__EXPORT int nsh_archinitialize(void)
{
int result;
/* configure the high-resolution time/callout interface */
hrt_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);
board_pwr_init(1);
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
led_off(LED_BLUE);
#if defined(FLASH_BASED_PARAMS)
static sector_descriptor_t sector_map[] = {
{1, 16 * 1024, 0x08004000},
{2, 16 * 1024, 0x08008000},
{0, 0, 0},
};
/* Initalizee the flashfs layer to use heap allocated memory */
result = parameter_flashfs_init(sector_map, NULL, 0);
if (result != OK) {
message("[boot] FAILED to init params in FLASH %d\n", result);
up_ledon(LED_AMBER);
return -ENODEV;
}
#endif
return OK;
}
__EXPORT void test(void)
{
uint16_t largest_block = (32 * 1024) + 32;
uint8_t *buffer = malloc(largest_block);
parameter_flashfs_init(test_sector_map, buffer, largest_block);
for (int t = 0; t < sizeof(test_buf); t++) {
test_buf[t] = (uint8_t) t;
}
int er = parameter_flashfs_erase();
uint8_t *fbuffer;
size_t buf_size;
int written = 0;
int read = 0;
int rv = 0;
for (int a = 0; a <= 4; a++) {
rv = parameter_flashfs_alloc(parameters_token, &fbuffer, &buf_size);
memcpy(fbuffer, test_buf, a);
buf_size = a;
written = parameter_flashfs_write(parameters_token, fbuffer, buf_size);
read = parameter_flashfs_read(parameters_token, &fbuffer, &buf_size);
parameter_flashfs_free();
if (read != written) {
static volatile int j;
j++;
}
}
int block = 2048;
for (int a = 0; a <= 8; a++) {
rv = parameter_flashfs_alloc(parameters_token, &fbuffer, &buf_size);
memcpy(fbuffer, test_buf, block);
buf_size = block;
written = parameter_flashfs_write(parameters_token, fbuffer, buf_size);
read = parameter_flashfs_read(parameters_token, &fbuffer, &buf_size);
parameter_flashfs_free();
if (read != written) {
static volatile int j;
j++;
}
block += 2048;
}
rv++;
er++;
free(buffer);
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
int result;
#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();
/* 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_AMBER);
led_off(LED_BLUE);
#if defined(FLASH_BASED_PARAMS)
/*
* Bootloader(sector 0):
* start: 0x08000000, len: 16K, end: 0x08003E80
*
* FlashFS(sector 1 and 2):
* start: 0x08004000, len: 32K, end: 0x0800C000
*
* Firmware(sector 3 to 11):
* start: 0x0800C000, len: 976K, end: 0x080FA480
*
* First 1MB memory bank complete.
* Second 1MB memory bank is reserved for future use.
*/
static sector_descriptor_t sector_map[] = {
{1, 16 * 1024, 0x08004000},
{2, 16 * 1024, 0x08008000},
{0, 0, 0},
};
/* Initialize the flashfs layer to use heap allocated memory */
result = parameter_flashfs_init(sector_map, NULL, 0);
if (result != OK) {
message("[boot] FAILED to init params in FLASH %d\n", result);
led_on(LED_AMBER);
return -ENODEV;
}
#endif
return OK;
}
