PX4-Autopilot/boards/nxp/mr-canhubk3/src/init.c

/****************************************************************************
 * boards/arm/s32k1xx/ucans32k146/src/s32k1xx_appinit.c
 *
 *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 * 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 NuttX 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.
 *
 ****************************************************************************/

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

#include <nuttx/config.h>

#include <nuttx/board.h>

#include "board_config.h"

#include <px4_platform_common/init.h>
#include <px4_platform/board_determine_hw_info.h>

#if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
#include <nuttx/mmcsd.h>
#endif

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#ifndef OK
#  define OK 0
#endif

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * 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 initialization logic and 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.
 *
 ****************************************************************************/

__EXPORT int board_app_initialize(uintptr_t arg)
{
#ifdef CONFIG_BOARD_LATE_INITIALIZE
	/* Board initialization already performed by board_late_initialize() */

	return OK;
#else

	int rv;

	board_determine_hw_info();


#if defined(CONFIG_S32K3XX_LPSPI1) && defined(CONFIG_MMCSD)
	/* LPSPI1 *****************************************************************/

	/* Configure LPSPI1 peripheral chip select */

	s32k3xx_pinconfig(PIN_LPSPI2_PCS);

	/* Initialize the SPI driver for LPSPI1 */

	struct spi_dev_s *g_lpspi2 = s32k3xx_lpspibus_initialize(2);

	if (g_lpspi2 == NULL) {
		spierr("ERROR: FAILED to initialize LPSPI2\n");
		return -ENODEV;
	}

	rv = mmcsd_spislotinitialize(0, 0, g_lpspi2);

	if (rv < 0) {
		mcerr("ERROR: Failed to bind SPI port %d to SD slot %d\n",
		      1, 0);
		return rv;
	}

#endif

	px4_platform_init();

	/* Perform board-specific initialization */

	rv = s32k3xx_bringup();

	/* Configure SPI-based devices */

#ifdef CONFIG_SPI
	s32k3xx_spi_bus_initialize();
#endif

	/* Configure the HW based on the manifest */

	px4_platform_configure();

	return rv;
#endif
}

/************************************************************************************
 * Name: board_peripheral_reset
 *
 * Description:
 *
 ************************************************************************************/
__EXPORT void board_peripheral_reset(int ms)
{
	/* set the peripheral rails off */

	/* wait for the peripheral rail to reach GND */
	usleep(ms * 1000);
	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);

	/* re-enable power */

	/* switch the peripheral rail back on */
}