PX4-Autopilot/src/drivers/boards/auav-x21/init.c

/****************************************************************************
 *
 *   Copyright (C) 2012 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 auav_init.c
 *
 * PX4FMU-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_config.h>
#include <px4_tasks.h>

#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>

#include "platform/cxxinitialize.h"
#include <nuttx/board.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>

#include <stm32.h>
#include "board_config.h"
#include <stm32_uart.h>

#include <arch/board/board.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>

#include <systemlib/px4_macros.h>
#include <systemlib/cpuload.h>
#include <perf/perf_counter.h>
#include <systemlib/err.h>

#include <systemlib/hardfault_log.h>

#include <parameters/param.h>

/****************************************************************************
 * Pre-Processor Definitions
 ****************************************************************************/

/* Configuration ************************************************************/

/* Debug ********************************************************************/

#ifdef CONFIG_CPP_HAVE_VARARGS
#  ifdef CONFIG_DEBUG
#    define message(...) syslog(__VA_ARGS__)
#  else
#    define message(...) printf(__VA_ARGS__)
#  endif
#else
#  ifdef CONFIG_DEBUG
#    define message syslog
#  else
#    define message printf
#  endif
#endif

/*
 * Ideally we'd be able to get these from up_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)
{
	/* set the peripheral rails off */
	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1);

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

	/* re-enable power */

	/* switch the peripheral rail back on */
	stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0);
}

/************************************************************************************
 * Name: stm32_boardinitialize
 *
 * Description:
 *   All STM32 architectures must provide the following entry point.  This entry point
 *   is called early in the intitialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/

__EXPORT void
stm32_boardinitialize(void)
{
	/* configure LEDs */

	board_autoled_initialize();

	/* configure ADC pins */

	px4_arch_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
	px4_arch_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
	px4_arch_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
	px4_arch_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
	px4_arch_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
	px4_arch_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */

	/* configure power supply control/sense pins */
	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
	px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
	px4_arch_configgpio(GPIO_VDD_BRICK_VALID);
	px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC);

	/* configure the GPIO pins to outputs and keep them low */
	px4_arch_configgpio(GPIO_GPIO0_OUTPUT);
	px4_arch_configgpio(GPIO_GPIO1_OUTPUT);
	px4_arch_configgpio(GPIO_GPIO2_OUTPUT);
	px4_arch_configgpio(GPIO_GPIO3_OUTPUT);
	px4_arch_configgpio(GPIO_GPIO4_OUTPUT);
	px4_arch_configgpio(GPIO_GPIO5_OUTPUT);

	/* configure SPI interfaces */

	stm32_spiinitialize();

	/* configure USB interface */

	stm32_usbinitialize();

}

/****************************************************************************
 * 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;
static struct sdio_dev_s *sdio;

__EXPORT int board_app_initialize(uintptr_t arg)
{
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)

	/* run C++ ctors before we go any further */

	up_cxxinitialize();

#	if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
#  		error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
#	endif

#else
#  error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif

	/* configure the high-resolution time/callout interface */
	hrt_init();

	param_init();

	/* configure the DMA allocator */

	if (board_dma_alloc_init() < 0) {
		message("DMA alloc FAILED");
	}

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

	/* set up the serial DMA polling */
	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);

#if defined(CONFIG_STM32_BBSRAM)

	if (hardfault_check_status) {
		/* NB. the use of the console requires the hrt running
		 * to poll the DMA
		 */

		/* Using Battery Backed Up SRAM */

		int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;

		stm32_bbsraminitialize(BBSRAM_PATH, filesizes);

#if defined(CONFIG_STM32_SAVE_CRASHDUMP)

