示例#1
0
文件: sdcard.c 项目: 0919061/PX4NuttX
static int sdcard_start(int slotno)
{
  int ret;

  /* First, get an instance of the SDIO interface */

  sdio = sdio_initialize(slotno);
  if (!sdio)
    {
      printf("SDIO: Failed to initialize slot %d\n", slotno);
      return -ENODEV;
    }

  printf("SDIO: Initialized slot %d\n", slotno);

  /* Now bind the SPI interface to the MMC/SD driver */

  ret = mmcsd_slotinitialize(slotno, sdio);
  if (ret != OK)
    {
      printf("SDIO: Failed to bind to the MMC/SD driver: %d\n", ret);
      return ret;
    }

  printf("SDIO: Successfully bound to the MMC/SD driver\n");

  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the VSN board supports a GPIO to detect if there is a card in
   * the slot.
   */
  sdio_mediachange(sdio, true);

  return OK;
}
示例#2
0
int stm32_sdio_initialize(void)
{
  int ret;

#ifdef HAVE_NCD
  /* Card detect */

  bool cd_status;

  /* Configure the card detect GPIO */

  stm32_configgpio(GPIO_SDMMC1_NCD);

  /* Register an interrupt handler for the card detect pin */

  (void)stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true,
                           stm32_ncd_interrupt, NULL);
#endif

  /* Mount the SDIO-based MMC/SD block driver */
  /* First, get an instance of the SDIO interface */

  finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);

  g_sdio_dev = sdio_initialize(SDIO_SLOTNO);
  if (!g_sdio_dev)
    {
      ferr("ERROR: Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);

  ret = mmcsd_slotinitialize(SDIO_MINOR, g_sdio_dev);
  if (ret != OK)
    {
      ferr("ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
      return ret;
    }

  finfo("Successfully bound SDIO to the MMC/SD driver\n");

#ifdef HAVE_NCD
  /* Use SD card detect pin to check if a card is g_sd_inserted */

  cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
  finfo("Card detect : %d\n", cd_status);

  sdio_mediachange(g_sdio_dev, cd_status);
#else
  /* Assume that the SD card is inserted.  What choice do we have? */

  sdio_mediachange(g_sdio_dev, true);
#endif

  return OK;
}
示例#3
0
int sam_hsmci_initialize(void)
{
  int ret;
  fdbg("Initializing SDIO\n");

  /* Have we already initialized? */

  if (!g_hsmci.initialized)
    {
      /* Mount the SDIO-based MMC/SD block driver */
      /* First, get an instance of the SDIO interface */

      g_hsmci.hsmci = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
      if (!g_hsmci.hsmci)
        {
          fdbg("Failed to initialize SDIO\n");
          return -ENODEV;
        }

      /* Now bind the SDIO interface to the MMC/SD driver */

      ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, g_hsmci.hsmci);
      if (ret != OK)
        {
          fdbg("Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
          return ret;
        }

#ifdef CONFIG_MMCSD_HAVECARDDETECT
      /* Initialize card-detect GPIO.  There is no write-protection GPIO. */

      sam_configgpio(GPIO_MCI_CD);

      /* Configure card detect interrupts */

      sam_gpioirq(GPIO_MCI_CD);
      (void)irq_attach(MCI_CD_IRQ, sam_hsmci_cardetect_int);
      g_hsmci.inserted = sam_cardinserted(0);
#else
      g_hsmci.inserted = true; /* An assumption? */
#endif
      /* Then inform the HSMCI driver if there is or is not a card in the slot. */

      sdio_mediachange(g_hsmci.hsmci, g_hsmci.inserted);

      /* Now we are initialized */

      g_hsmci.initialized = true;

      /* Enable card detect interrupts */

#ifdef CONFIG_MMCSD_HAVECARDDETECT
      sam_gpioirqenable(MCI_CD_IRQ);
#endif
    }

  return OK;
}
static inline void lpc31_initsrc(void)
{
#ifdef CONFIG_EA3131_PAGING_SDSLOT
  FAR struct sdio_dev_s *sdio;
  int ret;
#endif

  /* Are we already initialized? */

  if (!g_pgsrc.initialized)
    {
#ifdef CONFIG_EA3131_PAGING_SDSLOT
      char devname[16];
#endif

      pgllvdbg("Initializing %s\n", CONFIG_PAGING_BINPATH);

      /* No, do we need to mount an SD device? */

#ifdef CONFIG_EA3131_PAGING_SDSLOT

      /* Yes.. First, get an instance of the SDIO interface */

      sdio = sdio_initialize(CONFIG_EA3131_PAGING_SDSLOT);
      DEBUGASSERT(sdio != NULL);

      /* Then bind the SDIO interface to the SD driver */

      ret = mmcsd_slotinitialize(CONFIG_EA3131_PAGING_MINOR, sdio);
      DEBUGASSERT(ret == OK);

      /* Then let's guess and say that there is a card in the slot.
       * (We are basically jodido anyway if there is no card in the slot).
       */

      sdio_mediachange(sdio, true);

      /* Now mount the file system */

      snprintf(devname, 16, "/dev/mmcsd%d", CONFIG_EA3131_PAGING_MINOR);
      ret = mount(devname, CONFIG_EA3131_PAGING_MOUNTPT, "vfat", MS_RDONLY, NULL);
      DEBUGASSERT(ret == OK);

#endif /* CONFIG_EA3131_PAGING_SDSLOT */

      /* Open the selected path for read-only access */

      g_pgsrc.fd = open(CONFIG_PAGING_BINPATH, O_RDONLY);
      DEBUGASSERT(g_pgsrc.fd >= 0);

