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Support for Raspberry PI RP2040 MCU (#18083)
This commit is contained in:
Vatsal Asitkumar Joshi
@@ -0,0 +1,399 @@
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/****************************************************************************
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*
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* Copyright (c) 2021 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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* board 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_platform_common/px4_config.h>
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#include <px4_platform_common/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 <syslog.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/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 "board_config.h"
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#include <rp2040_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_arch/io_timer.h>
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#include <px4_platform_common/init.h>
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#include <px4_platform/board_dma_alloc.h>
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# if defined(FLASH_BASED_PARAMS)
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# include <parameters/flashparams/flashfs.h>
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#endif
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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 arm_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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UNUSED(ms);
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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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for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
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px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
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}
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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: board_read_VBUS_state
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*
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* Description:
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* All boards must provide a way to read the state of VBUS, this my be simple
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* digital input on a GPIO. Or something more complicated like a Analong input
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* or reading a bit from a USB controller register.
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*
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* Returns - 0 if connected.
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*
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************************************************************************************/
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int board_read_VBUS_state(void)
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{
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return BOARD_ADC_USB_CONNECTED ? 0 : 1;
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}
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/****************************************************************************
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* Name: rp2040_boardearlyinitialize
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*
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* Description:
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*
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* This function is taken directly from nuttx's rp2040_boardinitialize.c
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****************************************************************************/
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void rp2040_boardearlyinitialize(void)
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{
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/* Set default UART pin */
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#if defined(CONFIG_RP2040_UART0) && CONFIG_RP2040_UART0_GPIO >= 0
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rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO, RP2040_GPIO_FUNC_UART); /* TX */
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rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 1, RP2040_GPIO_FUNC_UART); /* RX */
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# ifdef CONFIG_SERIAL_OFLOWCONTROL
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rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 2, RP2040_GPIO_FUNC_UART); /* CTS */
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# endif /* CONFIG_SERIAL_OFLOWCONTROL */
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# ifdef CONFIG_SERIAL_IFLOWCONTROL
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rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 3, RP2040_GPIO_FUNC_UART); /* RTS */
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# endif /* CONFIG_SERIAL_IFLOWCONTROL */
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#endif
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#if defined(CONFIG_RP2040_UART1) && CONFIG_RP2040_UART1_GPIO >= 0
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rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO, RP2040_GPIO_FUNC_UART); /* TX */
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rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 1, RP2040_GPIO_FUNC_UART); /* RX */
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# ifdef CONFIG_SERIAL_OFLOWCONTROL
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rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 2, RP2040_GPIO_FUNC_UART); /* CTS */
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# endif /* CONFIG_SERIAL_OFLOWCONTROL */
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# ifdef CONFIG_SERIAL_IFLOWCONTROL
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rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 3, RP2040_GPIO_FUNC_UART); /* RTS */
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# endif /* CONFIG_SERIAL_IFLOWCONTROL */
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#endif
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}
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/************************************************************************************
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* Name: rp2040_boardinitialize
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*
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* Description:
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* All 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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rp2040_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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// Disable IE and enable OD on GPIO 26-29 (These are ADC Pins)
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// Do this only for the channels configured in board_config.h
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rp2040_gpioconfig(27 | GPIO_FUN(RP2040_GPIO_FUNC_NULL)); /* BATT_VOLTAGE_SENS */
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clrbits_reg32(RP2040_PADS_BANK0_GPIO_IE, RP2040_PADS_BANK0_GPIO(27)); /* BATT_VOLTAGE_SENS */
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setbits_reg32(RP2040_PADS_BANK0_GPIO_OD, RP2040_PADS_BANK0_GPIO(27)); /* BATT_VOLTAGE_SENS */
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rp2040_gpioconfig(28 | GPIO_FUN(RP2040_GPIO_FUNC_NULL)); /* BATT_VOLTAGE_SENS */
