2012-02-22 04:29:06 +01:00
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/* -*- Mode: c; c-basic-offset: 2; tab-width: 2; indent-tabs-mode: t -*- */
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/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the OpenPilot board.
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include <pios.h>
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#include <openpilot.h>
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2012-10-20 20:48:22 +02:00
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#include <oplinksettings.h>
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2012-03-16 03:51:46 +01:00
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#include <board_hw_defs.c>
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2012-02-22 04:29:06 +01:00
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2012-10-20 20:48:22 +02:00
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#define PIOS_COM_TELEM_RX_BUF_LEN 256
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#define PIOS_COM_TELEM_TX_BUF_LEN 256
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2012-02-22 04:29:06 +01:00
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2012-08-25 04:25:02 +02:00
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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
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2012-02-22 04:29:06 +01:00
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2012-11-26 03:40:49 +01:00
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#define PIOS_COM_TELEM_VCP_RX_BUF_LEN 256
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#define PIOS_COM_TELEM_VCP_TX_BUF_LEN 256
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2012-10-20 20:48:22 +02:00
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#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
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#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
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2012-02-29 05:30:06 +01:00
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2012-05-14 05:19:04 +02:00
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uint32_t pios_com_telem_usb_id = 0;
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2012-11-26 03:40:49 +01:00
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uint32_t pios_com_telem_vcp_id = 0;
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uint32_t pios_com_telem_uart_telem_id = 0;
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uint32_t pios_com_telem_uart_flexi_id = 0;
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2012-10-20 20:48:22 +02:00
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uint32_t pios_com_telemetry_id = 0;
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2012-11-26 03:40:49 +01:00
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#if defined(PIOS_INCLUDE_PPM)
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2012-05-21 03:30:37 +02:00
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uint32_t pios_ppm_rcvr_id = 0;
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2012-11-26 03:40:49 +01:00
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#endif
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2012-10-20 20:48:22 +02:00
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#if defined(PIOS_INCLUDE_RFM22B)
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uint32_t pios_rfm22b_id = 0;
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uint32_t pios_com_rfm22b_id = 0;
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2012-11-26 03:40:49 +01:00
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uint32_t pios_com_radio_id = 0;
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2012-10-20 20:48:22 +02:00
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uint32_t pios_packet_handler = 0;
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#endif
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2012-02-22 04:29:06 +01:00
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/**
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* PIOS_Board_Init()
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* initializes all the core subsystems on this specific hardware
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* called from System/openpilot.c
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*/
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void PIOS_Board_Init(void) {
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/* Delay system */
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PIOS_DELAY_Init();
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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2012-08-28 04:10:54 +02:00
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/* Set up the SPI interface to the rfm22b */
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if (PIOS_SPI_Init(&pios_spi_rfm22b_id, &pios_spi_rfm22b_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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2012-02-22 04:29:06 +01:00
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2012-04-29 04:29:56 +02:00
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#ifdef PIOS_INCLUDE_WDG
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2012-02-22 04:29:06 +01:00
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/* Initialize watchdog as early as possible to catch faults during init */
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PIOS_WDG_Init();
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2012-04-29 04:29:56 +02:00
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#endif /* PIOS_INCLUDE_WDG */
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2012-02-22 04:29:06 +01:00
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#if defined(PIOS_INCLUDE_RTC)
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/* Initialize the real-time clock and its associated tick */
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PIOS_RTC_Init(&pios_rtc_main_cfg);
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2012-04-29 04:29:56 +02:00
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#endif /* PIOS_INCLUDE_RTC */
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2012-10-20 20:48:22 +02:00
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OPLinkSettingsInitialize();
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2012-02-22 04:29:06 +01:00
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2012-02-24 15:49:41 +01:00
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#if defined(PIOS_INCLUDE_LED)
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PIOS_LED_Init(&pios_led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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2012-10-20 20:48:22 +02:00
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OPLinkSettingsData oplinkSettings;
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2012-05-16 05:11:52 +02:00
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#if defined(PIOS_INCLUDE_FLASH_EEPROM)
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2012-06-30 19:06:01 +02:00
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PIOS_EEPROM_Init(&pios_eeprom_cfg);
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2012-04-29 04:29:56 +02:00
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/* Read the settings from flash. */
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2012-05-13 23:24:00 +02:00
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/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
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2012-10-20 20:48:22 +02:00
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if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
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OPLinkSettingsSet(&oplinkSettings);
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2012-04-29 04:29:56 +02:00
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else
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2012-10-20 20:48:22 +02:00
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OPLinkSettingsGet(&oplinkSettings);
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2012-05-14 05:20:17 +02:00
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#else
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2012-10-20 20:48:22 +02:00
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OPLinkSettingsGet(&oplinkSettings);
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2012-04-29 04:29:56 +02:00
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#endif /* PIOS_INCLUDE_FLASH_EEPROM */
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2012-02-22 04:29:06 +01:00
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/* Initialize the task monitor library */
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TaskMonitorInitialize();
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2012-03-16 03:51:46 +01:00
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#if defined(PIOS_INCLUDE_TIM)
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2012-02-22 04:29:06 +01:00
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/* Set up pulse timers */
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PIOS_TIM_InitClock(&tim_1_cfg);
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PIOS_TIM_InitClock(&tim_2_cfg);
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PIOS_TIM_InitClock(&tim_3_cfg);
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PIOS_TIM_InitClock(&tim_4_cfg);
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2012-03-16 03:51:46 +01:00
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#endif /* PIOS_INCLUDE_TIM */
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2012-02-22 04:29:06 +01:00
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2012-02-24 23:54:26 +01:00
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/* Initialize board specific USB data */
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PIOS_USB_BOARD_DATA_Init();
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2012-05-21 04:34:43 +02:00
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/* Flags to determine if various USB interfaces are advertised */
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2012-05-16 04:38:14 +02:00
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bool usb_cdc_present = false;
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2012-05-21 04:34:43 +02:00
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2012-02-24 23:54:26 +01:00
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#if defined(PIOS_INCLUDE_USB_CDC)
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2012-05-21 04:34:43 +02:00
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if (PIOS_USB_DESC_HID_CDC_Init()) {
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PIOS_Assert(0);
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2012-02-24 23:54:26 +01:00
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}
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2012-05-21 04:34:43 +02:00
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usb_cdc_present = true;
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2012-02-24 23:54:26 +01:00
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#else
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if (PIOS_USB_DESC_HID_ONLY_Init()) {
