static unsigned long __alloc_dma_pages(unsigned int pages)
{
unsigned long ret = 0, flags;
int i, count = 0;
if (dma_initialized == 0)
dma_alloc_init(_ramend - DMA_UNCACHED_REGION, _ramend);
spin_lock_irqsave(&dma_page_lock, flags);
for (i = 0; i < dma_pages;) {
if (test_bit(i++, dma_page) == 0) {
if (++count == pages) {
while (count--)
__set_bit(--i, dma_page);
ret = dma_base + (i << PAGE_SHIFT);
break;
}
} else
count = 0;
}
spin_unlock_irqrestore(&dma_page_lock, flags);
return ret;
}
__EXPORT int nsh_archinitialize(void)
{
/* the interruption subsystem is not initialized when stm32_boardinitialize() is called */
stm32_gpiosetevent(GPIO_FORCE_BOOTLOADER, true, false, false, _bootloader_force_pin_callback);
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_SENSORS_EN);
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* 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);
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
return OK;
}
static unsigned long __alloc_dma_pages(unsigned int pages)
{
unsigned long ret = 0, flags;
unsigned long start;
if (dma_initialized == 0)
dma_alloc_init(_ramend - DMA_UNCACHED_REGION, _ramend);
spin_lock_irqsave(&dma_page_lock, flags);
start = bitmap_find_next_zero_area(dma_page, dma_pages, 0, pages, 0);
if (start < dma_pages) {
ret = dma_base + (start << PAGE_SHIFT);
bitmap_set(dma_page, start, pages);
}
spin_unlock_irqrestore(&dma_page_lock, flags);
return ret;
}
__EXPORT int nsh_archinitialize(void)
{
int result;
message("\n");
/* configure always-on ADC pins */
stm32_configgpio(GPIO_ADC1_IN1);
stm32_configgpio(GPIO_ADC1_IN2);
stm32_configgpio(GPIO_ADC1_IN3);
stm32_configgpio(GPIO_ADC1_IN10);
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* 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 BUZZER state */
drv_buzzer_start();
buzzer_off(BUZZER_EXT);
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
led_off(LED_BLUE);
led_off(LED_GREEN);
led_off(LED_EXT1);
led_off(LED_EXT2);
/* Configure SPI-based devices */
message("[boot] Initializing SPI port 1\n");
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\r\n");
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, SPIDEV_WIRELESS, false);
SPI_SELECT(spi1, SPIDEV_MS5611, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
message("[boot] Initializing SPI port 2\n");
spi2 = up_spiinitialize(2);
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\r\n");
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 10000000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_MPU6000, false);
message("[boot] Successfully initialized SPI port 2\n");
/* Get the SPI port for the microSD slot */
message("[boot] Initializing SPI port 3\n");
spi3 = up_spiinitialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI3 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi3, 10000000);
SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3);
SPI_SELECT(spi3, SPIDEV_MMCSD, false);
SPI_SELECT(spi3, SPIDEV_FLASH, false);
message("[boot] Successfully initialized SPI port 3\n");
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK) {
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\n");
led_on(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\n");
return OK;
}
__EXPORT int nsh_archinitialize(void)
{
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
stm32_configgpio(GPIO_ADC1_IN11); /* BATT2_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN13); /* BATT2_CURRENT_SENS */
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_BRICK2_VALID);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VBUS_VALID);
// stm32_configgpio(GPIO_SBUS_INV);
// stm32_configgpio(GPIO_8266_GPIO0);
// stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
// stm32_configgpio(GPIO_8266_PD);
// stm32_configgpio(GPIO_8266_RST);
// stm32_configgpio(GPIO_BTN_SAFETY_FMU);
/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
stm32_configgpio(GPIO_GPIO2_OUTPUT);
stm32_configgpio(GPIO_GPIO3_OUTPUT);
stm32_configgpio(GPIO_GPIO4_OUTPUT);
stm32_configgpio(GPIO_GPIO5_OUTPUT);
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* 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);
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_ICM, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_LIS, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
SPI_SELECT(spi1, PX4_SPIDEV_EEPROM, false);
up_udelay(20);
/* Get the SPI port for the FRAM */
spi2 = up_spiinitialize(2);
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
/* Configure SPI 5-based devices */
spi5 = up_spiinitialize(PX4_SPI_EXT0);
