1 files changed, 158 insertions, 0 deletions
diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c
new file mode 100644
index 000000000..9f8c0eeb2
--- /dev/null
+++ b/src/drivers/boards/px4io-v2/px4iov2_init.c
@@ -0,0 +1,158 @@
+/****************************************************************************
+ *
+ *   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 px4iov2_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 <stm32.h>
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/* Debug ********************************************************************/
+
+#ifdef CONFIG_CPP_HAVE_VARARGS
+#  ifdef CONFIG_DEBUG
+#    define message(...) lowsyslog(__VA_ARGS__)
+#  else
+#    define message(...) printf(__VA_ARGS__)
+#  endif
+#else
+#  ifdef CONFIG_DEBUG
+#    define message lowsyslog
+#  else
+#    define message printf
+#  endif
+#endif
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * 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 GPIOs */
+
+	/* LEDS - default to off */
+	stm32_configgpio(GPIO_LED1);
+	stm32_configgpio(GPIO_LED2);
+	stm32_configgpio(GPIO_LED3);
+
+	stm32_configgpio(GPIO_BTN_SAFETY);
+
+	/* spektrum power enable is active high - enable it by default */
+	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
+
+	stm32_configgpio(GPIO_SERVO_FAULT_DETECT);
+
+	/* RSSI inputs */
+	stm32_configgpio(GPIO_TIM_RSSI); /* xxx alternate function */
+	stm32_configgpio(GPIO_ADC_RSSI);
+
+	/* servo rail voltage */
+	stm32_configgpio(GPIO_ADC_VSERVO);
+
+	stm32_configgpio(GPIO_SBUS_INPUT); /* xxx alternate function */
+	stm32_configgpio(GPIO_SBUS_OUTPUT);
+	
+	/* sbus output enable is active low - disable it by default */
+	stm32_gpiowrite(GPIO_SBUS_OENABLE, true);
+	stm32_configgpio(GPIO_SBUS_OENABLE);
+
+	stm32_configgpio(GPIO_PPM); /* xxx alternate function */
+
+	stm32_gpiowrite(GPIO_PWM1, false);
+	stm32_configgpio(GPIO_PWM1);
+
+	stm32_gpiowrite(GPIO_PWM2, false);
+	stm32_configgpio(GPIO_PWM2);
+
+	stm32_gpiowrite(GPIO_PWM3, false);
+	stm32_configgpio(GPIO_PWM3);
+
+	stm32_gpiowrite(GPIO_PWM4, false);
+	stm32_configgpio(GPIO_PWM4);
+
+	stm32_gpiowrite(GPIO_PWM5, false);
+	stm32_configgpio(GPIO_PWM5);
+
+	stm32_gpiowrite(GPIO_PWM6, false);
+	stm32_configgpio(GPIO_PWM6);
+
+	stm32_gpiowrite(GPIO_PWM7, false);
+	stm32_configgpio(GPIO_PWM7);
+
+	stm32_gpiowrite(GPIO_PWM8, false);
+	stm32_configgpio(GPIO_PWM8);
+}