text: /****************************************************************************
   * boards/arm/s32k1xx/rddrone-uavcan144/src/s32k1xx_bringup.c
   *
   *   Copyright (C) 2019 Gregory Nutt. All rights reserved.
   *   Author: Gregory Nutt <gnutt@nuttx.org>
   *
   * 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 NuttX 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.
   *
   ****************************************************************************/
  
  /****************************************************************************
   * Included Files
   ****************************************************************************/
  
  #include <nuttx/config.h>
  
  #include <sys/types.h>
  #include <sys/mount.h>
  #include <syslog.h>
  
  #ifdef CONFIG_BUTTONS
  #  include <nuttx/input/buttons.h>
  #endif
  
  #ifdef CONFIG_USERLED
  #  include <nuttx/leds/userled.h>
  #endif
  
  #ifdef CONFIG_I2C_DRIVER
  #  include "s32k1xx_pin.h"
  #  include <nuttx/i2c/i2c_master.h>
  #  include "s32k1xx_lpi2c.h"
  #endif
  
  #include "rddrone-uavcan144.h"
  
  /****************************************************************************
   * Public Functions
   ****************************************************************************/
  
  /****************************************************************************
   * Name: s32k1xx_bringup
   *
   * Description:
   *   Perform architecture-specific initialization
   *
   *   CONFIG_BOARD_LATE_INITIALIZE=y :
   *     Called from board_late_initialize().
   *
   *   CONFIG_BOARD_LATE_INITIALIZE=n && CONFIG_LIB_BOARDCTL=y :
   *     Called from the NSH library
   *
   ****************************************************************************/
  
  int s32k1xx_bringup(void)
  {
    int ret = OK;
  
  #ifdef CONFIG_BUTTONS
    /* Register the BUTTON driver */
  
    ret = btn_lower_initialize("/dev/buttons");
    if (ret < 0)
      {
        syslog(LOG_ERR, "ERROR: btn_lower_initialize() failed: %d\n", ret);
      }
  #endif
  
  #ifdef CONFIG_USERLED
    /* Register the LED driver */
  
    ret = userled_lower_initialize("/dev/userleds");
    if (ret < 0)
      {
        syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret);
      }
  #endif
  
  #ifdef CONFIG_FS_PROCFS
    /* Mount the procfs file system */
  
    ret = mount(NULL, "/proc", "procfs", 0, NULL);
    if (ret < 0)
      {
        syslog(LOG_ERR, "ERROR: Failed to mount procfs at /proc: %d\n", ret);
      }
  #endif
  
  #ifdef CONFIG_S32K1XX_LPSPI
    /* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak
     * function s32k1xx_spidev_initialize() has been brought into the link.
     */
  
    s32k1xx_spidev_initialize();
  #endif
  
  #if defined(CONFIG_S32K1XX_LPI2C0)
    s32k1xx_pinconfig(GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE  | PIN_PORTA | PIN10); /* Set A71CH IF0 HIGH */
    s32k1xx_pinconfig(GPIO_HIGHDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN7);  /* Set A71CH IF1 LOW  */
  
  #if defined(CONFIG_I2C_DRIVER)
    FAR struct i2c_master_s *i2c;
    i2c = s32k1xx_i2cbus_initialize(0);
  
    if (i2c == NULL)
      {
        serr("ERROR: Failed to get I2C%d interface\n", bus);
      }
    else
      {
        ret = i2c_register(i2c, 0);
        if (ret < 0)
          {
            serr("ERROR: Failed to register I2C%d driver: %d\n", bus, ret);
            s32k1xx_i2cbus_uninitialize(i2c);
          }
      }
  #endif
  #endif
  
  #ifdef CONFIG_S32K1XX_PROGMEM
    FAR struct mtd_dev_s *mtd;
    int minor = 0;
  
    mtd = progmem_initialize();
    if (!mtd)
      {
        syslog(LOG_ERR, "ERROR: progmem_initialize failed\n");
      }
  
  #if defined(CONFIG_FS_SMARTFS)
    ret = smart_initialize(0, mtd, NULL);
    if (ret < 0)
      {
        syslog(LOG_ERR, "ERROR: Failed to init the SMART FS layer: %d\n", ret);
        return ret;
      }
  
  # if defined(CONFIG_PROGMEM_SMARTFS_AUTOMOUNT)
    mount("/dev/smart0", "/mnt", "smartfs", 0, NULL);
  # endif
  #endif
  #endif
  
    return ret;
  }
  