if (!spi5) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_EXT0);
up_ledon(LED_RED);
return -ENODEV;
}
/* Default SPI5 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi5, 10000000);
SPI_SETBITS(spi5, 8);
SPI_SETMODE(spi5, SPIDEV_MODE3);
SPI_SELECT(spi5, PX4_SPIDEV_EXT0, false);
/* Configure SPI 6-based devices */
spi6 = up_spiinitialize(PX4_SPI_EXT1);
if (!spi6) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_EXT1);
up_ledon(LED_RED);
return -ENODEV;
}
/* Default SPI6 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi6, 10000000);
SPI_SETBITS(spi6, 8);
SPI_SETMODE(spi6, SPIDEV_MODE3);
SPI_SELECT(spi6, PX4_SPIDEV_EXT1, false);
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
#endif
return OK;
}
__EXPORT int nsh_archinitialize(void)
{
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* 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);
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
board_led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
syslog(LOG_INFO, "[boot] Initialized SPI port 1 (SENSORS)\n");
/* Get the SPI port for the FRAM */
spi2 = up_spiinitialize(2);
if (!spi2) {
syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
board_led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
syslog(LOG_INFO, "[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
spi4 = up_spiinitialize(4);
/* Default SPI4 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi4, 10000000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3);
SPI_SELECT(spi4, PX4_SPIDEV_EXT0, false);
SPI_SELECT(spi4, PX4_SPIDEV_EXT1, false);
syslog(LOG_INFO, "[boot] Initialized SPI port 4\n");
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
syslog(LOG_INFO, "[boot] Initialized SDIO\n");
#endif
return OK;
}
void board_init_r(gd_t *new_gd, ulong dest_addr)
{
extern void malloc_bin_reloc (void);
#ifndef CONFIG_ENV_IS_NOWHERE
extern char * env_name_spec;
#endif
char *s;
bd_t *bd;
gd = new_gd;
bd = gd->bd;
gd->flags |= GD_FLG_RELOC;
gd->reloc_off = dest_addr - CONFIG_SYS_MONITOR_BASE;
/* Enable the MMU so that we can keep u-boot simple */
mmu_init_r(dest_addr);
board_early_init_r();
monitor_flash_len = _edata - _text;
#if defined(CONFIG_NEEDS_MANUAL_RELOC)
/*
* We have to relocate the command table manually
*/
fixup_cmdtable(&__u_boot_cmd_start,
(ulong)(&__u_boot_cmd_end - &__u_boot_cmd_start));
#endif /* defined(CONFIG_NEEDS_MANUAL_RELOC) */
/* there are some other pointer constants we must deal with */
#ifndef CONFIG_ENV_IS_NOWHERE
env_name_spec += gd->reloc_off;
#endif
timer_init();
/* The malloc area is right below the monitor image in RAM */
mem_malloc_init(CONFIG_SYS_MONITOR_BASE + gd->reloc_off -
CONFIG_SYS_MALLOC_LEN, CONFIG_SYS_MALLOC_LEN);
malloc_bin_reloc();
dma_alloc_init();
enable_interrupts();
bd->bi_flashstart = 0;
bd->bi_flashsize = 0;
bd->bi_flashoffset = 0;
#ifndef CONFIG_SYS_NO_FLASH
bd->bi_flashstart = CONFIG_SYS_FLASH_BASE;
bd->bi_flashsize = flash_init();
bd->bi_flashoffset = (unsigned long)_edata - (unsigned long)_text;
if (bd->bi_flashsize)
display_flash_config();
#endif
if (bd->bi_dram[0].size)
display_dram_config();
gd->bd->bi_boot_params = malloc(CONFIG_SYS_BOOTPARAMS_LEN);
if (!gd->bd->bi_boot_params)
puts("WARNING: Cannot allocate space for boot parameters\n");
/* initialize environment */
env_relocate();
bd->bi_ip_addr = getenv_IPaddr ("ipaddr");
stdio_init();
jumptable_init();
console_init_r();
/* Initialize from environment */
load_addr = getenv_ulong("loadaddr", 16, load_addr);
#ifdef CONFIG_BITBANGMII
bb_miiphy_init();
#endif
#if defined(CONFIG_CMD_NET)
s = getenv("bootfile");
if (s)
copy_filename(BootFile, s, sizeof(BootFile));
puts("Net: ");
eth_initialize(gd->bd);
#endif
#ifdef CONFIG_GENERIC_ATMEL_MCI
mmc_initialize(gd->bd);
#endif
for (;;) {
main_loop();
}
}
void
uvm_init(void)
{
vaddr_t kvm_start, kvm_end;
/*
* step 0: ensure that the hardware set the page size
*/
if (uvmexp.pagesize == 0) {
panic("uvm_init: page size not set");
}
/*
* step 1: set up stats.
*/
averunnable.fscale = FSCALE;
/*
* step 2: init the page sub-system. this includes allocating the
* vm_page structures, and setting up all the page queues (and
* locks). available memory will be put in the "free" queue.
* kvm_start and kvm_end will be set to the area of kernel virtual
* memory which is available for general use.
*/
uvm_page_init(&kvm_start, &kvm_end);
/*
* step 3: init the map sub-system. allocates the static pool of
* vm_map_entry structures that are used for "special" kernel maps
* (e.g. kernel_map, kmem_map, etc...).
