/** ****************************************************************************** * @file pios_board.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. * @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012 * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * @brief Defines board specific static initializers for hardware for the revomini 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 #include #include #include #include #include #include #include #include #include #ifdef PIOS_INCLUDE_INSTRUMENTATION #include #endif /* * 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" /** * Sensor configurations */ #if defined(PIOS_INCLUDE_ADC) #include "pios_adc_priv.h" void PIOS_ADC_DMC_irq_handler(void); void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler"))); struct pios_adc_cfg pios_adc_cfg = { .adc_dev = ADC1, .dma = { .irq = { .flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4), .init = { .NVIC_IRQChannel = DMA2_Stream4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .rx = { .channel = DMA2_Stream4, .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR }, } }, .half_flag = DMA_IT_HTIF4, .full_flag = DMA_IT_TCIF4, }; void PIOS_ADC_DMC_irq_handler(void) { /* Call into the generic code to handle the IRQ for this specific device */ PIOS_ADC_DMA_Handler(); } #endif /* if defined(PIOS_INCLUDE_ADC) */ #if defined(PIOS_INCLUDE_HMC5X83) #include "pios_hmc5x83.h" pios_hmc5x83_dev_t onboard_mag = 0; bool pios_board_internal_mag_handler() { return PIOS_HMC5x83_IRQHandler(onboard_mag); } static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = { .vector = pios_board_internal_mag_handler, .line = EXTI_Line7, .pin = { .gpio = GPIOB, .init = { .GPIO_Pin = GPIO_Pin_7, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI9_5_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line7, // matches above GPIO pin .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Rising, .EXTI_LineCmd = ENABLE, }, }, }; static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = { .exti_cfg = &pios_exti_hmc5x83_cfg, .M_ODR = PIOS_HMC5x83_ODR_75, .Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL, .Gain = PIOS_HMC5x83_GAIN_1_9, .Mode = PIOS_HMC5x83_MODE_CONTINUOUS, .Driver = &PIOS_HMC5x83_I2C_DRIVER, .Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP, }; #endif /* PIOS_INCLUDE_HMC5X83 */ /** * Configuration for the MS5611 chip */ #if defined(PIOS_INCLUDE_MS5611) #include "pios_ms5611.h" static const struct pios_ms5611_cfg pios_ms5611_cfg = { .oversampling = MS5611_OSR_4096, }; #endif /* PIOS_INCLUDE_MS5611 */ /** * Configuration for the MPU6000 chip */ #if defined(PIOS_INCLUDE_MPU6000) #include "pios_mpu6000.h" #include "pios_mpu6000_config.h" static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = { .vector = PIOS_MPU6000_IRQHandler, .line = EXTI_Line4, .pin = { .gpio = GPIOC, .init = { .GPIO_Pin = GPIO_Pin_4, .GPIO_Speed = GPIO_Speed_100MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_OType = GPIO_OType_OD, .GPIO_PuPd = GPIO_PuPd_NOPULL, }, }, .irq = { .init = { .NVIC_IRQChannel = EXTI4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, }, .exti = { .init = { .EXTI_Line = EXTI_Line4, // matches above GPIO pin .EXTI_Mode = EXTI_Mode_Interrupt, .EXTI_Trigger = EXTI_Trigger_Rising, .EXTI_LineCmd = ENABLE, }, }, }; static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { .exti_cfg = &pios_exti_mpu6000_cfg, .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, // Clock at 8 khz .Smpl_rate_div_no_dlp = 0, // with dlp on output rate is 1000Hz .Smpl_rate_div_dlp = 0, .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, .User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C, .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, .accel_range = PIOS_MPU6000_ACCEL_8G, .gyro_range = PIOS_MPU6000_SCALE_2000_DEG, .filter = PIOS_MPU6000_LOWPASS_256_HZ, .orientation = PIOS_MPU6000_TOP_180DEG, .fast_prescaler = PIOS_SPI_PRESCALER_4, .std_prescaler = PIOS_SPI_PRESCALER_64, .max_downsample = 20, }; #endif /* PIOS_INCLUDE_MPU6000 */ /* One slot per selectable receiver group. * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS * NOTE: No slot in this map for NONE. */ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; #define PIOS_COM_TELEM_RF_RX_BUF_LEN 512 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 512 #define PIOS_COM_GPS_RX_BUF_LEN 128 #define PIOS_COM_GPS_TX_BUF_LEN 32 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 