Restructuring of the init functions, display more detailed error messages on failed init

components/mch2022-bsp/esp_efuse_custom_table.csv

@@ -1,16 +0,0 @@
-# After editing this file, run the command manually "make efuse_custom_table" or "idf.py efuse_custom_table"
-
-# WR_DIS_EFUSE_RD_DISABLE,                 EFUSE_BLK0,    0,     1,    Write protection for RD_DIS, ADC_VREF
-WR_DIS_WR_DIS,                             EFUSE_BLK0,    1,     1,    Write protection for WR_DIS
-# WR_DIS_FLASH_CRYPT_CNT,                  EFUSE_BLK0,    2,     1,    Write protection for FLASH_CRYPT_CNT, UART_DOWNLOAD_DIS
-WR_DIS_MAC_AND_CHIP_INFO,                  EFUSE_BLK0,    3,     1,    Write protection for MAC, MAC_CRC, CIP_VER_REV1, CHIP_VERSION, CHIP_PACKAGE
-WR_DIS_XPD,                                EFUSE_BLK0,    5,     1,    Write protection for XPD_SDIO_FORCE, XPD_SDIO_REG, XPD_SDIO_TIEH
-WR_DIS_SPI_PAD,                            EFUSE_BLK0,    6,     1,    Write protection for CHIP_VER_REV2, SPI_PAD_CONFIG
-# WR_DIS_BLK1,                             EFUSE_BLK0,    7,     1,    Write protection for WR_DIS_BLK1
-# WR_DIS_BLK2,                             EFUSE_BLK0,    8,     1,    Write protection for WR_DIS_BLK2
-# WR_DIS_BLK3,                             EFUSE_BLK0,    9,     1,    Write protection for WR_DIS_BLK3, MAC_VERSION
-WR_DIS_SCHEME_KEY_CRYPT,                   EFUSE_BLK0,   10,     1,    Write protection for CODING_SCHEME, KEY_STATUS, FLASH_CRYPT_CONFIG, BLK3_PART_RESERVE
-WR_DIS_ABS_DONE_0,                         EFUSE_BLK0,   12,     1,    Write protection for ABS_DONE_0
-WR_DIS_ABS_DONE_1,                         EFUSE_BLK0,   13,     1,    Write protection for ABS_DONE_1
-WR_DIS_JTAG_DISABLE,                       EFUSE_BLK0,   14,     1,    Write protection for JTAG_DISABLE
-WR_DIS_CONSOLE_DEBUG_AND_DISABLE_DL_CRYPT, EFUSE_BLK0,   15,     1,    Write protection for CONSOLE_DEBUG_DISABLE, DISABLE_DL

components/mch2022-bsp/hardware.c

@@ -13,11 +13,18 @@ static ILI9341 dev_ili9341 = {0};
 static ICE40   dev_ice40   = {0};
 static RP2040  dev_rp2040  = {0};
 
+static uint8_t rp2040_fw_version = 0;
+
+static bool bsp_ready = false;
+static bool rp2040_ready = false;
+static bool ice40_ready = false;
+static bool bno055_ready = false;
+
 esp_err_t ice40_get_done_wrapper(bool* done) {
-    uint8_t buttons[2];
+    uint16_t buttons;
-    esp_err_t res = rp2040_read_buttons(&dev_rp2040, buttons);
+    esp_err_t res = rp2040_read_buttons(&dev_rp2040, &buttons);
     if (res != ESP_OK) return res;
-    *done = !((buttons[0] >> 5) & 0x01);
+    *done = !((buttons >> 5) & 0x01);
     printf("FPGA done is %u\n", *done);
     return ESP_OK;
 }
@@ -64,10 +71,16 @@ static esp_err_t _bus_init() {
     return ESP_OK;
 }
 
-// Board init
+/* BSP init
+ * 
+ * This function initializes the interrupt handling service, the SPI and I2C busses and the LCD display.
+ * After running this function information can be displayed to the user via the display.
+ * 
+ */
+
+esp_err_t bsp_init() {
+    if (bsp_ready) return ESP_OK;
     
-esp_err_t board_init(bool* aLcdReady) {
-    if (aLcdReady != NULL) *aLcdReady = false;
     esp_err_t res;
 
