PX4-Autopilot/boards/raspberrypi/pico/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.
 *
 ****************************************************************************/

/**
 * @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/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/mm/gran.h>

#include "board_config.h"
#include <rp2040_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_arch/io_timer.h>
#include <px4_platform_common/init.h>
#include <px4_platform/board_dma_alloc.h>

# if defined(FLASH_BASED_PARAMS)
#  include <parameters/flashparams/flashfs.h>
#endif

/****************************************************************************
 * 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));
	}

	/*
	 * 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;
}

/****************************************************************************
 * Name: rp2040_boardearlyinitialize
 *
 * Description:
 *
 * This function is taken directly from nuttx's rp2040_boardinitialize.c
 ****************************************************************************/

void rp2040_boardearlyinitialize(void)
{
	/* Set default UART pin */
#if defined(CONFIG_RP2040_UART0) && CONFIG_RP2040_UART0_GPIO >= 0
	rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO, RP2040_GPIO_FUNC_UART);     /* TX */
	rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 1, RP2040_GPIO_FUNC_UART);     /* RX */
# ifdef CONFIG_SERIAL_OFLOWCONTROL
	rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 2, RP2040_GPIO_FUNC_UART);     /* CTS */
# endif /* CONFIG_SERIAL_OFLOWCONTROL */
# ifdef CONFIG_SERIAL_IFLOWCONTROL
	rp2040_gpio_set_function(CONFIG_RP2040_UART0_GPIO + 3, RP2040_GPIO_FUNC_UART);     /* RTS */
# endif /* CONFIG_SERIAL_IFLOWCONTROL */
#endif

#if defined(CONFIG_RP2040_UART1) && CONFIG_RP2040_UART1_GPIO >= 0
	rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO, RP2040_GPIO_FUNC_UART);     /* TX */
	rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 1, RP2040_GPIO_FUNC_UART);     /* RX */
# ifdef CONFIG_SERIAL_OFLOWCONTROL
	rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 2, RP2040_GPIO_FUNC_UART);     /* CTS */
# endif /* CONFIG_SERIAL_OFLOWCONTROL */
# ifdef CONFIG_SERIAL_IFLOWCONTROL
	rp2040_gpio_set_function(CONFIG_RP2040_UART1_GPIO + 3, RP2040_GPIO_FUNC_UART);     /* RTS */
# endif /* CONFIG_SERIAL_IFLOWCONTROL */
#endif
}

/************************************************************************************
 * Name: rp2040_boardinitialize
 *
 * 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
rp2040_boardinitialize(void)
{
	// /* Reset all PWM to Low outputs */
	// board_on_reset(-1);

	// /* configure LEDs */
	board_autoled_initialize();

	// Disable IE and enable OD on GPIO 26-29 (These are ADC Pins)
	// Do this only for the channels configured in board_config.h
	rp2040_gpioconfig(27 | GPIO_FUN(RP2040_GPIO_FUNC_NULL));		/* BATT_VOLTAGE_SENS */
	clrbits_reg32(RP2040_PADS_BANK0_GPIO_IE, RP2040_PADS_BANK0_GPIO(27));	/* BATT_VOLTAGE_SENS */
	setbits_reg32(RP2040_PADS_BANK0_GPIO_OD, RP2040_PADS_BANK0_GPIO(27));	/* BATT_VOLTAGE_SENS */
	rp2040_gpioconfig(28 | GPIO_FUN(RP2040_GPIO_FUNC_NULL));		/* BATT_VOLTAGE_SENS */
	clrbits_reg32(RP2040_PADS_BANK0_GPIO_IE, RP2040_PADS_BANK0_GPIO(28));	/* BATT_CURRENT_SENS */
	setbits_reg32(RP2040_PADS_BANK0_GPIO_OD, RP2040_PADS_BANK0_GPIO(28));	/* BATT_CURRENT_SENS */

	/* Set default I2C pin */
#if defined(CONFIG_RP2040_I2C0) && CONFIG_RP2040_I2C0_GPIO >= 0
	rp2040_gpio_set_function(CONFIG_RP2040_I2C0_GPIO, RP2040_GPIO_FUNC_I2C);      /* SDA */
	rp2040_gpio_set_function(CONFIG_RP2040_I2C0_GPIO + 1, RP2040_GPIO_FUNC_I2C);      /* SCL */
	rp2040_gpio_set_pulls(CONFIG_RP2040_I2C0_GPIO, true, false);  /* Pull up */
	rp2040_gpio_set_pulls(CONFIG_RP2040_I2C0_GPIO + 1, true, false);
#endif

#if defined(CONFIG_RP2040_I2C1) &&  CONFIG_RP2040_I2C1_GPIO >= 0
	rp2040_gpio_set_function(CONFIG_RP2040_I2C1_GPIO, RP2040_GPIO_FUNC_I2C);      /* SDA */
	rp2040_gpio_set_function(CONFIG_RP2040_I2C1_GPIO + 1, RP2040_GPIO_FUNC_I2C);      /* SCL */
	rp2040_gpio_set_pulls(CONFIG_RP2040_I2C1_GPIO, true, false);  /* Pull up */
	rp2040_gpio_set_pulls(CONFIG_RP2040_I2C1_GPIO + 1, true, false);
#endif

	// // 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 */
	rp2040_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;

__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");
	}

	/* set up the serial DMA polling */	// RP2040 nuttx implementation doesn't have serial_dma_poll function yet.
	// 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_on(LED_BLUE);

	// if (board_hardfault_init(2, true) != 0) {		// Needs to be figured out as RP2040 doesn't have BBSRAM.
	// 	led_off(LED_BLUE);
	// }


	/* Configure SPI-based devices */

	// // SPI1: SDCard					// Will be configured later
	// /* Get the SPI port for the microSD slot */
	// spi1 = rp2040_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO); // PX4_BUS_NUMBER_FROM_PX4(1)

	// if (!spi1) {
	// 	syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
	// 	led_off(LED_BLUE);
	// }

	// /* Now bind the SPI interface to the MMCSD driver */
	// int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi1);

	// if (result != OK) {
	// 	led_off(LED_BLUE);
	// 	syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
	// }

	// up_udelay(20);

	// SPI2: MPU9250 and BMP280
	spi2 = rp2040_spibus_initialize(PX4_BUS_NUMBER_FROM_PX4(2));

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

	/* Default SPI2 to 1MHz and de-assert the known chip selects. */
	SPI_SETFREQUENCY(spi2, 10000000);
	SPI_SETBITS(spi2, 8);
	SPI_SETMODE(spi2, SPIDEV_MODE3);
	up_udelay(20);

// #if defined(FLASH_BASED_PARAMS)					// This probably doesn't relate to RP2040 right now.
// 	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_off(LED_AMBER);
// 	}

// #endif

	/* Configure the HW based on the manifest */

	px4_platform_configure();

	return OK;
}