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clrbits_reg32(RP2040_PADS_BANK0_GPIO_IE, RP2040_PADS_BANK0_GPIO(28)); /* BATT_CURRENT_SENS */
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setbits_reg32(RP2040_PADS_BANK0_GPIO_OD, RP2040_PADS_BANK0_GPIO(28)); /* BATT_CURRENT_SENS */
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/* Set default I2C pin */
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#if defined(CONFIG_RP2040_I2C0) && CONFIG_RP2040_I2C0_GPIO >= 0
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rp2040_gpio_set_function(CONFIG_RP2040_I2C0_GPIO, RP2040_GPIO_FUNC_I2C); /* SDA */
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rp2040_gpio_set_function(CONFIG_RP2040_I2C0_GPIO + 1, RP2040_GPIO_FUNC_I2C); /* SCL */
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rp2040_gpio_set_pulls(CONFIG_RP2040_I2C0_GPIO, true, false); /* Pull up */
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rp2040_gpio_set_pulls(CONFIG_RP2040_I2C0_GPIO + 1, true, false);
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#endif
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#if defined(CONFIG_RP2040_I2C1) && CONFIG_RP2040_I2C1_GPIO >= 0
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rp2040_gpio_set_function(CONFIG_RP2040_I2C1_GPIO, RP2040_GPIO_FUNC_I2C); /* SDA */
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rp2040_gpio_set_function(CONFIG_RP2040_I2C1_GPIO + 1, RP2040_GPIO_FUNC_I2C); /* SCL */
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rp2040_gpio_set_pulls(CONFIG_RP2040_I2C1_GPIO, true, false); /* Pull up */
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rp2040_gpio_set_pulls(CONFIG_RP2040_I2C1_GPIO + 1, true, false);
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#endif
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// // TODO: power peripherals
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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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// // TODO: 3v3 Sensor?
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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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// // TODO: SBUS inversion? SPEK power?
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// //stm32_configgpio(GPIO_SBUS_INV);
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// //stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
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// // TODO: $$$ Unused?
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// //stm32_configgpio(GPIO_8266_GPIO0);
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// //stm32_configgpio(GPIO_8266_PD);
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// //stm32_configgpio(GPIO_8266_RST);
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// /* Safety - led don in led driver */
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// // TODO: unused?
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// //stm32_configgpio(GPIO_BTN_SAFETY);
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// // TODO: RSSI
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// //stm32_configgpio(GPIO_RSSI_IN);
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// stm32_configgpio(GPIO_PPM_IN);
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/* configure SPI all interfaces GPIO */
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rp2040_spiinitialize();
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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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__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 */ // Needs to be figured out
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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 */ // RP2040 nuttx implementation doesn't have serial_dma_poll function yet.
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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_on(LED_BLUE);
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// if (board_hardfault_init(2, true) != 0) { // Needs to be figured out as RP2040 doesn't have BBSRAM.
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// led_off(LED_BLUE);
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// }
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/* Configure SPI-based devices */
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// // SPI1: SDCard // Will be configured later
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// /* Get the SPI port for the microSD slot */
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// spi1 = rp2040_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO); // PX4_BUS_NUMBER_FROM_PX4(1)
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// if (!spi1) {
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// syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
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// led_off(LED_BLUE);
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// return -ENODEV;
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// }
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// /* Now bind the SPI interface to the MMCSD driver */
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// int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi1);
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// if (result != OK) {
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// led_off(LED_BLUE);
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// syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
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// return -ENODEV;
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// }
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// up_udelay(20);
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// SPI2: MPU9250 and BMP280
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spi2 = rp2040_spibus_initialize(PX4_BUS_NUMBER_FROM_PX4(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_off(LED_BLUE);
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return -ENODEV;
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}
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/* Default SPI2 to 1MHz 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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up_udelay(20);
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// #if defined(FLASH_BASED_PARAMS) // This probably doesn't relate to RP2040 right now.
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// static sector_descriptor_t params_sector_map[] = {
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// {1, 16 * 1024, 0x08004000},
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// {0, 0, 0},
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// };
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// /* Initialize the flashfs layer to use heap allocated memory */
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// result = parameter_flashfs_init(params_sector_map, NULL, 0);
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// if (result != OK) {
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// syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
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// led_off(LED_AMBER);
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// return -ENODEV;
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// }
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// #endif
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/* Configure the HW based on the manifest */
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px4_platform_configure();
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return OK;
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}
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