91dfd20eaf
arch/xtensa: add support for capture driver on ESP32 and ESP32|S3| Squashed: Initial settings for MCPWM Capture on board level Created lower half files - compilation ok Using capture debug features. Simple example on fops works Successful duty and freq calculation Documentation update Fixed and added interupt capabilities for all 3 capture channels Cleaned defconfig Renamed macros, added S3 options and moved arch source to common dir Added support for ESP32S3 Added capture example to defconfig and renamed Basic bring up ready. New Kconfig options for motor. Good motor registration Working on enabling pwm generators Working on enabling pwm generators Added fops functions Success on PWM 50% stable pwm operation for bdc Added loopback option for testing Improved rules on fsm Working motor direction control Testing new ISR for fault handling Issues on fault ISR Removed fault implementation (not working) Added support for esp32s3 Documentation improvements Added default motor spin direction Added parameter change while running Review fixes arch/xtensa: add support for fault signal on motor control Squashed: Initial settings for MCPWM Capture on board level Created lower half files - compilation ok Using capture debug features. Simple example on fops works Successful duty and freq calculation Documentation update Fixed and added interupt capabilities for all 3 capture channels Cleaned defconfig Renamed macros, added S3 options and moved arch source to common dir Added support for ESP32S3 Added capture example to defconfig and renamed Basic bring up ready. New Kconfig options for motor. Good motor registration Working on enabling pwm generators Working on enabling pwm generators Added fops functions Success on PWM 50% stable pwm operation for bdc Added loopback option for testing Improved rules on fsm Working motor direction control Testing new ISR for fault handling Issues on fault ISR Removed fault implementation (not working) Added support for esp32s3 Documentation improvements Added default motor spin direction Added parameter change while running Got responsive fault indicator Working brakes - still need to work on starting isr Fixed single-time ISR initializiation Working soft brake on fault Improved KConfig for BDC and BLDC Kconfig fixed at board level
755 lines
16 KiB
C
755 lines
16 KiB
C
/****************************************************************************
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* boards/xtensa/esp32/esp32-devkitc/src/esp32_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 <stdio.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <syslog.h>
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#include <sys/stat.h>
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#include <sys/ioctl.h>
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#include <sys/types.h>
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#include <syslog.h>
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#include <debug.h>
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#include <stdio.h>
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#include <errno.h>
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#if defined(CONFIG_ESP32_EFUSE)
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#include <nuttx/efuse/efuse.h>
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#endif
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#include <nuttx/fs/fs.h>
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#include <nuttx/himem/himem.h>
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#include <nuttx/board.h>
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#if defined(CONFIG_ESP32_EFUSE)
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#include "esp32_efuse.h"
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#endif
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#include "esp32_partition.h"
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#ifdef CONFIG_USERLED
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# include <nuttx/leds/userled.h>
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#endif
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#ifdef CONFIG_CAN_MCP2515
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# include "esp32_mcp2515.h"
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#endif
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#ifdef CONFIG_TIMER
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# include <esp32_tim_lowerhalf.h>
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#endif
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#ifdef CONFIG_ONESHOT
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# include "esp32_board_oneshot.h"
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#endif
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#ifdef CONFIG_WATCHDOG
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# include "esp32_board_wdt.h"
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#endif
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#ifdef CONFIG_ESP32_SPIFLASH
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# include "esp32_board_spiflash.h"
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#endif
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#ifdef CONFIG_ESP32_BLE
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# include "esp32_ble.h"
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#endif
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#ifdef CONFIG_ESP32_WIFI
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# include "esp32_board_wlan.h"
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#endif
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#ifdef CONFIG_ESP32_WIFI_BT_COEXIST
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# include "esp32_wifi_adapter.h"
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#endif
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#ifdef CONFIG_ESP32_I2C
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# include "esp32_board_i2c.h"
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#endif
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#ifdef CONFIG_ESP32_I2S
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# include "esp32_i2s.h"
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#endif
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#ifdef CONFIG_ESP32_PCNT_AS_QE
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# include "board_qencoder.h"
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#endif
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#ifdef CONFIG_I2CMULTIPLEXER_TCA9548A
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# include "esp32_tca9548a.h"
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#endif
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#ifdef CONFIG_SENSORS_APDS9960
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#include "esp32_board_apds9960.h"
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#endif
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#ifdef CONFIG_SENSORS_BMP180
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# include "esp32_bmp180.h"
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#endif
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#ifdef CONFIG_SENSORS_BMP280
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# include "esp32_bmp280.h"
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#endif
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#ifdef CONFIG_SENSORS_SHT3X
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# include "esp32_sht3x.h"
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#endif
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#ifdef CONFIG_SENSORS_MS56XX
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# include "esp32_ms5611.h"
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#endif
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#ifdef CONFIG_LCD_HT16K33
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# include "esp32_ht16k33.h"
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#endif
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#ifdef CONFIG_ESP32_AES_ACCELERATOR
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# include "esp32_aes.h"
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#endif
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#ifdef CONFIG_ESP32_RT_TIMER
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# include "esp32_rt_timer.h"
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#endif
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#ifdef CONFIG_INPUT_BUTTONS
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# include <nuttx/input/buttons.h>
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#endif
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#ifdef CONFIG_LCD_DEV
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# include <nuttx/board.h>
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# include <nuttx/lcd/lcd_dev.h>
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#endif
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#ifdef CONFIG_VIDEO_FB
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# include <nuttx/video/fb.h>
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#endif