      /* Then we are initialized */

      g_pgsrc.initialized = true;
    }
}
示例#5
0
static int nsh_sdinitialize(void)
{
  int ret;

#ifdef NSH_HAVE_MMCSD_CD
  /* Configure the SD card detect GPIO */

  lpc17_configgpio(GPIO_SD_CD);

  /* Attach an interrupt handler to get notifications when a card is
   * inserted or deleted.
   */

#if NSH_HAVE_MMCSD_CDINT

   (void)irq_attach(LPC17_IRQ_P0p13, nsh_cdinterrupt);
   up_enable_irq(LPC17_IRQ_P0p13);

#endif
#endif

  /* First, get an instance of the SDIO interface */

  g_sdiodev = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!g_sdiodev)
    {
      message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
              CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, g_sdiodev);
  if (ret != OK)
    {
      message("nsh_archinitialize: "
              "Failed to bind SDIO to the MMC/SD driver: %d\n",
              ret);

      return ret;
    }

  /* Check if there is a card in the slot and inform the SDCARD driver.  If
   * we do not support the card  detect, then let's assume that there is
   * one.
   */

#ifdef NSH_HAVE_MMCSD_CD
  sdio_mediachange(g_sdiodev, !lpc17_gpioread(GPIO_SD_CD));
#else
  sdio_mediachange(g_sdiodev, true);
#endif
  return OK;
}
示例#6
0
int board_composite_initialize(int port)
{
  /* If system/composite is built as an NSH command, then SD slot should
   * already have been initialized in board_app_initialize() (see
   * stm32_appinit.c).  In this case, there is nothing further to be done here.
   *
   * NOTE: CONFIG_NSH_BUILTIN_APPS is not a fool-proof indication that NSH
   * was built.
   */

#ifndef CONFIG_NSH_BUILTIN_APPS
  FAR struct sdio_dev_s *sdio;
  int ret;

  /* First, get an instance of the SDIO interface */

  syslog(LOG_INFO, "Initializing SDIO slot %d\n", STM32_MMCSDSLOTNO);

  sdio = sdio_initialize(STM32_MMCSDSLOTNO);
  if (!sdio)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SDIO slot %d\n",
             STM32_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  syslog(LOG_INFO, "Bind SDIO to the MMC/SD driver, minor=%d\n",
         CONFIG_SYSTEM_COMPOSITE_DEVMINOR1);

  ret = mmcsd_slotinitialize(CONFIG_SYSTEM_COMPOSITE_DEVMINOR1, sdio);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n",
             ret);
      return ret;
    }

  syslog(LOG_INFO, "Successfully bound SDIO to the MMC/SD driver\n");

  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the STM3210E-EVAL board supports a GPIO to detect if there is a card in
   * the slot.
   */

   sdio_mediachange(sdio, true);

#endif /* CONFIG_NSH_BUILTIN_APPS */

   return OK;
}
示例#7
0
int usbmsc_archinitialize(void)
{
  /* If examples/usbmsc is built as an NSH command, then SD slot should
   * already have been initialized in nsh_archinitialize() (see up_nsh.c).  In
   * this case, there is nothing further to be done here.
   */

#ifndef CONFIG_EXAMPLES_USBMSC_BUILTIN
  FAR struct sdio_dev_s *sdio;
  int ret;

  /* First, get an instance of the SDIO interface */

  message("usbmsc_archinitialize: "
          "Initializing SDIO slot %d\n",
          STM32_MMCSDSLOTNO);

  sdio = sdio_initialize(STM32_MMCSDSLOTNO);
  if (!sdio)
    {
      message("usbmsc_archinitialize: Failed to initialize SDIO slot %d\n",
              STM32_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  message("usbmsc_archinitialize: "
          "Bind SDIO to the MMC/SD driver, minor=%d\n",
          CONFIG_EXAMPLES_USBMSC_DEVMINOR1);

  ret = mmcsd_slotinitialize(CONFIG_EXAMPLES_USBMSC_DEVMINOR1, sdio);
  if (ret != OK)
    {
      message("usbmsc_archinitialize: "
              "Failed to bind SDIO to the MMC/SD driver: %d\n",
              ret);
      return ret;
    }
  message("usbmsc_archinitialize: "
          "Successfully bound SDIO to the MMC/SD driver\n");
  
  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the Hy-Mini STM32v board supports a GPIO to detect if there is a card in
   * the slot.
   */

   sdio_mediachange(sdio, true);

#endif /* CONFIG_EXAMPLES_USBMSC_BUILTIN */

   return OK;
}
示例#8
0
int composite_archinitialize(void)
{
  /* If examples/composite is built as an NSH command, then SD slot should
   * already have been initized in nsh_archinitialize() (see up_nsh.c).  In
   * this case, there is nothing further to be done here.
   *
   * NOTE: CONFIG_NSH_BUILTIN_APPS is not a fool-proof indication that NSH
   * was built.
   */

#ifndef CONFIG_NSH_BUILTIN_APPS
  FAR struct sdio_dev_s *sdio;
  int ret;

  /* First, get an instance of the SDIO interface */

  message("composite_archinitialize: Initializing SDIO slot %d\n",
          STM32_MMCSDSLOTNO);

  sdio = sdio_initialize(STM32_MMCSDSLOTNO);
  if (!sdio)
    {
      message("composite_archinitialize: Failed to initialize SDIO slot %d\n",
              STM32_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  message("composite_archinitialize: Bind SDIO to the MMC/SD driver, minor=%d\n",
          CONFIG_EXAMPLES_COMPOSITE_DEVMINOR1);

  ret = mmcsd_slotinitialize(CONFIG_EXAMPLES_COMPOSITE_DEVMINOR1, sdio);
  if (ret != OK)
    {
      message("composite_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n",
              ret);
      return ret;
    }
  message("composite_archinitialize: Successfully bound SDIO to the MMC/SD driver\n");
  
