/** ***************************************************************************** * @file pios_board.c * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017. * 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 PikoBLX 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 #include #ifdef PIOS_INCLUDE_INSTRUMENTATION #include #endif #include #include /* * 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" uintptr_t pios_uavo_settings_fs_id; uintptr_t pios_user_fs_id = 0; #ifdef PIOS_INCLUDE_WS2811 uint32_t pios_ws2811_id; #endif void RevoSettingsDataOverrideDefaults(RevoSettingsData *data) { /* This board has no barometer, so adjust default fusion algorithm to one that does not depend on working baro */ data->FusionAlgorithm = REVOSETTINGS_FUSIONALGORITHM_ACRONOSENSORS; } static HwPikoBLXSettingsData boardHwSettings; static void hwPikoBLXSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) { HwPikoBLXSettingsData currentBoardHwSettings; HwPikoBLXSettingsGet(¤tBoardHwSettings); if (memcmp(¤tBoardHwSettings, &boardHwSettings, sizeof(HwPikoBLXSettingsData)) != 0) { ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0); } } /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { #if defined(PIOS_INCLUDE_LED) PIOS_LED_Init(&pios_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 mpu9250 */ if (PIOS_SPI_Init(&pios_spi_mpu6000_id, &pios_spi_mpu6000_cfg)) { PIOS_DEBUG_Assert(0); } #endif #if defined(PIOS_INCLUDE_FLASH) /* Connect flash to the appropriate interface and configure it */ uintptr_t flash_id; // initialize the internal settings storage flash if (PIOS_Flash_Internal_Init(&flash_id, &flash_internal_system_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id)) { PIOS_DEBUG_Assert(0); } // if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_internal_user_cfg, &pios_internal_flash_driver, flash_id)) { // PIOS_DEBUG_Assert(0); // } #endif /* if defined(PIOS_INCLUDE_FLASH) */ /* 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(); HwPikoBLXSettingsInitialize(); #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); HwPikoBLXSettingsSetDefaults(HwPikoBLXSettingsHandle(), 0); AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); } 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_8_cfg); PIOS_TIM_InitClock(&tim_15_cfg); PIOS_TIM_InitClock(&tim_16_cfg); PIOS_TIM_InitClock(&tim_17_cfg); #if defined(PIOS_INCLUDE_USB) PIOS_BOARD_IO_Configure_USB(); #endif HwPikoBLXSettingsConnectCallback(hwPikoBLXSettingsUpdatedCb); HwPikoBLXSettingsGet(&boardHwSettings); static const PIOS_BOARD_IO_UART_Function uart_function_map[] = { [HWPIKOBLXSETTINGS_UARTPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY, [HWPIKOBLXSETTINGS_UARTPORT_GPS] = PIOS_BOARD_IO_UART_GPS, [HWPIKOBLXSETTINGS_UARTPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS, [HWPIKOBLXSETTINGS_UARTPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN, // single DSM instance? ok. [HWPIKOBLXSETTINGS_UARTPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS, [HWPIKOBLXSETTINGS_UARTPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD, [HWPIKOBLXSETTINGS_UARTPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH, [HWPIKOBLXSETTINGS_UARTPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL, [HWPIKOBLXSETTINGS_UARTPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS, [HWPIKOBLXSETTINGS_UARTPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE, [HWPIKOBLXSETTINGS_UARTPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE, [HWPIKOBLXSETTINGS_UARTPORT_MSP] = PIOS_BOARD_IO_UART_MSP, [HWPIKOBLXSETTINGS_UARTPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK, [HWPIKOBLXSETTINGS_UARTPORT_HOTTTELEMETRY] = PIOS_BOARD_IO_UART_HOTT_BRIDGE, [HWPIKOBLXSETTINGS_UARTPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB, }; for (unsigned int i = 0; i < HWPIKOBLXSETTINGS_UARTPORT_NUMELEM; ++i) { if (boardHwSettings.UARTPort[i] < NELEMENTS(uart_function_map)) { PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[i], uart_function_map[boardHwSettings.UARTPort[i]]); } } #ifdef PIOS_INCLUDE_PPM PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg); #endif #ifdef PIOS_INCLUDE_GCSRCVR PIOS_BOARD_IO_Configure_GCS_RCVR(); #endif #ifdef PIOS_INCLUDE_OPLINKRCVR PIOS_BOARD_IO_Configure_OPLink_RCVR(); #endif #ifndef PIOS_ENABLE_DEBUG_PINS PIOS_Servo_Init(&pios_servo_cfg); #else PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels); #endif switch (boardHwSettings.LEDPort) { case HWPIKOBLXSETTINGS_LEDPORT_WS281X: #if defined(PIOS_INCLUDE_WS2811) PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg); #endif break; default: break; } PIOS_BOARD_Sensors_Configure(); PIOS_LED_On(PIOS_LED_HEARTBEAT); /* Make sure we have at least one telemetry link configured or else fail initialization */ // PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id); } /** * @} */