text: /****************************************************************************
   *
   *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file px4fmu_init.c
   *
   * PX4FMU-specific early startup code.  This file implements the
   * nsh_archinitialize() function that is called early by nsh during startup.
   *
   * Code here is run before the rcS script is invoked; it should start required
   * subsystems and perform board-specific initialisation.
   */
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <px4_config.h>
  #include <px4_tasks.h>
  
  #include <stdbool.h>
  #include <stdio.h>
  #include <string.h>
  #include <debug.h>
  #include <errno.h>
  
  #include <nuttx/arch.h>
  #include <nuttx/board.h>
  #include <nuttx/spi/spi.h>
  #include <nuttx/i2c/i2c_master.h>
  #include <nuttx/sdio.h>
  #include <nuttx/mmcsd.h>
  #include <nuttx/analog/adc.h>
  #include <nuttx/mm/gran.h>
  
  #include <stm32.h>
  #include "board_config.h"
  #include <stm32_uart.h>
  
  #include <arch/board/board.h>
  
  #include <drivers/drv_hrt.h>
  #include <drivers/drv_led.h>
  
  #include <systemlib/px4_macros.h>
  #include <systemlib/cpuload.h>
  #include <systemlib/perf_counter.h>
  #include <systemlib/err.h>
  
  #include <systemlib/hardfault_log.h>
  
  #include <systemlib/systemlib.h>
  
  /****************************************************************************
   * Pre-Processor Definitions
   ****************************************************************************/
  
  /* Configuration ************************************************************/
  
  /* Debug ********************************************************************/
  
  #ifdef CONFIG_CPP_HAVE_VARARGS
  #  ifdef CONFIG_DEBUG
  #    define message(...) syslog(__VA_ARGS__)
  #  else
  #    define message(...) printf(__VA_ARGS__)
  #  endif
  #else
  #  ifdef CONFIG_DEBUG
  #    define message syslog
  #  else
  #    define message printf
  #  endif
  #endif
  
  /*
   * Ideally we'd be able to get these from up_internal.h,
   * but since we want to be able to disable the NuttX use
   * of leds for system indication at will and there is no
   * separate switch, we need to build independent of the
   * CONFIG_ARCH_LEDS configuration switch.
   */
  __BEGIN_DECLS
  extern void led_init(void);
  extern void led_on(int led);
  extern void led_off(int led);
  __END_DECLS
  
  /****************************************************************************
   * Protected Functions
   ****************************************************************************/
  /****************************************************************************
   * Public Functions
   ****************************************************************************/
  /************************************************************************************
   * Name: board_peripheral_reset
   *
   * Description:
   *
   ************************************************************************************/
  __EXPORT void board_peripheral_reset(int ms)
  {
  	/* set the peripheral rails off */
  	stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN);
  
  	stm32_gpiowrite(GPIO_VDD_3V3_PERIPH_EN, 0);
  
  //	bool last = stm32_gpioread(GPIO_SPEKTRUM_PWR_EN);
  	/* Keep Spektum on to discharge rail*/
  //	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, 1);
  
  	/* wait for the peripheral rail to reach GND */
  	usleep(ms * 1000);
  	warnx("reset done, %d ms", ms);
  
  	/* re-enable power */
  
  	/* switch the peripheral rail back on */
  //	stm32_gpiowrite(GPIO_SPEKTRUM_PWR_EN, last);
  	stm32_gpiowrite(GPIO_VDD_3V3_PERIPH_EN, 1);
  
  }
  
  /************************************************************************************
   * Name: stm32_boardinitialize
   *
   * Description:
   *   All STM32 architectures must provide the following entry point.  This entry point
   *   is called early in the initialization -- after all memory has been configured
   *   and mapped but before any devices have been initialized.
   *
   ************************************************************************************/
  
  __EXPORT void
  stm32_boardinitialize(void)
  {
  	/* configure LEDs */
  	board_autoled_initialize();
  
  	/* configure ADC pins */
  	//todo:Revisit! ADC3 etc
  	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);	/* RSSI analog in */
  