  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the STM3210E-EVAL board supports a GPIO to detect if there is a card in
   * the slot.
   */

   sdio_mediachange(sdio, true);

#endif /* CONFIG_NSH_BUILTIN_APPS */

   return OK;
}
示例#9
0
文件: up_nsh.c 项目: KimMui/i2sTest
int nsh_archinitialize(void)
{
#ifdef NSH_HAVEMMCSD
  int ret;

  /* Card detect */
  bool cd_status;

  /* Configure the card detect GPIO */

  stm32_configgpio(GPIO_SD_CD);

  /* Register an interrupt handler for the card detect pin */

  stm32_gpiosetevent(GPIO_SD_CD, true, true, true, nsh_cdinterrupt);

  /* Mount the SDIO-based MMC/SD block driver */

  /* First, get an instance of the SDIO interface */

  message("nsh_archinitialize: Initializing SDIO slot %d\n",
          CONFIG_NSH_MMCSDSLOTNO);
  g_sdiodev = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!g_sdiodev)
    {
      message("nsh_archinitialize: Failed to initialize SDIO slot %d\n",
              CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  message("nsh_archinitialize: Bind SDIO to the MMC/SD driver, minor=%d\n",
          CONFIG_NSH_MMCSDMINOR);
  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, g_sdiodev);
  if (ret != OK)
    {
      message("nsh_archinitialize: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
      return ret;
    }
  dbg("nsh_archinitialize: Successfully bound SDIO to the MMC/SD driver\n");

  /* Use SD card detect pin to check if a card is inserted */

  cd_status = !stm32_gpioread(GPIO_SD_CD);
  vdbg("Card detect : %hhu\n", cd_status);

  sdio_mediachange(g_sdiodev, cd_status);
#endif
  return OK;
}
示例#10
0
int usbmsc_archinitialize(void)
{
  FAR struct sdio_dev_s *sdio;
  int ret;

  /* First, get an instance of the SDIO interface */

  message("usbmsc_archinitialize: "
          "Initializing SDIO slot %d\n",
          SAM3U_MMCSDSLOTNO);

  sdio = sdio_initialize(SAM3U_MMCSDSLOTNO);
  if (!sdio)
    {
      message("usbmsc_archinitialize: Failed to initialize SDIO slot %d\n",
              SAM3U_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SPI interface to the MMC/SD driver */

  message("usbmsc_archinitialize: "
          "Bind SDIO to the MMC/SD driver, minor=%d\n",
          CONFIG_EXAMPLES_USBMSC_DEVMINOR1);

  ret = mmcsd_slotinitialize(CONFIG_EXAMPLES_USBMSC_DEVMINOR1, sdio);
  if (ret != OK)
    {
      message("usbmsc_archinitialize: "
              "Failed to bind SDIO to the MMC/SD driver: %d\n",
              ret);
      return ret;
    }
  message("usbmsc_archinitialize: "
          "Successfully bound SDIO to the MMC/SD driver\n");
  
  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the SAM3U10E-EVAL board supports a GPIO to detect if there is a card in
   * the slot.
   */

   sdio_mediachange(sdio, true);
   return OK;
}
示例#11
0
int board_app_initialize(void)
{
#ifdef NSH_HAVEMMCSD
  FAR struct sdio_dev_s *sdio;
  int ret;

  /* First, get an instance of the SDIO interface */

  syslog(LOG_INFO, "Initializing SDIO slot %d\n",
         CONFIG_NSH_MMCSDSLOTNO);

  sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!sdio)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SDIO slot %d\n",
             CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SPI interface to the MMC/SD driver */

  syslog(LOG_INFO, "Bind SDIO to the MMC/SD driver, minor=%d\n",
         CONFIG_NSH_MMCSDMINOR);

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
  if (ret != OK)
    {
      syslog(LOG_ERR, "ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
      return ret;
    }

  syslog(LOG_INFO, "Successfully bound SDIO to the MMC/SD driver\n");

  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the LPC313X10E-EVAL board supports a GPIO to detect if there is a card in
   * the slot.
   */

   sdio_mediachange(sdio, true);
#endif
  return OK;
}
示例#12
0
int stm32_sdinitialize(int minor)
{
#ifdef HAVE_MMCSD
  FAR struct sdio_dev_s *sdio;
  int ret;

  /* Configure the card-detect GPIO */
#warning REVISIT: Missing logic

  /* First, get an instance of the SDIO interface */

  sdio = sdio_initialize(STM32_MMCSDSLOTNO);
  if (!sdio)
    {
      fdbg("Failed to initialize SDIO slot %d\n", STM32_MMCSDSLOTNO);
      return -ENODEV;
    }

  fvdbg("Initialized SDIO slot %d\n", STM32_MMCSDSLOTNO);

  /* Now bind the SDIO interface to the MMC/SD driver */

  ret = mmcsd_slotinitialize(minor, sdio);
  if (ret != OK)
    {
      fdbg("Failed to bind SDIO slot %d to the MMC/SD driver, minor=%d\n",
              STM32_MMCSDSLOTNO, minor);
    }

  fvdbg("Bound SDIO slot %d to the MMC/SD driver, minor=%d\n",
         STM32_MMCSDSLOTNO, minor);

