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204 lines
6.1 KiB
C
204 lines
6.1 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2021 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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* FMU-specific early startup code. This file implements the
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* board_app_initialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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*/
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#include "board_config.h"
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#include <syslog.h>
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#include <nuttx/config.h>
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#include <nuttx/board.h>
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#include <nuttx/sdio.h>
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#include <nuttx/mmcsd.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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__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(6);
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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. This entry point
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* is called early in the initialization -- after all memory has been configured
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* and mapped but before any devices have been initialized.
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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 SPI interfaces */
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stm32_spiinitialize();
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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. This function is never
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* called directly from application code, but only indirectly via the
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
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*
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* Input Parameters:
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* arg - The boardctl() argument is passed to the board_app_initialize()
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* implementation without modification. The argument has no
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* meaning to NuttX;
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure to indicate the nature of the failure.
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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 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_BLUE);
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if (board_hardfault_init(2, true) != 0) {
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led_on(LED_BLUE);
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}
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#ifdef CONFIG_MMCSD
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int ret = stm32_sdio_initialize();
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if (ret != OK) {
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led_on(LED_BLUE);
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return ret;
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}
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#endif
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// TODO：internal flash store parameters
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#if defined(FLASH_BASED_PARAMS)
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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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/* Initialize the flashfs layer to use heap allocated memory */
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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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