__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)
{
int result;
message("\n");
/* configure always-on ADC pins */
stm32_configgpio(GPIO_ADC1_IN0);
stm32_configgpio(GPIO_ADC1_IN10);
stm32_configgpio(GPIO_ADC1_IN11);
stm32_configgpio(GPIO_UART_SBUS_INVERTER);
#ifdef CONFIG_RC_INPUTS_TYPE(RC_INPUT_SBUS)
stm32_gpiowrite(GPIO_UART_SBUS_INVERTER, 1);
#else
stm32_gpiowrite(GPIO_UART_SBUS_INVERTER, 0);
#endif
/* 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);
/* 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_MS5611, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_MS5611, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_MPU6000, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_HMC5983, false);
SPI_SELECT(spi1, GPIO_SPI_CS_EXP_WIFI_EEPROM, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
// message("[boot] Initializing Wireless Module\n");
// wireless_archinitialize();
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);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_MS5611, false);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_MPU6000, false);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_HMC5983, false);
SPI_SELECT(spi2, GPIO_SPI_CS_IMU_EEPROM, 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, GPIO_SPI_CS_DATAFLASH, false);
SPI_SELECT(spi3, GPIO_SPI_CS_EEPROM, false);
SPI_SELECT(spi3, GPIO_SPI_CS_SDCARD, 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)
{
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;
}