/****************************************************************************
* Name: board_initialize
*
* Description:
* If CONFIG_BOARD_INITIALIZE is selected, then an additional
* initialization call will be performed in the boot-up sequence to a
* function called board_initialize(). board_initialize() will be
* called immediately after up_initialize() is called and just before the
* initial application is started. This additional initialization phase
* may be used, for example, to initialize board-specific device drivers.
*
****************************************************************************/
void board_initialize(void)
{
artik05x_clear_bootcount();
/* Perform app-specific initialization here instaed of from the TASH. */
board_app_initialize();
#ifdef CONFIG_SCSC_WLAN
slsi_driver_initialize();
#endif
#ifdef CONFIG_S5J_PWM
board_pwm_setup();
#endif
board_gpio_initialize();
board_i2c_initialize();
board_audio_initialize();
board_sensor_initialize();
board_wdt_initialize();
#ifdef CONFIG_S5J_SSS
/* verify ARTIK Key */
sssro_verify();
#endif
}
int usbmsc_archinitialize(void)
{
#if defined(CONFIG_LIB_BOARDCTL)
return OK;
#else
return board_app_initialize();
#endif
}
void board_initialize(void)
{
/* Perform NSH initialization here instead of from the NSH. This
* alternative NSH initialization is necessary when NSH is ran in user-space
* but the initialization function must run in kernel space.
*/
#if defined(CONFIG_NSH_LIBRARY) && !defined(CONFIG_NSH_ARCHINIT)
(void)board_app_initialize();
#endif
}
int uavcannode_start(int argc, char *argv[])
{
resources("Before board_app_initialize");
board_app_initialize(NULL);
resources("After board_app_initialize");
// CAN bitrate
int32_t bitrate = 0;
// Node ID
int32_t node_id = 0;
// Did the bootloader auto baud and get a node ID Allocated
bootloader_app_shared_t shared;
int valid = bootloader_app_shared_read(&shared, BootLoader);
if (valid == 0) {
bitrate = shared.bus_speed;
node_id = shared.node_id;
// Invalidate to prevent deja vu
bootloader_app_shared_invalidate();
} else {
// Node ID
(void)param_get(param_find("CANNODE_NODE_ID"), &node_id);
(void)param_get(param_find("CANNODE_BITRATE"), &bitrate);
}
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
warnx("Invalid Node ID %i", node_id);
::exit(1);
}
// Start
warnx("Node ID %u, bitrate %u", node_id, bitrate);
int rv = UavcanNode::start(node_id, bitrate);
resources("After UavcanNode::start");
::sleep(1);
return rv;
}
void board_initialize(void)
{
/* Perform NSH initialization here instead of from the NSH. This
* alternative NSH initialization is necessary when NSH is ran in user-space
* but the initialization function must run in kernel space.
*/
#if defined(CONFIG_NSH_LIBRARY) && !defined(CONFIG_LIB_BOARDCTL)
board_app_initialize();
#endif
/* CC3000 wireless initialization */
#ifdef CONFIG_WL_CC3000
wireless_archinitialize(0);
#endif
}
static int board_initthread(int argc, char *argv[])
{
int ret;
/* Perform NSH initialization here instead of from the NSH. This
* alternative NSH initialization is necessary when NSH is ran in user-space
* but the initialization function must run in kernel space.
*/
#if defined(CONFIG_NSH_LIBRARY) && !defined(CONFIG_NSH_ARCHINIT)
ret = board_app_initialize();
if (ret < 0)
{
gdbg("ERROR: board_app_initialize failed: %d\n", ret);
}
#endif
/* Initialize the NX server */
#ifdef HAVE_NXSTART
ret = nx_start();
if (ret < 0)
{
gdbg("ERROR: nx_start failed: %d\n", ret);
}
#endif
/* Initialize the touchscreen */
#ifdef HAVE_TCINIT
ret = board_tsc_setup(CONFIG_NXWM_TOUCHSCREEN_DEVNO);
if (ret < 0)
{
gdbg("ERROR: board_tsc_setup failed: %d\n", ret);
}
#endif
return EXIT_SUCCESS;
}
static int uavcannode_start()
{
board_app_initialize();
// CAN bitrate
int32_t bitrate = 0;
// Node ID
int32_t node_id = 0;
// Did the bootloader auto baud and get a node ID Allocated
bootloader_app_shared_t shared;
int valid = bootloader_app_shared_read(&shared, BootLoader);
if (valid == 0) {
bitrate = shared.bus_speed;
node_id = shared.node_id;
// Invalidate to prevent deja vu
bootloader_app_shared_invalidate();
} else {
TODO(Need non vol Paramter sotrage)
// Node ID
node_id = 123;
bitrate = 1000000;
}
if (node_id < 0 || node_id > uavcan::NodeID::Max || !uavcan::NodeID(node_id).isUnicast()) {
PX4_INFO("Invalid Node ID %li", node_id);
return 1;
}
// Start
PX4_INFO("Node ID %lu, bitrate %lu", node_id, bitrate);
return UavcanNode::start(node_id, bitrate);
}
int board_usbmsc_initialize(int port)
{
return board_app_initialize();
}
int boardctl(unsigned int cmd, uintptr_t arg)
{
int ret;
switch (cmd)
{
/* CMD: BOARDIOC_INIT
* DESCRIPTION: Perform one-time application initialization.