     // Interrupts
@@ -104,7 +117,20 @@ esp_err_t board_init(bool* aLcdReady) {
         return res;
     }
     
-    if (aLcdReady != NULL) *aLcdReady = true;
+    bsp_ready = true;
+    return ESP_OK;
+}
+
+/* RP2040 init
+ * 
+ * This function initializes communication with the RP2040 co-processor.
+ * After running this function the buttons, backlight control and FPGA management functions will be available for use.
+ * 
+ */
+
+esp_err_t bsp_rp2040_init() {
+    if (!bsp_ready) return ESP_FAIL;
+    if (rp2040_ready) return ESP_OK;
 
     // RP2040 co-processor
     dev_rp2040.i2c_bus = I2C_BUS_SYS;
@@ -112,20 +138,34 @@ esp_err_t board_init(bool* aLcdReady) {
     dev_rp2040.pin_interrupt = GPIO_INT_RP2040;
     dev_rp2040.queue = xQueueCreate(8, sizeof(rp2040_input_message_t));
     
-    res = rp2040_init(&dev_rp2040);
+    esp_err_t res = rp2040_init(&dev_rp2040);
     if (res != ESP_OK) {
         ESP_LOGE(TAG, "Initializing RP2040 failed");
         return res;
     }
 
-    uint8_t rp2040_fw_version;
     if (rp2040_get_firmware_version(&dev_rp2040, &rp2040_fw_version) != ESP_OK) {
         ESP_LOGE(TAG, "Initializing RP2040 failed to read firmware version");
         return ESP_FAIL;
     }
 
-    if (rp2040_fw_version != 0xFF) { // Only init FPGA when RP2040 is not in bootloader mode
+    rp2040_ready = true;
-        // FPGA
+    return ESP_OK;
+}
+
+/* RP2040 init
+ * 
+ * This function initializes the ICE40 FPGA
+ * After running this function the FPGA will be kept in reset state until a bitstream is loaded
+ * 
+ */
+
+esp_err_t bsp_ice40_init() {
+    if (!bsp_ready) return ESP_FAIL;
+    if (!rp2040_ready) return ESP_FAIL;
+    if (rp2040_fw_version == 0xFF) return ESP_FAIL; // The ICE40 FPGA can only be controlled when the RP2040 is not in bootloader mode
+    if (rp2040_ready) return ESP_OK;
+
     dev_ice40.spi_bus = SPI_BUS;
     dev_ice40.pin_cs = GPIO_SPI_CS_FPGA;
     dev_ice40.pin_done = -1;
@@ -137,35 +177,53 @@ esp_err_t board_init(bool* aLcdReady) {
     dev_ice40.get_done = ice40_get_done_wrapper;
     dev_ice40.set_reset = ice40_set_reset_wrapper;
 
-        res = ice40_init(&dev_ice40);
+    esp_err_t res = ice40_init(&dev_ice40);
     if (res != ESP_OK) {
         ESP_LOGE(TAG, "Initializing FPGA failed");
         return res;
     }
-    }
 
-    // BNO055 sensor on system I2C bus
+    ice40_ready = true;
+    return ESP_OK;
+}
 
-    res = bno055_init(&dev_bno055, I2C_BUS_SYS, BNO055_ADDR, GPIO_INT_BNO055, true);
+/* BNO055 init
+ * 
+ * This function initializes the BNO055 position sensor
+ * After running this function the position sensor can be used
+ * 
+ */
+
+esp_err_t bsp_bno055_init() {
+    if (!bsp_ready) return ESP_FAIL;
+    if (bno055_ready) return ESP_OK;
+
+    esp_err_t res = bno055_init(&dev_bno055, I2C_BUS_SYS, BNO055_ADDR, GPIO_INT_BNO055, true);
     if (res != ESP_OK) {
         ESP_LOGE(TAG, "Initializing BNO055 failed");
         return res;
     }
-    return res;
-}
 
-BNO055* get_bno055() {
+    bno055_ready = true;
-    return &dev_bno055;
+    return ESP_OK;
 }
 
 ILI9341* get_ili9341() {
+    if (!bsp_ready) return NULL;
     return &dev_ili9341;
 }
 
