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@ -34,34 +34,19 @@
@@ -34,34 +34,19 @@
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/**
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* @file init.c |
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* |
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* mRO x2.1 777 specific early startup code. This file implements the |
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* board-specific early startup code. This file implements the |
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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 initialization. |
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* subsystems and perform board-specific initialisation. |
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*/ |
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/****************************************************************************
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* Included Files |
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****************************************************************************/ |
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#include "board_config.h" |
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#include <stdbool.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <debug.h> |
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#include <errno.h> |
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#include <nuttx/config.h> |
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#include <nuttx/board.h> |
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#include <nuttx/spi/spi.h> |
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#include <nuttx/sdio.h> |
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#include <nuttx/mmcsd.h> |
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#include <nuttx/analog/adc.h> |
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#include <nuttx/mm/gran.h> |
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#include <chip.h> |
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#include <stm32_uart.h> |
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#include <arch/board/board.h> |
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#include "up_internal.h" |
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@ -73,71 +58,12 @@
@@ -73,71 +58,12 @@
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#include <px4_platform/gpio.h> |
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#include <px4_platform/board_dma_alloc.h> |
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/****************************************************************************
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* Pre-Processor Definitions |
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****************************************************************************/ |
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/* Configuration ************************************************************/ |
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/*
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* Ideally we'd be able to get these from up_internal.h, |
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* but since we want to be able to disable the NuttX use |
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* of leds for system indication at will and there is no |
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* separate switch, we need to build independent of the |
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* CONFIG_ARCH_LEDS configuration switch. |
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*/ |
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__BEGIN_DECLS |
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extern void led_init(void); |
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extern void led_on(int led); |
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extern void led_off(int led); |
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__END_DECLS |
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/************************************************************************************
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* Name: board_rc_input |
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* |
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* Description: |
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* All boards my optionally provide this API to invert the Serial RC input. |
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* This is needed on SoCs that support the notion RXINV or TXINV as apposed to |
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* and external XOR controlled by a GPIO |
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* |
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************************************************************************************/ |
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__EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base) |
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{ |
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irqstate_t irqstate = px4_enter_critical_section(); |
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uint32_t cr1 = getreg32(STM32_USART_CR1_OFFSET + uxart_base); |
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uint32_t cr2 = getreg32(STM32_USART_CR2_OFFSET + uxart_base); |
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uint32_t regval = cr1; |
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/* {R|T}XINV bit fields can only be written when the USART is disabled (UE=0). */ |
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regval &= ~USART_CR1_UE; |
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putreg32(regval, STM32_USART_CR1_OFFSET + uxart_base); |
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if (invert_on) { |
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#if defined(BOARD_HAS_RX_TX_SWAP) && RC_SERIAL_PORT_IS_SWAPED == 1 |
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/* This is only ever turned on */ |
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cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV | USART_CR2_SWAP); |
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#else |
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cr2 |= (USART_CR2_RXINV | USART_CR2_TXINV); |
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#endif |
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} else { |
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cr2 &= ~(USART_CR2_RXINV | USART_CR2_TXINV); |
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} |
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putreg32(cr2, STM32_USART_CR2_OFFSET + uxart_base); |
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putreg32(cr1, STM32_USART_CR1_OFFSET + uxart_base); |
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leave_critical_section(irqstate); |
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} |
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/************************************************************************************
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* Name: board_peripheral_reset |
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* |
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@ -147,8 +73,8 @@ __EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
@@ -147,8 +73,8 @@ __EXPORT void board_rc_input(bool invert_on, uint32_t uxart_base)
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__EXPORT void board_peripheral_reset(int ms) |
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{ |
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/* set the peripheral rails off */ |
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stm32_configgpio(GPIO_VDD_5V_PERIPH_EN); |
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stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 1); |
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stm32_configgpio(GPIO_nVDD_5V_PERIPH_EN); |
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stm32_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, 1); |
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/* wait for the peripheral rail to reach GND */ |
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usleep(ms * 1000); |
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@ -157,7 +83,7 @@ __EXPORT void board_peripheral_reset(int ms)