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#ifdef CONFIG_RTC_DRIVER
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# include "esp32_rtc_lowerhalf.h"
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#endif
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#ifdef CONFIG_SPI_DRIVER
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# include "esp32_spi.h"
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#endif
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#ifdef CONFIG_LCD_BACKPACK
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# include "esp32_lcd_backpack.h"
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#endif
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#ifdef CONFIG_SENSORS_MAX6675
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# include "esp32_max6675.h"
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#endif
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#ifdef CONFIG_DAC
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# include "esp32_board_dac.h"
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#endif
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#ifdef CONFIG_ESP_RMT
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# include "esp32_board_rmt.h"
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#endif
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#ifdef CONFIG_ESP_MCPWM
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# include "esp32_board_mcpwm.h"
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#endif
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#include "esp32-devkitc.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: esp32_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_BOARDCTL=y :
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* Called from the NSH library
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*
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****************************************************************************/
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int esp32_bringup(void)
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{
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int ret;
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#ifdef CONFIG_ESP32_AES_ACCELERATOR
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ret = esp32_aes_init();
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to initialize AES: %d\n", ret);
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}
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#endif
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#if defined(CONFIG_ESP32_SPIRAM) && \
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defined(CONFIG_ESP32_SPIRAM_BANKSWITCH_ENABLE)
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ret = esp_himem_init();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Failed to init HIMEM: %d\n", ret);
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}
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#endif
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#if defined(CONFIG_ESP32_EFUSE)
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ret = esp32_efuse_initialize("/dev/efuse");
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Failed to init EFUSE: %d\n", ret);
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}
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#endif
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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, "/proc", "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 procfs at /proc: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_LCD_BACKPACK
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/* slcd:0, i2c:0, rows=2, cols=16 */
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ret = board_lcd_backpack_init(0, 0, 2, 16);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize PCF8574 LCD, error %d\n", ret);
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}
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#endif
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#ifdef CONFIG_FS_TMPFS
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/* Mount the tmpfs file system */
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ret = nx_mount(NULL, CONFIG_LIBC_TMPDIR, "tmpfs", 0, NULL);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Failed to mount tmpfs at %s: %d\n",
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CONFIG_LIBC_TMPDIR, ret);
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}
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#endif
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#ifdef CONFIG_MMCSD
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ret = esp32_mmcsd_initialize(0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize SD slot: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP32_SPIFLASH
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ret = board_spiflash_init();
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if (ret)
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{
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syslog(LOG_ERR, "ERROR: Failed to initialize SPI Flash\n");
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}
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#endif
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#ifdef CONFIG_ESP32_PARTITION_TABLE
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ret = esp32_partition_init();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Failed to initialize partition error=%d\n",
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ret);
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}
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#endif
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#ifdef CONFIG_ESP32_LEDC
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ret = esp32_pwm_setup();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp32_pwm_setup() failed: %d\n", ret);
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}
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#endif /* CONFIG_ESP32_LEDC */
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#ifdef CONFIG_ESP_MCPWM_CAPTURE
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ret = board_capture_initialize();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_capture_initialize failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP_MCPWM_MOTOR_BDC
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ret = board_motor_initialize();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_motor_initialize failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SENSORS_MAX6675
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ret = board_max6675_initialize(0, 2);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: MAX6675 initialization failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP32_TWAI
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/* Initialize TWAI and register the TWAI driver. */
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ret = esp32_twai_setup();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp32_twai_setup failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP32_RT_TIMER
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ret = esp32_rt_timer_init();
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize RT timer: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP32_WIFI_BT_COEXIST
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ret = esp32_wifi_bt_coexist_init();
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if (ret)
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{
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syslog(LOG_ERR, "ERROR: Failed to initialize Wi-Fi and BT "
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"coexistence support\n");
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}
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#endif
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#ifdef CONFIG_ESP32_BLE
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ret = esp32_ble_initialize();
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if (ret)
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{
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syslog(LOG_ERR, "ERROR: Failed to initialize BLE: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP32_WIFI
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ret = board_wlan_init();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Failed to initialize wireless subsystem=%d\n",
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ret);
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}
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#endif
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#ifdef CONFIG_ESP32_OPENETH
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ret = esp32_openeth_initialize();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: Failed to initialize Open ETH ethernet.\n");
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}
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#endif
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/* First, register the timer drivers and let timer 1 for oneshot
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* if it is enabled.