*/
uvm_map_init();
/*
* step 4: setup the kernel's virtual memory data structures. this
* includes setting up the kernel_map/kernel_object and the kmem_map/
* kmem_object.
*/
uvm_km_init(kvm_start, kvm_end);
/*
* step 5: init the pmap module. the pmap module is free to allocate
* memory for its private use (e.g. pvlists).
*/
pmap_init();
/*
* step 6: init the kernel memory allocator. after this call the
* kernel memory allocator (malloc) can be used.
*/
kmeminit();
/*
* step 6.5: init the dma allocator, which is backed by pools.
*/
dma_alloc_init();
/*
* step 7: init all pagers and the pager_map.
*/
uvm_pager_init();
/*
* step 8: init anonymous memory system
*/
amap_init(); /* init amap module */
/*
* step 9: init uvm_km_page allocator memory.
*/
uvm_km_page_init();
/*
* the VM system is now up! now that malloc is up we can
* enable paging of kernel objects.
*/
uao_create(VM_MAX_KERNEL_ADDRESS - VM_MIN_KERNEL_ADDRESS,
UAO_FLAG_KERNSWAP);
/*
* reserve some unmapped space for malloc/pool use after free usage
*/
#ifdef DEADBEEF0
kvm_start = trunc_page(DEADBEEF0) - PAGE_SIZE;
if (uvm_map(kernel_map, &kvm_start, 3 * PAGE_SIZE,
NULL, UVM_UNKNOWN_OFFSET, 0, UVM_MAPFLAG(UVM_PROT_NONE,
UVM_PROT_NONE, UVM_INH_NONE, UVM_ADV_RANDOM, UVM_FLAG_FIXED)))
panic("uvm_init: cannot reserve dead beef @0x%x", DEADBEEF0);
#endif
#ifdef DEADBEEF1
kvm_start = trunc_page(DEADBEEF1) - PAGE_SIZE;
if (uvm_map(kernel_map, &kvm_start, 3 * PAGE_SIZE,
NULL, UVM_UNKNOWN_OFFSET, 0, UVM_MAPFLAG(UVM_PROT_NONE,
UVM_PROT_NONE, UVM_INH_NONE, UVM_ADV_RANDOM, UVM_FLAG_FIXED)))
panic("uvm_init: cannot reserve dead beef @0x%x", DEADBEEF1);
#endif
/*
* init anonymous memory systems
*/
uvm_anon_init();
#ifndef SMALL_KERNEL
/*
* Switch kernel and kmem_map over to a best-fit allocator,
* instead of walking the tree.
*/
uvm_map_set_uaddr(kernel_map, &kernel_map->uaddr_any[3],
uaddr_bestfit_create(vm_map_min(kernel_map),
vm_map_max(kernel_map)));
uvm_map_set_uaddr(kmem_map, &kmem_map->uaddr_any[3],
uaddr_bestfit_create(vm_map_min(kmem_map),
vm_map_max(kmem_map)));
#endif /* !SMALL_KERNEL */
}
__EXPORT int nsh_archinitialize(void)
{
int result;
message("\r\n");
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN10); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN11); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN14); /* SONAR */
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_SBUS_INV);
#ifdef GPIO_RC_OUT
stm32_configgpio(GPIO_RC_OUT); /* Serial RC output pin */
stm32_gpiowrite(GPIO_RC_OUT, 1); /* set it high to pull RC input up */
#endif
/* configure the GPIO pins to outputs and keep them low */
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(GPIO_GPIO1_OUTPUT);
stm32_configgpio(GPIO_GPIO2_OUTPUT);
stm32_configgpio(GPIO_GPIO3_OUTPUT);
stm32_configgpio(GPIO_GPIO4_OUTPUT);
stm32_configgpio(GPIO_GPIO5_OUTPUT);
stm32_configgpio(GPIO_GPIO6_OUTPUT);
stm32_configgpio(GPIO_GPIO7_OUTPUT);
stm32_configgpio(GPIO_GPIO8_OUTPUT);
stm32_configgpio(GPIO_GPIO9_OUTPUT);
stm32_configgpio(GPIO_GPI10_OUTPUT);
stm32_configgpio(GPIO_GPI11_OUTPUT);
stm32_configgpio(GPIO_GPI12_OUTPUT);
stm32_configgpio(GPIO_GPI13_OUTPUT);
stm32_configgpio(GPIO_GPI14_OUTPUT);
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* 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_RED);
led_off(LED_GREEN);
led_off(LED_BLUE);
/* Configure SPI-based devices */
message("[boot] Initializing SPI port 1\r\n");
spi1 = up_spiinitialize(1);
if (!spi1) {
message("[boot] FAILED to initialize SPI port 1\r\n");
up_ledon(LED_RED);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, SPIDEV_MS5611, false);
SPI_SELECT(spi1, SPIDEV_EXP_MS5611, false);
SPI_SELECT(spi1, SPIDEV_EXP_MPU6000, false);
SPI_SELECT(spi1, SPIDEV_EXP_HMC5983, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
message("[boot] Initializing SPI port 2\r\n");
spi2 = up_spiinitialize(2);
if (!spi2) {
message("[boot] FAILED to initialize SPI port 2\r\n");
up_ledon(LED_RED);
return -ENODEV;
}
/* Default SPI2 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi2, 10000000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_MPU9250, false);
SPI_SELECT(spi2, SPIDEV_IMU_MS5611, false);
SPI_SELECT(spi2, SPIDEV_IMU_MPU6000, false);
SPI_SELECT(spi2, SPIDEV_IMU_HMC5983, false);