+RP2040* get_rp2040() {
+    if (!rp2040_ready) return NULL;
+    return &dev_rp2040;
+}
+
 ICE40* get_ice40() {
+    if (!ice40_ready) return NULL;
     return &dev_ice40;
 }
 
-RP2040* get_rp2040() {
+BNO055* get_bno055() {
-    return &dev_rp2040;
+    if (!bno055_ready) return NULL;
+    return &dev_bno055;
 }

components/mch2022-bsp/hardware.h

@@ -55,9 +55,12 @@
 #define GPIO_SPI_CS_LCD       32
 #define GPIO_SPI_DC_LCD       33
 
-esp_err_t board_init(bool* aLcdReady);
+esp_err_t bsp_init();
+esp_err_t bsp_rp2040_init();
+esp_err_t bsp_ice40_init();
+esp_err_t bsp_bno055_init();
 
-BNO055* get_bno055();
 ILI9341* get_ili9341();
-ICE40* get_ice40();
 RP2040* get_rp2040();
+ICE40* get_ice40();
+BNO055* get_bno055();

main/main.c

@@ -262,6 +262,23 @@ void menu_wifi_settings(xQueueHandle buttonQueue, pax_buf_t* pax_buffer, ILI9341
     menu_free(menu);
 }
 
+void display_boot_screen(pax_buf_t* pax_buffer, ILI9341* ili9341) {
+    pax_noclip(pax_buffer);
+    pax_background(pax_buffer, 0x325aa8);
+    pax_draw_text(pax_buffer, 0xFFFFFFFF, NULL, 18, 0, 20*0, "Starting launcher...");
+    ili9341_write(ili9341, pax_buffer->buf);
+}
+
+void display_fatal_error(pax_buf_t* pax_buffer, ILI9341* ili9341, const char* line0, const char* line1, const char* line2, const char* line3) {
+    pax_noclip(pax_buffer);
+    pax_background(pax_buffer, 0xa85a32);
+    if (line0 != NULL) pax_draw_text(pax_buffer, 0xFFFFFFFF, NULL, 18, 0, 20*0, line0);
+    if (line1 != NULL) pax_draw_text(pax_buffer, 0xFFFFFFFF, NULL, 12, 0, 20*1, line1);
+    if (line2 != NULL) pax_draw_text(pax_buffer, 0xFFFFFFFF, NULL, 12, 0, 20*2, line2);
+    if (line3 != NULL) pax_draw_text(pax_buffer, 0xFFFFFFFF, NULL, 12, 0, 20*3, line3);
+    ili9341_write(ili9341, pax_buffer->buf);
+}
+
 void app_main(void) {
     esp_err_t res;
     
@@ -269,14 +286,14 @@ void app_main(void) {
     uint8_t* framebuffer = heap_caps_malloc(ILI9341_BUFFER_SIZE, MALLOC_CAP_8BIT);
     if (framebuffer == NULL) {
         ESP_LOGE(TAG, "Failed to allocate framebuffer");
-        restart();
+        esp_restart();
     }
     memset(framebuffer, 0, ILI9341_BUFFER_SIZE);
     
     pax_buf_t* pax_buffer = malloc(sizeof(pax_buf_t));
     if (framebuffer == NULL) {
-        ESP_LOGE(TAG, "Failed to allocate pax buffer");
+        ESP_LOGE(TAG, "Failed to allocate buffer for PAX graphics library");
-        restart();
+        esp_restart();
     }
     memset(pax_buffer, 0, sizeof(pax_buf_t));
     
@@ -286,60 +303,66 @@ void app_main(void) {
     
     efuse_protect();
     
-    bool lcdReady = false;
+    if (bsp_init() != ESP_OK) {
-    res = board_init(&lcdReady);
+        ESP_LOGE(TAG, "Failed to initialize basic board support functions");
-    
+        esp_restart();
-    if (res != ESP_OK) {
-        if (lcdReady) {
-            ILI9341* ili9341 = get_ili9341();
-            graphics_task(pax_buffer, ili9341, framebuffer, NULL, "Hardware error!");
-        }
-        printf("Failed to initialize hardware!\n");
-        restart();
     }
     