* ARG: None
* CONFIGURATION: CONFIG_LIB_BOARDCTL
* DEPENDENCIES: Board logic must provide board_app_initialization
*/
case BOARDIOC_INIT:
{
ret = board_app_initialize();
}
break;
#ifdef CONFIG_BOARDCTL_POWEROFF
/* CMD: BOARDIOC_POWEROFF
* DESCRIPTION: Power off the board
* ARG: Integer value providing power off status information
* CONFIGURATION: CONFIG_BOARDCTL_POWEROFF
* DEPENDENCIES: Board logic must provide board_power_off
*/
case BOARDIOC_POWEROFF:
{
ret = board_power_off((int)arg);
}
break;
#endif
#ifdef CONFIG_BOARDCTL_RESET
/* CMD: BOARDIOC_RESET
* DESCRIPTION: Reset the board
* ARG: Integer value providing power off status information
* CONFIGURATION: CONFIG_BOARDCTL_RESET
* DEPENDENCIES: Board logic must provide board_reset
*/
case BOARDIOC_RESET:
{
ret = board_reset((int)arg);
}
break;
#endif
#ifdef CONFIG_BOARDCTL_TSCTEST
/* CMD: BOARDIOC_TSCTEST_SETUP
* DESCRIPTION: Touchscreen controller test configuration
* ARG: Touch controller device minor number
* CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_TSCTEST
* DEPENDENCIES: Board logic must provide board_tsc_setup()
*/
case BOARDIOC_TSCTEST_SETUP:
{
ret = board_tsc_setup((int)arg);
}
break;
/* CMD: BOARDIOC_TSCTEST_TEARDOWN
* DESCRIPTION: Touchscreen controller test configuration
* ARG: None
* CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_TSCTEST
* DEPENDENCIES: Board logic must provide board_tsc_teardown()
*/
case BOARDIOC_TSCTEST_TEARDOWN:
{
board_tsc_teardown();
ret = OK;
}
break;
#endif
#ifdef CONFIG_BOARDCTL_ADCTEST
/* CMD: BOARDIOC_ADCTEST_SETUP
* DESCRIPTION: ADC controller test configuration
* ARG: None
* CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_ADCTEST
* DEPENDENCIES: Board logic must provide board_adc_setup()
*/
case BOARDIOC_ADCTEST_SETUP:
{
ret = board_adc_setup();
}
break;
#endif
#ifdef CONFIG_BOARDCTL_PWMTEST
/* CMD: BOARDIOC_PWMTEST_SETUP
* DESCRIPTION: PWM controller test configuration
* ARG: None
* CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_PWMTEST
* DEPENDENCIES: Board logic must provide board_pwm_setup()
*/
case BOARDIOC_PWMTEST_SETUP:
{
ret = board_pwm_setup();
}
break;
#endif
#ifdef CONFIG_BOARDCTL_GRAPHICS
/* CMD: BOARDIOC_GRAPHICS_SETUP
* DESCRIPTION: Configure graphics that require special initialization
* procedures
* ARG: A pointer to an instance of struct boardioc_graphics_s
* CONFIGURATION: CONFIG_LIB_BOARDCTL && CONFIG_BOARDCTL_GRAPHICS
* DEPENDENCIES: Board logic must provide board_adc_setup()
*/
case BOARDIOC_GRAPHICS_SETUP:
{
FAR struct boardioc_graphics_s *setup =
( FAR struct boardioc_graphics_s *)arg;
setup->dev = board_graphics_setup(setup->devno);
ret = setup->dev ? OK : -ENODEV;
}
break;
#endif
default:
{
#ifdef CONFIG_BOARDCTL_IOCTL
/* Boards may also select CONFIG_BOARDCTL_IOCTL=y to enable board-
* specific commands. In this case, all commands not recognized
* by boardctl() will be forwarded to the board-provided board_ioctl()
* function.
*/
ret = board_ioctl(cmd, arg);
#else
ret = -ENOTTY;
#endif
}
break;
}
/* Set the errno value on any errors */
if (ret < 0)
{
set_errno(-ret);
return ERROR;
}
return OK;
}
