forked from Archive/PX4-Autopilot
315 lines
8.3 KiB
C
315 lines
8.3 KiB
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 px4fmu_init.c
|
|
*
|
|
* PX4FMU-specific early startup code. This file implements the
|
|
* nsh_archinitialize() 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 initialisation.
|
|
*/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <stdbool.h>
|
|
#include <stdio.h>
|
|
#include <debug.h>
|
|
#include <errno.h>
|
|
|
|
#include <nuttx/arch.h>
|
|
#include <nuttx/spi.h>
|
|
#include <nuttx/i2c.h>
|
|
#include <nuttx/mmcsd.h>
|
|
#include <nuttx/analog/adc.h>
|
|
#include <nuttx/arch.h>
|
|
|
|
#include "stm32_internal.h"
|
|
#include "px4fmu_internal.h"
|
|
#include "stm32_uart.h"
|
|
|
|
#include <arch/board/board.h>
|
|
#include <arch/board/drv_led.h>
|
|
#include <arch/board/drv_eeprom.h>
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
#include <systemlib/cpuload.h>
|
|
|
|
/****************************************************************************
|
|
* Pre-Processor Definitions
|
|
****************************************************************************/
|
|
|
|
/* Configuration ************************************************************/
|
|
|
|
/* Debug ********************************************************************/
|
|
|
|
#ifdef CONFIG_CPP_HAVE_VARARGS
|
|
# ifdef CONFIG_DEBUG
|
|
# define message(...) lib_lowprintf(__VA_ARGS__)
|
|
# else
|
|
# define message(...) printf(__VA_ARGS__)
|
|
# endif
|
|
#else
|
|
# ifdef CONFIG_DEBUG
|
|
# define message lib_lowprintf
|
|
# else
|
|
# define message printf
|
|
# endif
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Protected Functions
|
|
****************************************************************************/
|
|
|
|
extern int adc_devinit(void);
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/************************************************************************************
|
|
* 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 SPI interfaces */
|
|
stm32_spiinitialize();
|
|
|
|
/* configure LEDs */
|
|
up_ledinit();
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: nsh_archinitialize
|
|
*
|
|
* Description:
|
|
* Perform architecture specific initialization
|
|
*
|
|
****************************************************************************/
|
|
|
|
static struct spi_dev_s *spi1;
|
|
static struct spi_dev_s *spi3;
|
|
static struct i2c_dev_s *i2c1;
|
|
static struct i2c_dev_s *i2c2;
|
|
static struct i2c_dev_s *i2c3;
|
|
|
|
#include <math.h>
|
|
|
|
#ifdef __cplusplus
|
|
__EXPORT int matherr(struct __exception *e)
|
|
{
|
|
return 1;
|
|
}
|
|
#else
|
|
__EXPORT int matherr(struct exception *e)
|
|
{
|
|
return 1;
|
|
}
|
|
#endif
|
|
|
|
__EXPORT int nsh_archinitialize(void)
|
|
{
|
|
int result;
|
|
|
|
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
|
|
|
|
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
|
|
|
|
/* configure the high-resolution time/callout interface */
|
|
#ifdef CONFIG_HRT_TIMER
|
|
hrt_init();
|
|
#endif
|
|
|
|
/* configure CPU load estimation */
|
|
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
|
cpuload_initialize_once();
|
|
#endif
|
|
|
|
/* set up the serial DMA polling */
|
|
#ifdef SERIAL_HAVE_DMA
|
|
{
|
|
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);
|
|
}
|
|
#endif
|
|
|
|
message("\r\n");
|
|
|
|
up_ledoff(LED_BLUE);
|
|
up_ledoff(LED_AMBER);
|
|
|
|
up_ledon(LED_BLUE);
|
|
|
|
/* Configure user-space led driver */
|
|
px4fmu_led_init();
|
|
|
|
/* Configure SPI-based devices */
|
|
|
|
spi1 = up_spiinitialize(1);
|
|
|
|
if (!spi1) {
|
|
message("[boot] FAILED to initialize SPI port 1\r\n");
|
|
up_ledon(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_GYRO, false);
|
|
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
|
|
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
|
|
up_udelay(20);
|
|
|
|
message("[boot] Successfully initialized SPI port 1\r\n");
|
|
|
|
/* initialize I2C2 bus */
|
|
|
|
i2c2 = up_i2cinitialize(2);
|
|
|
|
if (!i2c2) {
|
|
message("[boot] FAILED to initialize I2C bus 2\n");
|
|
up_ledon(LED_AMBER);
|
|
return -ENODEV;
|
|
}
|
|
|
|
/* set I2C2 speed */
|
|
I2C_SETFREQUENCY(i2c2, 400000);
|
|
|
|
|
|
i2c3 = up_i2cinitialize(3);
|
|
|
|
if (!i2c3) {
|
|
message("[boot] FAILED to initialize I2C bus 3\n");
|
|
up_ledon(LED_AMBER);
|
|
return -ENODEV;
|
|
}
|
|
|
|
/* set I2C3 speed */
|
|
I2C_SETFREQUENCY(i2c3, 400000);
|
|
|
|
/* try to attach, don't fail if device is not responding */
|
|
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
|
|
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
|
|
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
|
|
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
|
|
|
|
#if defined(CONFIG_STM32_SPI3)
|
|
/* Get the SPI port */
|
|
|
|
message("[boot] Initializing SPI port 3\n");
|
|
spi3 = up_spiinitialize(3);
|
|
|
|
if (!spi3) {
|
|
message("[boot] FAILED to initialize SPI port 3\n");
|
|
up_ledon(LED_AMBER);
|
|
return -ENODEV;
|
|
}
|
|
|
|
message("[boot] Successfully initialized SPI port 3\n");
|
|
|
|
/* Now bind the SPI interface to the MMCSD driver */
|
|
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
|
|
|
|
if (result != OK) {
|
|
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
|
|
up_ledon(LED_AMBER);
|
|
return -ENODEV;
|
|
}
|
|
|
|
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
|
|
#endif /* SPI3 */
|
|
|
|
/* initialize I2C1 bus */
|
|
|
|
i2c1 = up_i2cinitialize(1);
|
|
|
|
if (!i2c1) {
|
|
message("[boot] FAILED to initialize I2C bus 1\n");
|
|
up_ledon(LED_AMBER);
|
|
return -ENODEV;
|
|
}
|
|
|
|
/* set I2C1 speed */
|
|
I2C_SETFREQUENCY(i2c1, 400000);
|
|
|
|
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
|
|
|
|
/* Get board information if available */
|
|
|
|
#ifdef CONFIG_ADC
|
|
int adc_state = adc_devinit();
|
|
|
|
if (adc_state != OK) {
|
|
/* Try again */
|
|
adc_state = adc_devinit();
|
|
|
|
if (adc_state != OK) {
|
|
/* Give up */
|
|
message("[boot] FAILED adc_devinit: %d\n", adc_state);
|
|
return -ENODEV;
|
|
}
|
|
}
|
|
|
|
#endif
|
|
|
|
return OK;
|
|
}
|