/**
****************************************************************************************
* @file pios_board.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* 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 Sparky2 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 <taskinfo.h>
#include <pios_ws2811.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
#ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.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"
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id;
#ifdef PIOS_INCLUDE_WS2811
uint32_t pios_ws2811_id;
#endif
static const PIOS_BOARD_IO_UART_Function rcvr_function_map[] = {
[HWSETTINGS_SPK2_RCVRPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
[HWSETTINGS_SPK2_RCVRPORT_DSM] = PIOS_BOARD_IO_UART_DSM_RCVR,
[HWSETTINGS_SPK2_RCVRPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
[HWSETTINGS_SPK2_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
[HWSETTINGS_SPK2_RCVRPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
[HWSETTINGS_SPK2_RCVRPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
[HWSETTINGS_SPK2_RCVRPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
};
static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
[HWSETTINGS_SPK2_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
[HWSETTINGS_SPK2_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
[HWSETTINGS_SPK2_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
[HWSETTINGS_SPK2_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
[HWSETTINGS_SPK2_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_SPK2_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
[HWSETTINGS_SPK2_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_SPK2_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
[HWSETTINGS_SPK2_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
};
static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
[HWSETTINGS_SPK2_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
[HWSETTINGS_SPK2_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
[HWSETTINGS_SPK2_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
[HWSETTINGS_SPK2_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
[HWSETTINGS_SPK2_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
[HWSETTINGS_SPK2_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
[HWSETTINGS_SPK2_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
[HWSETTINGS_SPK2_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_SPK2_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
[HWSETTINGS_SPK2_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_SPK2_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
[HWSETTINGS_SPK2_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
};
/**
* 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
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_adapter_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_adapter_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 = 0;
// Initialize the external USER flash
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_adapter_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();
/* Initialize the alarms library */
AlarmsInitialize();
/* 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_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 */
/* Configure FlexiPort */
uint8_t hwsettings_flexiport;
HwSettingsSPK2_FlexiPortGet(&hwsettings_flexiport);
if (hwsettings_flexiport < NELEMENTS(flexi_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, flexi_function_map[hwsettings_flexiport]);
}
#if defined(PIOS_INCLUDE_I2C)
/* Set up internal I2C bus */
if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_DELAY_WaitmS(50);
if (hwsettings_flexiport == HWSETTINGS_RM_FLEXIPORT_I2C) {
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
PIOS_DELAY_WaitmS(50);
}
#endif
/* 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)
PIOS_BOARD_IO_Configure_USB();
#endif
uint8_t hwsettings_mainport;
HwSettingsSPK2_MainPortGet(&hwsettings_mainport);
if (hwsettings_mainport < NELEMENTS(main_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_main_cfg, main_function_map[hwsettings_mainport]);
}
#if defined(PIOS_INCLUDE_RFM22B)
PIOS_BOARD_IO_Configure_RFM22B();
uint8_t hwsettings_radioaux;
HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
PIOS_BOARD_IO_Configure_RadioAuxStream(hwsettings_radioaux);
#endif /* PIOS_INCLUDE_RFM22B */
// Configure the receiver port
// Sparky2 receiver input on PC7 TIM8 CH2
// include PPM,S.Bus,DSM,SRXL,IBus,EX.Bus,HoTT SUMD,HoTT SUMH
/* Configure the receiver port*/
uint8_t hwsettings_rcvrport;
HwSettingsSPK2_RcvrPortGet(&hwsettings_rcvrport);
if (hwsettings_rcvrport < NELEMENTS(rcvr_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_rcvr_cfg, rcvr_function_map[hwsettings_rcvrport]);
}
#if defined(PIOS_INCLUDE_PPM)
if (hwsettings_rcvrport == HWSETTINGS_SPK2_RCVRPORT_PPM) {
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
}
#endif
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
PIOS_Servo_Init(&pios_servo_cfg_out);
#else
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif
PIOS_BOARD_Sensors_Configure();
#ifdef PIOS_INCLUDE_WS2811
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_id, &pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
}
#endif // PIOS_INCLUDE_WS2811
#ifdef PIOS_INCLUDE_ADC
// 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);
#endif /* PIOS_INCLUDE_ADC */
}
/**
* @}
* @}
*/