text: /****************************************************************************
   *
   *   Copyright (c) 2012-2019 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
   * 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 "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/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_arch/io_timer.h>
  #include <px4_platform_common/init.h>
  #include <px4_platform/gpio.h>
  #include <px4_platform/board_determine_hw_info.h>
  #include <px4_platform/board_dma_alloc.h>
  
  /****************************************************************************
   * Pre-Processor Definitions
   ****************************************************************************/
  
  /* Configuration ************************************************************/
  
  /*
   * 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
  
  
  /************************************************************************************
   * Name: board_peripheral_reset
   *
   * Description:
   *
   ************************************************************************************/
  __EXPORT void board_peripheral_reset(int ms)
  {
  	/* set the peripheral rails off */
  
  	VDD_5V_PERIPH_EN(false);
  	board_control_spi_sensors_power(false, 0xffff);
  
  	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
  	/* Keep Spektum on to discharge rail*/
  	VDD_3V3_SPEKTRUM_POWER_EN(false);
  
  	/* wait for the peripheral rail to reach GND */
  	usleep(ms * 1000);
  	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
  
  	/* re-enable power */
  
  	/* switch the peripheral rail back on */
  	VDD_3V3_SPEKTRUM_POWER_EN(last);
  	board_control_spi_sensors_power(true, 0xffff);
  	VDD_5V_PERIPH_EN(true);
  
  }
  
  /************************************************************************************
   * 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)
  {
  	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
  		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
  	}
  
  	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));
  
  	board_control_spi_sensors_power_configgpio();
  
  	/* configure USB interfaces */
  
  	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.
   *
   ****************************************************************************/
  
  
  __EXPORT int board_app_initialize(uintptr_t arg)
  {
  	/* Power on Interfaces */
  	VDD_3V3_SD_CARD_EN(true);
  	VDD_5V_PERIPH_EN(true);
  	VDD_5V_HIPOWER_EN(true);
  	board_control_spi_sensors_power(true, 0xffff);
  	VDD_3V3_SPEKTRUM_POWER_EN(true);
  
  	/* Need hrt running before using the ADC */
  
  	px4_platform_init();
  
  
  	if (OK == board_determine_hw_info()) {
  		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
  		       board_get_hw_type_name());
  
  	} else {
  		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
  	}
  
  	/* configure SPI interfaces (after we determined the HW version) */
  
  	stm32_spiinitialize();
  
  	/* configure the DMA allocator */
  
  	if (board_dma_alloc_init() < 0) {
  		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
  	}
  
  #if 0 // serial DMA is not yet implemented in NuttX for stm32h7
  	/* 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);
  #endif
  
  
  	/* initial LED state */
  	drv_led_start();
  	led_off(LED_RED);
  	led_on(LED_GREEN); // Indicate Power.
  	led_off(LED_BLUE);
  
  	if (board_hardfault_init(2, true) != 0) {
  		led_on(LED_RED);
  	}
  
  #ifdef CONFIG_MMCSD
  	int ret = stm32_sdio_initialize();
  
  	if (ret != OK) {
  		led_on(LED_RED);
  		return ret;
  	}
  
  #endif /* CONFIG_MMCSD */
  
  	return OK;
  }
  