65 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 65 #define PIOS_COM_BRIDGE_RX_BUF_LEN 65 #define PIOS_COM_BRIDGE_TX_BUF_LEN 12 #define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512 #define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512 #define PIOS_COM_HKOSD_RX_BUF_LEN 22 #define PIOS_COM_HKOSD_TX_BUF_LEN 22 #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) #define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40 uint32_t pios_com_debug_id; #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ uint32_t pios_com_gps_id = 0; uint32_t pios_com_telem_usb_id = 0; uint32_t pios_com_telem_rf_id = 0; uint32_t pios_com_rf_id = 0; uint32_t pios_com_bridge_id = 0; uint32_t pios_com_overo_id = 0; uint32_t pios_com_hkosd_id = 0; uint32_t pios_com_vcp_id = 0; #if defined(PIOS_INCLUDE_RFM22B) uint32_t pios_rfm22b_id = 0; #endif uintptr_t pios_uavo_settings_fs_id; uintptr_t pios_user_fs_id; /* * Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only */ static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len, const struct pios_com_driver *com_driver, uint32_t *pios_com_id) { uint32_t pios_usart_id; if (PIOS_USART_Init(&pios_usart_id, usart_port_cfg)) { PIOS_Assert(0); } uint8_t *rx_buffer = (uint8_t *)pios_malloc(rx_buf_len); PIOS_Assert(rx_buffer); if (tx_buf_len != (size_t)-1) { // this is the case for rx/tx ports uint8_t *tx_buffer = (uint8_t *)pios_malloc(tx_buf_len); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id, rx_buffer, rx_buf_len, tx_buffer, tx_buf_len)) { PIOS_Assert(0); } } else { // rx only port if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id, rx_buffer, rx_buf_len, NULL, 0)) { PIOS_Assert(0); } } } static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm_cfg, const struct pios_dsm_cfg *pios_dsm_cfg, const struct pios_com_driver *usart_com_driver, ManualControlSettingsChannelGroupsOptions channelgroup, uint8_t *bind) { uint32_t pios_usart_dsm_id; if (PIOS_USART_Init(&pios_usart_dsm_id, pios_usart_dsm_cfg)) { PIOS_Assert(0); } uint32_t pios_dsm_id; if (PIOS_DSM_Init(&pios_dsm_id, pios_dsm_cfg, usart_com_driver, pios_usart_dsm_id, *bind)) { PIOS_Assert(0); } uint32_t pios_dsm_rcvr_id; if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) { PIOS_Assert(0); } pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id; } static void PIOS_Board_configure_pwm(const struct pios_pwm_cfg *pwm_cfg) { /* Set up the receiver port. Later this should be optional */ uint32_t pios_pwm_id; PIOS_PWM_Init(&pios_pwm_id, pwm_cfg); uint32_t pios_pwm_rcvr_id; if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; } static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *ppm_cfg) { uint32_t pios_ppm_id; PIOS_PPM_Init(&pios_ppm_id, ppm_cfg); uint32_t pios_ppm_rcvr_id; if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; } static void PIOS_Board_PPM_callback(const int16_t *channels) { uint8_t max_chan = (RFM22B_PPM_NUM_CHANNELS < OPLINKRECEIVER_CHANNEL_NUMELEM) ? RFM22B_PPM_NUM_CHANNELS : OPLINKRECEIVER_CHANNEL_NUMELEM; OPLinkReceiverData opl_rcvr; for (uint8_t i = 0; i < max_chan; ++i) { opl_rcvr.Channel[i] = channels[i]; } OPLinkReceiverSet(&opl_rcvr); } /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ #include 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 /* Set up the SPI interface to the gyro/acelerometer */ if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) { PIOS_DEBUG_Assert(0); } /* Set up the SPI interface to the flash and rfm22b */ if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) { PIOS_DEBUG_Assert(0); } #if defined(PIOS_INCLUDE_FLASH) /* Connect flash to the appropriate interface and configure it */ uintptr_t flash_id; // Initialize the external USER flash if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1)) { PIOS_DEBUG_Assert(0); } if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_external_system_cfg, &pios_jedec_flash_driver, flash_id)) { PIOS_DEBUG_Assert(0); } #endif /* if defined(PIOS_INCLUDE_FLASH) */ #if defined(PIOS_INCLUDE_RTC) PIOS_RTC_Init(&pios_rtc_main_cfg); #endif /* IAP System Setup */ 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); } #ifdef PIOS_INCLUDE_WDG PIOS_WDG_Init(); #endif /* 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(); HwSettingsInitialize(); #if defined(PIOS_INCLUDE_RFM22B) OPLinkSettingsInitialize(); OPLinkStatusInitialize(); #endif /* PIOS_INCLUDE_RFM22B */ /* Initialize the alarms library */ AlarmsInitialize(); /* Set