コード例 #1
0
ファイル: board_init.c プロジェクト: ljwang1102/PX4Firmware
__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;
}
コード例 #2
0
__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;
}
コード例 #3
0
ファイル: board_init.c プロジェクト: LukeMike/vrbrain_nuttx
__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;
}