PX4-Autopilot/boards/beaglebone/blue/src/init.cpp

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 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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/**
 * @file init.c
 *
 * BBBLUE specific initialization
 */
#include <stddef.h>
#include <px4_platform_common/log.h>

#include <robotcontrol.h>

#include "board_config.h"

// initialize roboticscape library similar to the deprecated rc_initialize()
int rc_init(void)
{
#ifdef __RC_V0_3
	return rc_initialize();
#else

	if (rc_get_state() == RUNNING) {  return 0; }

	PX4_INFO("Initializing librobotcontrol ...");

	// make sure another instance isn't running
	rc_kill_existing_process(2.0f);

	// make PID file to indicate your project is running
	rc_make_pid_file();

	// start state as Uninitialized
	rc_set_state(UNINITIALIZED);

	// initialize pinmux
	/*
	if (rc_pinmux_set_default()) {
		PX4_ERR("rc_init failed to run rc_pinmux_set_default()");
		return -1;
	}
	// rc_pinmux_set_default() includes: rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
	 */

	/*
	// Due to device tree issue, rc_pinmux_set_default() currently does not work correctly
	// with kernel 4.14, use a simplified version for now
	//
	// shared pins
	int ret = 0;
	ret |= rc_pinmux_set(DSM_HEADER_PIN, PINMUX_UART);
	ret |= rc_pinmux_set(GPS_HEADER_PIN_3, PINMUX_UART);
	ret |= rc_pinmux_set(GPS_HEADER_PIN_4, PINMUX_UART);
	ret |= rc_pinmux_set(UART1_HEADER_PIN_3, PINMUX_UART);
	ret |= rc_pinmux_set(UART1_HEADER_PIN_4, PINMUX_UART);

	if (ret != 0) {
		PX4_ERR("rc_init failed to set default pinmux");
		return -1;
	}
	*/

	// no direct equivalent of configure_gpio_pins()

	if (rc_adc_init()) {
		PX4_ERR("rc_init failed to run rc_adc_init()");
		return -1;
	}

	if (rc_servo_init()) {  // Configures the PRU to send servo pulses
		PX4_ERR("rc_init failed to run rc_servo_init()");
		return -1;
	}

	if (rc_servo_power_rail_en(1)) { // Turning On 6V Servo Power Rail
		PX4_ERR("rc_init failed to run rc_servo_power_rail_en(1)");
		return -1;
	}

	//i2c, barometer and mpu will be initialized later

	rc_set_state(RUNNING);

	return 0;
#endif
}


void rc_cleaning(void)
{
#ifdef __RC_V0_3
	rc_cleanup();  return ;
#else

	if (rc_get_state() == EXITING) { return; }

	rc_set_state(EXITING);

	rc_adc_cleanup();

	rc_servo_power_rail_en(0);
	rc_servo_cleanup();

	rc_remove_pid_file();
#endif
}