int board_init (void)
{
if (machine_is_omap_h2())
gd->bd->bi_arch_number = MACH_TYPE_OMAP_H2;
else if (machine_is_omap_innovator())
gd->bd->bi_arch_number = MACH_TYPE_OMAP_INNOVATOR;
else
gd->bd->bi_arch_number = MACH_TYPE_OMAP_GENERIC;
/* adress of boot parameters */
gd->bd->bi_boot_params = 0x10000100;
/* Configure MUX settings */
set_muxconf_regs ();
peripheral_power_enable ();
/* this speeds up your boot a quite a bit. However to make it
* work, you need make sure your kernel startup flush bug is fixed.
* ... rkw ...
*/
icache_enable ();
flash__init ();
ether__init ();
return 0;
}
void s_init(void)
{
/* Configure MUX settings */
set_muxconf_regs ();
peripheral_power_enable ();
/* this speeds up your boot a quite a bit. However to make it
* work, you need make sure your kernel startup flush bug is fixed.
* ... rkw ...
*/
icache_enable ();
}
int board_init (void)
{
/* arch number of OMAP 730 P2 Board - Same as the Innovator! */
gd->bd->bi_arch_number = MACH_TYPE_OMAP_PERSEUS2;
/* adress of boot parameters */
gd->bd->bi_boot_params = 0x10000100;
/* Configure MUX settings */
set_muxconf_regs ();
peripheral_power_enable ();
/* Backup LED indication via GPIO_140 -> Red led if MUX correctly setup */
toggle_backup_led();
/* Hold GSM in reset until needed */
*((volatile unsigned short *)M_CTL) &= ~1;
/*
* CSx timings, GPIO Mux ... setup
*/
/* Flash: CS0 timings setup */
*((volatile unsigned int *) FLASH_CFG_0) = 0x0000fff3;
*((volatile unsigned int *) FLASH_ACFG_0_1) = 0x00000088;
/* Ethernet support trough the debug board */
/* CS1 timings setup */
*((volatile unsigned int *) FLASH_CFG_1) = 0x0000fff3;
*((volatile unsigned int *) FLASH_ACFG_0_1) = 0x00000000;
/* this speeds up your boot a quite a bit. However to make it
* work, you need make sure your kernel startup flush bug is fixed.
* ... rkw ...
*/
icache_enable ();
flash__init ();
ether__init ();
return 0;
}
static void main_loop()
{
daemon_task = chThdGetSelfX();
/*
switch to high priority for main loop
*/
chThdSetPriority(APM_MAIN_PRIORITY);
#ifdef HAL_I2C_CLEAR_BUS
// Clear all I2C Buses. This can be needed on some boards which
// can get a stuck I2C peripheral on boot
ChibiOS::I2CBus::clear_all();
#endif
#if STM32_DMA_ADVANCED
ChibiOS::Shared_DMA::init();
#endif
peripheral_power_enable();
hal.uartA->begin(115200);
#ifdef HAL_SPI_CHECK_CLOCK_FREQ
// optional test of SPI clock frequencies
ChibiOS::SPIDevice::test_clock_freq();
#endif
hal.uartB->begin(38400);
hal.uartC->begin(57600);
hal.analogin->init();
hal.scheduler->init();
/*
run setup() at low priority to ensure CLI doesn't hang the
system, and to allow initial sensor read loops to run
*/
hal_chibios_set_priority(APM_STARTUP_PRIORITY);
schedulerInstance.hal_initialized();
g_callbacks->setup();
hal.scheduler->system_initialized();
thread_running = true;
chRegSetThreadName(SKETCHNAME);
/*
switch to high priority for main loop
*/
chThdSetPriority(APM_MAIN_PRIORITY);
while (true) {
g_callbacks->loop();
/*
give up 50 microseconds of time if the INS loop hasn't
called delay_microseconds_boost(), to ensure low priority
drivers get a chance to run. Calling
delay_microseconds_boost() means we have already given up
time from the main loop, so we don't need to do it again
here
*/
#ifndef HAL_DISABLE_LOOP_DELAY
if (!schedulerInstance.check_called_boost()) {
hal.scheduler->delay_microseconds(50);
}
#endif
}
thread_running = false;
}