@@ -157,7 +83,7 @@ __EXPORT void board_peripheral_reset(int ms)
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/* re-enable power */ |
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/* switch the peripheral rail back on */ |
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stm32_gpiowrite(GPIO_VDD_5V_PERIPH_EN, 0); |
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stm32_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, 0); |
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} |
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/************************************************************************************
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@ -188,31 +114,6 @@ __EXPORT void board_on_reset(int status)
@@ -188,31 +114,6 @@ __EXPORT void board_on_reset(int status)
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} |
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} |
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/****************************************************************************
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* Name: board_app_finalinitialize |
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* |
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* Description: |
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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 |
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* BOARDIOC_FINALINIT. |
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* |
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* Input Parameters: |
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* arg - The argument has no meaning. |
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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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#ifdef CONFIG_BOARDCTL_FINALINIT |
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int board_app_finalinitialize(uintptr_t arg) |
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{ |
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return 0; |
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} |
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#endif |
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/************************************************************************************
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* Name: stm32_boardinitialize |
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* |
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@ -222,14 +123,12 @@ int board_app_finalinitialize(uintptr_t arg)
@@ -222,14 +123,12 @@ int board_app_finalinitialize(uintptr_t arg)
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* and mapped but before any devices have been initialized. |
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* |
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************************************************************************************/ |
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__EXPORT void |
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stm32_boardinitialize(void) |
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__EXPORT void stm32_boardinitialize(void) |
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{ |
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board_on_reset(-1); /* Reset PWM first thing */ |
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/* Reset PWM first thing */ |
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board_on_reset(-1); |
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/* configure LEDs */ |
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board_autoled_initialize(); |
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/* configure pins */ |
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@ -243,7 +142,7 @@ stm32_boardinitialize(void)
@@ -243,7 +142,7 @@ stm32_boardinitialize(void)
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px4_arch_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */ |
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/* configure power supply control/sense pins */ |
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px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN); |
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px4_arch_configgpio(GPIO_nVDD_5V_PERIPH_EN); |
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px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN); |
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px4_arch_configgpio(GPIO_VDD_BRICK_VALID); |
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px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC); |
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@ -253,13 +152,10 @@ stm32_boardinitialize(void)
@@ -253,13 +152,10 @@ stm32_boardinitialize(void)
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px4_arch_configgpio(GPIO_CAN1_TX); |
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/* configure SPI interfaces */ |
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stm32_spiinitialize(); |
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/* configure USB interfaces */ |
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stm32_usbinitialize(); |
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} |
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/****************************************************************************
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@ -273,39 +169,38 @@ stm32_boardinitialize(void)
@@ -273,39 +169,38 @@ stm32_boardinitialize(void)
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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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* meaning to NuttX; |
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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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__EXPORT int board_app_initialize(uintptr_t arg) |
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{ |
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/* Power on Interfaces */ |
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stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, true); |
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stm32_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, false); |
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board_control_spi_sensors_power(true, 0xffff); |
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px4_platform_init(); |
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/* configure the DMA allocator */ |
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stm32_spiinitialize(); |
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/* configure the DMA allocator */ |
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if (board_dma_alloc_init() < 0) { |
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syslog(LOG_ERR, "[boot] DMA alloc FAILED\n"); |
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} |
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#if defined(SERIAL_HAVE_RXDMA) |
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/* set up the serial DMA polling */ |
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static struct hrt_call serial_dma_call; |
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struct timespec ts; |
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/*
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* Poll at 1ms intervals for received bytes that have not triggered |
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* a DMA event. |
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*/ |
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struct timespec ts; |
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ts.tv_sec = 0; |
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ts.tv_nsec = 1000000; |
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@ -314,7 +209,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
@@ -314,7 +209,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
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ts_to_abstime(&ts), |
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(hrt_callout)stm32_serial_dma_poll, |
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NULL); |
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#endif |
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/* initial LED state */ |
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drv_led_start(); |
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Daniel Agar
5 years ago