int board_app_initialize(void)
{
/* Register I2C drivers on behalf of the I2C tool */
stm32_i2ctool();
#if defined(CONFIG_FAT_DMAMEMORY)
if (stm32_dma_alloc_init() < 0)
{
syslog(LOG_ERR, "DMA alloc FAILED");
}
#endif
#ifdef CONFIG_STM32F7_SDMMC1
/* Initialize the SDIO block driver */
int ret = OK;
ret = stm32_sdio_initialize();
if (ret != OK)
{
ferr("ERROR: Failed to initialize MMC/SD driver: %d\n", ret);
return ret;
}
#endif
return OK;
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
#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();
param_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* 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);
#if defined(CONFIG_STM32_BBSRAM)
/* NB. the use of the console requires the hrt running
* to poll the DMA
*/
/* Using Battery Backed Up SRAM */
int filesizes[CONFIG_STM32_BBSRAM_FILES + 1] = BSRAM_FILE_SIZES;
stm32_bbsraminitialize(BBSRAM_PATH, filesizes);
#if defined(CONFIG_STM32_SAVE_CRASHDUMP)
/* Panic Logging in Battery Backed Up Files */
/*
* In an ideal world, if a fault happens in flight the
* system save it to BBSRAM will then reboot. Upon
* rebooting, the system will log the fault to disk, recover
* the flight state and continue to fly. But if there is
* a fault on the bench or in the air that prohibit the recovery
* or committing the log to disk, the things are too broken to
* fly. So the question is:
*
* Did we have a hard fault and not make it far enough
* through the boot sequence to commit the fault data to
* the SD card?
*/
/* Do we have an uncommitted hard fault in BBSRAM?
* - this will be reset after a successful commit to SD
*/
int hadCrash = hardfault_check_status("boot");
if (hadCrash == OK) {
message("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
" while booting to halt the system!\n");
/* Yes. So add one to the boot count - this will be reset after a successful
* commit to SD
*/
int reboots = hardfault_increment_reboot("boot", false);
/* Also end the misery for a user that holds for a key down on the console */
int bytesWaiting;
ioctl(fileno(stdin), FIONREAD, (unsigned long)((uintptr_t) &bytesWaiting));
if (reboots > 2 || bytesWaiting != 0) {
/* Since we can not commit the fault dump to disk. Display it
* to the console.
*/
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
message("[boot] There were %d reboots with Hard fault that were not committed to disk - System halted %s\n",
reboots,
(bytesWaiting == 0 ? "" : " Due to Key Press\n"));
/* For those of you with a debugger set a break point on up_assert and
* then set dbgContinue = 1 and go.
*/
/* Clear any key press that got us here */
static volatile bool dbgContinue = false;
int c = '>';
while (!dbgContinue) {
switch (c) {
case EOF:
case '\n':
case '\r':
case ' ':
continue;
default:
putchar(c);
putchar('\n');
switch (c) {
case 'D':
case 'd':
hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
break;
case 'C':
case 'c':
hardfault_rearm("boot");
hardfault_increment_reboot("boot", true);
break;
case 'B':
case 'b':
dbgContinue = true;
break;
default:
break;
} // Inner Switch
message("\nEnter B - Continue booting\n" \
"Enter C - Clear the fault log\n" \
"Enter D - Dump fault log\n\n?>");
fflush(stdout);
if (!dbgContinue) {
c = getchar();
}
break;
} // outer switch
} // for
} // inner if
} // outer if
#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM
/* initial LED state */
drv_led_start();
led_off(LED_RED);
led_off(LED_GREEN);
led_off(LED_BLUE);
#ifdef CONFIG_SPI
int ret = stm32_spi_bus_initialize();
if (ret != OK) {
board_autoled_on(LED_RED);
return ret;
}
#endif
#ifdef CONFIG_MMCSD
ret = stm32_sdio_initialize();
if (ret != OK) {
board_autoled_on(LED_RED);
return ret;
}
#endif
return OK;
}
int stm32_bringup(void)
{
#ifdef HAVE_RTC_DRIVER
FAR struct rtc_lowerhalf_s *lower;
#endif
int ret = OK;
#ifdef CONFIG_ZEROCROSS
/* Configure the zero-crossing driver */
stm32_zerocross_initialize();
#endif
#ifdef CONFIG_RGBLED
/* Configure the RGB LED driver */
stm32_rgbled_setup();
#endif
#if defined(CONFIG_PCA9635PW)
/* Initialize the PCA9635 chip */
ret = stm32_pca9635_initialize();
if (ret < 0)
{
sdbg("ERROR: stm32_pca9635_initialize failed: %d\n", ret);
}
#endif
#ifdef HAVE_SDIO
/* Initialize the SDIO block driver */
ret = stm32_sdio_initialize();
if (ret != OK)
{
fdbg("ERROR: Failed to initialize MMC/SD driver: %d\n", ret);
return ret;
}
#endif
#ifdef HAVE_USBHOST
/* Initialize USB host operation. stm32_usbhost_initialize() starts a thread
* will monitor for USB connection and disconnection events.
