| /**************************************************************************** |
| * boards/arm/rp2040/common/src/rp2040_common_bringup.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 <debug.h> |
| #include <errno.h> |
| #include <stddef.h> |
| #include <string.h> |
| #include <sys/stat.h> |
| |
| #include <nuttx/fs/fs.h> |
| |
| #include <arch/board/board.h> |
| |
| #include "rp2040_pico.h" |
| #include "rp2040_common_bringup.h" |
| |
| #ifdef CONFIG_LCD_BACKPACK |
| #include "rp2040_lcd_backpack.h" |
| #endif |
| |
| #ifdef CONFIG_LCD |
| #include <nuttx/board.h> |
| #endif |
| |
| #ifdef CONFIG_LCD_DEV |
| #include <nuttx/lcd/lcd_dev.h> |
| #endif |
| |
| #ifdef CONFIG_VIDEO_FB |
| #include <nuttx/video/fb.h> |
| #endif |
| |
| #ifdef CONFIG_SENSORS_INA219 |
| #include <nuttx/sensors/ina219.h> |
| #include "rp2040_ina219.h" |
| #endif |
| |
| #ifdef CONFIG_SENSORS_BMP180 |
| #include <nuttx/sensors/bmp180.h> |
| #include "rp2040_bmp180.h" |
| #endif |
| |
| #ifdef CONFIG_RP2040_PWM |
| #include "rp2040_pwm.h" |
| #include "rp2040_pwmdev.h" |
| #endif |
| |
| #if defined(CONFIG_ADC) && defined(CONFIG_RP2040_ADC) |
| #include "rp2040_adc.h" |
| #endif |
| |
| #if defined(CONFIG_RP2040_BOARD_HAS_WS2812) && defined(CONFIG_WS2812) |
| #include "rp2040_ws2812.h" |
| #endif |
| |
| #ifdef CONFIG_WATCHDOG |
| # include "rp2040_wdt.h" |
| #endif |
| |
| #if defined(CONFIG_RP2040_ROMFS_ROMDISK_DEVNAME) |
| # include <rp2040_romfsimg.h> |
| #endif |
| |
| #ifdef CONFIG_RP2040_FLASH_FILE_SYSTEM |
| # include "rp2040_flash_mtd.h" |
| #endif |
| |
| #ifdef CONFIG_WS2812_HAS_WHITE |
| #define HAS_WHITE true |
| #else /* CONFIG_WS2812_HAS_WHITE */ |
| #define HAS_WHITE false |
| #endif /* CONFIG_WS2812_HAS_WHITE */ |
| |
| /**************************************************************************** |
| * Public Functions |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * Name: rp2040_common_bringup |
| ****************************************************************************/ |
| |
| int rp2040_common_bringup(void) |
| { |
| int ret = 0; |
| |
| #ifdef CONFIG_RP2040_FLASH_FILE_SYSTEM |
| struct mtd_dev_s *mtd_dev; |
| #endif |
| |
| #ifdef CONFIG_RP2040_I2C_DRIVER |
| #ifdef CONFIG_RP2040_I2C0 |
| ret = board_i2cdev_initialize(0); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize I2C0.\n"); |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_RP2040_I2C1 |
| ret = board_i2cdev_initialize(1); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize I2C1.\n"); |
| return ret; |
| } |
| #endif |
| #endif |
| |
| #ifdef CONFIG_RP2040_SPI_DRIVER |
| #ifdef CONFIG_RP2040_SPI0 |
| ret = board_spidev_initialize(0); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize SPI0.\n"); |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_RP2040_SPI1 |
| ret = board_spidev_initialize(1); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize SPI1.\n"); |
| return ret; |
| } |
| #endif |
| #endif |
| |
| #ifdef CONFIG_RP2040_PWM |
| # ifdef CONFIG_RP2040_PWM0 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(0, |
| CONFIG_RP2040_PWM0A_GPIO, |
| CONFIG_RP2040_PWM0B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM0A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM0B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM0_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(0, |
| CONFIG_RP2040_PWM0A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM0A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM0_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM0.\n"); |
| return ret; |
| } |
| # endif |
| |
| # ifdef CONFIG_RP2040_PWM1 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(1, |
| CONFIG_RP2040_PWM1A_GPIO, |
| CONFIG_RP2040_PWM1B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM1A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM1B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM1_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(1, |
| CONFIG_RP2040_PWM1A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM1A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM1_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM1.\n"); |
| return ret; |
| } |
| # endif |
| |
| # ifdef CONFIG_RP2040_PWM2 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(2, |
| CONFIG_RP2040_PWM2A_GPIO, |
| CONFIG_RP2040_PWM2B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM2A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM2B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM2_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(2, |