  	/* configure power supply control/sense pins */
  	stm32_configgpio(GPIO_VDD_3V3_PERIPH_EN);
  	stm32_configgpio(GPIO_VDD_BRICK_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);
  
  #ifdef GPIO_RC_OUT
  	stm32_configgpio(GPIO_RC_OUT);      /* Serial RC output pin */
  	stm32_gpiowrite(GPIO_RC_OUT, 1);    /* set it high to pull RC input up */
  #endif
  
  	/* 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 SPI interfaces */
  	stm32_spiinitialize();
  
  	stm32_usbinitialize();
  
  }
  
  /****************************************************************************
   * Name: board_app_initialize
   *
   * Description:
   *   Perform application specific initialization.  This function is never
   *   called directly from application code, but only indirectly via the
   *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
   *
   * Input Parameters:
   *   arg - The boardctl() argument is passed to the board_app_initialize()
   *         implementation without modification.  The argument has no
   *         meaning to NuttX; the meaning of the argument is a contract
   *         between the board-specific initalization logic and the the
   *         matching application logic.  The value cold be such things as a
   *         mode enumeration value, a set of DIP switch switch settings, a
   *         pointer to configuration data read from a file or serial FLASH,
   *         or whatever you would like to do with it.  Every implementation
   *         should accept zero/NULL as a default configuration.
   *
   * Returned Value:
   *   Zero (OK) is returned on success; a negated errno value is returned on
   *   any failure to indicate the nature of the failure.
   *
   ****************************************************************************/
  
  static struct spi_dev_s *spi1;
  static struct spi_dev_s *spi2;
  static struct spi_dev_s *spi5;
  static struct spi_dev_s *spi6;
  static struct sdio_dev_s *sdio;
  
  __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(PX4_SPI_BUS_SENSORS);
  
  	if (!spi1) {
  		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_SENSORS);
  		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_ICM, false);
  	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
  	SPI_SELECT(spi1, PX4_SPIDEV_LIS, false);
  	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
  	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_RED);
  		return -ENODEV;
  	}
  
  	/* Default SPI2 to 12MHz and de-assert the known chip selects.
  	 */
  
  	// 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);
  
  	/* Configure SPI 5-based devices */
  
  	spi5 = stm32_spibus_initialize(PX4_SPI_EXT0);
  
  	if (!spi5) {
  		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_EXT0);
  		board_autoled_on(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 = stm32_spibus_initialize(PX4_SPI_EXT1);
  
  	if (!spi6) {
  		message("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_EXT1);
  		board_autoled_on(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;
  }
  
  static void copy_reverse(stack_word_t *dest, stack_word_t *src, int size)
  {
  	while (size--) {
  		*dest++ = *src--;
  	}
  }
  
  __EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
  {
  	/* We need a chunk of ram to save the complete context in.
  	 * Since we are going to reboot we will use &_sdata
  	 * which is the lowest memory and the amount we will save
  	 * _should be_ below any resources we need herein.
  	 * Unfortunately this is hard to test. See dead below
  	 */
  
  	fullcontext_s *pdump = (fullcontext_s *)&_sdata;
  
  	(void)enter_critical_section();
  
  	struct tcb_s *rtcb = (struct tcb_s *)tcb;
  
  	/* Zero out everything */
  
  	memset(pdump, 0, sizeof(fullcontext_s));
  
  	/* Save Info */
  
  	pdump->info.lineno = lineno;
  
  	if (filename) {
  
  		int offset = 0;
  		unsigned int len = strlen((char *)filename) + 1;
  
  		if (len > sizeof(pdump->info.filename)) {
  			offset = len - sizeof(pdump->info.filename) ;
  		}
  
  		strncpy(pdump->info.filename, (char *)&filename[offset], sizeof(pdump->info.filename));
  	}
  
  	/* Save the value of the pointer for current_regs as debugging info.
  	 * It should be NULL in case of an ASSERT and will aid in cross
  	 * checking the validity of system memory at the time of the
  	 * fault.
  	 */
  
  	pdump->info.current_regs = (uintptr_t) CURRENT_REGS;
  
