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LibrePilot/flight/targets/boards/spracingf3/firmware/pios_board.c

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/**
*****************************************************************************
* @file pios_board.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
* @addtogroup LibrePilotSystem LibrePilot System
* @{
* @addtogroup LibrePilotCore LibrePilot Core
* @{
* @brief Defines board specific static initializers for hardware for the CopterControl board.
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "inc/openpilot.h"
#include <pios_board_info.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <hwspracingf3settings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#include <taskinfo.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
#include <pios_board_io.h>
#include <pios_board_sensors.h>
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "../board_hw_defs.c"
static HwSPRacingF3SettingsData boardHwSettings;
static void hwSPRacingF3SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
HwSPRacingF3SettingsData currentBoardHwSettings;
HwSPRacingF3SettingsGet(&currentBoardHwSettings);
if (memcmp(&currentBoardHwSettings, &boardHwSettings, sizeof(HwSPRacingF3SettingsData)) != 0) {
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
}
}
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id = 0;
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#ifdef PIOS_INCLUDE_WS2811
uint32_t pios_ws2811_id;
#endif
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/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void)
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif
#if defined(PIOS_INCLUDE_SPI)
/* Set up the SPI interface to the serial flash */
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
PIOS_Assert(0);
}
#endif
uintptr_t flash_id;
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize the delayed callback library */
PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
PIOS_IAP_Init();
// check for safe mode commands from gcs
if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
PIOS_IAP_WriteBootCmd(0, 0);
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
HwSettingsInitialize();
HwSPRacingF3SettingsInitialize();
#ifndef ERASE_FLASH
#ifdef PIOS_INCLUDE_WDG
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif
#endif
/* Initialize the alarms library */
AlarmsInitialize();
/* Check for repeated boot failures */
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hwsettings to defaults */
HwSettingsSetDefaults(HwSettingsHandle(), 0);
HwSPRacingF3SettingsSetDefaults(HwSPRacingF3SettingsHandle(), 0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_15_cfg);
PIOS_TIM_InitClock(&tim_16_cfg);
PIOS_TIM_InitClock(&tim_17_cfg);
HwSPRacingF3SettingsConnectCallback(hwSPRacingF3SettingsUpdatedCb);
HwSPRacingF3SettingsGet(&boardHwSettings);
boardHwSettings.UARTPort[0] = HWSPRACINGF3SETTINGS_UARTPORT_TELEMETRY; /* UART1 should always be telemetry */
boardHwSettings.UARTPort[2] = HWSPRACINGF3SETTINGS_UARTPORT_DISABLED; /* UART3 has conflict with SWD, so we will let it be disabled for a moment */
static const PIOS_BOARD_IO_UART_Function uart_function_map[] = {
[HWSPRACINGF3SETTINGS_UARTPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWSPRACINGF3SETTINGS_UARTPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
[HWSPRACINGF3SETTINGS_UARTPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
[HWSPRACINGF3SETTINGS_UARTPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN, // single DSM instance? ok.
[HWSPRACINGF3SETTINGS_UARTPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
[HWSPRACINGF3SETTINGS_UARTPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
[HWSPRACINGF3SETTINGS_UARTPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
[HWSPRACINGF3SETTINGS_UARTPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
[HWSPRACINGF3SETTINGS_UARTPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
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[HWSPRACINGF3SETTINGS_UARTPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
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[HWSPRACINGF3SETTINGS_UARTPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSPRACINGF3SETTINGS_UARTPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSPRACINGF3SETTINGS_UARTPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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};
for (unsigned int i = 0; i < HWSPRACINGF3SETTINGS_UARTPORT_NUMELEM; ++i) {
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if (boardHwSettings.UARTPort[i] < NELEMENTS(uart_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[i], uart_function_map[boardHwSettings.UARTPort[i]]);
}
}
/* Configure IO ports (IO-1 & IO-2) */
bool use_ppm = false;
/* then do PPM */
if ((boardHwSettings.IOPorts == HWSPRACINGF3SETTINGS_IOPORTS_PPMPWM)
|| (boardHwSettings.IOPorts == HWSPRACINGF3SETTINGS_IOPORTS_PPM)
|| (boardHwSettings.IOPorts == HWSPRACINGF3SETTINGS_IOPORTS_PPMOUTPUTS)) {
#if defined(PIOS_INCLUDE_PPM)
use_ppm = true;
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
#endif /* PIOS_INCLUDE_PPM */
}
if ((boardHwSettings.IOPorts == HWSPRACINGF3SETTINGS_IOPORTS_OUTPUTS)
|| (boardHwSettings.IOPorts == HWSPRACINGF3SETTINGS_IOPORTS_PPMOUTPUTS)) {
/* configure remaining inputs as additional outputs */
} else if ((boardHwSettings.IOPorts == HWSPRACINGF3SETTINGS_IOPORTS_PPMPWM)
|| (boardHwSettings.IOPorts == HWSPRACINGF3SETTINGS_IOPORTS_PWM)) {
#if defined(PIOS_INCLUDE_PWM)
/* configure remaining inputs as pwm input */
struct pios_pwm_cfg pwm_cfg = pios_pwm_cfg;
if (use_ppm) {
++(pwm_cfg.channels);
--(pwm_cfg.num_channels);
}
PIOS_BOARD_IO_Configure_PWM_RCVR(&pwm_cfg); // is this ok? pwm_cfg is on stack
#endif /* if defined(PIOS_INCLUDE_PWM) */
}
#ifndef PIOS_ENABLE_DEBUG_PINS
// TODO: make use of HWSPRACINGF3SETTINGS_IOPORTS_[PPM]OUTPUTS
PIOS_Servo_Init(&pios_servo_cfg);
#else
PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels);
#endif
switch (boardHwSettings.LEDPort) {
case HWSPRACINGF3SETTINGS_LEDPORT_WS2811:
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#if defined(PIOS_INCLUDE_WS2811)
PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg);
#endif
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break;
case HWSPRACINGF3SETTINGS_LEDPORT_OUTPUT:
break;
default:;
}
if (boardHwSettings.BuzzerPort == HWSPRACINGF3SETTINGS_BUZZERPORT_OUTPUT) {
// enable buzzer somehow
}
switch (boardHwSettings.SonarPort) {
case HWSPRACINGF3SETTINGS_SONARPORT_HCSR04:
/* enable hcsr04 sonar on this port */
break;
default:;
}
#if defined(PIOS_INCLUDE_I2C)
// init I2C1 for use with the internal mag and baro
if (PIOS_I2C_Init(&pios_i2c_id, &pios_i2c_cfg)) {
PIOS_DEBUG_Assert(0);
}
#endif
PIOS_DELAY_WaitmS(50);
PIOS_BOARD_Sensors_Configure();
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id);
}
/**
* @}
*/