int nsh_archinitialize(void)
{
int result;
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* configure the high-resolution time/callout interface */
#ifdef CONFIG_HRT_TIMER
hrt_init();
#endif
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
#ifdef SERIAL_HAVE_DMA
{
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);
}
#endif
message("\r\n");
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
/* Configure user-space led driver */
px4fmu_led_init();
/* Configure SPI-based devices */
spi1 = up_spiinitialize(1);
if (!spi1)
{
message("[boot] FAILED to initialize SPI port 1\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
// Setup 10 MHz clock (maximum rate the BMA180 can sustain)
SPI_SETFREQUENCY(spi1, 10000000);
SPI_SETBITS(spi1, 8);
SPI_SETMODE(spi1, SPIDEV_MODE3);
SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
SPI_SELECT(spi1, PX4_SPIDEV_ACCEL, false);
SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
up_udelay(20);
message("[boot] Successfully initialized SPI port 1\r\n");
/* initialize SPI peripherals redundantly */
int gyro_attempts = 0;
int gyro_fail = 0;
while (gyro_attempts < 5)
{
gyro_fail = l3gd20_attach(spi1, PX4_SPIDEV_GYRO);
gyro_attempts++;
if (gyro_fail == 0) break;
up_udelay(1000);
}
if (gyro_fail) message("[boot] FAILED to attach L3GD20 gyro\r\n");
int acc_attempts = 0;
int acc_fail = 0;
while (acc_attempts < 5)
{
acc_fail = bma180_attach(spi1, PX4_SPIDEV_ACCEL);
acc_attempts++;
if (acc_fail == 0) break;
up_udelay(1000);
}
if (acc_fail) message("[boot] FAILED to attach BMA180 accelerometer\r\n");
int mpu_attempts = 0;
int mpu_fail = 0;
while (mpu_attempts < 1)
{
mpu_fail = mpu6000_attach(spi1, PX4_SPIDEV_MPU);
mpu_attempts++;
if (mpu_fail == 0) break;
up_udelay(200);
}
if (mpu_fail) message("[boot] FAILED to attach MPU 6000 gyro/acc\r\n");
/* initialize I2C2 bus */
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 2\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C2 speed */
I2C_SETFREQUENCY(i2c2, 400000);
i2c3 = up_i2cinitialize(3);
if (!i2c3) {
message("[boot] FAILED to initialize I2C bus 3\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c3, 400000);
int mag_attempts = 0;
int mag_fail = 0;
while (mag_attempts < 5)
{
mag_fail = hmc5883l_attach(i2c2);
mag_attempts++;
if (mag_fail == 0) break;
up_udelay(1000);
}
if (mag_fail) message("[boot] FAILED to attach HMC5883L magnetometer\r\n");
int baro_attempts = 0;
int baro_fail = 0;
while (baro_attempts < 5)
{
baro_fail = ms5611_attach(i2c2);
baro_attempts++;
if (baro_fail == 0) break;
up_udelay(1000);
}
if (baro_fail) message("[boot] FAILED to attach MS5611 baro at addr #1 or #2 (0x76 or 0x77)\r\n");
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c3, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
int eeprom_attempts = 0;
int eeprom_fail;
while (eeprom_attempts < 5)
{
/* try to attach, fail if device does not respond */
eeprom_fail = eeprom_attach(i2c2, FMU_ONBOARD_EEPROM_ADDRESS,
FMU_ONBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_ONBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_ONBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/eeprom", 1);
eeprom_attempts++;
if (eeprom_fail == OK) break;
up_udelay(1000);
}
if (eeprom_fail) message("[boot] FAILED to attach FMU EEPROM\r\n");
/* Report back sensor status */
if (acc_fail || gyro_fail || mag_fail || baro_fail || eeprom_fail)
{
up_ledon(LED_AMBER);
}
#if defined(CONFIG_STM32_SPI3)
/* Get the SPI port */
message("[boot] Initializing SPI port 3\r\n");
