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)
341 lines
10 KiB
C
341 lines
10 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2012-2019 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 initialization.
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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/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 <stm32_uart.h>
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#include <arch/board/board.h>
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#include "up_internal.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 <drivers/boards/common/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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* 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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/* set the peripheral rails off */
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// NA, rails not controlled in ModalAI FC-v1
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bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
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/* Keep Spektum on to discharge rail*/
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VDD_3V3_SPEKTRUM_POWER_EN(false);
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/* wait for the peripheral rail to reach GND */
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usleep(ms * 1000);
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syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
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/* re-enable power */
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/* switch the peripheral rail back on */
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VDD_3V3_SPEKTRUM_POWER_EN(last);
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// NA, rails not controlled in ModalAI FC-v1
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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: 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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* 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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/* configure USB interfaces */
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stm32_usbinitialize();
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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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/* Power on Interfaces */
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VDD_3V3_SD_CARD_EN(true);
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VDD_3V3_SPEKTRUM_POWER_EN(true);
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if (OK == board_determine_hw_info()) {
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syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
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board_get_hw_type_name());
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} else {
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syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
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}
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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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/* 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_RED);
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led_on(LED_GREEN); // Indicate Power.
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led_off(LED_BLUE);
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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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return ret;
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}
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#endif /* CONFIG_MMCSD */
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return OK;
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}
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