bizhang_-obav/boards/intel/aerofc-v1/src/init.c

/****************************************************************************
 *
 *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
 *         Author: David Sidrane <david_s5@nscdg.com>
 *
 * 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 aerofc-v1_init.c
 *
 * aerofc-specific early startup code.  This file implements the
 * board_app_initialize() 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 initialization.
 */

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/tasks.h>

#include <stdbool.h>
#include <stdio.h>
#include <string.h>
#include <debug.h>
#include <errno.h>

#include <nuttx/board.h>
#include <nuttx/analog/adc.h>

#include "board_config.h"
#include "stm32_uart.h"

#include <arch/board/board.h>

#include <drivers/drv_hrt.h>
#include <drivers/drv_board_led.h>

#include <dataman/dataman.h>

#include <systemlib/px4_macros.h>
#include <px4_platform_common/init.h>

# if defined(FLASH_BASED_PARAMS)
#  include <parameters/flashparams/flashfs.h>
#endif

/****************************************************************************
 * Pre-Processor Definitions
 ****************************************************************************/

/*
 * 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

/****************************************************************************
 * Private Functions
 ****************************************************************************/

static int _bootloader_force_pin_callback(int irq, void *context, void *args)
{
	if (stm32_gpioread(GPIO_FORCE_BOOTLOADER)) {
		board_reset(0);
	}

	return 0;
}

/****************************************************************************
 * 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 initialization -- after all memory has been configured
 *   and mapped but before any devices have been initialized.
 *
 ************************************************************************************/

__EXPORT void stm32_boardinitialize(void)
{
	stm32_configgpio(GPIO_FORCE_BOOTLOADER);
	_bootloader_force_pin_callback(0, NULL, NULL);

	/* configure LEDs */
	board_autoled_initialize();

	/* turn sensors on */
	stm32_configgpio(GPIO_VDD_5V_SENSORS_EN);

	/* configure SPI interfaces */
	stm32_spiinitialize();

}

/****************************************************************************
 * Name: board_app_initialize
 *
 * Description:
 *   Perform architecture specific initialization
 *
 ****************************************************************************/

__EXPORT int board_app_initialize(uintptr_t arg)
{
	int result;

	/* the interruption subsystem is not initialized when stm32_boardinitialize() is called */
	stm32_gpiosetevent(GPIO_FORCE_BOOTLOADER, true, false, false, _bootloader_force_pin_callback, NULL);

	px4_platform_init();

	/* 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);

	/*
	 * Bootloader(sector 0):
	 * start: 0x08000000, len: 16K, end: 0x08003E80
	 *
	 * FlashFS(sector 1 and 2):
	 * start: 0x08004000, len: 32K, end: 0x0800BFFF
	 *
	 * Firmware(sector 3 to 11):
	 * start: 0x0800C000, len: 976K, end: 0x080FFFFF
	 *
	 * Dataman(sector 23):
	 * start: 0x081E0000, len: 128K, end: 0x08200000
	 *
	 * First 1MB memory bank complete assigned.
	 * Second 1MB memory bank is mostly empty.
	 */

#if defined(FLASH_BASED_PARAMS)
	static sector_descriptor_t params_sector_map[] = {
		{1, 16 * 1024, 0x08004000},
		{2, 16 * 1024, 0x08008000},
		{0, 0, 0},
	};

	/* Initialize the flashfs layer to use heap allocated memory */
	result = parameter_flashfs_init(params_sector_map, NULL, 0);

	if (result != OK) {
		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
		led_on(LED_AMBER);
		return -ENODEV;
	}

#endif

#if defined(FLASH_BASED_DATAMAN)
	static dm_sector_descriptor_t dm_sector_map = {23, 128 * 1024, 0x081E0000};
	dm_flash_sector_description_set(&dm_sector_map);
#endif

	return OK;
}