nuttx/boards/arm/stm32f7/nucleo-144/src/stm32_appinitialize.c

/****************************************************************************
 * boards/arm/stm32f7/nucleo-144/src/stm32_appinitialize.c
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
 * this work for additional information regarding copyright ownership.  The
 * ASF licenses this file to you under the Apache License, Version 2.0 (the
 * "License"); you may not use this file except in compliance with the
 * License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
 * License for the specific language governing permissions and limitations
 * under the License.
 *
 ****************************************************************************/

/****************************************************************************
 * Included Files
 ****************************************************************************/

#include <nuttx/config.h>

#include <sys/types.h>
#include <debug.h>
#include <syslog.h>
#include <stdio.h>

#include "nucleo-144.h"
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/kmalloc.h>
#include <nuttx/leds/userled.h>
#include <nuttx/sensors/mpu60x0.h>

#include "stm32_i2c.h"

#ifdef CONFIG_STM32_ROMFS
#include "stm32_romfs.h"
#endif

#ifdef CONFIG_DEV_GPIO
int stm32_gpio_initialize(void);
#endif

#ifdef CONFIG_SENSORS_QENCODER
int stm32f7_qencoder_initialize(const char *devpath, int timer);
#endif

#ifdef CONFIG_STM32F7_CAN
int stm32f7_can_setup(void);
#endif

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * 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
 *         matching application logic.  The value could 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.
 *
 ****************************************************************************/

int board_app_initialize(uintptr_t arg)
{
  int ret;
#ifdef CONFIG_I2C
  int i2c_bus;
  struct i2c_master_s *i2c;
#ifdef CONFIG_MPU60X0_I2C
  struct mpu_config_s *mpu_config;
#endif
#endif

#ifdef CONFIG_FS_PROCFS
  /* Mount the procfs file system */

  ret = nx_mount(NULL, STM32_PROCFS_MOUNTPOINT, "procfs", 0, NULL);
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: Failed to mount procfs at %s: %d\n",
             STM32_PROCFS_MOUNTPOINT, ret);
    }
#endif

#ifdef CONFIG_STM32_ROMFS
  /* Mount the romfs partition */

  ret = stm32_romfs_initialize();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: Failed to mount romfs at %s: %d\n",
             CONFIG_STM32_ROMFS_MOUNTPOINT, ret);
    }
#endif

#ifdef CONFIG_DEV_GPIO
  /* Register the GPIO driver */

  ret = stm32_gpio_initialize();
  if (ret < 0)
    {
      syslog(LOG_ERR, "Failed to initialize GPIO Driver: %d\n", ret);
      return ret;
    }
#endif

#if !defined(CONFIG_ARCH_LEDS) && defined(CONFIG_USERLED_LOWER)
  /* Register the LED driver */

  ret = userled_lower_initialize(LED_DRIVER_PATH);
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: userled_lower_initialize() failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_ADC
  /* Initialize ADC and register the ADC driver. */

  ret = stm32_adc_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_STM32F7_BBSRAM
  /* Initialize battery-backed RAM */

  stm32_bbsram_int();
#endif

#if defined(CONFIG_FAT_DMAMEMORY)
  if (stm32_dma_alloc_init() < 0)
    {
      syslog(LOG_ERR, "DMA alloc FAILED");
    }
#endif

#if defined(CONFIG_NUCLEO_SPI_TEST)
  /* Create SPI interfaces */

  ret = stm32_spidev_bus_test();
  if (ret != OK)
    {
      syslog(LOG_ERR, "ERROR: Failed to initialize SPI interfaces: %d\n",
             ret);
      return ret;
    }
#endif

#if defined(CONFIG_MMCSD)
  /* Initialize the SDIO block driver */

  ret = stm32_sdio_initialize();
  if (ret != OK)
    {
      ferr("ERROR: Failed to initialize MMC/SD driver: %d\n", ret);
      return ret;
    }
#endif

#if defined(CONFIG_PWM)
  /* Initialize PWM and register the PWM device */

  ret = stm32_pwm_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_pwm_setup() failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_SENSORS_QENCODER
  char buf[9];

  sprintf(buf, "/dev/qe0");
  ret = stm32f7_qencoder_initialize(buf, 2);
  if (ret < 0)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_CAN
  ret = stm32f7_can_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32f7_can_setup failed: %d\n", ret);
      return ret;
    }
#endif

#if defined(CONFIG_I2C) && defined(CONFIG_STM32F7_I2C1)
  i2c_bus = 1;
  i2c = stm32_i2cbus_initialize(i2c_bus);
  if (i2c == NULL)
    {
      syslog(LOG_ERR, "ERROR: Failed to get I2C%d interface\n", i2c_bus);
    }
  else
    {
#if defined(CONFIG_SYSTEM_I2CTOOL)
      ret = i2c_register(i2c, i2c_bus);
      if (ret < 0)
        {
          syslog(LOG_ERR, "ERROR: Failed to register I2C%d driver: %d\n",
                 i2c_bus, ret);
        }
#endif

#ifdef CONFIG_MPU60X0_I2C
      mpu_config = kmm_zalloc(sizeof(struct mpu_config_s));
      if (mpu_config == NULL)
        {
          syslog(LOG_ERR, "ERROR: Failed to allocate mpu60x0 driver\n");
        }
      else
        {
          mpu_config->i2c = i2c;
          mpu_config->addr = 0x68;
          mpu60x0_register("/dev/imu0", mpu_config);
        }
#endif
    }
#endif

  UNUSED(ret);
  return OK;
}