*/
ret = stm32_usbhost_initialize();
if (ret != OK)
{
udbg("ERROR: Failed to initialize USB host: %d\n", ret);
return ret;
}
#endif
#ifdef HAVE_USBMONITOR
/* Start the USB Monitor */
ret = usbmonitor_start(0, NULL);
if (ret != OK)
{
udbg("ERROR: Failed to start USB monitor: %d\n", ret);
return ret;
}
#endif
#ifdef HAVE_RTC_DRIVER
/* Instantiate the STM32 lower-half RTC driver */
lower = stm32_rtc_lowerhalf();
if (!lower)
{
sdbg("ERROR: Failed to instantiate the RTC lower-half driver\n");
return -ENOMEM;
}
else
{
/* Bind the lower half driver and register the combined RTC driver
* as /dev/rtc0
*/
ret = rtc_initialize(0, lower);
if (ret < 0)
{
sdbg("ERROR: Failed to bind/register the RTC driver: %d\n", ret);
return ret;
}
}
#endif
#ifdef HAVE_ELF
/* Initialize the ELF binary loader */
ret = elf_initialize();
if (ret < 0)
{
sdbg("ERROR: Initialization of the ELF loader failed: %d\n", ret);
}
#endif
#ifdef CONFIG_MAX31855
ret = stm32_max31855initialize("/dev/temp0");
#endif
#ifdef CONFIG_MAX6675
ret = stm32_max6675initialize("/dev/temp0");
#endif
#ifdef CONFIG_FS_PROCFS
/* Mount the procfs file system */
ret = mount(NULL, STM32_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
if (ret < 0)
{
sdbg("ERROR: Failed to mount procfs at %s: %d\n",
STM32_PROCFS_MOUNTPOINT, ret);
}
#endif
return ret;
}
int board_app_initialize(uintptr_t arg)
{
int ret;
#ifdef CONFIG_FS_PROCFS
/* Mount the procfs file system */
ret = mount(NULL, STM32_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: Failed to mount procfs at %s: %d\n",
STM32_PROCFS_MOUNTPOINT, ret);
}
#endif
#if !defined(CONFIG_ARCH_LEDS) && defined(CONFIG_USERLED_LOWER)
/* Register the LED driver */
ret = userled_lower_initialize(LED_DRIVER_PATH);
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret);
}
#endif
#ifdef CONFIG_ADC
/* Initialize ADC and register the ADC driver. */
ret = stm32_adc_setup();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_STM32F7_BBSRAM
/* Initialize battery-backed RAM */
(void)stm32_bbsram_int();
#endif
#if defined(CONFIG_FAT_DMAMEMORY)
if (stm32_dma_alloc_init() < 0)
{
syslog(LOG_ERR, "DMA alloc FAILED");
}
#endif
#if defined(CONFIG_NUCLEO_SPI_TEST)
/* Create SPI interfaces */
ret = stm32_spidev_bus_test();
if (ret != OK)
{
syslog(LOG_ERR, "ERROR: Failed to initialize SPI interfaces: %d\n", ret);
return ret;
}
#endif
#if defined(CONFIG_MMCSD)
/* Configure SDIO */
/* Initialize the SDIO block driver */
ret = stm32_sdio_initialize();
if (ret != OK)
{
ferr("ERROR: Failed to initialize MMC/SD driver: %d\n", ret);
return ret;
}
#endif
UNUSED(ret);
return OK;
}
