diff options
Diffstat (limited to 'nuttx/configs/px4fmu/src/up_nsh.c')
| -rw-r--r-- | nuttx/configs/px4fmu/src/up_nsh.c | 392 |
1 files changed, 392 insertions, 0 deletions
diff --git a/nuttx/configs/px4fmu/src/up_nsh.c b/nuttx/configs/px4fmu/src/up_nsh.c new file mode 100644 index 000000000..6e092e3b4 --- /dev/null +++ b/nuttx/configs/px4fmu/src/up_nsh.c @@ -0,0 +1,392 @@ +/**************************************************************************** + * config/stm3210e_eval/src/up_nsh.c + * arch/arm/src/board/up_nsh.c + * + * Copyright (C) 2009, 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt <spudmonkey@racsa.co.cr> + * + * 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 NuttX 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 <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_hrt.h> +#include <arch/board/up_cpuload.h> +#include <arch/board/drv_tone_alarm.h> +#include <arch/board/up_adc.h> +#include <arch/board/board.h> +#include <arch/board/drv_bma180.h> +#include <arch/board/drv_l3gd20.h> +#include <arch/board/drv_hmc5883l.h> +#include <arch/board/drv_mpu6000.h> +#include <arch/board/drv_ms5611.h> +#include <arch/board/drv_eeprom.h> +#include <arch/board/drv_led.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 + ****************************************************************************/ + +/**************************************************************************** + * Name: multiport_setup + * + * Description: + * Perform setup of the PX4FMU's multi function ports + * + ****************************************************************************/ +int multiport_setup(void) +{ + int result = OK; + + return result; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * 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; + } + + // Setup 10 MHz clock (maximum rate the BMA180 can sustain) + 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 SPI peripherals redundantly */ + int gyro_attempts = 0; + int gyro_fail = 0; + + while (gyro_attempts < 5) + { + gyro_fail = l3gd20_attach(spi1, PX4_SPIDEV_GYRO); + gyro_attempts++; + if (gyro_fail == 0) break; + up_udelay(1000); + } + + if (gyro_fail) message("[boot] FAILED to attach L3GD20 gyro\r\n"); + + int acc_attempts = 0; + int acc_fail = 0; + + while (acc_attempts < 5) + { + acc_fail = bma180_attach(spi1, PX4_SPIDEV_ACCEL); + acc_attempts++; + if (acc_fail == 0) break; + up_udelay(1000); + } + + if (acc_fail) message("[boot] FAILED to attach BMA180 accelerometer\r\n"); + + int mpu_attempts = 0; + int mpu_fail = 0; + + while (mpu_attempts < 1) + { + mpu_fail = mpu6000_attach(spi1, PX4_SPIDEV_MPU); + mpu_attempts++; + if (mpu_fail == 0) break; + up_udelay(200); + } + + if (mpu_fail) message("[boot] FAILED to attach MPU 6000 gyro/acc\r\n"); + + /* initialize I2C2 bus */ + + i2c2 = up_i2cinitialize(2); + if (!i2c2) { + message("[boot] FAILED to initialize I2C bus 2\r\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\r\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + + /* set I2C3 speed */ + I2C_SETFREQUENCY(i2c3, 400000); + + int mag_attempts = 0; + int mag_fail = 0; + + while (mag_attempts < 5) + { + mag_fail = hmc5883l_attach(i2c2); + mag_attempts++; + if (mag_fail == 0) break; + up_udelay(1000); + } + + if (mag_fail) message("[boot] FAILED to attach HMC5883L magnetometer\r\n"); + + int baro_attempts = 0; + int baro_fail = 0; + while (baro_attempts < 5) + { + baro_fail = ms5611_attach(i2c2); + baro_attempts++; + if (baro_fail == 0) break; + up_udelay(1000); + } + + if (baro_fail) message("[boot] FAILED to attach MS5611 baro at addr #1 or #2 (0x76 or 0x77)\r\n"); + + /* 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); + + int eeprom_attempts = 0; + int eeprom_fail; + while (eeprom_attempts < 5) + { + /* try to attach, fail if device does not respond */ + eeprom_fail = eeprom_attach(i2c2, FMU_ONBOARD_EEPROM_ADDRESS, + FMU_ONBOARD_EEPROM_TOTAL_SIZE_BYTES, + FMU_ONBOARD_EEPROM_PAGE_SIZE_BYTES, + FMU_ONBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/eeprom", 1); + eeprom_attempts++; + if (eeprom_fail == OK) break; + up_udelay(1000); + } + + if (eeprom_fail) message("[boot] FAILED to attach FMU EEPROM\r\n"); + + /* Report back sensor status */ + if (acc_fail || gyro_fail || mag_fail || baro_fail || eeprom_fail) + { + up_ledon(LED_AMBER); + } + +#if defined(CONFIG_STM32_SPI3) + /* Get the SPI port */ + + message("[boot] Initializing SPI port 3\r\n"); + spi3 = up_spiinitialize(3); + if (!spi3) + { + message("[boot] FAILED to initialize SPI port 3\r\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + message("[boot] Successfully initialized SPI port 3\r\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\r\n"); + up_ledon(LED_AMBER); + return -ENODEV; + } + message("[boot] Successfully bound SPI port 3 to the MMCSD driver\r\n"); +#endif /* SPI3 */ + + /* initialize I2C1 bus */ + + i2c1 = up_i2cinitialize(1); + if (!i2c1) { + message("[boot] FAILED to initialize I2C bus 1\r\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\r\n", adc_state); + return -ENODEV; + } + } +#endif + + /* configure the tone generator */ +#ifdef CONFIG_TONE_ALARM + tone_alarm_init(); +#endif + + return OK; +} |