Merge branch 'rahix/hw-init'

Implement proper initialization of the different peripherals in
hardware_early_init() & hardware_init().  This includes stripping down
the display init so it does not perform a full reset anymore; we can do
this as the bootloader will have always performed the full reset
already.

Additionally this changeset enables the hardware_reset() function which
resets peripherals on load of a new app.  This should increase stability
as apps can always assume everything to be in its default state on load.

Signed-off-by: Rahix <rahix@rahix.de>

epicardium/api/control.c

@@ -199,11 +199,14 @@ void core1_boot(void)
 	core1_start(&core1_initial_ivt);
 }
 
-void core1_reset(void)
+void core1_trigger_reset(void)
 {
 	/* Signal core 1 that we intend to load a new payload. */
 	api_interrupt_trigger(EPIC_INT_RESET);
+}
 
+void core1_wait_ready(void)
+{
 	/* Wait for the core to accept */
 	while (1) {
 		while (SEMA_GetSema(_CONTROL_SEMAPHORE) == E_BUSY) {

epicardium/api/dispatcher.h

@@ -37,7 +37,10 @@ void api_prepare_args(char *args);
 void core1_boot(void);
 
 /* Reset core 1 into a state where it can accept a new payload */
-void core1_reset(void);
+void core1_trigger_reset(void);
+
+/* Wait for core 1 to respond that it is ready for a new payload */
+void core1_wait_ready(void);
 
 /* Load a payload into core 1 */
 void core1_load(void *ivt, char *args);

epicardium/main.c

-#include <stdio.h>
-#include <stdlib.h>
-
-#include <ff.h>
-
-#include "max32665.h"
-#include "uart.h"
-#include "cdcacm.h"
-#include "gpio.h"
-
-#include "card10.h"
-#include "pmic.h"
-#include "leds.h"
-#include "api/dispatcher.h"
 #include "modules/modules.h"
 #include "modules/log.h"
-#include "modules/stream.h"
-#include "modules/filesystem.h"
-#include "api/interrupt-sender.h"
-
-#include "Heart.h"
-#include "gfx.h"
-#include "display.h"
 #include "card10-version.h"
 
 #include "FreeRTOS.h"
 #include "task.h"
 
+#include <stdlib.h>
+
 TaskHandle_t dispatcher_task_id;
 
 void vBleTask(void *pvParameters);
@@ -35,46 +16,9 @@ int main(void)
 	LOG_INFO("startup", "Epicardium startup ...");
 	LOG_INFO("startup", "Version " CARD10_VERSION);
 
+	LOG_INFO("startup", "Initializing hardware ...");
 	hardware_early_init();
 
-#ifdef CARD10_DEBUG_CORE1
-	LOG_WARN("startup", "Core 1 Debugger Mode");
-	static const gpio_cfg_t swclk = {
-		PORT_0,
-		PIN_7,
-		GPIO_FUNC_ALT3,
-		GPIO_PAD_NONE,
-	};
-	static const gpio_cfg_t swdio = {
-		PORT_0,
-		PIN_6,
-		GPIO_FUNC_ALT3,
-		GPIO_PAD_NONE,
-	};
-
-	GPIO_Config(&swclk);
-	GPIO_Config(&swdio);
-#endif /* CARD10_DEBUG_CORE1 */
-
-	gfx_copy_region_raw(
-		&display_screen, 0, 0, 160, 80, 2, (const void *)(Heart)
-	);
-	gfx_update(&display_screen);
-
-	/* TODO: Move this to its own function */
-	SCB->SCR |= SCB_SCR_SEVONPEND_Msk;
-
-	if (cdcacm_init() < 0) {
-		LOG_ERR("startup", "USB-Serial unavailable");
-	}
-
-	fatfs_init();
-	api_interrupt_init();
-	stream_init();
-
-	LOG_INFO("startup", "Initializing dispatcher ...");
-	api_dispatcher_init();
-
 	LOG_INFO("startup", "Initializing tasks ...");
 
 	/* Serial */
@@ -129,10 +73,6 @@ int main(void)
 		abort();
 	}
 
-	/* light sensor */
-	LOG_INFO("startup", "starting light sensor ...");
-	epic_light_sensor_run();
-
 	/* Lifecycle */
 	if (xTaskCreate(
 		    vLifecycleTask,

epicardium/modules/hardware.c

+#include "epicardium.h"
+
+#include "api/dispatcher.h"
+#include "api/interrupt-sender.h"
+#include "cdcacm.h"
+#include "modules/filesystem.h"
+#include "modules/log.h"
 #include "modules/modules.h"
+#include "modules/stream.h"
 
