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@ -1,6 +1,6 @@
@@ -1,6 +1,6 @@
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/****************************************************************************
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* |
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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@ -35,10 +35,10 @@
@@ -35,10 +35,10 @@
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* @file px4fmu_init.c |
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* |
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* PX4FMU-specific early startup code. This file implements the |
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* nsh_archinitialize() function that is called early by nsh during startup. |
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* board_app_initialize() function that is called early by nsh during startup. |
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* |
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* Code here is run before the rcS script is invoked; it should start required |
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* subsystems and perform board-specific initialisation. |
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* subsystems and perform board-specific initialization. |
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*/ |
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/****************************************************************************
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@ -53,8 +53,9 @@
@@ -53,8 +53,9 @@
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#include <errno.h> |
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#include <nuttx/arch.h> |
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#include <nuttx/spi.h> |
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#include <nuttx/i2c.h> |
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#include <nuttx/board.h> |
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#include <nuttx/spi/spi.h> |
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#include <nuttx/i2c/i2c_master.h> |
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#include <nuttx/mmcsd.h> |
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#include <nuttx/analog/adc.h> |
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@ -79,13 +80,13 @@
@@ -79,13 +80,13 @@
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#ifdef CONFIG_CPP_HAVE_VARARGS |
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# ifdef CONFIG_DEBUG |
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# define message(...) lowsyslog(__VA_ARGS__) |
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# define message(...) syslog(__VA_ARGS__) |
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# else |
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# define message(...) printf(__VA_ARGS__) |
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# endif |
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#else |
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# ifdef CONFIG_DEBUG |
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# define message lowsyslog |
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# define message syslog |
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# else |
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# define message printf |
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# endif |
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@ -124,18 +125,39 @@ __END_DECLS
@@ -124,18 +125,39 @@ __END_DECLS
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__EXPORT void stm32_boardinitialize(void) |
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{ |
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/* configure always-on ADC pins */ |
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stm32_configgpio(GPIO_ADC1_IN10); |
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stm32_configgpio(GPIO_ADC1_IN11); |
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/* configure SPI interfaces */ |
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stm32_spiinitialize(); |
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/* configure LEDs (empty call to NuttX' ledinit) */ |
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up_ledinit(); |
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/* configure LEDs (empty call to NuttX' ) */ |
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board_autoled_initialize(); |
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} |
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/****************************************************************************
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* Name: nsh_archinitialize |
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* Name: board_app_initialize |
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* |
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* Description: |
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* Perform architecture specific initialization |
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* Perform application specific initialization. This function is never |
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* called directly from application code, but only indirectly via the |
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT. |
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* |
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* Input Parameters: |
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* arg - The boardctl() argument is passed to the board_app_initialize() |
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* implementation without modification. The argument has no |
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* meaning to NuttX; the meaning of the argument is a contract |
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* between the board-specific initalization logic and the the |
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* matching application logic. The value cold be such things as a |
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* mode enumeration value, a set of DIP switch switch settings, a |
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* pointer to configuration data read from a file or serial FLASH, |
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* or whatever you would like to do with it. Every implementation |
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* should accept zero/NULL as a default configuration. |
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* |
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* Returned Value: |
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* Zero (OK) is returned on success; a negated errno value is returned on |
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* any failure to indicate the nature of the failure. |
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* |
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****************************************************************************/ |
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@ -143,17 +165,27 @@ static struct spi_dev_s *spi1;
@@ -143,17 +165,27 @@ static struct spi_dev_s *spi1;
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static struct spi_dev_s *spi2; |
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static struct spi_dev_s *spi3; |
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#include <math.h> |
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__EXPORT int nsh_archinitialize(void) |
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__EXPORT int board_app_initialize(uintptr_t arg) |
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{ |
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int result; |
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/* configure always-on ADC pins */ |
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px4_arch_configgpio(GPIO_ADC1_IN10); |
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px4_arch_configgpio(GPIO_ADC1_IN11); |
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/* IN12 and IN13 further below */ |
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#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE) |
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/* run C++ ctors before we go any further */ |
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up_cxxinitialize(); |
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# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE) |
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# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE. |
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# endif |
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#else |
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined. |
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#endif |
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/* configure the high-resolution time/callout interface */ |
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hrt_init(); |
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@ -187,11 +219,11 @@ __EXPORT int nsh_archinitialize(void)
@@ -187,11 +219,11 @@ __EXPORT int nsh_archinitialize(void)
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/* Configure SPI-based devices */ |
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spi1 = px4_spibus_initialize(1); |
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spi1 = stm32_spibus_initialize(1); |
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if (!spi1) { |
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message("[boot] FAILED to initialize SPI port 1\r\n"); |
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up_ledon(LED_AMBER); |
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board_autoled_on(LED_AMBER); |
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return -ENODEV; |
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} |
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@ -210,7 +242,7 @@ __EXPORT int nsh_archinitialize(void)
@@ -210,7 +242,7 @@ __EXPORT int nsh_archinitialize(void)
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*/ |
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#ifdef CONFIG_STM32_SPI2 |
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spi2 = px4_spibus_initialize(2); |
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spi2 = stm32_spibus_initialize(2); |
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/* Default SPI2 to 1MHz and de-assert the known chip selects. */ |
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SPI_SETFREQUENCY(spi2, 10000000); |
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SPI_SETBITS(spi2, 8); |
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@ -223,17 +255,17 @@ __EXPORT int nsh_archinitialize(void)
@@ -223,17 +255,17 @@ __EXPORT int nsh_archinitialize(void)
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spi2 = NULL; |
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message("[boot] Enabling IN12/13 instead of SPI2\n"); |
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/* no SPI2, use pins for ADC */ |
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px4_arch_configgpio(GPIO_ADC1_IN12); |
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px4_arch_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
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stm32_configgpio(GPIO_ADC1_IN12); |
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stm32_configgpio(GPIO_ADC1_IN13); // jumperable to MPU6000 DRDY on some boards
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#endif |
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/* Get the SPI port for the microSD slot */ |
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spi3 = px4_spibus_initialize(3); |
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spi3 = stm32_spibus_initialize(3); |
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if (!spi3) { |
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message("[boot] FAILED to initialize SPI port 3\n"); |
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up_ledon(LED_AMBER); |
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board_autoled_on(LED_AMBER); |
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return -ENODEV; |
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} |
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@ -242,7 +274,7 @@ __EXPORT int nsh_archinitialize(void)
@@ -242,7 +274,7 @@ __EXPORT int nsh_archinitialize(void)
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if (result != OK) { |
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message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n"); |
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up_ledon(LED_AMBER); |
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board_autoled_on(LED_AMBER); |
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return -ENODEV; |
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} |
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David Sidrane
8 years ago
committed by
Lorenz Meier