/**************************************************************************** * * Copyright (c) 2012, 2013 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 "stm32.h" #include "board_config.h" #include "stm32_uart.h" #include #include #include #include /**************************************************************************** * 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 /* * Ideally we'd be able to get these from up_internal.h, * but since we want to be able to disable the NuttX use * of leds for system indication at will and there is no * separate switch, we need to build independent of the * CONFIG_ARCH_LEDS configuration switch. */ __BEGIN_DECLS extern void led_init(void); extern void led_on(int led); extern void led_off(int led); __END_DECLS /**************************************************************************** * 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 SPI interfaces */ stm32_spiinitialize(); /* configure LEDs (empty call to NuttX' ledinit) */ up_ledinit(); } /**************************************************************************** * Name: nsh_archinitialize * * Description: * Perform architecture specific initialization * ****************************************************************************/ static struct spi_dev_s *spi1; static struct spi_dev_s *spi2; static struct spi_dev_s *spi3; #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; /* configure always-on ADC pins */ stm32_configgpio(GPIO_ADC1_IN10); stm32_configgpio(GPIO_ADC1_IN11); /* IN12 and IN13 further below */ /* configure the high-resolution time/callout interface */ hrt_init(); /* configure CPU load estimation */ #ifdef CONFIG_SCHED_INSTRUMENTATION cpuload_initialize_once(); #endif /* set up the serial DMA polling */ 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); /* initial LED state */ drv_led_start(); led_off(LED_AMBER); led_off(LED_BLUE); /* 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"); /* * If SPI2 is enabled in the defconfig, we loose some ADC pins as chip selects. * Keep the SPI2 init optional and conditionally initialize the ADC pins */ #ifdef CONFIG_STM32_SPI2 spi2 = up_spiinitialize(2); /* Default SPI2 to 1MHz and de-assert the known chip selects. */ SPI_SETFREQUENCY(spi2, 10000000); SPI_SETBITS(spi2, 8); SPI_SETMODE(spi2, SPIDEV_MODE3); SPI_SELECT(spi2, PX4_SPIDEV_GYRO, false); SPI_SELECT(spi2, PX4_SPIDEV_ACCEL_MAG, false); message("[boot] Initialized SPI port2 (ADC IN12/13 blocked)\n"); #else spi2 = NULL; message("[boot] Enabling IN12/13 instead of SPI2\n"); /* no SPI2, use pins for ADC */ stm32_configgpio(GPIO_ADC1_IN12); stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards #endif /* Get the SPI port for the microSD slot */ 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"); return OK; }