void stm32_boardinitialize(void)
{
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak function
* stm32_spiinitialize() has been brought into the link.
*/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2)
if (stm32_spiinitialize)
{
stm32_spiinitialize();
}
#endif
/* Initialize USB is 1) USBDEV is selected, 2) the USB controller is not
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* into the build.
*/
#if defined(CONFIG_USBDEV) && defined(CONFIG_STM32_USB)
if (stm32_usbinitialize)
{
stm32_usbinitialize();
}
#endif
/* Configure on-board LEDs if LED support has been selected. */
#ifdef CONFIG_ARCH_LEDS
up_ledinit();
#endif
}
__END_DECLS
/****************************************************************************
* Protected Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/************************************************************************************
* Name: stm32_boardinitialize
*
* Description:
* All STM32 architectures must provide the following entry point. This entry point
* is called early in the intitialization -- after all memory has been configured
* and mapped but before any devices have been initialized.
*
************************************************************************************/
__EXPORT void
stm32_boardinitialize(void)
{
/* configure LEDs */
board_autoled_initialize();
stm32_usbinitialize();
}
void stm32_boardinitialize(void)
{
/* Configure on-board LEDs if LED support has been selected. */
#ifdef CONFIG_ARCH_LEDS
board_autoled_initialize();
#endif
#ifdef CONFIG_ARCH_BUTTONS
board_button_initialize();
#endif
/* Configure SPI chip selects if 1) SP2 is not disabled, and 2) the weak function
* stm32_spidev_initialize() has been brought into the link.
*/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
stm32_spidev_initialize();
#endif
/* Initialize USB is 1) USBDEV is selected, 2) the USB controller is not
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* into the build.
*/
#if defined(CONFIG_USBDEV) && defined(CONFIG_STM32_USB)
stm32_usbinitialize();
#endif
}
void stm32_boardinitialize(void)
{
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak function
* stm32_spiinitialize() has been brought into the link.
*/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
if (stm32_spiinitialize)
{
stm32_spiinitialize();
}
#endif
/* Initialize USB if the 1) USB device controller is in the configuration and 2)
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* into the build. Presumeably either CONFIG_USBDEV is also selected.
*/
#ifdef CONFIG_STM32_USB
if (stm32_usbinitialize)
{
stm32_usbinitialize();
}
#endif
/* Configure on-board LEDs if LED support has been selected. */
#ifdef CONFIG_ARCH_LEDS
up_ledinit();
#endif
}
void stm32_boardinitialize(void)
{
/* Initialize USB if the 1) OTG FS controller is in the configuration and 2)
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* into the build. Presumeably either CONFIG_USBDEV or CONFIG_USBHOST is also
* selected.
*/
#ifdef CONFIG_STM32_OTGFS
if (stm32_usbinitialize)
{
stm32_usbinitialize();
}
#endif
/* Configure on-board LEDs if LED support has been selected. */
#ifdef CONFIG_ARCH_LEDS
board_autoled_initialize();
#endif
/* Configure on-board BUTTONs if BUTTON support has been selected. */
#ifdef CONFIG_ARCH_BUTTONS
board_button_initialize();
#endif
}
void stm32_boardinitialize(void)
{
#ifdef CONFIG_ARCH_LEDS
/* Configure on-board LEDs if LED support has been selected. */
board_autoled_initialize();
#endif
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || \
defined(CONFIG_STM32_SPI3)
/* Configure SPI chip selects if 1) SP2 is not disabled, and 2) the
* weak function stm32_spidev_initialize() has been brought into the link.
*/
stm32_spidev_initialize();
#endif
#ifdef CONFIG_STM32_OTGFS
/* Initialize USB if the OTG FS controller is in the configuration.
* Presumably either CONFIG_USBDEV or CONFIG_USBHOST is also selected.
*/
stm32_usbinitialize();
#endif
}
void stm32_boardinitialize(void)
{
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak function
* stm32_spidev_initialize() has been brought into the link.
*/
if (stm32_spidev_initialize)
{
stm32_spidev_initialize();
}
#endif
#ifdef CONFIG_STM32_OTGFS
/* Initialize USB if the 1) OTG FS controller is in the configuration and 2)
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* into the build. Presumably either CONFIG_USBDEV or CONFIG_USBHOST is also
* selected.