up pulse timers */ PIOS_TIM_InitClock(&tim_1_cfg); PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_4_cfg); PIOS_TIM_InitClock(&tim_5_cfg); PIOS_TIM_InitClock(&tim_8_cfg); PIOS_TIM_InitClock(&tim_9_cfg); PIOS_TIM_InitClock(&tim_10_cfg); PIOS_TIM_InitClock(&tim_11_cfg); PIOS_TIM_InitClock(&tim_12_cfg); 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); AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); } /* Configure IO ports */ uint8_t hwsettings_DSMxBind; HwSettingsDSMxBindGet(&hwsettings_DSMxBind); /* Configure FlexiPort */ uint8_t hwsettings_flexiport; HwSettingsRM_FlexiPortGet(&hwsettings_flexiport); switch (hwsettings_flexiport) { case HWSETTINGS_RM_FLEXIPORT_DISABLED: break; case HWSETTINGS_RM_FLEXIPORT_TELEMETRY: PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); break; case HWSETTINGS_RM_FLEXIPORT_I2C: #if defined(PIOS_INCLUDE_I2C) { if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_I2C */ break; case HWSETTINGS_RM_FLEXIPORT_GPS: PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id); break; case HWSETTINGS_RM_FLEXIPORT_DSM: // TODO: Define the various Channelgroup for Revo dsm inputs and handle here PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg, &pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind); break; case HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE: #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) { PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id); } #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ break; case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE: PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id); break; case HWSETTINGS_RM_FLEXIPORT_OSDHK: PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id); break; case HWSETTINGS_RM_FLEXIPORT_SRXL: #if defined(PIOS_INCLUDE_SRXL) { uint32_t pios_usart_srxl_id; if (PIOS_USART_Init(&pios_usart_srxl_id, &pios_usart_srxl_flexi_cfg)) { PIOS_Assert(0); } uint32_t pios_srxl_id; if (PIOS_SRXL_Init(&pios_srxl_id, &pios_usart_com_driver, pios_usart_srxl_id)) { PIOS_Assert(0); } uint32_t pios_srxl_rcvr_id; if (PIOS_RCVR_Init(&pios_srxl_rcvr_id, &pios_srxl_rcvr_driver, pios_srxl_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id; } #endif break; } /* hwsettings_rm_flexiport */ /* Moved this here to allow binding on flexiport */ #if defined(PIOS_INCLUDE_FLASH) if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_user_cfg, &pios_jedec_flash_driver, flash_id)) { PIOS_DEBUG_Assert(0); } #endif /* if defined(PIOS_INCLUDE_FLASH) */ #if defined(PIOS_INCLUDE_USB) /* Initialize board specific USB data */ PIOS_USB_BOARD_DATA_Init(); /* Flags to determine if various USB interfaces are advertised */ bool usb_hid_present = false; bool usb_cdc_present = false; #if defined(PIOS_INCLUDE_USB_CDC) if (PIOS_USB_DESC_HID_CDC_Init()) { PIOS_Assert(0); } usb_hid_present = true; usb_cdc_present = true; #else if (PIOS_USB_DESC_HID_ONLY_Init()) { PIOS_Assert(0); } usb_hid_present = true; #endif uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); #if defined(PIOS_INCLUDE_USB_CDC) uint8_t hwsettings_usb_vcpport; /* Configure the USB VCP port */ HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport); if (!usb_cdc_present) { /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED; } uint32_t pios_usb_cdc_id; if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { PIOS_Assert(0); } 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); } switch (hwsettings_usb_vcpport) { case HWSETTINGS_USB_VCPPORT_DISABLED: break; case HWSETTINGS_USB_VCPPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ break; case HWSETTINGS_USB_VCPPORT_COMBRIDGE: #if defined(PIOS_INCLUDE_COM) { uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ break; case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE: #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) { uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, NULL, 0, tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ #endif /* PIOS_INCLUDE_COM */ break; } #endif /* PIOS_INCLUDE_USB_CDC */ #if defined(PIOS_INCLUDE_USB_HID) /* Configure the usb HID port */ uint8_t hwsettings_usb_hidport; HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); if (!usb_hid_present) { /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED; } switch (hwsettings_usb_hidport) { case HWSETTINGS_USB_HIDPORT_DISABLED: break; case HWSETTINGS_USB_HIDPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ break; } #endif /* PIOS_INCLUDE_USB_HID */ if (usb_hid_present || usb_cdc_present) { PIOS_USBHOOK_Activate(); } #endif /* PIOS_INCLUDE_USB */ /* Configure main USART port */ uint8_t hwsettings_mainport; HwSettingsRM_MainPortGet(&hwsettings_mainport); switch (hwsettings_mainport) { case HWSETTINGS_RM_MAINPORT_DISABLED: break; case HWSETTINGS_RM_MAINPORT_TELEMETRY: PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); break; case HWSETTINGS_RM_MAINPORT_GPS: PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id); break; case HWSETTINGS_RM_MAINPORT_SBUS: #if defined(PIOS_INCLUDE_SBUS) { uint32_t pios_usart_sbus_id; if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) { PIOS_Assert(0); } uint32_t pios_sbus_id; if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) { PIOS_Assert(0); } uint32_t pios_sbus_rcvr_id; if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id; } #endif break; case HWSETTINGS_RM_MAINPORT_DSM: // Force binding to zero on the main port hwsettings_DSMxBind = 0; // TODO: Define the various Channelgroup for Revo dsm inputs and handle here PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg, &pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind); break; case HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE: #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) { PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id); } #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ break; case HWSETTINGS_RM_MAINPORT_COMBRIDGE: PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id); break; case HWSETTINGS_RM_MAINPORT_OSDHK: PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id); break; } /* hwsettings_rm_mainport */ if (hwsettings_mainport != HWSETTINGS_RM_MAINPORT_SBUS) { GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init); GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable); } /* Initalize the RFM22B radio COM device. */ #if defined(PIOS_INCLUDE_RFM22B) /* Fetch the OPinkSettings object. */ OPLinkSettingsData oplinkSettings; OPLinkSettingsGet(&oplinkSettings); // Initialize out status object. OPLinkStatusData oplinkStatus; OPLinkStatusGet(&oplinkStatus); oplinkStatus.BoardType = bdinfo->board_type; PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM); PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial); oplinkStatus.BoardRevision = bdinfo->board_rev; /* Is the radio turned on? */ bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE); bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE); bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE); bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE); if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) { /* Configure the RFM22B device. */ const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev); if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) { PIOS_Assert(0); } /* Configure the radio com interface */ uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id, rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) { PIOS_Assert(0); } oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED; // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex. enum rfm22b_datarate datarate = RFM22_datarate_64000; switch (oplinkSettings.ComSpeed) { case OPLINKSETTINGS_COMSPEED_4800: datarate = RFM22_datarate_9600; break; case OPLINKSETTINGS_COMSPEED_9600: datarate = RFM22_datarate_19200; break; case OPLINKSETTINGS_COMSPEED_19200: datarate = RFM22_datarate_32000; break; case OPLINKSETTINGS_COMSPEED_38400: datarate = RFM22_datarate_64000; break; case OPLINKSETTINGS_COMSPEED_57600: datarate = RFM22_datarate_100000; break; case OPLINKSETTINGS_COMSPEED_115200: datarate = RFM22_datarate_192000; break; } /* Set the radio configuration parameters. */ PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID); PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only); /* Set the PPM callback if we should be receiving PPM. */ if (ppm_mode || (ppm_only && !is_coordinator)) { PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback); } /* Set the modem Tx poer level */ switch (oplinkSettings.MaxRFPower) { case OPLINKSETTINGS_MAXRFPOWER_125: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0); break; case OPLINKSETTINGS_MAXRFPOWER_16: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1); break; case OPLINKSETTINGS_MAXRFPOWER_316: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2); break; case