  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the M3 Wildfire board supports a GPIO to detect if there is a card in
   * the slot.
   */
#warning REVISIT: Need to read the current state of the card-detect pin
#warning REVISIT: Need to support interrupts from the card-detect pin
  sdio_mediachange(sdio, true);
#endif
  return OK;
}
示例#13
0
int nsh_archinitialize(void)
{
#ifdef NSH_HAVE_MMCSD
  FAR struct sdio_dev_s *sdio;
  int ret;

  /* Mount the SDIO-based MMC/SD block driver */
  /* First, get an instance of the SDIO interface */

  syslog(LOG_INFO, "Initializing SDIO slot %d\n",
         CONFIG_NSH_MMCSDSLOTNO);

  sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!sdio)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SDIO slot %d\n",
             CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  syslog(LOG_INFO, "Bind SDIO to the MMC/SD driver, minor=%d\n",
         CONFIG_NSH_MMCSDMINOR);

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
  if (ret != OK)
    {
      syslog(LOG_ERR, "ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
      return ret;
    }

  syslog(LOG_INFO, "Successfully bound SDIO to the MMC/SD driver\n");

  /* Then inform the HSMCI driver if there is or is not a card in the slot. */

   sdio_mediachange(sdio, sam_cardinserted(0));
#endif
  return OK;
}
示例#14
0
int board_app_initialize(uintptr_t arg)
{
#ifdef HAVE_RTC_DRIVER
  FAR struct rtc_lowerhalf_s *rtclower;
#endif
  int ret;

  (void)ret;

  /* Configure CPU load estimation */

#ifdef CONFIG_SCHED_INSTRUMENTATION
  cpuload_initialize_once();
#endif

#ifdef HAVE_PROC
  /* Mount the proc filesystem */

  syslog(LOG_INFO, "Mounting procfs to /proc\n");

  ret = mount(NULL, CONFIG_NSH_PROC_MOUNTPOINT, "procfs", 0, NULL);
  if (ret < 0)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to mount the PROC filesystem: %d (%d)\n",
             ret, errno);
      return ret;
    }
#endif

#ifdef HAVE_RTC_DRIVER
  /* Instantiate the STM32L4 lower-half RTC driver */

  rtclower = stm32l4_rtc_lowerhalf();
  if (!rtclower)
    {
      serr("ERROR: Failed to instantiate the RTC lower-half driver\n");
      return -ENOMEM;
    }
  else
    {
      /* Bind the lower half driver and register the combined RTC driver
       * as /dev/rtc0
       */

      ret = rtc_initialize(0, rtclower);
      if (ret < 0)
        {
          serr("ERROR: Failed to bind/register the RTC driver: %d\n", ret);
          return ret;
        }
    }
#endif

#ifdef HAVE_MMCSD
  /* First, get an instance of the SDIO interface */

  g_sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!g_sdio)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SDIO slot %d\n",
             CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, g_sdio);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: 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(g_sdio, true);

  syslog(LOG_INFO, "[boot] Initialized SDIO\n");
#endif

#ifdef CONFIG_AJOYSTICK
  /* Initialize and register the joystick driver */

  ret = board_ajoy_initialize();
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the joystick driver: %d\n",
             ret);
      return ret;
    }
#endif

  return OK;
}
示例#15
0
int board_app_initialize(uintptr_t arg)
{
#ifdef HAVE_RTC_DRIVER
  FAR struct rtc_lowerhalf_s *lower;
#endif
#ifdef CONFIG_STM32_SPI1
  FAR struct spi_dev_s *spi;
  FAR struct mtd_dev_s *mtd;
#endif
#ifdef HAVE_MMCSD
  FAR struct sdio_dev_s *sdio;
#endif
  int ret;

  /* Register I2C drivers on behalf of the I2C tool */

  stm32_i2ctool();

#ifdef HAVE_RTC_DRIVER
  /* Instantiate the STM32 lower-half RTC driver */

  lower = stm32_rtc_lowerhalf();
  if (!lower)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to instantiate the RTC lower-half driver\n");
      return -ENOMEM;
    }
  else
    {
      /* Bind the lower half driver and register the combined RTC driver
       * as /dev/rtc0
       */

      ret = rtc_initialize(0, lower);
      if (ret < 0)
        {
          syslog(LOG_ERR,
                 "ERROR: Failed to bind/register the RTC driver: %d\n",
                 ret);
          return ret;
        }
    }
#endif

  /* Configure SPI-based devices */

#ifdef CONFIG_STM32_SPI1
  /* Get the SPI port */

  spi = stm32_spibus_initialize(1);
  if (!spi)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SPI port 0\n");
      return -ENODEV;
    }

  /* Now bind the SPI interface to the M25P64/128 SPI FLASH driver */

  mtd = m25p_initialize(spi);
  if (!mtd)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to bind SPI port 0 to the SPI FLASH driver\n");
      return -ENODEV;
    }
#warning "Now what are we going to do with this SPI FLASH driver?"
#endif

  /* Mount the SDIO-based MMC/SD block driver */

#ifdef HAVE_MMCSD
  /* First, get an instance of the SDIO interface */

  sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!sdio)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to initialize SDIO slot %d\n",
             CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: 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.  I need to check to
   * see if the STM3240G-EVAL board supports a GPIO to detect if there is a card in
   * the slot.
   */

   sdio_mediachange(sdio, true);
#endif

#ifdef HAVE_USBHOST
  /* Initialize USB host operation.  stm32_usbhost_initialize() starts a thread
   * will monitor for USB connection and disconnection events.
   */

  ret = stm32_usbhost_initialize();
  if (ret != OK)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize USB host: %d\n", ret);
      return ret;
    }
#endif

