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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-17 04:43:35 +08:00
137 lines
3.8 KiB
C++
137 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 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.cpp
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*
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* BBBLUE specific initialization
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*/
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#include <stddef.h>
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#include <px4_platform_common/log.h>
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#include <robotcontrol.h>
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#include "board_config.h"
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// initialize roboticscape library similar to the deprecated rc_initialize()
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int rc_init(void)
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{
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#ifdef __RC_V0_3
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return rc_initialize();
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#else
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if (rc_get_state() == RUNNING) { return 0; }
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PX4_INFO("Initializing librobotcontrol ...");
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// make sure another instance isn't running
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rc_kill_existing_process(2.0f);
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// make PID file to indicate your project is running
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rc_make_pid_file();
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// start state as Uninitialized
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rc_set_state(UNINITIALIZED);
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// initialize pinmux
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/*
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if (rc_pinmux_set_default()) {
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PX4_ERR("rc_init failed to run rc_pinmux_set_default()");
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return -1;
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}
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// rc_pinmux_set_default() includes: rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
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*/
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/*
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// Due to device tree issue, rc_pinmux_set_default() currently does not work correctly
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// with kernel 4.14, use a simplified version for now
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//
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// shared pins
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int ret = 0;
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ret |= rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
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ret |= rc_pinmux_set(GPS_HEADER_PIN_3, PINMUX_UART);
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ret |= rc_pinmux_set(GPS_HEADER_PIN_4, PINMUX_UART);
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ret |= rc_pinmux_set(UART1_HEADER_PIN_3, PINMUX_UART);
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ret |= rc_pinmux_set(UART1_HEADER_PIN_4, PINMUX_UART);
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if (ret != 0) {
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PX4_ERR("rc_init failed to set default pinmux");
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return -1;
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}
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*/
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// no direct equivalent of configure_gpio_pins()
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if (rc_adc_init()) {
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PX4_ERR("rc_init failed to run rc_adc_init()");
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return -1;
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}
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if (rc_servo_init()) { // Configures the PRU to send servo pulses
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PX4_ERR("rc_init failed to run rc_servo_init()");
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return -1;
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}
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if (rc_servo_power_rail_en(1)) { // Turning On 6V Servo Power Rail
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PX4_ERR("rc_init failed to run rc_servo_power_rail_en(1)");
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return -1;
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}
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//i2c, barometer and mpu will be initialized later
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rc_set_state(RUNNING);
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return 0;
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#endif
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}
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void rc_cleaning(void)
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{
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#ifdef __RC_V0_3
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rc_cleanup(); return ;
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#else
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if (rc_get_state() == EXITING) { return; }
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rc_set_state(EXITING);
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rc_adc_cleanup();
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rc_servo_power_rail_en(0);
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rc_servo_cleanup();
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rc_remove_pid_file();
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#endif
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}
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