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284 lines
8.8 KiB
284 lines
8.8 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2012-2020 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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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file init.c |
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* |
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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 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 <syslog.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 "arm_internal.h" |
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#include <px4_arch/io_timer.h> |
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#include <drivers/drv_hrt.h> |
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#include <drivers/drv_board_led.h> |
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#include <systemlib/px4_macros.h> |
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#include <px4_platform_common/init.h> |
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#include <px4_platform/gpio.h> |
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#include <px4_platform/board_dma_alloc.h> |
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# if defined(FLASH_BASED_PARAMS) |
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# include <parameters/flashparams/flashfs.h> |
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#endif |
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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 arm_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_peripheral_reset |
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* |
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* Description: |
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* |
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************************************************************************************/ |
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__EXPORT void board_peripheral_reset(int ms) |
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{ |
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UNUSED(ms); |
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} |
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/************************************************************************************ |
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* Name: board_on_reset |
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* |
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* Description: |
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* Optionally provided function called on entry to board_system_reset |
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* It should perform any house keeping prior to the rest. |
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* |
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* status - 1 if resetting to boot loader |
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* 0 if just resetting |
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* |
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************************************************************************************/ |
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__EXPORT void board_on_reset(int status) |
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{ |
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for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) { |
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px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i))); |
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} |
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if (status >= 0) { |
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up_mdelay(6); |
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} |
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} |
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/************************************************************************************ |
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* Name: stm32_boardinitialize |
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* |
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* Description: |
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* All STM32 architectures must provide the following entry point. This entry point |
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* is called early in the initialization -- after all memory has been configured |
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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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{ |
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board_on_reset(-1); /* Reset PWM first thing */ |
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/* configure LEDs */ |
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board_autoled_initialize(); |
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/* configure pins */ |
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const uint32_t gpio[] = PX4_GPIO_INIT_LIST; |
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px4_gpio_init(gpio, arraySize(gpio)); |
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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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/* configure external memory*/ |
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flash_w25q128_init(); |
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} |
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/**************************************************************************** |
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* Name: board_app_initialize |
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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 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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__EXPORT int board_app_initialize(uintptr_t arg) |
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{ |
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/* Need hrt running before using the ADC */ |
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px4_platform_init(); |
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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 at 1ms intervals for received bytes that have not triggered a DMA event. |
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static struct hrt_call serial_dma_call; |
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hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL); |
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#endif |
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/* initial LED state */ |
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drv_led_start(); |
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led_off(LED_RED); |
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if (board_hardfault_init(2, true) != 0) { |
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led_on(LED_RED); |
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} |
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#ifdef CONFIG_MMCSD |
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int ret = stm32_sdio_initialize(); |
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if (ret != OK) { |
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led_on(LED_RED); |
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} |
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#endif |
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up_udelay(20); |
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/* W25128 external flash memory: |
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* 0x90030000 - 0x9003FFFF -> 64KB for FlashFS |
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* 0x90100000 - 0x902FFFFF -> 2MB for PX4 firmware |
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*/ |
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/* Page calculator for W25Q128: |
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* page = (address - 0x90000000)/0x1000 (sector size is 0x1000 (4096 bytes)) |
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* examples: |
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* 1) address = 0x90001000, page = (0x90001000 - 0x90000000)/0x1000 = 0x1 |
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* 2) address = 0x90200000, page = (0x90200000 - 0x90000000)/0x1000 = 0x200 |
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* 3) address = 0x90200000, page = (0x90200100 - 0x90000000)/0x1000 = 0x201 |
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* 4) address = 0x90f80000, page = (0x90f80000 - 0x90000000)/0x1000 = 0xF80 |
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*/ |
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#if defined(FLASH_BASED_PARAMS) |
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static sector_descriptor_t params_sector_map[] = { |
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{0xF80, 4096, 0x90f80000}, |
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{0xF81, 4096, 0x90f81000}, |
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{0xF82, 4096, 0x90f82000}, |
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{0xF83, 4096, 0x90f83000}, |
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{0xF84, 4096, 0x90f84000}, |
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{0xF85, 4096, 0x90f85000}, |
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{0xF86, 4096, 0x90f86000}, |
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{0xF87, 4096, 0x90f87000}, |
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{0xF88, 4096, 0x90f88000}, |
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{0xF89, 4096, 0x90f89000}, |
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{0xF8A, 4096, 0x90f8A000}, |
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{0xF8B, 4096, 0x90f8B000}, |
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{0xF8C, 4096, 0x90f8C000}, |
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{0xF8D, 4096, 0x90f8D000}, |
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{0xF8E, 4096, 0x90f8E000}, |
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{0xF8F, 4096, 0x90f8F000}, |
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{0, 0, 0}, |
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}; |
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/* Initialize the flashfs layer to use heap allocated memory */ |
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int result = parameter_flashfs_init(params_sector_map, NULL, 0); |
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if (result != OK) { |
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syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result); |
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led_on(LED_AMBER); |
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} |
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#endif |
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/* Configure the HW based on the manifest */ |
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px4_platform_configure(); |
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return OK; |
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}
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