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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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rename nuttx board support packages for consistecy (#8777)
This commit is contained in:
Daniel Agar
@@ -0,0 +1,470 @@
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/****************************************************************************
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*
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* Copyright (c) 2015, 2016 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 mindpx2_init.c
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*
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* MINDPX-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 "platform/cxxinitialize.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 <systemlib/cpuload.h>
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#include <systemlib/perf_counter.h>
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#include <systemlib/hardfault_log.h>
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#include <systemlib/systemlib.h>
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#include <systemlib/param/param.h>
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/****************************************************************************
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* Pre-Processor Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* Debug ********************************************************************/
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) syslog(__VA_ARGS__)
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# else
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# define message(...) printf(__VA_ARGS__)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message syslog
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# else
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# define message printf
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# endif
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#endif
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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: 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
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stm32_boardinitialize(void)
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{
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/* configure LEDs */
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board_autoled_initialize();
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/* configure ADC pins */
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px4_arch_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
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px4_arch_configgpio(GPIO_ADC1_IN10); /* BATT_CURRENT_SENS */
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px4_arch_configgpio(GPIO_ADC1_IN12); /* BATT_VOLTAGE_SENS */
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px4_arch_configgpio(GPIO_ADC1_IN11); /* RSSI analog in */
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px4_arch_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
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px4_arch_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
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px4_arch_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
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/* configure power supply control/sense pins */
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px4_arch_configgpio(GPIO_SBUS_INV);
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px4_arch_configgpio(GPIO_FRSKY_INV);
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/* configure the GPIO pins to outputs and keep them low */
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px4_arch_configgpio(GPIO_GPIO0_OUTPUT);
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px4_arch_configgpio(GPIO_GPIO1_OUTPUT);
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px4_arch_configgpio(GPIO_GPIO2_OUTPUT);
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px4_arch_configgpio(GPIO_GPIO3_OUTPUT);
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px4_arch_configgpio(GPIO_GPIO4_OUTPUT);
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px4_arch_configgpio(GPIO_GPIO5_OUTPUT);
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px4_arch_configgpio(GPIO_GPIO6_OUTPUT);
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px4_arch_configgpio(GPIO_GPIO7_OUTPUT);
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/* configure SPI interfaces */
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stm32_spiinitialize();
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stm32_configgpio(GPIO_I2C2_SCL);
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stm32_configgpio(GPIO_I2C2_SDA);
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stm32_configgpio(GPIO_I2C1_SCL);
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stm32_configgpio(GPIO_I2C1_SDA);
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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 spi_dev_s *spi4;
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static struct sdio_dev_s *sdio;
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
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# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
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# endif
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#else
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
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#endif
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/* configure the high-resolution time/callout interface */
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hrt_init();
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param_init();
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/* configure the DMA allocator */
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if (board_dma_alloc_init() < 0) {
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message("DMA alloc FAILED");
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}
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/* configure CPU load estimation */
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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cpuload_initialize_once();
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#endif
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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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#if defined(CONFIG_STM32_BBSRAM)
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/* NB. the use of the console requires the hrt running
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* to poll the DMA
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*/
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/* Using Battery Backed Up SRAM */
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int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
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stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
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#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
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/* Panic Logging in Battery Backed Up Files */
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/*
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* In an ideal world, if a fault happens in flight the
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* system save it to BBSRAM will then reboot. Upon
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* rebooting, the system will log the fault to disk, recover
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* the flight state and continue to fly. But if there is
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* a fault on the bench or in the air that prohibit the recovery
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* or committing the log to disk, the things are too broken to
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* fly. So the question is:
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*
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* Did we have a hard fault and not make it far enough
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* through the boot sequence to commit the fault data to
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* the SD card?
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*/
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/* Do we have an uncommitted hard fault in BBSRAM?
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* - this will be reset after a successful commit to SD
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*/
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int hadCrash = hardfault_check_status("boot");
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if (hadCrash == OK) {
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message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
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" while booting to halt the system!\n");
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/* Yes. So add one to the boot count - this will be reset after a successful
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* commit to SD
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*/
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int reboots = hardfault_increment_reboot("boot", false);
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/* Also end the misery for a user that holds for a key down on the console */
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int bytesWaiting;
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ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
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if (reboots > 2 || bytesWaiting != 0) {
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/* Since we can not commit the fault dump to disk. Display it
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* to the console.
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*/
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hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
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message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
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reboots,
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(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
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/* For those of you with a debugger set a break point on up_assert and
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* then set dbgContinue = 1 and go.
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*/
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/* Clear any key press that got us here */
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static volatile bool dbgContinue = false;
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int c = '>';
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while (!dbgContinue) {
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switch (c) {
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case EOF:
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case '\n':
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case '\r':
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case ' ':
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continue;
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default:
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putchar(c);
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putchar('\n');
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switch (c) {
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case 'D':
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case 'd':
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hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
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break;
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case 'C':
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case 'c':
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hardfault_rearm("boot");
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hardfault_increment_reboot("boot", true);
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break;
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case 'B':
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case 'b':
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dbgContinue = true;
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break;
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default:
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break;
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} // Inner Switch
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message("\nEnter B - Continue booting\n" \
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"Enter C - Clear the fault log\n" \
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"Enter D - Dump fault log\n\n?>");
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fflush(stdout);
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if (!dbgContinue) {
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c = getchar();
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}
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break;
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} // outer switch
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} // for
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} // inner if
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} // outer if
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#endif // CONFIG_STM32_SAVE_CRASHDUMP
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#endif // CONFIG_STM32_BBSRAM
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/* initial LED state */
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drv_led_start();
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led_off(LED_AMBER);
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/* Configure SPI-based devices */
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spi4 = px4_spibus_initialize(4);
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if (!spi4) {
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message("[boot] FAILED to initialize SPI port 4\n");
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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}
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/* Default SPI4 to 10MHz and de-assert the known chip selects. */
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SPI_SETFREQUENCY(spi4, 10000000);
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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_GYRO, false);
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SPI_SELECT(spi4, PX4_SPIDEV_ACCEL_MAG, false);
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SPI_SELECT(spi4, PX4_SPIDEV_BARO, false);
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SPI_SELECT(spi4, 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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spi1 = stm32_spibus_initialize(1);
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if (!spi1) {
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message("[boot] FAILED to initialize SPI port 1\n");
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board_autoled_on(LED_AMBER);
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return -ENODEV;
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}
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/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
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* and de-assert the known chip selects. */
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// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
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SPI_SETFREQUENCY(spi1, 24 * 1000 * 1000);
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SPI_SETBITS(spi1, 8);
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SPI_SETMODE(spi1, SPIDEV_MODE3);
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SPI_SELECT(spi1, SPIDEV_FLASH(0), false);
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spi2 = px4_spibus_initialize(2);
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/* Default SPI2 to 10MHz and de-assert the known chip selects. */
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SPI_SETFREQUENCY(spi2, 10000000);
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SPI_SETBITS(spi2, 8);
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SPI_SETMODE(spi2, SPIDEV_MODE3);
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SPI_SELECT(spi2, PX4_SPIDEV_EXT0, false);
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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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message("[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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message("[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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