board_app_initialize() 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 initialization.
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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_config.h>
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#include <px4_tasks.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <string.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sdio.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/mm/gran.h>
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#include <stm32.h>
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#include "board_config.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_board_led.h>
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#include <systemlib/px4_macros.h>
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#include <px4_init.h>
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#include <drivers/boards/common/board_dma_alloc.h>
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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/**
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* Ideally we'd be able to get these from up_internal.h,
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* but since we want to be able to disable the NuttX use
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* of leds for system indication at will and there is no
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* separate switch, we need to build independent of the
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* CONFIG_ARCH_LEDS configuration switch.
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*/
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__BEGIN_DECLS
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extern void led_init(void);
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extern void led_on(int led);
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extern void led_off(int led);
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__END_DECLS
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/************************************************************************************
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* Name: board_peripheral_reset
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*
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* Description:
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*
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************************************************************************************/
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__EXPORT void board_peripheral_reset(int ms)
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{
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// Set the peripheral rails off.
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stm32_configgpio(GPIO_PERIPH_3V3_EN);
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stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 0);
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bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
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// Keep Spektum on to discharge rail.
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stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
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// Wait for the peripheral rail to reach GND.
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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// Re-enable power.
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// Switch the peripheral rail back on.
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stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
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stm32_gpiowrite(GPIO_PERIPH_3V3_EN, 1);
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}
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/************************************************************************************
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* Name: board_on_reset
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*
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* Description:
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* Optionally provided function called on entry to board_system_reset
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* It should perform any house keeping prior to the rest.
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*
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* status - 1 if resetting to boot loader
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* 0 if just resetting
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*
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************************************************************************************/
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__EXPORT void board_on_reset(int status)
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{
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// Configure the GPIO pins to outputs and keep them low.
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stm32_configgpio(GPIO_GPIO0_OUTPUT);
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stm32_configgpio(GPIO_GPIO1_OUTPUT);
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stm32_configgpio(GPIO_GPIO2_OUTPUT);
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stm32_configgpio(GPIO_GPIO3_OUTPUT);
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stm32_configgpio(GPIO_GPIO4_OUTPUT);
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stm32_configgpio(GPIO_GPIO5_OUTPUT);
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/**
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* On resets invoked from system (not boot) insure we establish a low
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* output state (discharge the pins) on PWM pins before they become inputs.
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*/
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if (status >= 0) {
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up_mdelay(400);
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}
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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 initialization -- 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
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stm32_boardinitialize(void)
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{
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// Reset all PWM to Low outputs.
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board_on_reset(-1);
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// Configure LEDs.
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board_autoled_initialize();
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// Configure ADC pins.
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stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
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stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
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stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
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stm32_configgpio(GPIO_ADC1_IN11); /* RSSI analog in */
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// Configure CAN interface
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stm32_configgpio(GPIO_CAN1_RX);
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stm32_configgpio(GPIO_CAN1_TX);
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// Configure power supply control/sense pins.
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stm32_configgpio(GPIO_PERIPH_3V3_EN);
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stm32_configgpio(GPIO_VDD_BRICK_VALID);
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stm32_configgpio(GPIO_VDD_USB_VALID);
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/**
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* Start with Sensor voltage off We will enable it
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* in board_app_initialize.
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*/
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stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
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stm32_configgpio(GPIO_SBUS_INV);
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stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
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stm32_configgpio(GPIO_PB4);
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stm32_configgpio(GPIO_PE2);
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// Safety - led on in led driver.
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stm32_configgpio(GPIO_BTN_SAFETY);
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stm32_configgpio(GPIO_PPM_IN);
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int spi_init_mask = SPI_BUS_INIT_MASK;
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#if defined(CONFIG_STM32_SPI4)
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/* We have SPI4 is GPIO_PB4 pin 3 Low */
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if (stm32_gpioread(GPIO_PB4) == 0) {
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spi_init_mask |= SPI_BUS_INIT_MASK_EXT;
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} else {
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#endif /* CONFIG_STM32_SPI4 */
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stm32_configgpio(GPIO_PE5);
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stm32_configgpio(GPIO_PE6);
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#if defined(CONFIG_STM32_SPI4)
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}
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#endif /* CONFIG_STM32_SPI4 */
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// Configure SPI all interfaces GPIO.
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stm32_spiinitialize(spi_init_mask);
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// Configure heater GPIO.
