/**************************************************************************** * * Copyright (c) 2012-2018 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 * * omnibusf4sd-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 initialization. */ /**************************************************************************** * Included Files ****************************************************************************/ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "board_config.h" #include #include #include #include #include #include # if defined(FLASH_BASED_PARAMS) # include #endif /**************************************************************************** * Pre-Processor Definitions ****************************************************************************/ /* * Ideally we'd be able to get these from up_internal.h, * but since we want to be able to disable the NuttX use * of leds for system indication at will and there is no * separate switch, we need to build independent of the * CONFIG_ARCH_LEDS configuration switch. */ __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); extern void led_off(int led); __END_DECLS /**************************************************************************** * Protected Functions ****************************************************************************/ /**************************************************************************** * Public Functions ****************************************************************************/ /************************************************************************************ * Name: board_peripheral_reset * * Description: * ************************************************************************************/ __EXPORT void board_peripheral_reset(int ms) { UNUSED(ms); } /************************************************************************************ * 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) { /* configure the GPIO pins to outputs and keep them low */ stm32_configgpio(GPIO_GPIO0_OUTPUT); stm32_configgpio(GPIO_GPIO1_OUTPUT); stm32_configgpio(GPIO_GPIO2_OUTPUT); stm32_configgpio(GPIO_GPIO3_OUTPUT); //stm32_configgpio(GPIO_GPIO4_OUTPUT); //stm32_configgpio(GPIO_GPIO5_OUTPUT); /* On resets invoked from system (not boot) insure we establish a low * output state (discharge the pins) on PWM pins before they become inputs. */ if (status >= 0) { up_mdelay(400); } } /************************************************************************************ * 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) { /* Reset all PWM to Low outputs */ board_on_reset(-1); /* configure LEDs */ board_autoled_initialize(); /* configure ADC pins */ stm32_configgpio(GPIO_ADC1_IN12); /* BATT_VOLTAGE_SENS */ stm32_configgpio(GPIO_ADC1_IN11); /* BATT_CURRENT_SENS */ //stm32_configgpio(GPIO_ADC1_IN0); /* RSSI analog in (TX of UART4 instead) */ // TODO: power peripherals ///* configure power supply control/sense pins */ //stm32_configgpio(GPIO_PERIPH_3V3_EN); //stm32_configgpio(GPIO_VDD_BRICK_VALID); //stm32_configgpio(GPIO_VDD_USB_VALID); // TODO: 3v3 Sensor? ///* Start with Sensor voltage off We will enable it // * in board_app_initialize // */ //stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); // TODO: SBUS inversion? SPEK power? //stm32_configgpio(GPIO_SBUS_INV); //stm32_configgpio(GPIO_SPEKTRUM_PWR_EN); // TODO: $$$ Unused? //stm32_configgpio(GPIO_8266_GPIO0); //stm32_configgpio(GPIO_8266_PD); //stm32_configgpio(GPIO_8266_RST); /* Safety - led don in led driver */ // TODO: unused? //stm32_configgpio(GPIO_BTN_SAFETY); // TODO: RSSI //stm32_configgpio(GPIO_RSSI_IN); stm32_configgpio(GPIO_PPM_IN); /* configure SPI all interfaces GPIO */ stm32_spiinitialize(); } /**************************************************************************** * 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; the meaning of the argument is a contract * between the board-specific initalization logic and the the * matching application logic. The value cold be such things as a * mode enumeration value, a set of DIP switch switch settings, a * pointer to configuration data read from a file or serial FLASH, * or whatever you would like to do with it. Every implementation * should accept zero/NULL as a default configuration. * * Returned Value: * Zero (OK) is returned on success; a negated errno value is returned on * any failure to indicate the nature of the failure. * ****************************************************************************/ static struct spi_dev_s *spi1; static struct spi_dev_s *spi2; static struct spi_dev_s *spi3; __EXPORT int board_app_initialize(uintptr_t arg) { px4_platform_init(); /* configure the DMA allocator */ if (board_dma_alloc_init() < 0) { syslog(LOG_ERR, "DMA alloc FAILED\n"); } /* set up the serial DMA polling */ static struct hrt_call serial_dma_call; struct timespec ts; /* * Poll at 1ms intervals for received bytes that have not triggered * a DMA event. */ ts.tv_sec = 0; ts.tv_nsec = 1000000; hrt_call_every(&serial_dma_call, ts_to_abstime(&ts), ts_to_abstime(&ts), (hrt_callout)stm32_serial_dma_poll, NULL); /* initial LED state */ drv_led_start(); led_off(LED_BLUE); if (board_hardfault_init(2, true) != 0) { led_on(LED_BLUE); } /* Configure SPI-based devices */ // SPI1: MPU6000 spi1 = stm32_spibus_initialize(1); if (!spi1) { syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n"); led_on(LED_BLUE); return -ENODEV; } /* Default SPI1 to 1MHz and de-assert the known chip selects. */ SPI_SETFREQUENCY(spi1, 10000000); SPI_SETBITS(spi1, 8); SPI_SETMODE(spi1, SPIDEV_MODE3); SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); up_udelay(20); // SPI2: SDCard /* Get the SPI port for the microSD slot */ spi2 = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO); if (!spi2) { syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO); led_on(LED_BLUE); return -ENODEV; } /* Now bind the SPI interface to the MMCSD driver */ int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi2); if (result != OK) { led_on(LED_BLUE); syslog(LOG_ERR, "[boot] FAILED to bind SPI port 2 to the MMCSD driver\n"); return -ENODEV; } up_udelay(20); // SPI3: OSD / Baro spi3 = stm32_spibus_initialize(3); if (!spi3) { syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n"); led_on(LED_BLUE); return -ENODEV; } /* Copied from fmu-v4 * Default SPI3 to 12MHz and de-assert the known chip selects. * MS5611 has max SPI clock speed of 20MHz */ // BMP280 max SPI speed is 10 MHz SPI_SETFREQUENCY(spi3, 10 * 1000 * 1000); SPI_SETBITS(spi3, 8); SPI_SETMODE(spi3, SPIDEV_MODE3); SPI_SELECT(spi3, PX4_SPIDEV_BARO, false); up_udelay(20); #if defined(FLASH_BASED_PARAMS) static sector_descriptor_t params_sector_map[] = { {1, 16 * 1024, 0x08004000}, {0, 0, 0}, }; /* Initialize the flashfs layer to use heap allocated memory */ result = parameter_flashfs_init(params_sector_map, NULL, 0); if (result != OK) { syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); led_on(LED_AMBER); return -ENODEV; } #endif return OK; }