__EXPORT int board_app_initialize(uintptr_t arg)
{
/* Ensure the power is on 1 ms before we drive the GPIO pins */
usleep(1000);
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) {
case HW_VER_FMUV2_STATE:
break;
case HW_VER_FMUV3_STATE:
hw_type[1]++;
hw_type[2] = '0';
/* Has CAN2 transceiver Remove pull up */
stm32_configgpio(GPIO_CAN2_RX);
break;
case HW_VER_FMUV2MINI_STATE:
/* Detection for a Pixhack3 */
stm32_configgpio(HW_VER_PA8);
up_udelay(10);
bool isph3 = stm32_gpioread(HW_VER_PA8);
stm32_configgpio(HW_VER_PA8_INIT);
if (isph3) {
/* Pixhack3 looks like a FMuV3 Cube */
hw_version = HW_VER_FMUV3_STATE;
hw_type[1]++;
hw_type[2] = '0';
message("\nPixhack V3 detected, forcing to fmu-v3");
} else {
/* It is a mini */
hw_type[2] = 'M';
}
break;
default:
/* questionable px4_fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
message("\nbad version detected, forcing to fmu-v2");
hw_version = HW_VER_FMUV2_STATE;
break;
}
message("\nFMUv2 ver 0x%1X : Rev %x %s\n", hw_version, hw_revision, hw_type);
}
/* configure SPI interfaces */
stm32_spiinitialize();
px4_platform_init();
/* configure the DMA allocator */
if (board_dma_alloc_init() < 0) {
message("DMA alloc FAILED");
}
/* 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 LED state */
drv_led_start();
led_off(LED_AMBER);
if (board_hardfault_init(2, true) != 0) {
led_on(LED_AMBER);
}
/* Configure SPI-based devices */
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi1) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
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);
up_udelay(20);
/* Get the SPI port for the FRAM */
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
if (!spi2) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
if (!spi4) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
led_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI4 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi4, 10000000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3);
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
led_on(LED_AMBER);
message("[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
led_on(LED_AMBER);
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
#endif
return OK;
}
__EXPORT int board_app_initialize(uintptr_t arg)
{
#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
#if defined(BOARD_HAS_SIMPLE_HW_VERSIONING)
if (OK == determin_hw_version(&hw_version, & hw_revision)) {
switch (hw_version) {
default:
case 0x8:
break;
case 0xE:
hw_type[1]++;
hw_type[2] = '0';
break;
case 0xA:
hw_type[2] = 'M';
break;
}
PX4_INFO("Ver 0x%1X : Rev %x %s", hw_version, hw_revision, hw_type);
}
#endif // BOARD_HAS_SIMPLE_HW_VERSIONING
/* Bring up the Sensor power */
stm32_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, 1);
/* Ensure the power is on 1 ms before we drive the GPIO pins */
usleep(1000);
/* Now it is ok to drive the pins high so configure SPI GPIO */
stm32_spiinitialize();
/* configure the high-resolution time/callout interface */
hrt_init();
param_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)
if (hardfault_check_status) {
/* 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
} // hardfault_check_status
#endif // CONFIG_STM32_SAVE_CRASHDUMP
#endif // CONFIG_STM32_BBSRAM
/* initial LED state */
drv_led_start();
led_off(LED_AMBER);
/* Configure SPI-based devices */
spi1 = stm32_spibus_initialize(PX4_SPI_BUS_SENSORS);
if (!spi1) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
board_autoled_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);
up_udelay(20);
/* Get the SPI port for the FRAM */
spi2 = stm32_spibus_initialize(PX4_SPI_BUS_RAMTRON);
if (!spi2) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_RAMTRON);
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
* and de-assert the known chip selects. */
// XXX start with 10.4 MHz in FRAM usage and go up to 37.5 once validated
SPI_SETFREQUENCY(spi2, 12 * 1000 * 1000);
SPI_SETBITS(spi2, 8);
SPI_SETMODE(spi2, SPIDEV_MODE3);
spi4 = stm32_spibus_initialize(PX4_SPI_BUS_EXT);
if (!spi4) {
message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXT);
board_autoled_on(LED_AMBER);
return -ENODEV;
}
/* Default SPI4 to 1MHz and de-assert the known chip selects. */
SPI_SETFREQUENCY(spi4, 10000000);
SPI_SETBITS(spi4, 8);
SPI_SETMODE(spi4, SPIDEV_MODE3);
#ifdef CONFIG_MMCSD
/* First, get an instance of the SDIO interface */
sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
if (!sdio) {
message("[boot] Failed to initialize SDIO slot %d\n",
CONFIG_NSH_MMCSDSLOTNO);
return -ENODEV;
}
/* Now bind the SDIO interface to the MMC/SD driver */
int ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
if (ret != OK) {
message("[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
return ret;
}
/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
sdio_mediachange(sdio, true);
#endif
return OK;
}
