mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
224 lines
6.8 KiB
C
224 lines
6.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david_s5@nscdg.com>
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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 aerofc-v1_init.c
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*
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* aerofc-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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*/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/tasks.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/board.h>
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#include <nuttx/analog/adc.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 <dataman/dataman.h>
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#include <systemlib/px4_macros.h>
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#include <px4_platform_common/init.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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/*
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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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* Private Functions
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****************************************************************************/
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static int _bootloader_force_pin_callback(int irq, void *context, void *args)
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{
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if (stm32_gpioread(GPIO_FORCE_BOOTLOADER)) {
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board_reset(0);
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}
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return 0;
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}
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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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 stm32_boardinitialize(void)
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{
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stm32_configgpio(GPIO_FORCE_BOOTLOADER);
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_bootloader_force_pin_callback(0, NULL, NULL);
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/* configure LEDs */
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board_autoled_initialize();
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/* turn sensors on */
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stm32_configgpio(GPIO_VDD_5V_SENSORS_EN);
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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 architecture specific initialization
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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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int result;
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/* the interruption subsystem is not initialized when stm32_boardinitialize() is called */
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stm32_gpiosetevent(GPIO_FORCE_BOOTLOADER, true, false, false, _bootloader_force_pin_callback, NULL);
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px4_platform_init();
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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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/* initial LED state */
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drv_led_start();
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led_off(LED_AMBER);
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led_off(LED_BLUE);
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/*
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* Bootloader(sector 0):
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* start: 0x08000000, len: 16K, end: 0x08003E80
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*
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* FlashFS(sector 1 and 2):
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* start: 0x08004000, len: 32K, end: 0x0800BFFF
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*
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* Firmware(sector 3 to 11):
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* start: 0x0800C000, len: 976K, end: 0x080FFFFF
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*
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* Dataman(sector 23):
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* start: 0x081E0000, len: 128K, end: 0x08200000
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*
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* First 1MB memory bank complete assigned.
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* Second 1MB memory bank is mostly empty.
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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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{1, 16 * 1024, 0x08004000},
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{2, 16 * 1024, 0x08008000},
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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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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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return -ENODEV;
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}
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#endif
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#if defined(FLASH_BASED_DATAMAN)
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static dm_sector_descriptor_t dm_sector_map = {23, 128 * 1024, 0x081E0000};
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dm_flash_sector_description_set(&dm_sector_map);
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#endif
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return OK;
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}
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