 #include "card10.h"
+#include "display.h"
+#include "leds.h"
+#include "pb.h"
+#include "pmic.h"
+#include "portexpander.h"
+
+#include "gpio.h"
+#include "i2c.h"
+#include "spi.h"
 
 /*
  * Early init is called at the very beginning and is meant for modules which
@@ -9,7 +26,124 @@
  */
 int hardware_early_init(void)
 {
-	card10_init();
+	/*
+	 * I2C bus for onboard peripherals (ie. PMIC, BMA400, BHI160, BME680,
+	 * ...)
+	 */
+	I2C_Shutdown(MXC_I2C1_BUS0);
+	I2C_Init(MXC_I2C1_BUS0, I2C_FAST_MODE, NULL);
+
+#ifndef CARD10_DEBUG_CORE1
+	/*
+	 * SAO I2C bus
+	 */
+	I2C_Shutdown(MXC_I2C0_BUS0);
+	I2C_Init(MXC_I2C0_BUS0, I2C_FAST_MODE, NULL);
+#endif
+
+	/*
+	 * GPIO peripheral.
+	 */
+	GPIO_Init();
+
+	/*
+	 * PMIC (MAX77650)
+	 */
+	pmic_init();
+	pmic_set_led(0, 0);
+	pmic_set_led(1, 0);
+	pmic_set_led(2, 0);
+
+	/*
+	 * Harmonic Board Portexpander
+	 */
+	portexpander_init();
+
+	/*
+	 * Buttons
+	 */
+	PB_Init();
+
+	/*
+	 * SPI for ECG
+	 */
+	const sys_cfg_spi_t spi17y_master_cfg = {
+		.map = MAP_A,
+		.ss0 = Enable,
+		.ss1 = Disable,
+		.ss2 = Disable,
+	};
+
+	if (SPI_Init(SPI0, 0, SPI_SPEED, spi17y_master_cfg) != 0) {
+		LOG_ERR("init", "Error configuring SPI");
+		while (1)
+			;
+	}
+
+	/*
+	 * The bootloader has already initialized the display, so we only need
+	 * to do the bare minimum here (mostly the gfx datastructures).
+	 */
+	display_init_slim();
+
+	/*
+	 * RGB LEDs
+	 */
+	leds_init();
+
+#ifdef CARD10_DEBUG_CORE1
+	/*
+	 * The SAO pins can be reconfigured for SWCLK2 and SWDIO2 which allows
+	 * debugging core 1.  This feature can optionally be enabled at
+	 * compile-time.
+	 */
+	LOG_WARN("init", "Core 1 Debugger Mode");
+	static const gpio_cfg_t swclk = {
+		PORT_0,
+		PIN_7,
+		GPIO_FUNC_ALT3,
+		GPIO_PAD_NONE,
+	};
+	static const gpio_cfg_t swdio = {
+		PORT_0,
+		PIN_6,
+		GPIO_FUNC_ALT3,
+		GPIO_PAD_NONE,
+	};
+
+	GPIO_Config(&swclk);
+	GPIO_Config(&swdio);
+#endif /* CARD10_DEBUG_CORE1 */
+
+	/*
+	 * Enable SEV-ON-PEND which is needed for proper working of the FreeRTOS
+	 * tickless idle sleep in Epicardium.
+	 */
+	SCB->SCR |= SCB_SCR_SEVONPEND_Msk;
+
+	/*
+	 * USB-Serial
+	 */
+	if (cdcacm_init() < 0) {
+		LOG_ERR("init", "USB-Serial unavailable");
+	}
+
+	/*
+	 * Flash & FatFS
+	 */
+	fatfs_init();
+
+	/*
+	 * API Dispatcher & API Interrupts
+	 */
+	api_interrupt_init();
+	api_dispatcher_init();
+
+	/*
+	 * Sensor streams
+	 */
+	stream_init();
+
 	return 0;
 }
 
@@ -23,6 +157,10 @@ int hardware_early_init(void)
  */
 int hardware_init(void)
 {
+	/* Light Sensor */
+	LOG_INFO("init", "Starting light sensor ...");
+	epic_light_sensor_run();
+
 	return 0;
 }
 
