mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-24 07:03:34 +08:00
boards: add new mRo Control Zero Classic
This commit is contained in:
achim
@@ -0,0 +1,216 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* board-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
* subsystems and perform board-specific initialisation.
|
||||
*/
|
||||
|
||||
#include "board_config.h"
|
||||
|
||||
#include <syslog.h>
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/board.h>
|
||||
#include <nuttx/sdio.h>
|
||||
#include <nuttx/mmcsd.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform/board_dma_alloc.h>
|
||||
|
||||
#include <mpu.h>
|
||||
|
||||
__BEGIN_DECLS
|
||||
extern void led_init(void);
|
||||
extern void led_on(int led);
|
||||
extern void led_off(int led);
|
||||
__END_DECLS
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
* Description:
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_peripheral_reset(int ms)
|
||||
{
|
||||
bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
|
||||
/* Keep Spektum on to discharge rail*/
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(false);
|
||||
|
||||
/* wait for the peripheral rail to reach GND */
|
||||
usleep(ms * 1000);
|
||||
syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
|
||||
|
||||
/* re-enable power */
|
||||
|
||||
/* switch the peripheral rail back on */
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(last);
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_on_reset
|
||||
*
|
||||
* Description:
|
||||
* Optionally provided function called on entry to board_system_reset
|
||||
* It should perform any house keeping prior to the rest.
|
||||
*
|
||||
* status - 1 if resetting to boot loader
|
||||
* 0 if just resetting
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void board_on_reset(int status)
|
||||
{
|
||||
for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
|
||||
px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
|
||||
}
|
||||
|
||||
if (status >= 0) {
|
||||
up_mdelay(6);
|
||||
}
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_boardinitialize
|
||||
*
|
||||
* Description:
|
||||
* All STM32 architectures must provide the following entry point. This entry point
|
||||
* is called early in the initialization -- after all memory has been configured
|
||||
* and mapped but before any devices have been initialized.
|
||||
*
|
||||
************************************************************************************/
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
// clear all existing MPU configuration from bootloader
|
||||
for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
|
||||
putreg32(region, MPU_RNR);
|
||||
putreg32(0, MPU_RBAR);
|
||||
putreg32(0, MPU_RASR);
|
||||
|
||||
// save
|
||||
putreg32(0, MPU_CTRL);
|
||||
}
|
||||
|
||||
/* Reset PWM first thing */
|
||||
board_on_reset(-1);
|
||||
|
||||
/* configure pins */
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
board_control_spi_sensors_power_configgpio();
|
||||
|
||||
/* configure LEDs */
|
||||
board_autoled_initialize();
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: board_app_initialize
|
||||
*
|
||||
* Description:
|
||||
* Perform application specific initialization. This function is never
|
||||
* called directly from application code, but only indirectly via the
|
||||
* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
|
||||
*
|
||||
* Input Parameters:
|
||||
* arg - The boardctl() argument is passed to the board_app_initialize()
|
||||
* implementation without modification. The argument has no
|
||||
* meaning to NuttX;
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) is returned on success; a negated errno value is returned on
|
||||
* any failure to indicate the nature of the failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
/* Power on Interfaces */
|
||||
board_control_spi_sensors_power(true, 0xffff);
|
||||
VDD_3V3_SPEKTRUM_POWER_EN(true);
|
||||
|
||||
px4_platform_init();
|
||||
|
||||
stm32_spiinitialize();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
led_off(LED_RED);
|
||||
led_on(LED_GREEN); // Indicate Power.
|
||||
led_off(LED_BLUE);
|
||||
|
||||
if (board_hardfault_init(2, true) != 0) {
|
||||
led_on(LED_RED);
|
||||
}
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
/* Mount the SDIO-based MMC/SD block driver */
|
||||
/* First, get an instance of the SDIO interface */
|
||||
struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot
|
||||
|
||||
if (!sdio_dev) {
|
||||
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
|
||||
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Assume that the SD card is inserted. What choice do we have? */
|
||||
sdio_mediachange(sdio_dev, true);
|
||||
#endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the HW based on the manifest */
|
||||
|
||||
px4_platform_configure();
|
||||
|
||||
return OK;
|
||||
}
|
||||
Reference in New Issue
Block a user