#ifdef CONFIG_PWM
  /* Initialize PWM and register the PWM device. */

  ret = stm32_pwm_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_pwm_setup() failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_ADC
  /* Initialize ADC and register the ADC driver. */

  ret = stm32_adc_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_CAN
  /* Initialize CAN and register the CAN driver. */

  ret = stm32_can_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_can_setup failed: %d\n", ret);
    }
#endif

  UNUSED(ret);
  return OK;
}
示例#16
0
int board_app_initialize(uintptr_t arg)
{
#ifdef HAVE_RTC_DRIVER
  FAR struct rtc_lowerhalf_s *rtclower;
#endif
#ifdef CONFIG_SENSORS_QENCODER
  int index;
  char buf[9];
#endif
  int ret;

  (void)ret;

#ifdef HAVE_PROC
  /* Mount the proc filesystem */

  syslog(LOG_INFO, "Mounting procfs to /proc\n");

  ret = mount(NULL, CONFIG_NSH_PROC_MOUNTPOINT, "procfs", 0, NULL);
  if (ret < 0)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to mount the PROC filesystem: %d (%d)\n",
             ret, errno);
      return ret;
    }
#endif

#if !defined(CONFIG_ARCH_LEDS) && defined(CONFIG_USERLED_LOWER)
  /* Register the LED driver */

  ret = userled_lower_initialize(LED_DRIVER_PATH);
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret);
    }
#endif

#ifdef HAVE_RTC_DRIVER
  /* Instantiate the STM32L4 lower-half RTC driver */

  rtclower = stm32l4_rtc_lowerhalf();
  if (!rtclower)
    {
      serr("ERROR: Failed to instantiate the RTC lower-half driver\n");
      return -ENOMEM;
    }
  else
    {
      /* Bind the lower half driver and register the combined RTC driver
       * as /dev/rtc0
       */

      ret = rtc_initialize(0, rtclower);
      if (ret < 0)
        {
          serr("ERROR: Failed to bind/register the RTC driver: %d\n", ret);
          return ret;
        }
    }
#endif

#ifdef HAVE_MMCSD
  /* First, get an instance of the SDIO interface */

  g_sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!g_sdio)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SDIO slot %d\n",
             CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, g_sdio);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: 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(g_sdio, true);

  syslog(LOG_INFO, "[boot] Initialized SDIO\n");
#endif

#ifdef CONFIG_PWM
  /* Initialize PWM and register the PWM device. */

  ret = stm32l4_pwm_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32l4_pwm_setup() failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_ADC
  /* Initialize ADC and register the ADC driver. */

  ret = stm32l4_adc_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32l4_adc_setup failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_TIMER
  /* Initialize and register the timer driver */

  ret = board_timer_driver_initialize("/dev/timer0", 2);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the timer driver: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_SENSORS_QENCODER

  /* Initialize and register the qencoder driver */

  index = 0;

#ifdef CONFIG_STM32L4_TIM1_QE
  sprintf(buf, "/dev/qe%d", index++);
  ret = stm32l4_qencoder_initialize(buf, 1);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_STM32L4_TIM2_QE
  sprintf(buf, "/dev/qe%d", index++);
  ret = stm32l4_qencoder_initialize(buf, 2);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_STM32L4_TIM3_QE
  sprintf(buf, "/dev/qe%d", index++);
  ret = stm32l4_qencoder_initialize(buf, 3);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_STM32L4_TIM4_QE
  sprintf(buf, "/dev/qe%d", index++);
  ret = stm32l4_qencoder_initialize(buf, 4);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_STM32L4_TIM5_QE
  sprintf(buf, "/dev/qe%d", index++);
  ret = stm32l4_qencoder_initialize(buf, 5);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_STM32L4_TIM8_QE
  sprintf(buf, "/dev/qe%d", index++);
  ret = stm32l4_qencoder_initialize(buf, 8);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#endif

  UNUSED(ret);
  return OK;
}
示例#17
0
int nsh_archinitialize(void)
{
#ifdef CONFIG_MMCSD
  int ret;
#endif

  /* Configure ADC pins */

  stm32_configgpio(GPIO_ADC1_IN2);   /* BATT_VOLTAGE_SENS */
  stm32_configgpio(GPIO_ADC1_IN3);   /* BATT_CURRENT_SENS */
  stm32_configgpio(GPIO_ADC1_IN4);   /* VDD_5V_SENS */
//stm32_configgpio(GPIO_ADC1_IN10);  /* used by VBUS valid */
//stm32_configgpio(GPIO_ADC1_IN11);  /* unused */
//stm32_configgpio(GPIO_ADC1_IN12);  /* used by MPU6000 CS */
  stm32_configgpio(GPIO_ADC1_IN13);  /* FMU_AUX_ADC_1 */
  stm32_configgpio(GPIO_ADC1_IN14);  /* FMU_AUX_ADC_2 */
  stm32_configgpio(GPIO_ADC1_IN15);  /* PRESSURE_SENS */

  /* Configure power supply control/sense pins */

  stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
  stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
  stm32_configgpio(GPIO_VDD_BRICK_VALID);
  stm32_configgpio(GPIO_VDD_SERVO_VALID);
  stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
  stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);

  /* Configure the DMA allocator */

  dma_alloc_init();

