LibrePilot/flight/targets/boards/coptercontrol/bootloader/pios_board.c

/**
 ******************************************************************************
 *
 * @file       pios_board.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Defines board specific static initializers for hardware for the PipBee board.
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * 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 <pios.h>
#include <pios_board_info.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"

uint32_t pios_com_telem_usb_id;

/**
 * PIOS_Board_Init()
 * initializes all the core subsystems on this specific hardware
 * called from System/openpilot.c
 */
static bool board_init_complete = false;
void PIOS_Board_Init(void)
{
    if (board_init_complete) {
        return;
    }

    /* Enable Prefetch Buffer */
    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

    /* Flash 2 wait state */
    FLASH_SetLatency(FLASH_Latency_2);

    /* Delay system */
    PIOS_DELAY_Init();

    /* Initialize the PiOS library */
    PIOS_GPIO_Init();

    const struct pios_board_info *bdinfo = &pios_board_info_blob;

#if defined(PIOS_INCLUDE_LED)
    const struct pios_led_cfg *led_cfg   = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
    PIOS_Assert(led_cfg);
    PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_USB)
    /* Initialize board specific USB data */
    PIOS_USB_BOARD_DATA_Init();

    /* Activate the HID-only USB configuration */
    PIOS_USB_DESC_HID_ONLY_Init();

    uint32_t pios_usb_id;
    switch (bdinfo->board_rev) {
    case BOARD_REVISION_CC:
        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
        break;
    case BOARD_REVISION_CC3D:
        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
        break;
    default:
        PIOS_Assert(0);
    }
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
    uint32_t pios_usb_hid_id;
    if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
        PIOS_Assert(0);
    }
    if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
        PIOS_Assert(0);
    }
#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

#endif /* PIOS_INCLUDE_USB */

    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); // TODO Tirar

    board_init_complete = true;
}

void PIOS_ADC_DMA_Handler()
{}