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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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250 lines
6.9 KiB
C
250 lines
6.9 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2026 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.c
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*
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* AirBrainH743-specific early startup code.
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*/
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#include "board_config.h"
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#include <stdbool.h>
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#include <stdio.h>
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#include <string.h>
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#include <debug.h>
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#include <errno.h>
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#include <syslog.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <nuttx/config.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/mtd/mtd.h>
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#include <nuttx/fs/fs.h>
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#include <arch/board/board.h>
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#include "arm_internal.h"
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_board_led.h>
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#include <systemlib/px4_macros.h>
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#include <px4_arch/io_timer.h>
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#include <px4_platform_common/init.h>
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#include <px4_platform/gpio.h>
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#include <px4_platform/board_dma_alloc.h>
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#if defined(FLASH_BASED_PARAMS)
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#include <parameters/flashparams/flashfs.h>
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#endif
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#ifdef CONFIG_MTD_W25N
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extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
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#endif
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__BEGIN_DECLS
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extern void led_init(void);
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extern void led_on(int led);
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extern void led_off(int led);
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__END_DECLS
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/************************************************************************************
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* Name: board_peripheral_reset
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*
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* Description:
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*
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************************************************************************************/
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__EXPORT void board_peripheral_reset(int ms)
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{
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UNUSED(ms);
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}
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/************************************************************************************
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* Name: board_on_reset
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*
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* Description:
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* Optionally provided function called on entry to board_system_reset
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* It should perform any house keeping prior to the rest.
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*
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* status - 1 if resetting to boot loader
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* 0 if just resetting
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*
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************************************************************************************/
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__EXPORT void board_on_reset(int status)
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{
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for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
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px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
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}
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if (status >= 0) {
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up_mdelay(100);
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}
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}
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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* Description:
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* All STM32 architectures must provide the following entry point.
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*
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************************************************************************************/
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__EXPORT void stm32_boardinitialize(void)
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{
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/* Reset PWM first thing */
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board_on_reset(-1);
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/* configure LEDs */
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board_autoled_initialize();
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/* configure pins */
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const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
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px4_gpio_init(gpio, arraySize(gpio));
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/* configure USB interfaces */
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stm32_usbinitialize();
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}
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/****************************************************************************
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* Name: board_app_initialize
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*
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* Description:
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* Perform application specific initialization.
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*
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****************************************************************************/
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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/* Need hrt running before using the ADC */
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px4_platform_init();
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/* configure SPI interfaces */
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stm32_spiinitialize();
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/* configure the DMA allocator */
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if (board_dma_alloc_init() < 0) {
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syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
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}
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/* initial LED state */
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drv_led_start();
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led_off(LED_RED);
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led_off(LED_GREEN);
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led_off(LED_BLUE);
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if (board_hardfault_init(2, true) != 0) {
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led_on(LED_RED);
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}
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#ifdef CONFIG_MTD_W25N
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/* Initialize W25N01GV NAND Flash on SPI2 */
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struct spi_dev_s *spi2 = stm32_spibus_initialize(2);
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if (!spi2) {
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syslog(LOG_ERR, "[boot] FAILED to initialize SPI2 for W25N\n");
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led_on(LED_RED);
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} else {
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struct mtd_dev_s *mtd = w25n_initialize(spi2, 0);
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if (!mtd) {
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syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
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led_on(LED_RED);
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} else {
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int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
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if (ret < 0) {
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syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
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led_on(LED_RED);
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} else {
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syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
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#ifdef CONFIG_FS_LITTLEFS
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ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, NULL);
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if (ret == 0) {
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/* Verify the filesystem is usable by creating a test file */
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int fd = open(CONFIG_BOARD_ROOT_PATH "/.mount_test", O_CREAT | O_WRONLY | O_TRUNC);
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if (fd >= 0) {
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close(fd);
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unlink(CONFIG_BOARD_ROOT_PATH "/.mount_test");
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} else {
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syslog(LOG_WARNING, "[boot] littlefs mounted but not usable, reformatting\n");
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nx_umount2(CONFIG_BOARD_ROOT_PATH, 0);
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ret = -1;
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}
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}
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if (ret < 0) {
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ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "forceformat");
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}
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if (ret < 0) {
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syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
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led_on(LED_RED);
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} else {
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syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
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}
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#endif
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}
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}
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}
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#endif
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#if defined(FLASH_BASED_PARAMS)
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/* Initialize parameters in internal flash (sector 15, 128KB at 0x081E0000) */
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static sector_descriptor_t params_sector_map[] = {
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{15, 128 * 1024, 0x081E0000},
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{0, 0, 0},
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};
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int result = parameter_flashfs_init(params_sector_map, NULL, 0);
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if (result != OK) {
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syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
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led_on(LED_RED);
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}
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#endif
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/* Configure the HW based on the manifest */
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px4_platform_configure();
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return OK;
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}
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