  /* Configure CPU load estimation */

#ifdef CONFIG_SCHED_INSTRUMENTATION
  cpuload_initialize_once();
#endif

  /* Initial LED state */

  led_off(LED_AMBER);

  /* Configure SPI-based devices */

  spi1 = up_spiinitialize(1);
  if (!spi1)
    {
      message("[boot] FAILED to initialize SPI port 1\n");
      board_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, PX4_SPIDEV_GYRO, false);
  SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
  SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
  SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
  up_udelay(20);

  message("[boot] Initialized SPI port 1 (SENSORS)\n");

  /* Get the SPI port for the FRAM */

  spi2 = up_spiinitialize(2);
  if (!spi2)
    {
      message("[boot] FAILED to initialize SPI port 2\n");
      board_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);
  SPI_SELECT(spi2, SPIDEV_FLASH, false);

  message("[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");

#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 */

  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);

  message("[boot] Initialized SDIO\n");
#endif

  return OK;
}
示例#18
0
__EXPORT int nsh_archinitialize(void)
{

	/* configure ADC pins */
	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
	stm32_configgpio(GPIO_ADC1_IN11);	/* BATT2_VOLTAGE_SENS */
	stm32_configgpio(GPIO_ADC1_IN13);	/* BATT2_CURRENT_SENS */

	/* configure power supply control/sense pins */
	stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN);
	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
	stm32_configgpio(GPIO_VDD_5V_HIPOWER_EN);

	stm32_configgpio(GPIO_VDD_BRICK_VALID);
	stm32_configgpio(GPIO_VDD_BRICK2_VALID);

	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);
	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
	stm32_configgpio(GPIO_VBUS_VALID);

//	stm32_configgpio(GPIO_SBUS_INV);
//	stm32_configgpio(GPIO_8266_GPIO0);
//	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
//	stm32_configgpio(GPIO_8266_PD);
//	stm32_configgpio(GPIO_8266_RST);
//	stm32_configgpio(GPIO_BTN_SAFETY_FMU);

	/* configure the GPIO pins to outputs and keep them low */
	stm32_configgpio(GPIO_GPIO0_OUTPUT);
	stm32_configgpio(GPIO_GPIO1_OUTPUT);
	stm32_configgpio(GPIO_GPIO2_OUTPUT);
	stm32_configgpio(GPIO_GPIO3_OUTPUT);
	stm32_configgpio(GPIO_GPIO4_OUTPUT);
	stm32_configgpio(GPIO_GPIO5_OUTPUT);

	/* 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 LED state */
	drv_led_start();
	led_off(LED_AMBER);

	/* Configure SPI-based devices */

	spi1 = up_spiinitialize(1);

	if (!spi1) {
		message("[boot] FAILED to initialize SPI port 1\n");
		up_ledon(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, PX4_SPIDEV_ICM, false);
	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_LIS, false);
	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
	SPI_SELECT(spi1, PX4_SPIDEV_EEPROM, false);
	up_udelay(20);

	/* Get the SPI port for the FRAM */

	spi2 = up_spiinitialize(2);

	if (!spi2) {
		message("[boot] FAILED to initialize SPI port 2\n");
		up_ledon(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);
	SPI_SELECT(spi2, SPIDEV_FLASH, false);

	
	/* Configure SPI 5-based devices */

	spi5 = up_spiinitialize(PX4_SPI_EXT0);

	if (!spi5) {
		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_EXT0);
		up_ledon(LED_RED);
		return -ENODEV;
	}

	/* Default SPI5 to 1MHz and de-assert the known chip selects. */
	SPI_SETFREQUENCY(spi5, 10000000);
	SPI_SETBITS(spi5, 8);
	SPI_SETMODE(spi5, SPIDEV_MODE3);
	SPI_SELECT(spi5, PX4_SPIDEV_EXT0, false);

	/* Configure SPI 6-based devices */

	spi6 = up_spiinitialize(PX4_SPI_EXT1);

	if (!spi6) {
		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_EXT1);
		up_ledon(LED_RED);
		return -ENODEV;
	}

	/* Default SPI6 to 1MHz and de-assert the known chip selects. */
	SPI_SETFREQUENCY(spi6, 10000000);
	SPI_SETBITS(spi6, 8);
	SPI_SETMODE(spi6, SPIDEV_MODE3);
	SPI_SELECT(spi6, PX4_SPIDEV_EXT1, false);

#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;
}
示例#19
0
__EXPORT int nsh_archinitialize(void)
{

	/* configure ADC pins */
	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */

	/* configure power supply control/sense pins */
	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
	stm32_configgpio(GPIO_VDD_BRICK_VALID);
	stm32_configgpio(GPIO_VDD_SERVO_VALID);
	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);

#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 */
	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 LED state */
	drv_led_start();
	led_off(LED_AMBER);

	/* Configure SPI-based devices */

	spi1 = up_spiinitialize(1);

	if (!spi1) {
		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
		board_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, PX4_SPIDEV_GYRO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
	up_udelay(20);

	syslog(LOG_INFO, "[boot] Initialized SPI port 1 (SENSORS)\n");

	/* Get the SPI port for the FRAM */

	spi2 = up_spiinitialize(2);

	if (!spi2) {
		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
		board_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);
	SPI_SELECT(spi2, SPIDEV_FLASH, false);

	syslog(LOG_INFO, "[boot] Initialized SPI port 2 (RAMTRON FRAM)\n");

	spi4 = up_spiinitialize(4);