| CONFIG_RP2040_PWM2A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM2A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM2_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM2.\n"); |
| return ret; |
| } |
| # endif |
| |
| # ifdef CONFIG_RP2040_PWM3 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(3, |
| CONFIG_RP2040_PWM3A_GPIO, |
| CONFIG_RP2040_PWM3B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM3A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM3B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM3_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(3, |
| CONFIG_RP2040_PWM3A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM3A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM3_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM3.\n"); |
| return ret; |
| } |
| # endif |
| |
| # ifdef CONFIG_RP2040_PWM4 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(4, |
| CONFIG_RP2040_PWM4A_GPIO, |
| CONFIG_RP2040_PWM4B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM4A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM4B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM4_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(4, |
| CONFIG_RP2040_PWM4A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM4A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM4_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM4.\n"); |
| return ret; |
| } |
| # endif |
| |
| # ifdef CONFIG_RP2040_PWM5 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(5, |
| CONFIG_RP2040_PWM5A_GPIO, |
| CONFIG_RP2040_PWM5B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM5A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM5B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM5_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(5, |
| CONFIG_RP2040_PWM5A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM5A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM5_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM5.\n"); |
| return ret; |
| } |
| # endif |
| |
| # ifdef CONFIG_RP2040_PWM6 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(6, |
| CONFIG_RP2040_PWM6A_GPIO, |
| CONFIG_RP2040_PWM6B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM6A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM6B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM6_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(6, |
| CONFIG_RP2040_PWM6A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM6A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM6_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM6.\n"); |
| return ret; |
| } |
| # endif |
| |
| # ifdef CONFIG_RP2040_PWM7 |
| # if defined(CONFIG_PWM_NCHANNELS) && CONFIG_PWM_NCHANNELS == 2 |
| ret = rp2040_pwmdev_initialize(7, |
| CONFIG_RP2040_PWM7A_GPIO, |
| CONFIG_RP2040_PWM7B_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM7A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM7B_INVERT |
| | RP2040_PWM_CSR_B_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM7_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # else |
| ret = rp2040_pwmdev_initialize(7, |
| CONFIG_RP2040_PWM7A_GPIO, |
| (0 |
| # ifdef CONFIG_RP2040_PWM7A_INVERT |
| | RP2040_PWM_CSR_A_INV |
| # endif |
| # ifdef CONFIG_RP2040_PWM7_PHASE_CORRECT |
| | RP2040_PWM_CSR_PH_CORRECT |
| # endif |
| )); |
| # endif |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PWM7.\n"); |
| return ret; |
| } |
| # endif |
| #endif |
| |
| #ifdef CONFIG_RP2040_SPISD |
| /* Mount the SPI-based MMC/SD block driver */ |
| |
| ret = board_spisd_initialize(0, CONFIG_RP2040_SPISD_SPI_CH); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize SPI device to MMC/SD: %d\n", |
| ret); |
| } |
| #endif |
| |
| #ifdef CONFIG_FS_PROCFS |
| /* Mount the procfs file system */ |
| |
| ret = nx_mount(NULL, "/proc", "procfs", 0, NULL); |
| if (ret < 0) |
| { |
| serr("ERROR: Failed to mount procfs at %s: %d\n", "/proc", ret); |
| } |
| #endif |
| |
| #ifdef CONFIG_SENSORS_BMP180 |
| /* Try to register BMP180 device in I2C0 */ |
| |
| ret = board_bmp180_initialize(0); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize BMP180 driver: %d\n", ret); |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_SENSORS_INA219 |
| /* Configure and initialize the INA219 sensor in I2C0 */ |
| |
