diff options
Diffstat (limited to 'misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c')
| -rw-r--r-- | misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c | 297 |
1 files changed, 297 insertions, 0 deletions
diff --git a/misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c b/misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c new file mode 100644 index 000000000..e2813c89f --- /dev/null +++ b/misc/Obsoleted/configs/px4fmu-v2_upstream/src/px4fmu2_init.c @@ -0,0 +1,297 @@ +/**************************************************************************** + * configs/px4fmu-v2_upstream/src/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. + * + * 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. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <stdbool.h> +#include <stdio.h> +#include <math.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/arch.h> +#include <nuttx/spi/spi.h> +#include <nuttx/i2c.h> +#include <nuttx/sdio.h> +#include <nuttx/mmcsd.h> +#include <nuttx/analog/adc.h> +#include <nuttx/mm/gran.h> + +#include <stm32.h> +#include "board_config.h" +#include <stm32_uart.h> + +#include <arch/board/board.h> + +/**************************************************************************** + * Pre-Processor Definitions + ****************************************************************************/ + +/* Configuration ************************************************************/ + +#ifdef CONFIG_FAT_DMAMEMORY +# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY) +# error microSD DMA support requires CONFIG_GRAN +# endif +#endif + +/* PX4 LED colour codes */ + +#define LED_AMBER 1 +#define LED_RED 1 /* Some boards have red rather than amber */ +#define LED_BLUE 0 +#define LED_SAFETY 2 + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +#ifdef CONFIG_FAT_DMAMEMORY +static GRAN_HANDLE dma_allocator; + +/* The DMA heap size constrains the total number of things that can be + * ready to do DMA at a time. + * + * For example, FAT DMA depends on one sector-sized buffer per filesystem plus + * one sector-sized buffer per file. + * + * We use a fundamental alignment / granule size of 64B; this is sufficient + * to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits). + */ + +static uint8_t g_dma_heap[8192] __attribute__((aligned(64))); +#endif + +static struct spi_dev_s *spi1; +static struct spi_dev_s *spi2; +static struct sdio_dev_s *sdio; + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +#ifdef CONFIG_FAT_DMAMEMORY +static void dma_alloc_init(void) +{ + dma_allocator = + gran_initialize(g_dma_heap, + sizeof(g_dma_heap), + 7, /* 128B granule - must be > alignment (XXX bug?) */ + 6); /* 64B alignment */ + + if (dma_allocator == NULL) + { + syslog(LOG_INFO, "[boot] DMA allocator setup FAILED"); + } +} +#else +# define dma_alloc_init() +#endif + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +#ifdef CONFIG_FAT_DMAMEMORY +/* DMA-aware allocator stubs for the FAT filesystem. */ + +void *fat_dma_alloc(size_t size) +{ + return gran_alloc(dma_allocator, size); +} + +void fat_dma_free(FAR void *memory, size_t size) +{ + gran_free(dma_allocator, memory, size); +} + +#endif + +/************************************************************************************ + * Name: stm32_boardinitialize + * + * Description: + * All STM32 architectures must provide the following entry point. This entry point + * is called early in the initialization -- after all memory has been configured + * and mapped but before any devices have been initialized. + * + ************************************************************************************/ + +void stm32_boardinitialize(void) +{ + /* Configure SPI interfaces */ + + stm32_spiinitialize(); + + /* Configure LEDs */ + + board_led_initialize(); +} + +/**************************************************************************** + * Name: nsh_archinitialize + * + * Description: + * Perform architecture specific initialization + * + ****************************************************************************/ + +int nsh_archinitialize(void) +{ +#ifdef CONFIG_MMCSD + int ret; +#endif + + /* Configure ADC pins */ + + stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */ + stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */ + stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */ +//stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */ +//stm32_configgpio(GPIO_ADC1_IN11); /* unused */ +//stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */ + stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */ + stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */ + stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */ + + /* Configure power supply control/sense pins */ + + stm32_configgpio(GPIO_VDD_5V_PERIPH_EN); + stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN); + stm32_configgpio(GPIO_VDD_BRICK_VALID); + stm32_configgpio(GPIO_VDD_SERVO_VALID); + stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC); + stm32_configgpio(GPIO_VDD_5V_PERIPH_OC); + + /* Configure the DMA allocator */ + + dma_alloc_init(); + + /* Configure CPU load estimation */ + +#ifdef CONFIG_SCHED_INSTRUMENTATION + cpuload_initialize_once(); +#endif + + /* Initial LED state */ + + led_off(LED_AMBER); + + /* Configure SPI-based devices */ + + spi1 = up_spiinitialize(1); + if (!spi1) + { + syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n"); + board_led_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_GYRO, false); + SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false); + SPI_SELECT(spi1, PX4_SPIDEV_BARO, false); + SPI_SELECT(spi1, PX4_SPIDEV_MPU, false); + up_udelay(20); + + syslog(LOG_INFO, "[boot] Initialized SPI port 1 (SENSORS)\n"); + + /* Get the SPI port for the FRAM */ + + spi2 = up_spiinitialize(2); + if (!spi2) + { + syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n"); + board_led_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, false); + + syslog(LOG_INFO, "[boot] Initialized SPI port 2 (RAMTRON FRAM)\n"); + +#ifdef CONFIG_MMCSD + /* First, get an instance of the SDIO interface */ + + sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO); + if (!sdio) + { + syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", + CONFIG_NSH_MMCSDSLOTNO); + return -ENODEV; + } + + /* Now bind the SDIO interface to the MMC/SD driver */ + + ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio); + if (ret != OK) + { + syslog(LOG_ERR, "[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); + + syslog(LOG_INFO, "[boot] Initialized SDIO\n"); +#endif + + return OK; +} |