	/* Default SPI4 to 1MHz and de-assert the known chip selects. */
	SPI_SETFREQUENCY(spi4, 10000000);
	SPI_SETBITS(spi4, 8);
	SPI_SETMODE(spi4, SPIDEV_MODE3);
	SPI_SELECT(spi4, PX4_SPIDEV_EXT0, false);
	SPI_SELECT(spi4, PX4_SPIDEV_EXT1, false);

	syslog(LOG_INFO, "[boot] Initialized SPI port 4\n");

#ifdef CONFIG_MMCSD
	/* First, get an instance of the SDIO interface */

	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);

	if (!sdio) {
		syslog(LOG_ERR, "[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) {
		syslog(LOG_ERR, "[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);

	syslog(LOG_INFO, "[boot] Initialized SDIO\n");
#endif

	return OK;
}
示例#20
0
__EXPORT int nsh_archinitialize(void)
{

	/* configure ADC pins */
	stm32_configgpio(GPIO_ADC1_IN2);	/* BATT_VOLTAGE_SENS */
	stm32_configgpio(GPIO_ADC1_IN3);	/* BATT_CURRENT_SENS */
	stm32_configgpio(GPIO_ADC1_IN4);	/* VDD_5V_SENS */
	// stm32_configgpio(GPIO_ADC1_IN10);	/* used by VBUS valid */
	// stm32_configgpio(GPIO_ADC1_IN11);	/* unused */
	// stm32_configgpio(GPIO_ADC1_IN12);	/* used by MPU6000 CS */
	stm32_configgpio(GPIO_ADC1_IN13);	/* FMU_AUX_ADC_1 */
	stm32_configgpio(GPIO_ADC1_IN14);	/* FMU_AUX_ADC_2 */
	stm32_configgpio(GPIO_ADC1_IN15);	/* PRESSURE_SENS */

	/* configure power supply control/sense pins */
	stm32_configgpio(GPIO_VDD_5V_PERIPH_EN);
	stm32_configgpio(GPIO_VDD_3V3_SENSORS_EN);
	stm32_configgpio(GPIO_VDD_BRICK_VALID);
	stm32_configgpio(GPIO_VDD_SERVO_VALID);
	stm32_configgpio(GPIO_VDD_5V_HIPOWER_OC);
	stm32_configgpio(GPIO_VDD_5V_PERIPH_OC);

	/* 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);

	/* initial LED state */
	drv_led_start();
	led_off(LED_AMBER);

	/* Configure SPI-based devices */

	spi1 = up_spiinitialize(1);

	if (!spi1) {
		message("[boot] FAILED to initialize SPI port 1\n");
		up_ledon(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, PX4_SPIDEV_GYRO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_ACCEL_MAG, false);
	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
	up_udelay(20);

	message("[boot] Successfully initialized SPI port 1\n");

	/* Get the SPI port for the FRAM */

	spi2 = up_spiinitialize(2);

	if (!spi2) {
		message("[boot] FAILED to initialize SPI port 2\n");
		up_ledon(LED_AMBER);
		return -ENODEV;
	}

	/* Default SPI2 to 37.5 MHz (F4 max) and de-assert the known chip selects. */
	SPI_SETFREQUENCY(spi2, 375000000);
	SPI_SETBITS(spi2, 8);
	SPI_SETMODE(spi2, SPIDEV_MODE3);
	SPI_SELECT(spi2, SPIDEV_FLASH, false);

	message("[boot] Successfully initialized SPI port 2\n");

	#ifdef CONFIG_MMCSD
	/* First, get an instance of the SDIO interface */

	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
	if (!sdio) {
		message("nsh_archinitialize: 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("nsh_archinitialize: 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);

	message("[boot] Initialized SDIO\n");
	#endif

	return OK;
}
示例#21
0
文件: init.c 项目: vivienJ/Firmware
__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;
}
示例#22
0
int board_app_initialize(uintptr_t arg)
{
  int ret;

#ifdef NSH_HAVEMMCSD
  /* Card detect */

  bool cd_status;

  /* Configure the card detect GPIO */

  stm32_configgpio(GPIO_SD_CD);

  /* Register an interrupt handler for the card detect pin */

  (void)stm32_gpiosetevent(GPIO_SD_CD, true, true, true, nsh_cdinterrupt, NULL);

  /* Mount the SDIO-based MMC/SD block driver */

  /* First, get an instance of the SDIO interface */

  syslog(LOG_INFO, "Initializing SDIO slot %d\n",
         CONFIG_NSH_MMCSDSLOTNO);

  g_sdiodev = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!g_sdiodev)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SDIO slot %d\n",
             CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  syslog(LOG_INFO, "Bind SDIO to the MMC/SD driver, minor=%d\n",
         CONFIG_NSH_MMCSDMINOR);

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, g_sdiodev);
  if (ret != OK)
    {
      syslog(LOG_ERR, "ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
      return ret;
    }

  syslog(LOG_INFO, "Successfully bound SDIO to the MMC/SD driver\n");

  /* Use SD card detect pin to check if a card is inserted */

  cd_status = !stm32_gpioread(GPIO_SD_CD);
  _info("Card detect : %hhu\n", cd_status);

  sdio_mediachange(g_sdiodev, cd_status);
#endif

#ifdef CONFIG_INPUT
  /* Initialize the touchscreen */

  ret = stm32_tsc_setup(0);
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_tsc_setup failed: %d\n", ret);
    }
#endif

  UNUSED(ret);
  return OK;
}
示例#23
0
__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

	/* 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_RED);
	led_off(LED_GREEN);
	led_off(LED_BLUE);