  	/* Save Context */
  
  
  #if CONFIG_TASK_NAME_SIZE > 0
  	strncpy(pdump->info.name, rtcb->name, CONFIG_TASK_NAME_SIZE);
  #endif
  
  	pdump->info.pid = rtcb->pid;
  
  
  	/* If  current_regs is not NULL then we are in an interrupt context
  	 * and the user context is in current_regs else we are running in
  	 * the users context
  	 */
  
  	if (CURRENT_REGS) {
  		pdump->info.stacks.interrupt.sp = currentsp;
  
  		pdump->info.flags |= (eRegsPresent | eUserStackPresent | eIntStackPresent);
  		memcpy(pdump->info.regs, (void *)CURRENT_REGS, sizeof(pdump->info.regs));
  		pdump->info.stacks.user.sp = pdump->info.regs[REG_R13];
  
  	} else {
  
  		/* users context */
  		pdump->info.flags |= eUserStackPresent;
  
  		pdump->info.stacks.user.sp = currentsp;
  	}
  
  	if (pdump->info.pid == 0) {
  
  		pdump->info.stacks.user.top = g_idle_topstack - 4;
  		pdump->info.stacks.user.size = CONFIG_IDLETHREAD_STACKSIZE;
  
  	} else {
  		pdump->info.stacks.user.top = (uint32_t) rtcb->adj_stack_ptr;
  		pdump->info.stacks.user.size = (uint32_t) rtcb->adj_stack_size;;
  	}
  
  #if CONFIG_ARCH_INTERRUPTSTACK > 3
  
  	/* Get the limits on the interrupt stack memory */
  
  	pdump->info.stacks.interrupt.top = (uint32_t)&g_intstackbase;
  	pdump->info.stacks.interrupt.size  = (CONFIG_ARCH_INTERRUPTSTACK & ~3);
  
  	/* If In interrupt Context save the interrupt stack data centered
  	 * about the interrupt stack pointer
  	 */
  
  	if ((pdump->info.flags & eIntStackPresent) != 0) {
  		stack_word_t *ps = (stack_word_t *) pdump->info.stacks.interrupt.sp;
  		copy_reverse(pdump->istack, &ps[arraySize(pdump->istack) / 2], arraySize(pdump->istack));
  	}
  
  	/* Is it Invalid? */
  
  	if (!(pdump->info.stacks.interrupt.sp <= pdump->info.stacks.interrupt.top &&
  	      pdump->info.stacks.interrupt.sp > pdump->info.stacks.interrupt.top - pdump->info.stacks.interrupt.size)) {
  		pdump->info.flags |= eInvalidIntStackPrt;
  	}
  
  #endif
  
  	/* If In interrupt context or User save the user stack data centered
  	 * about the user stack pointer
  	 */
  	if ((pdump->info.flags & eUserStackPresent) != 0) {
  		stack_word_t *ps = (stack_word_t *) pdump->info.stacks.user.sp;
  		copy_reverse(pdump->ustack, &ps[arraySize(pdump->ustack) / 2], arraySize(pdump->ustack));
  	}
  
  	/* Is it Invalid? */
  
  	if (!(pdump->info.stacks.user.sp <= pdump->info.stacks.user.top &&
  	      pdump->info.stacks.user.sp > pdump->info.stacks.user.top - pdump->info.stacks.user.size)) {
  		pdump->info.flags |= eInvalidUserStackPtr;
  	}
  
  	int rv = stm32_bbsram_savepanic(HARDFAULT_FILENO, (uint8_t *)pdump, sizeof(fullcontext_s));
  
  	/* Test if memory got wiped because of using _sdata */
  
  	if (rv == -ENXIO) {
  		char *dead = "Memory wiped - dump not saved!";
  
  		while (*dead) {
  			up_lowputc(*dead++);
  		}
  
  	} else if (rv == -ENOSPC) {
  
  		/* hard fault again */
  
  		up_lowputc('!');
  	}
  
  
  #if defined(CONFIG_BOARD_RESET_ON_CRASH)
  	px4_systemreset(false);
  #endif
  }
  