| ret = board_ina219_initialize(0); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "ERROR: rp2040_ina219_initialize() failed: %d\n", ret); |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_VIDEO_FB |
| ret = fb_register(0, 0); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize Frame Buffer Driver.\n"); |
| return ret; |
| } |
| #elif defined(CONFIG_LCD) |
| ret = board_lcd_initialize(); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "ERROR: Failed to initialize LCD.\n"); |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_LCD_DEV |
| ret = lcddev_register(0); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "ERROR: lcddev_register() failed: %d\n", ret); |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_LCD_BACKPACK |
| /* slcd:0, i2c:0, rows=2, cols=16 */ |
| |
| ret = board_lcd_backpack_init(0, 0, 2, 16); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize PCF8574 LCD, error %d\n", ret); |
| return ret; |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_RP2040_I2S |
| ret = board_i2sdev_initialize(0); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize I2S.\n"); |
| return ret; |
| } |
| #endif |
| |
| #ifdef CONFIG_DEV_GPIO |
| ret = rp2040_dev_gpio_init(); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "Failed to initialize GPIO Driver: %d\n", ret); |
| return ret; |
| } |
| #endif |
| |
| /* Initialize ADC */ |
| |
| #if defined(CONFIG_ADC) && defined(CONFIG_RP2040_ADC) |
| |
| # ifdef CONFIG_RPC2040_ADC_CHANNEL0 |
| # define ADC_0 true |
| # else |
| # define ADC_0 false |
| # endif |
| |
| # ifdef CONFIG_RPC2040_ADC_CHANNEL1 |
| # define ADC_1 true |
| # else |
| # define ADC_1 false |
| # endif |
| |
| # ifdef CONFIG_RPC2040_ADC_CHANNEL2 |
| # define ADC_2 true |
| # else |
| # define ADC_2 false |
| # endif |
| |
| # ifdef CONFIG_RPC2040_ADC_CHANNEL3 |
| # define ADC_3 true |
| # else |
| # define ADC_3 false |
| # endif |
| |
| # ifdef CONFIG_RPC2040_ADC_TEMPERATURE |
| # define ADC_TEMP true |
| # else |
| # define ADC_TEMP false |
| # endif |
| |
| ret = rp2040_adc_setup("/dev/adc0", ADC_0, ADC_1, ADC_2, ADC_3, ADC_TEMP); |
| if (ret != OK) |
| { |
| syslog(LOG_ERR, "Failed to initialize ADC Driver: %d\n", ret); |
| return ret; |
| } |
| |
| #endif /* defined(CONFIG_ADC) && defined(CONFIG_RP2040_ADC) */ |
| |
| /* Initialize board neo-pixel */ |
| |
| #if defined(CONFIG_RP2040_BOARD_HAS_WS2812) && defined(CONFIG_WS2812) |
| |
| if (rp2040_ws2812_setup("/dev/leds0", |
| CONFIG_RP2040_WS2812_GPIO_PIN, |
| CONFIG_RP2040_WS2812_PWR_GPIO, |
| CONFIG_WS2812_LED_COUNT, |
| HAS_WHITE) == NULL) |
| { |
| syslog(LOG_ERR, "Failed to initialize WS2812: %d\n", errno); |
| return -errno; |
| } |
| #endif |
| |
| #ifdef CONFIG_WATCHDOG |
| /* Configure watchdog timer */ |
| |
| ret = rp2040_wdt_init(); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, |
| "ERROR: Failed to initialize watchdog drivers: %d\n", |
| ret); |
| } |
| #endif |
| |
| #ifdef CONFIG_RP2040_FLASH_FILE_SYSTEM |
| |
| mtd_dev = rp2040_flash_mtd_initialize(); |
| |
| if (mtd_dev == NULL) |
| { |
| syslog(LOG_ERR, "ERROR: flash_mtd_initialize failed: %d\n", errno); |
| } |
| else |
| { |
| ret = smart_initialize(0, mtd_dev, NULL); |
| |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "ERROR: smart_initialize failed: %d\n", -ret); |
| } |
| else if (sizeof(CONFIG_RP2040_FLASH_MOUNT_POINT) > 1) |
| { |
| mkdir(CONFIG_RP2040_FLASH_MOUNT_POINT, 0777); |
| |
| /* Mount the file system */ |
| |
| ret = nx_mount("/dev/smart0", |
| CONFIG_RP2040_FLASH_MOUNT_POINT, |
| "smartfs", |
| 0, |
| NULL); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, |
| "ERROR: nx_mount(\"/dev/smart0\", \"%s\", \"smartfs\"," |
| " 0, NULL) failed: %d\n", |
| CONFIG_RP2040_FLASH_MOUNT_POINT, |
| ret); |
| } |
| } |
| } |
| |
| #endif |
| |
| #if defined(CONFIG_RP2040_ROMFS_ROMDISK_DEVNAME) |
| /* Register the ROM disk */ |
| |
| ret = romdisk_register(CONFIG_RP2040_ROMFS_ROMDISK_MINOR, |
| rp2040_romfs_img, |
| NSECTORS(rp2040_romfs_img_len), |
| CONFIG_RP2040_ROMFS_ROMDISK_SECTSIZE); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, "ERROR: romdisk_register failed: %d\n", -ret); |
| } |
| else |
| { |
| /* Mount the file system */ |
| |
| ret = nx_mount(CONFIG_RP2040_ROMFS_ROMDISK_DEVNAME, |
| CONFIG_RP2040_ROMFS_MOUNT_MOUNTPOINT, |
| "romfs", |
| MS_RDONLY, |
| NULL); |
| if (ret < 0) |
| { |
| syslog(LOG_ERR, |
| "ERROR: nx_mount(%s,%s,romfs) failed: %d\n", |
| CONFIG_RP2040_ROMFS_ROMDISK_DEVNAME, |
| CONFIG_RP2040_ROMFS_MOUNT_MOUNTPOINT, |
| ret); |
| } |
| } |
| |
| #endif |
| return OK; |
| } |
