PX4-Autopilot/platforms/nuttx/src/px4/common/px4_init.cpp

/****************************************************************************
 *
 *   Copyright (c) 2019-2021 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
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 * POSSIBILITY OF SUCH DAMAGE.
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 ****************************************************************************/

#include <px4_platform_common/init.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/px4_manifest.h>
#include <px4_platform_common/console_buffer.h>
#include <px4_platform_common/defines.h>
#include <drivers/drv_hrt.h>
#include <lib/parameters/param.h>
#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
#include <px4_platform/cpuload.h>
#include <uORB/uORB.h>

#include <fcntl.h>

#include <sys/mount.h>
#include <syslog.h>

#if defined(CONFIG_I2C)
# include <px4_platform_common/i2c.h>
# include <nuttx/i2c/i2c_master.h>
#endif // CONFIG_I2C

#if defined(PX4_CRYPTO)
#include <px4_platform_common/crypto.h>
#endif

#if !defined(CONFIG_BUILD_FLAT)
#include <px4_platform/board_ctrl.h>
#endif

extern void cdcacm_init(void);

#if !defined(CONFIG_BUILD_FLAT)
typedef CODE void (*initializer_t)(void);
extern initializer_t _sinit;
extern initializer_t _einit;
extern uint32_t _stext;
extern uint32_t _etext;

static void cxx_initialize(void)
{
	initializer_t *initp;

	/* Visit each entry in the initialization table */

	for (initp = &_sinit; initp != &_einit; initp++) {
		initializer_t initializer = *initp;

		/* Make sure that the address is non-NULL and lies in the text
		* region defined by the linker script.  Some toolchains may put
		* NULL values or counts in the initialization table.
		*/

		if ((FAR void *)initializer >= (FAR void *)&_stext &&
		    (FAR void *)initializer < (FAR void *)&_etext) {
			initializer();
		}
	}
}
#endif

int px4_platform_init()
{

#if !defined(CONFIG_BUILD_FLAT)
	cxx_initialize();

	/* initialize userspace-kernelspace call gate interface */
	kernel_ioctl_initialize();
#endif

	int ret = px4_console_buffer_init();

	if (ret < 0) {
		return ret;
	}

	// replace stdout with our buffered console
	int fd_buf = open(CONSOLE_BUFFER_DEVICE, O_WRONLY);

	if (fd_buf >= 0) {
		dup2(fd_buf, 1);
		// keep stderr(2) untouched: the buffered console will use it to output to the original console
		close(fd_buf);
	}

#if defined(PX4_CRYPTO)
	PX4Crypto::px4_crypto_init();
#endif

	hrt_init();

#if !defined(CONFIG_BUILD_FLAT)
	hrt_ioctl_init();
#endif

	/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
	cpuload_initialize_once();
#endif


#if defined(CONFIG_I2C)
	I2CBusIterator i2c_bus_iterator {I2CBusIterator::FilterType::All};

	while (i2c_bus_iterator.next()) {
		i2c_master_s *i2c_dev = px4_i2cbus_initialize(i2c_bus_iterator.bus().bus);

#if defined(CONFIG_I2C_RESET)
		I2C_RESET(i2c_dev);
#endif // CONFIG_I2C_RESET

		// send software reset to all
		uint8_t buf[1] {};
		buf[0] = 0x06; // software reset

		i2c_msg_s msg{};
		msg.frequency = I2C_SPEED_STANDARD;
		msg.addr = 0x00; // general call address
		msg.buffer = &buf[0];
		msg.length = 1;

		I2C_TRANSFER(i2c_dev, &msg, 1);

		px4_i2cbus_uninitialize(i2c_dev);
	}

#endif // CONFIG_I2C

#if defined(CONFIG_FS_PROCFS)
	int ret_mount_procfs = mount(nullptr, "/proc", "procfs", 0, nullptr);

	if (ret_mount_procfs < 0) {
		syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret_mount_procfs);
	}

#endif // CONFIG_FS_PROCFS

#if defined(CONFIG_FS_BINFS)
	int ret_mount_binfs = nx_mount(nullptr, "/bin", "binfs", 0, nullptr);

	if (ret_mount_binfs < 0) {
		syslog(LOG_ERR, "ERROR: Failed to mount binfs at /bin: %d\n", ret_mount_binfs);
	}

#endif // CONFIG_FS_BINFS

	px4::WorkQueueManagerStart();

	param_init();

	uorb_start();

	px4_log_initialize();

#if defined(CONFIG_SYSTEM_CDCACM) && defined(CONFIG_BUILD_FLAT)
	cdcacm_init();
#endif

	return PX4_OK;
}

int px4_platform_configure(void)
{
	return px4_mft_configure(board_get_manifest());

}