PX4-Autopilot/boards/espressif/esp32/src/init.c

/****************************************************************************
 *
 *   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.
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 ****************************************************************************/

/**
 * @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 initialization.
 */

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>

#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>
#include <syslog.h>

#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/analog/adc.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/mm/gran.h>


#include <chip.h>
#include "board_config.h"

#include <arch/board/board.h>
#include <px4_platform_common/px4_manifest.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/board_dma_alloc.h>

#define LEDC_LS_SIG_OUT0_IDX 79

#include "esp32_board_wlan_setup.h"
#ifdef CONFIG_ESP32_SPIFLASH
#include "esp32_board_spiflash_setup.h"
#endif

#include "esp32_rt_timer.h"
/****************************************************************************
 * Pre-Processor Definitions
 ****************************************************************************/

/**
 * Ideally we'd be able to get these from arm_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.
	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
		esp32_gpio_matrix_out(timer_io_channels[i].gpio_out, LEDC_LS_SIG_OUT0_IDX + timer_io_channels[i].timer_channel, 0, 0);
	}

	/*
	 * 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: board_read_VBUS_state
 *
 * Description:
 *   All boards must provide a way to read the state of VBUS, this my be simple
 *   digital input on a GPIO. Or something more complicated like a Analong input
 *   or reading a bit from a USB controller register.
 *
 * Returns -  0 if connected.
 *
 ************************************************************************************/

int board_read_VBUS_state(void)
{
	// return BOARD_ADC_USB_CONNECTED ? 0 : 1;
	return 0;
}

/************************************************************************************
 * Name: esp32_board_initialize
 *
 * Description:
 *   All 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
esp32_board_initialize(void)
{
	// /* Reset all PWM to Low outputs */
	board_on_reset(-1);

	// /* configure LEDs */
	board_autoled_initialize();
	up_mdelay(2);
	esp32_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.
 *
 ****************************************************************************/

#ifdef CONFIG_ESP32_SPI2
static struct spi_dev_s *spi2;
#endif

#ifdef CONFIG_ESP32_SPI3
static struct spi_dev_s *spi3;
#endif


__EXPORT int board_app_initialize(uintptr_t arg)
{
	px4_platform_init();

	/* configure the DMA allocator */				// Needs to be figured out

	if (board_dma_alloc_init() < 0) {
		syslog(LOG_ERR, "DMA alloc FAILED\n");
	}


	/* initial LED state */
	drv_led_start();

#ifdef CONFIG_ESP32_SPI2
	spi2 = esp32_spibus_initialize(2);

	if (!spi2) {
		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
		// led_on(LED_RED);
	}

	// Default SPI1 to 10MHz
	SPI_SETFREQUENCY(spi2, 10000000);
	SPI_SETBITS(spi2, 8);
	SPI_SETMODE(spi2, SPIDEV_MODE3);
	up_udelay(20);

#endif

#ifdef CONFIG_ESP32_SPI3
	spi3 = esp32_spibus_initialize(3);

	if (!spi3) {
		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
		// led_on(LED_RED);
	}

	/* Now bind the SPI interface to the MMCSD driver */
	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);

	if (result != OK) {
		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
	}

#endif
	int ret = esp32_spiflash_init();

	if (ret) {
		syslog(LOG_ERR, "ERROR: Failed to initialize SPI Flash\n");
	}

	esp32_rt_timer_init();

	led_on(GPIO_LED_BLUE);
	up_mdelay(100);
	led_off(GPIO_LED_BLUE);
	up_mdelay(100);
	led_on(GPIO_LED_BLUE);
	up_mdelay(100);
	led_off(GPIO_LED_BLUE);



	/* Configure the HW based on the manifest */
	px4_platform_configure();

	up_mdelay(1000);

	board_wlan_init();

	return OK;
}