mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 05:53:34 +08:00
158 lines
5.1 KiB
C
158 lines
5.1 KiB
C
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2012 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
|
|
*
|
|
* Crazyflie 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/analog/adc.h>
|
|
#include <nuttx/spi/spi.h>
|
|
|
|
#include "board_config.h"
|
|
#include <stm32_uart.h>
|
|
|
|
#include <arch/board/board.h>
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
#include <drivers/drv_board_led.h>
|
|
|
|
#include <systemlib/px4_macros.h>
|
|
#include <px4_platform_common/init.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: 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)
|
|
{
|
|
/* configure LEDs */
|
|
|
|
board_autoled_initialize();
|
|
|
|
/* configure SPI interfaces */
|
|
|
|
stm32_spiinitialize();
|
|
|
|
stm32_usbinitialize();
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: board_app_initialize
|
|
*
|
|
* Description:
|
|
* Perform architecture specific initialization
|
|
*
|
|
****************************************************************************/
|
|
|
|
__EXPORT int board_app_initialize(uintptr_t arg)
|
|
{
|
|
px4_platform_init();
|
|
|
|
#if defined(SERIAL_HAVE_RXDMA)
|
|
// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
|
|
static struct hrt_call serial_dma_call;
|
|
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
|
|
#endif
|
|
|
|
/* initial LED state */
|
|
drv_led_start();
|
|
led_off(LED_RED);
|
|
led_off(LED_GREEN);
|
|
led_off(LED_BLUE);
|
|
led_off(LED_TX);
|
|
led_off(LED_RX);
|
|
|
|
if (board_hardfault_init(2, true) != 0) {
|
|
led_on(LED_RED);
|
|
}
|
|
|
|
#ifdef CONFIG_SPI
|
|
stm32_spi_bus_initialize();
|
|
#endif
|
|
|
|
return OK;
|
|
}
|