/**************************************************************************** * * 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 #include #include #include #include #include #include #include #include #include #include #include "stm32_internal.h" #include "px4fmu_internal.h" #include "stm32_uart.h" #include #include #include #include #include /**************************************************************************** * 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 #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 */ /* 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; }