142 lines
3.9 KiB
C
142 lines
3.9 KiB
C
/****************************************************************************
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* boards/arm/stm32/odrive36/src/stm32_bringup.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/usb/cdcacm.h>
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#include <nuttx/fs/fs.h>
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#ifdef CONFIG_SENSORS_QENCODER
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# include "board_qencoder.h"
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# include "stm32_qencoder.h"
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#endif
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#include "odrive.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: stm32_bringup
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*
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* Description:
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* Perform architecture-specific initialization
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*
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* CONFIG_BOARD_LATE_INITIALIZE=y :
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* Called from board_late_initialize().
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*
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* CONFIG_BOARD_LATE_INITIALIZE=n && CONFIG_LIB_BOARDCTL=y :
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* Called from the NSH library
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*
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****************************************************************************/
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int stm32_bringup(void)
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{
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int ret = OK;
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#ifdef CONFIG_FS_PROCFS
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/* Mount the procfs file system */
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ret = nx_mount(NULL, STM32_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Failed to mount the PROC filesystem: %d\n",
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ret);
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}
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#endif /* CONFIG_FS_PROCFS */
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#if defined(CONFIG_CDCACM) && !defined(CONFIG_CDCACM_CONSOLE)
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/* Initialize CDCACM */
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ret = cdcacm_initialize(0, NULL);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: cdcacm_initialize failed: %d\n", ret);
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}
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#endif /* CONFIG_CDCACM & !CONFIG_CDCACM_CONSOLE */
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#if defined(CONFIG_STM32_TIM3_QE) && defined(CONFIG_SENSORS_QENCODER)
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/* Initialize and register the qencoder driver - TIM3 */
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ret = board_qencoder_initialize(0, 3);
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if (ret != OK)
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{
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syslog(LOG_ERR, "ERROR: Failed to register the qencoder: %d\n", ret);
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}
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/* Connect QE index pin */
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ret = stm32_qe_index_init(3, GPIO_QE3_INDEX);
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if (ret != OK)
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{
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syslog(LOG_ERR, "ERROR: Failed to register qe index pin: %d\n", ret);
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}
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#endif
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#if defined(CONFIG_STM32_TIM4_QE) && defined(CONFIG_SENSORS_QENCODER)
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/* Initialize and register the qencoder driver - TIM4 */
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ret = board_qencoder_initialize(1, 4);
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if (ret != OK)
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{
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syslog(LOG_ERR, "ERROR: Failed to register the qencoder: %d\n", ret);
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}
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/* Connect QE index pin */
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ret = stm32_qe_index_init(4, GPIO_QE4_INDEX);
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if (ret != OK)
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{
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syslog(LOG_ERR, "ERROR: Failed to register qe index pin: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ADC
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/* Initialize ADC and register the ADC driver. */
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ret = stm32_adc_setup();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_STM32_FOC
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/* Initialize and register FOC devices */
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ret = stm32_foc_setup();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: stm32_foc_setup failed: %d\n", ret);
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}
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#endif
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return ret;
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}
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