		/* Panic Logging in Battery Backed Up Files */

		/*
		 * In an ideal world, if a fault happens in flight the
		 * system save it to BBSRAM will then reboot. Upon
		 * rebooting, the system will log the fault to disk, recover
		 * the flight state and continue to fly.  But if there is
		 * a fault on the bench or in the air that prohibit the recovery
		 * or committing the log to disk, the things are too broken to
		 * fly. So the question is:
		 *
		 * Did we have a hard fault and not make it far enough
		 * through the boot sequence to commit the fault data to
		 * the SD card?
		 */

		/* Do we have an uncommitted hard fault in BBSRAM?
		 *  - this will be reset after a successful commit to SD
		 */
		int hadCrash = hardfault_check_status("boot");

		if (hadCrash == OK) {

			message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
				" while booting to halt the system!\n");

			/* Yes. So add one to the boot count - this will be reset after a successful
			 * commit to SD
			 */

			int reboots = hardfault_increment_reboot("boot", false);

			/* Also end the misery for a user that holds for a key down on the console */

			int bytesWaiting;
			ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));

			if (reboots > 2 || bytesWaiting != 0) {

				/* Since we can not commit the fault dump to disk. Display it
				 * to the console.
				 */

				hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);

				message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
					reboots,
					(bytesWaiting == 0 ? "" : " Due to Key Press\n"));


				/* For those of you with a debugger set a break point on up_assert and
				 * then set dbgContinue = 1 and go.
				 */

				/* Clear any key press that got us here */

				static volatile bool dbgContinue = false;
				int c = '>';

				while (!dbgContinue) {

					switch (c) {

					case EOF:


					case '\n':
					case '\r':
					case ' ':
						continue;

					default:

						putchar(c);
						putchar('\n');

						switch (c) {

						case 'D':
						case 'd':
							hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
							break;

						case 'C':
						case 'c':
							hardfault_rearm("boot");
							hardfault_increment_reboot("boot", true);
							break;

						case 'B':
						case 'b':
							dbgContinue = true;
							break;

						default:
							break;
						} // Inner Switch

						message("\nEnter B - Continue booting\n" \
							"Enter C - Clear the fault log\n" \
							"Enter D - Dump fault log\n\n?>");
						fflush(stdout);

						if (!dbgContinue) {
							c = getchar();
						}

						break;

					} // outer switch
				} // for

			} // inner if
		} // outer if
	} // hardfault_check_status

#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM

	/* initial LED state */
	drv_led_start();
	led_off(LED_AMBER);

	/* Configure SPI-based devices */

	spi1 = px4_spibus_initialize(1);

	if (!spi1) {
		message("[boot] FAILED to initialize SPI port 1\n");
		board_autoled_on(LED_AMBER);
		return -ENODEV;
	}

	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
	SPI_SETFREQUENCY(spi1, 10000000);
	SPI_SETBITS(spi1, 8);
	SPI_SETMODE(spi1, SPIDEV_MODE3);
	SPI_SELECT(spi1, PX4_SPIDEV_ICM_20608, false);
	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
	up_udelay(20);

	/* Get the SPI port for the FRAM */

	spi2 = px4_spibus_initialize(2);

	if (!spi2) {
		message("[boot] FAILED to initialize SPI port 2\n");
		board_autoled_on(LED_AMBER);
		return -ENODEV;
	}

	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
	 * and de-assert the known chip selects. */

	// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
	SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
	SPI_SETBITS(spi2, 8);
	SPI_SETMODE(spi2, SPIDEV_MODE3);
	SPI_SELECT(spi2, SPIDEV_FLASH(0), false);


#ifdef CONFIG_MMCSD
	/* First, get an instance of the SDIO interface */

	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);

	if (!sdio) {
		message("[boot] Failed to initialize SDIO slot %d\n",
			CONFIG_NSH_MMCSDSLOTNO);
		return -ENODEV;
	}

	/* Now bind the SDIO interface to the MMC/SD driver */
	int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);

	if (ret != OK) {
		message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
		return ret;
	}

	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
	sdio_mediachange(sdio, true);

#endif

	return OK;
}