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stm32_configgpio(GPIO_HEATER_INPUT);
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stm32_configgpio(GPIO_HEATER_OUTPUT);
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}
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/****************************************************************************
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* Name: board_app_initialize
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*
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* Description:
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* Perform application specific initialization. This function is never
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* called directly from application code, but only indirectly via the
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
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*
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* Input Parameters:
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* arg - The boardctl() argument is passed to the board_app_initialize()
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* implementation without modification. The argument has no
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* meaning to NuttX; the meaning of the argument is a contract
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* between the board-specific initalization logic and the the
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* matching application logic. The value cold be such things as a
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* mode enumeration value, a set of DIP switch switch settings, a
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* pointer to configuration data read from a file or serial FLASH,
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* or whatever you would like to do with it. Every implementation
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* should accept zero/NULL as a default configuration.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure to indicate the nature of the failure.
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*
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****************************************************************************/
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static struct spi_dev_s *spi1;
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static struct spi_dev_s *spi2;
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static struct sdio_dev_s *sdio;
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#if defined(CONFIG_STM32_SPI4)
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static struct spi_dev_s *spi4;
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#endif
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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px4_platform_init();
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// Configure the DMA allocator.
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if (board_dma_alloc_init() < 0) {
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syslog(LOG_ERR, "DMA alloc FAILED\n");
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}
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// Set up the serial DMA polling.
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static struct hrt_call serial_dma_call;
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struct timespec ts;
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/**
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* Poll at 1ms intervals for received bytes that have not triggered
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* a DMA event.
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*/
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ts.tv_sec = 0;
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ts.tv_nsec = 1000000;
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hrt_call_every(&serial_dma_call,
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ts_to_abstime(&ts),
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ts_to_abstime(&ts),
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(hrt_callout)stm32_serial_dma_poll,
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NULL);
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// Initial LED state.
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drv_led_start();
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led_off(LED_RED);
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led_off(LED_GREEN);
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led_off(LED_BLUE);
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if (board_hardfault_init(2, true) != 0) {
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led_on(LED_RED);
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}
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// Power up the sensors.
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
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// Power down the heater.
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stm32_gpiowrite(GPIO_HEATER_OUTPUT, 0);
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// Configure SPI-based devices.
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spi1 = stm32_spibus_initialize(1);
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if (!spi1) {
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syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
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led_on(LED_RED);
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return -ENODEV;
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}
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// Default SPI1 to 1MHz and de-assert the known chip selects.
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SPI_SETFREQUENCY(spi1, 10000000);
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SPI_SETBITS(spi1, 8);
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SPI_SETMODE(spi1, SPIDEV_MODE3);
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SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
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SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
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SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
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up_udelay(20);
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// Get the SPI port for the FRAM.
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spi2 = stm32_spibus_initialize(2);
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if (!spi2) {
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syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
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led_on(LED_RED);
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return -ENODEV;
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}
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/**
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* Default SPI2 to 12MHz and de-assert the known chip selects.
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* MS5611 has max SPI clock speed of 20MHz.
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*/
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// XXX start with 10.4 MHz and go up to 20 once validated.
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SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
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SPI_SETBITS(spi2, 8);
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SPI_SETMODE(spi2, SPIDEV_MODE3);
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SPI_SELECT(spi2, SPIDEV_FLASH(0), false);
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SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);
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#if defined(CONFIG_STM32_SPI4)
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if (stm32_gpioread(GPIO_PB4) == 0) {
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syslog(LOG_INFO, "[boot] GPIO_PB4 - Low Initialize SPI port 4 \n");
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// Configure SPI-based devices.
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spi4 = stm32_spibus_initialize(4);
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if (!spi4) {
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syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
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} else {
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// Default SPI4 to 20 MHz and de-assert the known chip selects.
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SPI_SETFREQUENCY(spi4, 20 * 1000 * 1000);
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SPI_SETBITS(spi4, 8);
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SPI_SETMODE(spi4, SPIDEV_MODE3);
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SPI_SELECT(spi4, PX4_SPIDEV_EXTERNAL, false);
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}
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}
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#endif /* defined(CONFIG_STM32_SPI4) */
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#ifdef CONFIG_MMCSD
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// First, get an instance of the SDIO interface.
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sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
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if (!sdio) {
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led_on(LED_RED);
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syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
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CONFIG_NSH_MMCSDSLOTNO);
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return -ENODEV;
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}
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// Now bind the SDIO interface to the MMC/SD driver.
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int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
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if (ret != OK) {
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led_on(LED_RED);
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syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
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return ret;
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}
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// Then let's guess and say that there is a card in the slot. There is no card detect GPIO.
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sdio_mediachange(sdio, true);
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#endif
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return OK;
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}
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