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PIOS_Assert(0);
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}
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#endif
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2012-10-20 20:48:22 +02:00
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/*Initialize the USB device */
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2012-02-24 23:54:26 +01:00
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uint32_t pios_usb_id;
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PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
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2012-11-26 03:40:49 +01:00
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/* Configure the USB HID port */
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2012-02-24 23:54:26 +01:00
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{
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uint32_t pios_usb_hid_id;
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if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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2012-11-26 03:40:49 +01:00
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
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2012-02-24 23:54:26 +01:00
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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2012-05-14 05:19:04 +02:00
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
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2012-02-24 23:54:26 +01:00
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rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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2012-11-26 03:40:49 +01:00
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/* Configure the USB virtual com port (VCP) */
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2012-10-20 20:48:22 +02:00
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#if defined(PIOS_INCLUDE_USB_CDC)
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2012-11-26 03:40:49 +01:00
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if (usb_cdc_present)
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{
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2012-10-20 20:48:22 +02:00
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uint32_t pios_usb_cdc_id;
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if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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2012-11-26 03:40:49 +01:00
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_TX_BUF_LEN);
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2012-10-20 20:48:22 +02:00
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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2012-11-26 03:40:49 +01:00
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if (PIOS_COM_Init(&pios_com_telem_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
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2012-10-20 20:48:22 +02:00
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PIOS_Assert(0);
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}
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}
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2012-11-26 03:40:49 +01:00
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#endif
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/* Configure the telemetry serial port */
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2012-12-02 17:41:48 +01:00
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#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
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2012-10-20 20:48:22 +02:00
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{
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2012-02-22 04:29:06 +01:00
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uint32_t pios_usart1_id;
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2012-03-16 03:51:46 +01:00
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if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
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2012-02-22 04:29:06 +01:00
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PIOS_Assert(0);
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}
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2012-11-26 03:40:49 +01:00
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
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2012-02-22 04:29:06 +01:00
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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2012-11-26 03:40:49 +01:00
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if (PIOS_COM_Init(&pios_com_telem_uart_telem_id, &pios_usart_com_driver, pios_usart1_id,
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2012-10-20 20:48:22 +02:00
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rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
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2012-02-22 04:29:06 +01:00
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PIOS_Assert(0);
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}
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2012-05-12 02:51:18 +02:00
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}
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2012-12-02 17:41:48 +01:00
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#endif
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2012-11-26 03:40:49 +01:00
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/* Configure the flexi serial port */
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2012-02-22 04:29:06 +01:00
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{
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uint32_t pios_usart3_id;
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if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
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PIOS_Assert(0);
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}
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2012-10-20 20:48:22 +02:00
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uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
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2012-02-22 04:29:06 +01:00
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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2012-11-26 03:40:49 +01:00
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if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
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2012-10-20 20:48:22 +02:00
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rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
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2012-02-22 04:29:06 +01:00
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PIOS_Assert(0);
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}
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2012-10-20 20:48:22 +02:00
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}
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/* Configure PPM input */
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2012-05-21 03:30:37 +02:00
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#if defined(PIOS_INCLUDE_PPM)
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2012-10-20 20:48:22 +02:00
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if (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE)
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2012-05-21 03:30:37 +02:00
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{
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2012-10-20 20:48:22 +02:00
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uint32_t pios_ppm_id;
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PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
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2012-05-21 03:30:37 +02:00
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2012-10-20 20:48:22 +02:00
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id))
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PIOS_Assert(0);
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}
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2012-05-21 03:30:37 +02:00
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#endif /* PIOS_INCLUDE_PPM */
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2012-10-20 20:48:22 +02:00
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/* Initalize the RFM22B radio COM device. */
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#if defined(PIOS_INCLUDE_RFM22B)
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{
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extern const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision);
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
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if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
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PIOS_Assert(0);
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}
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2012-11-11 16:52:53 +01:00
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2012-10-20 20:48:22 +02:00
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uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
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rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
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tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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// Initialize the packet handler
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PacketHandlerConfig pios_ph_cfg = {
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.default_destination_id = 0xffffffff, // Broadcast
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.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id),
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.win_size = PIOS_PH_WIN_SIZE,
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.max_connections = PIOS_PH_MAX_CONNECTIONS,
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};
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pios_packet_handler = PHInitialize(&pios_ph_cfg);
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#endif /* PIOS_INCLUDE_RFM22B */
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|
|
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|
2012-02-22 04:29:06 +01:00
|
|
|
/* Remap AFIO pin */
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|
|
|
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
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|
|
|
2012-03-20 01:59:05 +01:00
|
|
|
#ifdef PIOS_INCLUDE_ADC
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|
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|
PIOS_ADC_Init();
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|
|
|
#endif
|
|
|
|
PIOS_GPIO_Init();
|
2012-02-22 04:29:06 +01:00
|
|
|
}
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|
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|
|
|
/**
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|
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* @}
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|
|
|
*/
|