Checkpoint - moving things out of the NuttX configs/*/src directories

1 files changed, 290 insertions, 0 deletions

diff --git a/apps/drivers/boards/px4fmu/px4fmu_init.c b/apps/drivers/boards/px4fmu/px4fmu_init.c
new file mode 100644
index 000000000..c35290589
--- /dev/null
+++ b/apps/drivers/boards/px4fmu/px4fmu_init.c
@@ -0,0 +1,290 @@
+/****************************************************************************
+ *
+ *   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/up_cpuload.h>
+#include <arch/board/up_adc.h>
+#include <arch/board/board.h>
+#include <arch/board/drv_led.h>
+#include <arch/board/drv_eeprom.h>
+
+#include <drivers/drv_hrt.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
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+__EXPORT int nsh_archinitialize(void);
+
+/****************************************************************************
+ * 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
+int matherr(struct __exception *e) {
+  return 1;
+}
+#else
+int matherr(struct exception *e) {
+  return 1;
+}
+#endif
+
+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 */
+
+  /* Initialize the user GPIOs */
+  px4fmu_gpio_init();
+
+#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;
+}