spi3 = up_spiinitialize(3);
if (!spi3)
{
message("[boot] FAILED to initialize SPI port 3\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 3\r\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\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\r\n");
#endif /* SPI3 */
/* initialize I2C1 bus */
i2c1 = up_i2cinitialize(1);
if (!i2c1) {
message("[boot] FAILED to initialize I2C bus 1\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C1 speed */
I2C_SETFREQUENCY(i2c1, 400000);
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* Get board information if available */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
if (adc_state != OK)
{
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK)
{
/* Give up */
message("[boot] FAILED adc_devinit: %d\r\n", adc_state);
return -ENODEV;
}
}
#endif
/* configure the tone generator */
#ifdef CONFIG_TONE_ALARM
tone_alarm_init();
#endif
return OK;
}
int nsh_archinitialize(void)
{
int result;
/* INIT 1 Lowest level NuttX initialization has been done at this point, LEDs and UARTs are configured */
/* INIT 2 Configuring PX4 low-level peripherals, these will be always needed */
/* configure the high-resolution time/callout interface */
#ifdef CONFIG_HRT_TIMER
hrt_init();
#endif
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();
#endif
/* set up the serial DMA polling */
#ifdef SERIAL_HAVE_DMA
{
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);
}
#endif
message("\r\n");
up_ledoff(LED_BLUE);
up_ledoff(LED_AMBER);
up_ledon(LED_BLUE);
/* Configure user-space led driver */
px4fmu_led_init();
i2c2 = up_i2cinitialize(2);
if (!i2c2) {
message("[boot] FAILED to initialize I2C bus 3\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
/* set I2C3 speed */
I2C_SETFREQUENCY(i2c2, 400000);
/* try to attach, don't fail if device is not responding */
(void)eeprom_attach(i2c2, FMU_BASEBOARD_EEPROM_ADDRESS,
FMU_BASEBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_BASEBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/baseboard_eeprom", 1);
int eeprom_attempts = 0;
int eeprom_fail;
while (eeprom_attempts < 5)
{
/* try to attach, fail if device does not respond */
eeprom_fail = eeprom_attach(i2c2, FMU_ONBOARD_EEPROM_ADDRESS,
FMU_ONBOARD_EEPROM_TOTAL_SIZE_BYTES,
FMU_ONBOARD_EEPROM_PAGE_SIZE_BYTES,
FMU_ONBOARD_EEPROM_PAGE_WRITE_TIME_US, "/dev/eeprom", 1);
eeprom_attempts++;
if (eeprom_fail == OK) break;
up_udelay(1000);
}
if (eeprom_fail) message("[boot] FAILED to attach FMU EEPROM\r\n");
/* Report back sensor status */
if (eeprom_fail)
{
up_ledon(LED_AMBER);
}
#if defined(CONFIG_STM32_SPI3)
/* Get the SPI port */
message("[boot] Initializing SPI port 3\r\n");
spi3 = up_spiinitialize(3);
if (!spi3)
{
message("[boot] FAILED to initialize SPI port 3\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully initialized SPI port 3\r\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\r\n");
up_ledon(LED_AMBER);
return -ENODEV;
}
message("[boot] Successfully bound SPI port 3 to the MMCSD driver\r\n");
#endif /* SPI3 */
/* INIT 3: MULTIPORT-DEPENDENT INITIALIZATION */
/* Get board information if available */
/* Initialize the user GPIOs */
px4fmu_gpio_init();
#ifdef CONFIG_ADC
int adc_state = adc_devinit();
if (adc_state != OK)
{
/* Try again */
adc_state = adc_devinit();
if (adc_state != OK)
{
/* Give up */
message("[boot] FAILED adc_devinit: %d\r\n", adc_state);
return -ENODEV;
}
}
#endif
/* configure the tone generator */
#ifdef CONFIG_TONE_ALARM
tone_alarm_init();
#endif
return OK;
}