OPLINKSETTINGS_MAXRFPOWER_63: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3); break; case OPLINKSETTINGS_MAXRFPOWER_126: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4); break; case OPLINKSETTINGS_MAXRFPOWER_25: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5); break; case OPLINKSETTINGS_MAXRFPOWER_50: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6); break; case OPLINKSETTINGS_MAXRFPOWER_100: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7); break; default: // do nothing break; } /* Reinitialize the modem. */ PIOS_RFM22B_Reinit(pios_rfm22b_id); } else { oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED; } OPLinkStatusSet(&oplinkStatus); #endif /* PIOS_INCLUDE_RFM22B */ #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM) const struct pios_servo_cfg *pios_servo_cfg; // default to servo outputs only pios_servo_cfg = &pios_servo_cfg_out; #endif /* Configure the receiver port*/ uint8_t hwsettings_rcvrport; HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport); // switch (hwsettings_rcvrport) { case HWSETTINGS_RM_RCVRPORT_DISABLED: break; case HWSETTINGS_RM_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) /* Set up the receiver port. Later this should be optional */ PIOS_Board_configure_pwm(&pios_pwm_cfg); #endif /* PIOS_INCLUDE_PWM */ break; case HWSETTINGS_RM_RCVRPORT_PPM: case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS: case HWSETTINGS_RM_RCVRPORT_PPMPWM: case HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY: #if defined(PIOS_INCLUDE_PPM) PIOS_Board_configure_ppm(&pios_ppm_cfg); if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) { // configure servo outputs and the remaining 5 inputs as outputs pios_servo_cfg = &pios_servo_cfg_out_in_ppm; } // enable pwm on the remaining channels if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) { PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg); } if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY) { PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); } break; #endif /* PIOS_INCLUDE_PPM */ case HWSETTINGS_RM_RCVRPORT_OUTPUTS: // configure only the servo outputs pios_servo_cfg = &pios_servo_cfg_out_in; break; case HWSETTINGS_RM_RCVRPORT_TELEMETRY: PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); break; } #if defined(PIOS_INCLUDE_GCSRCVR) GCSReceiverInitialize(); uint32_t pios_gcsrcvr_id; PIOS_GCSRCVR_Init(&pios_gcsrcvr_id); uint32_t pios_gcsrcvr_rcvr_id; if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; #endif /* PIOS_INCLUDE_GCSRCVR */ #if defined(PIOS_INCLUDE_OPLINKRCVR) { OPLinkReceiverInitialize(); uint32_t pios_oplinkrcvr_id; PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id); uint32_t pios_oplinkrcvr_rcvr_id; if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id; } #endif /* PIOS_INCLUDE_OPLINKRCVR */ #ifndef PIOS_ENABLE_DEBUG_PINS // pios_servo_cfg points to the correct configuration based on input port settings PIOS_Servo_Init(pios_servo_cfg); #else PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins)); #endif // Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout GPIO_InitTypeDef gpioA8 = { .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_PuPd = GPIO_PuPd_NOPULL, .GPIO_Pin = GPIO_Pin_8, .GPIO_OType = GPIO_OType_OD, }; GPIO_Init(GPIOA, &gpioA8); if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) { PIOS_DEBUG_Assert(0); } PIOS_DELAY_WaitmS(50); #if defined(PIOS_INCLUDE_ADC) PIOS_ADC_Init(&pios_adc_cfg); #endif #if defined(PIOS_INCLUDE_MPU6000) PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg); PIOS_MPU6000_CONFIG_Configure(); PIOS_MPU6000_Register(); #endif #if defined(PIOS_INCLUDE_HMC5X83) onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0); PIOS_HMC5x83_Register(onboard_mag); #endif #if defined(PIOS_INCLUDE_MS5611) PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id); PIOS_MS5611_Register(); #endif #ifdef PIOS_INCLUDE_WS2811 #include HwSettingsWS2811LED_OutOptions ws2811_pin_settings; HwSettingsWS2811LED_OutGet(&ws2811_pin_settings); if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) { PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]); } #endif // PIOS_INCLUDE_WS2811 #ifdef PIOS_INCLUDE_ADC { uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM]; HwSettingsADCRoutingArrayGet(adc_config); for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) { if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) { PIOS_ADC_PinSetup(i); } } } #endif // PIOS_INCLUDE_ADC } /** * @} * @} */