message("[boot] Successfully initialized SPI port 2\r\n");
/* Get the SPI port for the microSD slot */
#ifdef CONFIG_MMCSD
message("[boot] Initializing SPI port 3\r\n");
spi3 = up_spiinitialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\r\n");
up_ledon(LED_RED);
return -ENODEV;
}
/* Default SPI3 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi3, 10000000);
SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3);
SPI_SELECT(spi3, SPIDEV_MMCSD, false);
SPI_SELECT(spi3, SPIDEV_FLASH, false);
message("[boot] Successfully initialized SPI port 3\r\n");
/* Now bind the SPI interface to the MMCSD driver */
result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
if (result != OK) {
message("[boot] FAILED to bind SPI port 3 to the MMCSD driver\r\n");
led_on(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\r\n");
#endif
return OK;
}
int nsh_archinitialize(void)
{
#ifdef CONFIG_MMCSD
int ret;
#endif
/* Configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
stm32_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
stm32_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
//stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
//stm32_configgpio(GPIO_ADC1_IN11); /* unused */
//stm32_configgpio(GPIO_ADC1_IN12); /* used by MPU6000 CS */
stm32_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
stm32_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
stm32_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
/* Configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
stm32_configgpio(GPIO_VDD_BRICK_VALID);
stm32_configgpio(GPIO_VDD_SERVO_VALID);
stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
/* Configure the DMA allocator */
dma_alloc_init();
/* Configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* Initial LED state */
led_off(LED_AMBER);
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1)
{
message("[boot] FAILED to initialize SPI port 1\n");
board_led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI1 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Initialized SPI port 1 (SENSORS)\n");
/* Get the SPI port for the FRAM */
spi2 = up_spiinitialize(2);
if (!spi2)
{
message("[boot] FAILED to initialize SPI port 2\n");
board_led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects.
*/
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
SPI_SELECT(spi2, SPIDEV_FLASH, false);
message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio)
{
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK)
{
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no
* card detect GPIO.
*/
sdio_mediachange(sdio, true);
message("[boot] Initialized SDIO\n");
#endif
return OK;
}
__EXPORT int nsh_archinitialize(void)
{
/* configure ADC pins */
stm32_configgpio(GPIO_ADC1_IN10); /* used by VBUS valid */
stm32_configgpio(GPIO_ADC1_IN11); /* J1 breakout */
stm32_configgpio(GPIO_ADC1_IN12); /* J1 breakout */
stm32_configgpio(GPIO_ADC1_IN13); /* J1 breakout */
#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
/* run C++ ctors before we go any further */
up_cxxinitialize();
# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
# endif
#else
# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
#endif
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* 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);
/* Configure Sensors on SPI bus #3 */
spi3 = up_spiinitialize(3);
if (!spi3) {
message("[boot] FAILED to initialize SPI port 3\n");
board_led_on(LED_AMBER);
return -ENODEV;
}
/* Default: 1MHz, 8 bits, Mode 3 */
SPI_SETFREQUENCY(spi3, 10000000);
SPI_SETBITS(spi3, 8);
SPI_SETMODE(spi3, SPIDEV_MODE3);
SPI_SELECT(spi3, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi3, PX4_SPIDEV_ACCEL_MAG, false);
SPI_SELECT(spi3, PX4_SPIDEV_BARO, false);
up_udelay(20);
message("[boot] Initialized SPI port 3 (SENSORS)\n");
/* Configure FRAM on SPI bus #4 */
spi4 = up_spiinitialize(4);
if (!spi4) {
message("[boot] FAILED to initialize SPI port 4\n");
board_led_on(LED_AMBER);
return -ENODEV;
}
/* Default: ~10MHz, 8 bits, Mode 3 */
SPI_SETFREQUENCY(spi4, 10 * 1000 * 1000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE0);
SPI_SELECT(spi4, SPIDEV_FLASH, false);
message("[boot] Initialized SPI port 4 (FRAM)\n");
return OK;
}