     ILI9341* ili9341 = get_ili9341();
-    ICE40* ice40 = get_ice40();
+    
-    BNO055* bno055 = get_bno055();
+    display_boot_screen(pax_buffer, ili9341);
+    
+    if (bsp_rp2040_init() != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to initialize the RP2040 co-processor");
+        display_fatal_error(pax_buffer, ili9341, "Failed to initialize", "RP2040 co-processor error", NULL, NULL);
+        esp_restart();
+    }
+    
     RP2040* rp2040 = get_rp2040();
 
+    rp2040_updater(rp2040, pax_buffer, ili9341, framebuffer); // Handle RP2040 firmware update & bootloader mode
+    
+    if (bsp_ice40_init() != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to initialize the ICE40 FPGA");
+        display_fatal_error(pax_buffer, ili9341, "Failed to initialize", "ICE40 FPGA error", NULL, NULL);
+        esp_restart();
+    }
+    
+    ICE40* ice40 = get_ice40();
+    
+    if (bsp_bno055_init() != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to initialize the BNO055 position sensor");
+        display_fatal_error(pax_buffer, ili9341, "Failed to initialize", "BNO055 sensor error", "Check I2C bus", "Remove SAO and try again");
+        esp_restart();
+    }
+
+    BNO055* bno055 = get_bno055();
+
     /* Start AppFS */
-    graphics_task(pax_buffer, ili9341, framebuffer, NULL, "AppFS init...");
     res = appfs_init();
     if (res != ESP_OK) {
         ESP_LOGE(TAG, "AppFS init failed: %d", res);
-        graphics_task(pax_buffer, ili9341, framebuffer, NULL, "AppFS init failed!");
+        display_fatal_error(pax_buffer, ili9341, "Failed to initialize", "AppFS failed to initialize", "Flash may be corrupted", NULL);
-        return;
+        esp_restart();
     }
-    ESP_LOGI(TAG, "AppFS initialized");
     
     /* Start NVS */
-    graphics_task(pax_buffer, ili9341, framebuffer, NULL, "NVS init...");
     res = nvs_init();
     if (res != ESP_OK) {
         ESP_LOGE(TAG, "NVS init failed: %d", res);
-        graphics_task(pax_buffer, ili9341, framebuffer, NULL, "NVS init failed!");
+        display_fatal_error(pax_buffer, ili9341, "Failed to initialize", "NVS failed to initialize", "Flash may be corrupted", NULL);
-        return;
+        esp_restart();
     }
-    ESP_LOGI(TAG, "NVS initialized");
     
     /* Start SD card */
-    graphics_task(pax_buffer, ili9341, framebuffer, NULL, "Mount SD card...");
     res = mount_sd(SD_CMD, SD_CLK, SD_D0, SD_PWR, "/sd", false, 5);
     bool sdcard_ready = (res == ESP_OK);
 
-    if (sdcard_ready) {
-        graphics_task(pax_buffer, ili9341, framebuffer, NULL, "SD card mounted");
-    }
-    
     /* Start LEDs */
     ws2812_init(GPIO_LED_DATA);
     uint8_t ledBuffer[15] = {50, 0, 0, 50, 0, 0, 50, 0, 0, 50, 0, 0, 50, 0, 0};
     ws2812_send_data(ledBuffer, sizeof(ledBuffer));
 
-    /* Start RP2040 firmware update check */
-    rp2040_updater(rp2040, pax_buffer, ili9341, framebuffer);
-
     /* Launcher menu */
     while (true) {
         menu_action_t menu_action;

main/rp2040_updater.c

@@ -33,13 +33,13 @@ void rp2040_updater(RP2040* rp2040, pax_buf_t* pax_buffer, ILI9341* ili9341, uin
         restart();
     }
     
-    pax_noclip(pax_buffer);
+    /*pax_noclip(pax_buffer);
     pax_background(pax_buffer, 0xCCCCCC);
     memset(message, 0, sizeof(message));
     snprintf(message, sizeof(message) - 1, "RP2040 firmware: 0x%02X", fw_version);
     pax_draw_text(pax_buffer, 0xFF000000, NULL, 18, 0, 20*0, message);
     ili9341_write(ili9341, framebuffer);
-    vTaskDelay(100 / portTICK_PERIOD_MS);
+    vTaskDelay(100 / portTICK_PERIOD_MS);*/
     
     if (fw_version < 0x01) { // Update required
         pax_noclip(pax_buffer);