*/
if (stm32_usbinitialize)
{
stm32_usbinitialize();
}
#endif
#ifdef HAVE_NETMONITOR
/* Configure board resources to support networking. */
if (stm32_netinitialize)
{
stm32_netinitialize();
}
#endif
#ifdef CONFIG_CANUTILS_UAVCAN
(void)stm32_configgpio(GPIO_CAN1_RX);
(void)stm32_configgpio(GPIO_CAN1_TX);
# if CONFIG_UAVCAN_STM32_NUM_IFACES > 1
(void)stm32_configgpio(GPIO_CAN2_RX);
(void)stm32_configgpio(GPIO_CAN2_TX);
# endif
#endif
#ifdef CONFIG_ARCH_LEDS
/* Configure on-board LEDs if LED support has been selected. */
board_autoled_initialize();
#endif
}
__EXPORT void
stm32_boardinitialize(void)
{
/* configure LEDs */
board_autoled_initialize();
/* configure ADC pins */
//todo:Revisit! ADC3 etc
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); /* RSSI analog in */
/* configure power supply control/sense pins */
stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN);
stm32_configgpio(GPIO_VDD_BRICK_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);
#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);
/* configure SPI interfaces */
stm32_spiinitialize();
stm32_usbinitialize();
}
__EXPORT void
stm32_boardinitialize(void)
{
/* configure LEDs */
board_autoled_initialize();
/* configure ADC pins */
px4_arch_configgpio(GPIO_ADC1_IN2); /* BATT_VOLTAGE_SENS */
px4_arch_configgpio(GPIO_ADC1_IN3); /* BATT_CURRENT_SENS */
px4_arch_configgpio(GPIO_ADC1_IN4); /* VDD_5V_SENS */
px4_arch_configgpio(GPIO_ADC1_IN13); /* FMU_AUX_ADC_1 */
px4_arch_configgpio(GPIO_ADC1_IN14); /* FMU_AUX_ADC_2 */
px4_arch_configgpio(GPIO_ADC1_IN15); /* PRESSURE_SENS */
/* configure power supply control/sense pins */
px4_arch_configgpio(GPIO_VDD_5V_PERIPH_EN);
px4_arch_configgpio(GPIO_VDD_3V3_SENSORS_EN);
px4_arch_configgpio(GPIO_VDD_BRICK_VALID);
px4_arch_configgpio(GPIO_VDD_5V_PERIPH_OC);
/* configure the GPIO pins to outputs and keep them low */
px4_arch_configgpio(GPIO_GPIO0_OUTPUT);
px4_arch_configgpio(GPIO_GPIO1_OUTPUT);
px4_arch_configgpio(GPIO_GPIO2_OUTPUT);
px4_arch_configgpio(GPIO_GPIO3_OUTPUT);
px4_arch_configgpio(GPIO_GPIO4_OUTPUT);
px4_arch_configgpio(GPIO_GPIO5_OUTPUT);
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure USB interface */
stm32_usbinitialize();
}
void stm32_boardinitialize(void)
{
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak function
* stm32_spiinitialize() has been brought into the link.
*/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
if (stm32_spiinitialize)
{
stm32_spiinitialize();
}
#endif
/* If the FSMC is enabled, then enable SRAM access */
#ifdef CONFIG_STM32_FSMC
stm32_selectsram();
#endif
/* Initialize USB if the 1) OTG FS controller is in the configuration and 2)
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* the weak function stm32_usbinitialize() has been brought into the build.
* Presumeably either CONFIG_USBDEV or CONFIG_USBHOST is also selected.
*/
#ifdef CONFIG_STM32_OTGFS
if (stm32_usbinitialize)
{
stm32_usbinitialize();
}
#endif
/* Configure on-board LEDs if LED support has been selected. */
#ifdef CONFIG_ARCH_LEDS
stm32_autoled_initialize();
#endif
}
void stm32_boardinitialize(void)
{
/* First reset the VS1053 since it tends to produce noise out of power on reset */
#ifdef CONFIG_AUDIO_VS1053
(void)stm32_configgpio(GPIO_VS1053_RST);
#endif
/* Configure GPIOs for controlling the LCD */
#if defined(CONFIG_LCD_MIO283QT2) || defined(CONFIG_LCD_MIO283QT9A)
stm32_lcdinitialize();
#endif
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak function
* stm32_spidev_initialize() has been brought into the link.
*/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3)
if (stm32_spidev_initialize)
{
stm32_spidev_initialize();
}
#endif
/* Initialize USB if the 1) OTG FS controller is in the configuration and 2)
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* into the build. Presumeably either CONFIG_USBDEV or CONFIG_USBHOST is also
* selected.