	/* Configure SPI-based devices */

	spi1 = stm32_spibus_initialize(1);

	if (!spi1) {
		message("[boot] FAILED to initialize SPI port 1\n");
		board_autoled_on(LED_RED);
		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, PX4_SPIDEV_GYRO, false);
	SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
	up_udelay(20);

	/* Get the SPI port for the FRAM */

	spi2 = stm32_spibus_initialize(2);

	if (!spi2) {
		message("[boot] FAILED to initialize SPI port 2\n");
		board_autoled_on(LED_RED);
		return -ENODEV;
	}

	/* Default SPI2 to 12MHz and de-assert the known chip selects.
	 * MS5611 has max SPI clock speed of 20MHz
	 */

	// XXX start with 10.4 MHz and go up to 20 once validated
	SPI_SETFREQUENCY(spi2, 20 * 1000 * 1000);
	SPI_SETBITS(spi2, 8);
	SPI_SETMODE(spi2, SPIDEV_MODE3);
	SPI_SELECT(spi2, SPIDEV_FLASH, false);
	SPI_SELECT(spi2, PX4_SPIDEV_BARO, false);

#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;
}
示例#24
0
int nsh_archinitialize(void)
{
#ifdef CONFIG_STM32_SPI1
  FAR struct spi_dev_s *spi;
  FAR struct mtd_dev_s *mtd;
#endif
#ifdef NSH_HAVEMMCSD
  FAR struct sdio_dev_s *sdio;
#endif
#if defined(NSH_HAVEMMCSD) || defined(CONFIG_DJOYSTICK)
  int ret;
#endif

  /* Configure SPI-based devices */

#ifdef CONFIG_STM32_SPI1
  /* Get the SPI port */

  syslog(LOG_INFO, "Initializing SPI port 1\n");
  spi = up_spiinitialize(1);
  if (!spi)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SPI port 0\n");
      return -ENODEV;
    }
  syslog(LOG_INFO, "Successfully initialized SPI port 0\n");

  /* Now bind the SPI interface to the M25P64/128 SPI FLASH driver */

  syslog(LOG_INFO, "Bind SPI to the SPI flash driver\n");

  mtd = m25p_initialize(spi);
  if (!mtd)
    {
      syslog(LOG_ERR, "ERROR: Failed to bind SPI port 0 to the SPI FLASH driver\n");
      return -ENODEV;
    }

  syslog(LOG_INFO, "Successfully bound SPI port 0 to the SPI FLASH driver\n");
#warning "Now what are we going to do with this SPI FLASH driver?"
#endif

  /* Create the SPI FLASH MTD instance */
  /* The M25Pxx is not a give media to implement a file system..
   * its block sizes are too large
   */

  /* Mount the SDIO-based MMC/SD block driver */

#ifdef NSH_HAVEMMCSD
  /* First, get an instance of the SDIO interface */

  syslog(LOG_INFO, "Initializing SDIO slot %d\n",
         CONFIG_NSH_MMCSDSLOTNO);

  sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
  if (!sdio)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SDIO slot %d\n",
             CONFIG_NSH_MMCSDSLOTNO);
      return -ENODEV;
    }

  /* Now bind the SDIO interface to the MMC/SD driver */

  syslog(LOG_INFO, "Bind SDIO to the MMC/SD driver, minor=%d\n",
         CONFIG_NSH_MMCSDMINOR);

  ret = mmcsd_slotinitialize(CONFIG_NSH_MMCSDMINOR, sdio);
  if (ret != OK)
    {
      syslog(LOG_ERR, "ERROR: Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
      return ret;
    }

  syslog(LOG_INFO, "Successfully bound SDIO to the MMC/SD driver\n");

  /* Then let's guess and say that there is a card in the slot.  I need to check to
   * see if the STM3210E-EVAL board supports a GPIO to detect if there is a card in
   * the slot.
   */

   sdio_mediachange(sdio, true);
#endif

#ifdef CONFIG_DJOYSTICK
  /* Initialize and register the joystick driver */

  ret = stm32_djoy_initialization();
  if (ret != OK)
    {
      syslog(LOG_ERR, "ERROR: Failed to register the joystick driver: %d\n", ret);
      return ret;
    }

  syslog(LOG_INFO, "Successfully registered the joystick driver\n");
#endif

  return OK;
}
示例#25
0
文件: init.c 项目: CookLabs/Firmware
__EXPORT int board_app_initialize(uintptr_t arg)
{

	/* configure ADC pins */

	/* configure power supply control/sense pins */

#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();

	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


	/* initial LED state */
	drv_led_start();
	led_on(LED_AMBER);
	led_off(LED_AMBER);

	/* Configure SPI-based devices */

	spi0 = px4_spibus_initialize(PX4_SPI_BUS_SENSORS);

	if (!spi0) {
		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(spi0, 10000000);
	SPI_SETBITS(spi0, 8);
	SPI_SETMODE(spi0, SPIDEV_MODE3);
	SPI_SELECT(spi0, PX4_SPIDEV_GYRO, false);
	SPI_SELECT(spi0, PX4_SPIDEV_ACCEL_MAG, false);
	SPI_SELECT(spi0, PX4_SPIDEV_BARO, false);
	SPI_SELECT(spi0, PX4_SPIDEV_MPU, false);
	up_udelay(20);

#if defined(CONFIG_SAMV7_SPI1_MASTER)
	spi1 = px4_spibus_initialize(PX4_SPI_BUS_MEMORY);

	/* Default SPI4 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, PX4_SPIDEV_EXT0, false);
	SPI_SELECT(spi1, PX4_SPIDEV_EXT1, false);
#endif

#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;
}