@@ -35,6 +173,24 @@ int hardware_init(void)
  */
 int hardware_reset(void)
 {
-	card10_init();
+	/*
+	 * API Dispatcher & API Interrupts
+	 */
+	api_interrupt_init();
+	api_dispatcher_init();
+
+	/*
+	 * LEDs
+	 */
+	leds_init();
+	epic_leds_set_rocket(0, 0);
+	epic_leds_set_rocket(1, 0);
+	epic_leds_set_rocket(2, 0);
+
+	/*
+	 * Display
+	 */
+	display_init_slim();
+
 	return 0;
 }

epicardium/modules/lifecycle.c

@@ -2,6 +2,7 @@
 #include "modules/log.h"
 #include "modules/modules.h"
 #include "api/dispatcher.h"
+#include "api/interrupt-sender.h"
 #include "l0der/l0der.h"
 
 #include "card10.h"
@@ -87,6 +88,9 @@ static int load_stat(char *name)
  */
 static int do_load(struct load_info *info)
 {
+	struct l0dable_info l0dable;
+	int res;
+
 	if (*info->name == '\0') {
 		LOG_INFO("lifecycle", "Loading Python interpreter ...");
 	} else {
@@ -100,9 +104,21 @@ static int do_load(struct load_info *info)
 
 	if (info->do_reset) {
 		LOG_DEBUG("lifecycle", "Triggering core 1 reset.");
-		core1_reset();
 
-		api_dispatcher_init();
+		core1_trigger_reset();
+	}
+
+	/*
+	 * Wait for the core to become ready to accept a new payload.
+	 */
+	core1_wait_ready();
+
+	/*
+	 * Reinitialize Hardware & Drivers
+	 */
+	res = hardware_reset();
+	if (res < 0) {
+		return res;
 	}
 
 	switch (info->type) {
@@ -112,14 +128,7 @@ static int do_load(struct load_info *info)
 		core1_load(PYCARDIUM_IVT, info->name);
 		break;
 	case PL_L0DABLE:
-		/*
-		 * Always reset when loading a l0dable to make sure the memory
-		 * space is absolutely free.
-		 */
-		core1_reset();
-
-		struct l0dable_info l0dable;
-		int res = l0der_load_path(info->name, &l0dable);
+		res = l0der_load_path(info->name, &l0dable);
 		if (res != 0) {
 			LOG_ERR("lifecycle", "l0der failed: %d\n", res);
 			xSemaphoreGive(api_mutex);

lib/card10/card10.c

+#include "card10.h"
 #include "pmic.h"
 #include "bosch.h"
 #include "display.h"
@@ -24,8 +25,6 @@
 #include <stdint.h>
 #include <string.h>
 
-#define SPI_SPEED (15 * 1000 * 1000) // Bit Rate
-
 const gpio_cfg_t bhi_interrupt_pin = {
 	PORT_0, PIN_13, GPIO_FUNC_IN, GPIO_PAD_PULL_UP
 };

lib/card10/card10.h

@@ -4,6 +4,8 @@
 
 #include <stdint.h>
 
+#define SPI_SPEED (15 * 1000 * 1000) // Bit Rate
+
 extern const gpio_cfg_t bhi_interrupt_pin;
 
 void card10_init(void);

lib/card10/display.c

@@ -103,3 +103,18 @@ void display_init(void)
 	txt_init(&display_textb, &display_screen, &Font12);
 	gfx_clear(&display_screen);
 }
+
+void display_init_slim(void)
+{
+	if (!portexpander_detected()) {
+		// Open-drain
+		MAX77650_setDRV(false);
+		// Output
+		MAX77650_setDIR(false);
+	}
+
+	GPIO_Config(&DEV_DC_PIN);
+
+	display_screen = gfx_screen(LCD_framebuffer());
+	txt_init(&display_textb, &display_screen, &Font12);
+}

lib/card10/display.h

@@ -6,5 +6,6 @@ extern struct gfx_region display_screen;
 extern struct txt_buffer display_textb;
 
 void display_init(void);
+void display_init_slim(void);
 
 #endif

lib/gfx/textbuffer.c

@@ -12,8 +12,6 @@ void txt_init(struct txt_buffer *txtb, struct gfx_region *reg, sFONT *f)
 	txtb->bg_color      = gfx_color_rgb_f(reg, .0f, .0f, .0f);
 	txtb->draw_cursor   = 1;
 	txtb->auto_update   = 1;
-
-	txt_clear(txtb);
 }
 
 static inline size_t width_(struct txt_buffer *tm)