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*/
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#ifdef CONFIG_TIMER
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#if defined(CONFIG_ESP32_TIMER0) && !defined(CONFIG_ESP32_RT_TIMER)
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ret = esp32_timer_initialize("/dev/timer0", TIMER0);
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to initialize timer driver: %d\n",
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ret);
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}
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#endif
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#if defined(CONFIG_ESP32_TIMER1) && !defined(CONFIG_ONESHOT)
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ret = esp32_timer_initialize("/dev/timer1", TIMER1);
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to initialize timer driver: %d\n",
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ret);
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}
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#endif
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#ifdef CONFIG_ESP32_TIMER2
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ret = esp32_timer_initialize("/dev/timer2", TIMER2);
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to initialize timer driver: %d\n",
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ret);
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}
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#endif
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#ifdef CONFIG_ESP32_TIMER3
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ret = esp32_timer_initialize("/dev/timer3", TIMER3);
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to initialize timer driver: %d\n",
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ret);
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}
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#endif
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#endif /* CONFIG_TIMER */
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/* Now register one oneshot driver */
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#if defined(CONFIG_ONESHOT) && defined(CONFIG_ESP32_TIMER1)
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ret = esp32_oneshot_init(ONESHOT_TIMER, ONESHOT_RESOLUTION_US);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: esp32_oneshot_init() failed: %d\n", ret);
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}
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#endif /* CONFIG_ONESHOT */
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#ifdef CONFIG_USERLED
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/* Register the LED driver */
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ret = userled_lower_initialize("/dev/userleds");
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_CAN_MCP2515
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/* Configure and initialize the MCP2515 CAN device */
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ret = board_mcp2515_initialize(0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_mcp2515_initialize() failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_WATCHDOG
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/* Configure watchdog timer */
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ret = board_wdt_init();
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to initialize watchdog drivers: %d\n",
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ret);
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}
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#endif
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#ifdef CONFIG_DEV_GPIO
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ret = esp32_gpio_init();
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize GPIO Driver: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SENSORS_QENCODER
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/* Initialize and register the qencoder driver */
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ret = board_qencoder_initialize(0, PCNT_QE0_ID);
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if (ret != OK)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to register the qencoder: %d\n",
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ret);
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return ret;
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}
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#endif
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/* Register the TCA9548A Multiplexer before others I2C drivers to allow it
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* be used by other drivers. Look at esp32_ms5611.c how to use it.
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*/
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#ifdef CONFIG_I2CMULTIPLEXER_TCA9548A
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/* Add the TCA9548A Mux as device 0 (0x70) in I2C Bus 0 */
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ret = board_tca9548a_initialize(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize TCA9548A driver: %d\n", ret);
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return ret;
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}
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#endif
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#ifdef CONFIG_I2C_DRIVER
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#ifdef CONFIG_ESP32_I2C0
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ret = esp32_i2c_register(0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize I2C Driver for I2C0: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP32_I2C1
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ret = esp32_i2c_register(1);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize I2C Driver for I2C1: %d\n", ret);
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}
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#endif
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#endif
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#ifdef CONFIG_SENSORS_BMP180
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/* Try to register BMP180 device in I2C0 */
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ret = board_bmp180_initialize(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize BMP180 driver: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SENSORS_BMP280
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/* Try to register BMP280 device in I2C0 */
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ret = board_bmp280_initialize(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize BMP280 driver: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP32_I2S
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#if defined(CONFIG_ESP32_I2S0) && !defined(CONFIG_AUDIO_CS4344) || \
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defined(CONFIG_ESP32_I2S1)
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bool i2s_enable_tx;
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bool i2s_enable_rx;
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#endif
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#ifdef CONFIG_ESP32_I2S0
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/* Configure I2S0 */
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#ifdef CONFIG_AUDIO_CS4344
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/* Configure CS4344 audio on I2S0 */
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ret = esp32_cs4344_initialize(ESP32_I2S0);
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if (ret != OK)
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{
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syslog(LOG_ERR, "Failed to initialize CS4344 audio: %d\n", ret);
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}
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#else
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#ifdef CONFIG_ESP32_I2S0_TX
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i2s_enable_tx = true;
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#else
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i2s_enable_tx = false;
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#endif /* CONFIG_ESP32_I2S0_TX */
