/****************************************************************************
 * boards/arm/stm32/nucleo-g431rb/src/stm32_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 <sys/types.h>
#include <syslog.h>

#include <nuttx/board.h>
#include <nuttx/fs/fs.h>

#ifdef CONFIG_USERLED
#  include <nuttx/leds/userled.h>
#endif

#ifdef CONFIG_INPUT_BUTTONS
#  include <nuttx/input/buttons.h>
#endif

#ifdef CONFIG_SENSORS_QENCODER
#  include "board_qencoder.h"
#endif

#include "nucleo-g431rb.h"

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#undef HAVE_LEDS

#if !defined(CONFIG_ARCH_LEDS) && defined(CONFIG_USERLED_LOWER)
#  define HAVE_LEDS 1
#endif

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

/****************************************************************************
 * Name: stm32_bringup
 *
 * Description:
 *   Perform architecture-specific initialization
 *
 *   CONFIG_BOARD_LATE_INITIALIZE=y :
 *     Called from board_late_initialize().
 *
 *   CONFIG_BOARD_LATE_INITIALIZE=n && CONFIG_BOARDCTL=y :
 *     Called from the NSH library
 *
 ****************************************************************************/

int stm32_bringup(void)
{
  int ret;

#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 the PROC filesystem: %d\n",  ret);
    }
#endif /* CONFIG_FS_PROCFS */

#ifdef CONFIG_INPUT_BUTTONS
  /* Register the BUTTON driver */

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

#ifdef HAVE_LEDS
  /* 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);
      return ret;
    }
#endif

#ifdef CONFIG_PWM
  /* Initialize PWM and register the PWM driver. */

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

#ifdef CONFIG_STM32_FOC
  /* Initialize and register the FOC device - must be before ADC setup */

  ret = stm32_foc_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_foc_setup 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_MATH_CORDIC
  /* Initialize CORDIC and register the CORDIC driver. */

  ret = stm32_cordic_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_cordic_setup failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_SENSORS_QENCODER
  /* Initialize and register the qencoder driver */

  ret = board_qencoder_initialize(0, CONFIG_NUCLEO_G431RB_QETIMER);
  if (ret != OK)
    {
      syslog(LOG_ERR,
             "ERROR: Failed to register the qencoder: %d\n",
             ret);
      return ret;
    }
#endif

#ifdef CONFIG_STM32_FDCAN_CHARDRIVER
  /* Initialize CAN and register the CAN driver. */

  ret = stm32_can_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_fdcan_setup failed: %d\n", ret);
    }
#endif

#ifdef CONFIG_STM32_FDCAN_SOCKET
  /* Initialize CAN socket interface */

  ret = stm32_cansock_setup();
  if (ret < 0)
    {
      syslog(LOG_ERR, "ERROR: stm32_cansock_setup failed: %d\n", ret);
    }
#endif

  UNUSED(ret);
  return OK;
}
