text: /****************************************************************************
   *
   *   Copyright (c) 2018-2019 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 init.c
   *
   * PX4FMU-specific early startup code.  This file implements the
   * board_app_initialize() 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 "board_config.h"
  
  #include <stdbool.h>
  #include <stdio.h>
  #include <string.h>
  #include <debug.h>
  #include <errno.h>
  
  #include <nuttx/config.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 <chip.h>
  #include <stm32_uart.h>
  #include <arch/board/board.h>
  #include "up_internal.h"
  
  #include <drivers/drv_hrt.h>
  #include <drivers/drv_board_led.h>
  #include <systemlib/px4_macros.h>
  #include <px4_platform_common/init.h>
  #include <px4_platform_common/i2c.h>
  #include <px4_platform/gpio.h>
  #include <px4_platform/board_dma_alloc.h>
  
  static int configure_switch(void);
  
  /************************************************************************************
   * Name: board_on_reset
   *
   * Description:
   * Optionally provided function called on entry to board_system_reset
   * It should perform any house keeping prior to the rest.
   *
   * status - 1 if resetting to boot loader
   *          0 if just resetting
   *
   ************************************************************************************/
  __EXPORT void board_on_reset(int status)
  {
  	/* configure the GPIO pins to outputs and keep them low */
  
  	const uint32_t gpio[] = PX4_GPIO_PWM_INIT_LIST;
  	px4_gpio_init(gpio, arraySize(gpio));
  
  	if (status >= 0) {
  		up_mdelay(6);
  	}
  }
  
  /************************************************************************************
   * 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)
  {
  	board_on_reset(-1); /* Reset PWM first thing */
  
  	/* configure LEDs */
  	board_autoled_initialize();
  
  	/* configure pins */
  	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
  	px4_gpio_init(gpio, arraySize(gpio));
  
  	/* configure SPI interfaces */
  	stm32_spiinitialize();
  }
  
  /****************************************************************************
   * 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 initialization 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.
   *
   ****************************************************************************/
  
  
  __EXPORT int board_app_initialize(uintptr_t arg)
  {
  	px4_platform_init();
  
  	/* configure the DMA allocator */
  
  	if (board_dma_alloc_init() < 0) {
  		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
  	}
  
  	/* 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);
  
  	(void) board_hardfault_init(2, true);
  
  #ifdef CONFIG_MMCSD
  
  	int ret = stm32_sdio_initialize();
  
  	if (ret != OK) {
  		syslog(LOG_ERR, "[boot] SDIO init failed\n");
  		return ret;
  	}
  
  #endif /* CONFIG_MMCSD */
  
  	configure_switch();
  
  	return OK;
  }
  
  /************************************************************************************
   * Name: configure_switch
   *
   * Description:
   * Configure KSZ9897R ethernet switch on i2c
   *
   ************************************************************************************/
  static int configure_switch(void)
  {
  	int ret = PX4_ERROR;
  
  	// attach to the i2c bus
  	struct i2c_master_s *i2c = px4_i2cbus_initialize(PX4_I2C_BUS_ONBOARD);
  
  	if (i2c == NULL) {
  		syslog(LOG_ERR, "[boot] I2C device not opened\n");
  	}
  
  	// ethernet switch enable
  	uint8_t txdata[] = {0x51, 0x00, 0x21, 0x00}; //0x5100, 0x2100 MSB to LSB here.
  
  	struct px4_i2c_msg_t msgv;
  
  	msgv.frequency = 100000;
  	msgv.addr = 0x5F;
  	msgv.flags = 0;
  	msgv.buffer = &txdata[0];
  	msgv.length = sizeof(txdata);
  
  	unsigned retry_count = 0;
  	const unsigned retries = 5;
  
  	do {
  		ret = I2C_TRANSFER(i2c, &msgv, 1);
  
  		/* success */
  		if (ret == PX4_OK) {
  			break;
  
  		} else {
  			syslog(LOG_ERR, "[boot] ETH switch I2C fail: %d, retrying\n", ret);
  		}
  
  		/* if we have already retried once, or we are going to give up, then reset the bus */
  		if ((retry_count >= 1) || (retry_count >= retries)) {
  			I2C_RESET(i2c);
  		}
  
  	} while (retry_count++ < retries);
  
  	px4_i2cbus_uninitialize(i2c);
  
  	return ret;
  }
  