*/
#ifdef CONFIG_STM32_OTGFS
if (stm32_usbinitialize)
{
stm32_usbinitialize();
}
#endif
}
__EXPORT void
stm32_boardinitialize(void)
{
board_on_reset(-1); /* Reset PWM first thing */
/* configure LEDs */
board_autoled_initialize();
/* configure pins */
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
board_gpio_init(gpio, arraySize(gpio));
/* configure SPI interfaces */
stm32_spiinitialize();
/* configure USB interfaces */
stm32_usbinitialize();
}
void stm32_boardinitialize(void)
{
/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak function
* stm32_spiinitialize() has been brought into the link.
*/
#if defined(CONFIG_STM32_SPI1) || defined(CONFIG_STM32_SPI2) || defined(CONFIG_STM32_SPI3) ||\
defined(CONFIG_STM32_SPI4) || defined(CONFIG_STM32_SPI5)
if (stm32_spiinitialize)
{
stm32_spiinitialize();
}
#endif
/* Initialize USB if the 1) OTG HS controller is in the configuration and 2)
* disabled, and 3) the weak function stm32_usbinitialize() has been brought
* into the build. Presumeably either CONFIG_USBDEV or CONFIG_USBHOST is also
* selected.
*/
#ifdef CONFIG_STM32_OTGHS
if (stm32_usbinitialize)
{
stm32_usbinitialize();
}
#endif
/* Configure on-board LEDs if LED support has been selected. */
#ifdef CONFIG_ARCH_LEDS
board_led_initialize();
#endif
#ifdef CONFIG_STM32_FSMC
stm32_enablefsmc();
#endif
}
__EXPORT int nsh_archinitialize(void)
{
int result;
message("\n");
/* configure always-on ADC pins */
stm32_configgpio(GPIO_ADC1_IN10); //VBAT
stm32_configgpio(GPIO_ADC1_IN11); //IBAT
stm32_configgpio(GPIO_ADC1_IN14); //SONAR_IN_1
stm32_configgpio(GPIO_ADC1_IN15); //SONAR_IN_2
stm32_configgpio(GPIO_USB_PRESENT);
stm32_configgpio(GPIO_SHUTDOWN);
stm32_configgpio(GPIO_SHUTDOWN_INT);
// stm32_configgpio(GPIO_AUX_OUT1);
// stm32_configgpio(GPIO_AUX_OUT2);
// stm32_configgpio(GPIO_AUX_OUT3);
// stm32_configgpio(GPIO_AUX_IN1);
// stm32_configgpio(GPIO_AUX_IN2);
stm32_configgpio(GPIO_AUX_IO1);
stm32_configgpio(GPIO_AUX_IO2);
stm32_configgpio(GPIO_AUX_IO3);
stm32_configgpio(GPIO_AUX_IO4);
stm32_configgpio(GPIO_AUX_IO5);
stm32_configgpio(GPIO_AUX_IO6);
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
led_off(LED_BLUE);
led_off(LED_GREEN);
message("[boot] Initializing USB detect\n");
stm32_usbinitialize();
/* 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, GPIO_SPI_CS_DATAFLASH, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EEPROM, false);
SPI_SELECT(spi1, GPIO_SPI_CS_DF_EXT1, false);
SPI_SELECT(spi1, GPIO_SPI_CS_DF_EXT2, false);
SPI_SELECT(spi1, GPIO_SPI_CS_DF_EXT3, false);
SPI_SELECT(spi1, GPIO_SPI_CS_DF_EXT4, false);
SPI_SELECT(spi1, GPIO_SPI_CS_DF_EXT5, false);
SPI_SELECT(spi1, GPIO_SPI_CS_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, GPIO_SPI_CS_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;
}
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)
{
int result;
message("\n");
/* configure always-on ADC pins */
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
stm32_configgpio(GPIO_GPIO0_INPUT);
stm32_configgpio(GPIO_ADC1_IN0);
#endif
stm32_configgpio(GPIO_ADC1_IN10);
stm32_configgpio(GPIO_ADC1_IN11);
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* 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);
led_off(LED_EXT3);
message("[boot] Initializing USB detect\n");
stm32_usbinitialize();
/* 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_FLASH, 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");
#ifndef MPU6000_EXTERNAL
/* 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;
}
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");
#else
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_EXP_MPU6000, false);
message("[boot] Successfully initialized SPI port 3\n");
#endif
return OK;
}
