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boards organization
This commit is contained in:
Daniel Agar
committed by
David Sidrane
David Sidrane
parent
c1f851a600
commit
f692ad04d0
330
boards/av/x-v1/src/init.c
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330
boards/av/x-v1/src/init.c
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/****************************************************************************
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*
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* Copyright (c) 2018 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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* 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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*
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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 <px4_config.h>
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#include <px4_tasks.h>
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#include <px4_log.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 "platform/cxxinitialize.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/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 "board_config.h"
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#include <stm32_uart.h>
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#include <arch/board/board.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 <systemlib/cpuload.h>
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#include <perf/perf_counter.h>
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#include <systemlib/err.h>
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#include <parameters/param.h>
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#include <px4_i2c.h>
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#include "up_internal.h"
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static int configure_switch(void);
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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_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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/* configure the GPIO pins to outputs and keep them low */
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const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
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board_gpio_init(gpio, arraySize(gpio));
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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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board_gpio_init(gpio, arraySize(gpio));
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/* configure SPI interfaces */
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stm32_spiinitialize();
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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 initialization 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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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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/* configure the high-resolution time/callout interface */
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hrt_init();
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param_init();
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/* configure the DMA allocator */
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if (board_dma_alloc_init() < 0) {
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PX4_ERR("DMA alloc FAILED");
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}
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/* configure CPU load estimation */
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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cpuload_initialize_once();
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#endif
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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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ts.tv_sec = 0;
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ts.tv_nsec = 1000000;
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hrt_call_every(&serial_dma_call,
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ts_to_abstime(&ts),
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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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(void) board_hardfault_init(2, true);
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#ifdef CONFIG_SPI
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int ret = stm32_spi_bus_initialize();
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if (ret != OK) {
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PX4_ERR("SPI init failed");
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return ret;
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}
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#endif
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#ifdef CONFIG_MMCSD
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ret = stm32_sdio_initialize();
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if (ret != OK) {
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PX4_ERR("SDIO init failed");
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return ret;
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}
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#endif
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configure_switch();
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return OK;
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}
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/************************************************************************************
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* Name: configure_switch
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*
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* Description:
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* Configure KSZ9897R ethernet switch on i2c
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*
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************************************************************************************/
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static int configure_switch(void)
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{
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int ret = PX4_ERROR;
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// attach to the i2c bus
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struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
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if (i2c == NULL) {
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PX4_ERR("I2C device not opened");
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}
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// ethernet switch enable
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uint8_t txdata[] = {0x51, 0x00, 0x21, 0x00}; //0x5100, 0x2100 MSB to LSB here.
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struct px4_i2c_msg_t msgv;
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msgv.frequency = 100000;
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msgv.addr = 0x5F;
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msgv.flags = 0;
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msgv.buffer = &txdata[0];
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msgv.length = sizeof(txdata);
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unsigned retry_count = 0;
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const unsigned retries = 5;
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do {
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ret = I2C_TRANSFER(i2c, &msgv, 1);
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/* success */
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if (ret == PX4_OK) {
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break;
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} else {
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PX4_ERR("ETH switch I2C fail: %d, retrying", ret);
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}
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/* if we have already retried once, or we are going to give up, then reset the bus */
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if ((retry_count >= 1) || (retry_count >= retries)) {
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I2C_RESET(i2c);
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}
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} while (retry_count++ < retries);
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px4_i2cbus_uninitialize(i2c);
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return ret;
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}
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