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#ifdef CONFIG_ESP32_I2S0_RX
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i2s_enable_rx = true;
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#else
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i2s_enable_rx = false;
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#endif /* CONFIG_ESP32_I2S0_RX */
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/* Configure I2S generic audio on I2S0 */
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ret = board_i2sdev_initialize(ESP32_I2S0, i2s_enable_tx, i2s_enable_rx);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize I2S%d driver: %d\n",
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CONFIG_ESP32_I2S0, ret);
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}
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#endif /* CONFIG_AUDIO_CS4344 */
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#endif /* CONFIG_ESP32_I2S0 */
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#ifdef CONFIG_ESP32_I2S1
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#ifdef CONFIG_ESP32_I2S1_TX
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i2s_enable_tx = true;
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#else
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i2s_enable_tx = false;
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#endif /* CONFIG_ESP32_I2S1_TX */
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#ifdef CONFIG_ESP32_I2S1_RX
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i2s_enable_rx = true;
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#else
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i2s_enable_rx = false;
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#endif /* CONFIG_ESP32_I2S1_RX */
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/* Configure I2S generic audio on I2S1 */
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ret = board_i2sdev_initialize(ESP32_I2S1, i2s_enable_tx, i2s_enable_rx);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize I2S%d driver: %d\n",
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CONFIG_ESP32_I2S1, ret);
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}
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#endif /* CONFIG_ESP32_I2S1 */
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#endif /* CONFIG_ESP32_I2S */
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#ifdef CONFIG_SENSORS_SHT3X
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/* Try to register SHT3x device in I2C0 */
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ret = board_sht3x_initialize(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize SHT3X driver: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SENSORS_MS56XX
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/* Try to register MS5611 device in I2C0 as device 0: I2C addr 0x77 */
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ret = board_ms5611_initialize(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize MS5611 driver: %d\n", ret);
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return ret;
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}
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#endif
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#ifdef CONFIG_LCD_HT16K33
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/* Try to register HT16K33 in the I2C0 */
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ret = board_ht16k33_initialize(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize HT16K33 driver: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_INPUT_BUTTONS
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/* Register the BUTTON driver */
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ret = btn_lower_initialize("/dev/buttons");
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: btn_lower_initialize() failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_LCD_DEV
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ret = board_lcd_initialize();
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_lcd_initialize() failed: %d\n", ret);
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}
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ret = lcddev_register(0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: lcddev_register() failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_DAC
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ret = board_dac_initialize(CONFIG_ESP32_DAC_DEVPATH);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_dac_initialize(0) failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_ESP_RMT
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ret = board_rmt_txinitialize(RMT_TXCHANNEL, RMT_OUTPUT_PIN);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_rmt_txinitialize() failed: %d\n", ret);
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}
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ret = board_rmt_rxinitialize(RMT_RXCHANNEL, RMT_INPUT_PIN);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_rmt_txinitialize() failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_RTC_DRIVER
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/* Instantiate the ESP32 RTC driver */
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ret = esp32_rtc_driverinit();
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if (ret < 0)
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{
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syslog(LOG_ERR,
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"ERROR: Failed to Instantiate the RTC driver: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SPI_DRIVER
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# ifdef CONFIG_ESP32_SPI2
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ret = board_spidev_initialize(ESP32_SPI2);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize SPI%d driver: %d\n",
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ESP32_SPI2, ret);
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}
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# endif
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#endif
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#ifdef CONFIG_WS2812
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# ifndef CONFIG_WS2812_NON_SPI_DRIVER
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ret = board_ws2812_initialize(0, ESP32_SPI3, CONFIG_WS2812_LED_COUNT);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize ws2812 driver\n");
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}
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# endif
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#endif
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#ifdef CONFIG_VIDEO_FB
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/* Initialize and register the framebuffer driver */
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ret = fb_register(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: fb_register() failed: %d\n", ret);
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}
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#endif
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#ifdef CONFIG_SENSORS_APDS9960
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/* Register the APDS-9960 gesture sensor */
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ret = board_apds9960_initialize(0, 0);
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if (ret < 0)
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{
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syslog(LOG_ERR, "ERROR: board_apds9960_initialize() failed: %d\n",
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ret);
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}
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#endif
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/* If we got here then perhaps not all initialization was successful, but
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* at least enough succeeded to bring-up NSH with perhaps reduced
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* capabilities.
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*/
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UNUSED(ret);
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return OK;
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}
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