/* -*- Mode: c; c-basic-offset: 2; tab-width: 2; indent-tabs-mode: t -*- */ /** ****************************************************************************** * @addtogroup OpenPilotSystem OpenPilot System * @{ * @addtogroup OpenPilotCore OpenPilot Core * @{ * * @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 OpenPilot 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 #include #include #include #define PIOS_COM_TELEM_RX_BUF_LEN 256 #define PIOS_COM_TELEM_TX_BUF_LEN 256 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 256 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 256 #define PIOS_COM_TELEM_VCP_RX_BUF_LEN 256 #define PIOS_COM_TELEM_VCP_TX_BUF_LEN 256 #define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256 #define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256 uint32_t pios_com_telem_usb_id = 0; uint32_t pios_com_telem_vcp_id = 0; uint32_t pios_com_telem_uart_telem_id = 0; uint32_t pios_com_telem_uart_flexi_id = 0; uint32_t pios_com_telemetry_id = 0; #if defined(PIOS_INCLUDE_PPM) uint32_t pios_ppm_rcvr_id = 0; #endif #if defined(PIOS_INCLUDE_PPM_OUT) uint32_t pios_ppm_out_id = 0; #endif #if defined(PIOS_INCLUDE_RFM22B) uint32_t pios_rfm22b_id = 0; uint32_t pios_com_rfm22b_id = 0; uint32_t pios_com_radio_id = 0; #endif /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); /* Set up the SPI interface to the rfm22b */ if (PIOS_SPI_Init(&pios_spi_rfm22b_id, &pios_spi_rfm22b_cfg)) { PIOS_DEBUG_Assert(0); } #ifdef PIOS_INCLUDE_WDG /* Initialize watchdog as early as possible to catch faults during init */ PIOS_WDG_Init(); #endif /* PIOS_INCLUDE_WDG */ #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); #endif /* PIOS_INCLUDE_RTC */ OPLinkSettingsInitialize(); #if defined(PIOS_INCLUDE_LED) PIOS_LED_Init(&pios_led_cfg); #endif /* PIOS_INCLUDE_LED */ OPLinkSettingsData oplinkSettings; #if defined(PIOS_INCLUDE_FLASH_EEPROM) PIOS_EEPROM_Init(&pios_eeprom_cfg); /* Read the settings from flash. */ /* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */ if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0) OPLinkSettingsSet(&oplinkSettings); else OPLinkSettingsGet(&oplinkSettings); #else OPLinkSettingsGet(&oplinkSettings); #endif /* PIOS_INCLUDE_FLASH_EEPROM */ /* Initialize the task monitor library */ TaskMonitorInitialize(); #if defined(PIOS_INCLUDE_TIM) /* 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); #endif /* PIOS_INCLUDE_TIM */ /* Initialize board specific USB data */ PIOS_USB_BOARD_DATA_Init(); /* Flags to determine if various USB interfaces are advertised */ bool usb_cdc_present = false; #if defined(PIOS_INCLUDE_USB_CDC) if (PIOS_USB_DESC_HID_CDC_Init()) { PIOS_Assert(0); } usb_cdc_present = true; #else if (PIOS_USB_DESC_HID_ONLY_Init()) { PIOS_Assert(0); } #endif /*Initialize the USB device */ uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg); /* Configure the USB HID port */ { 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); } uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(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); } } /* Configure the USB virtual com port (VCP) */ #if defined(PIOS_INCLUDE_USB_CDC) if (usb_cdc_present) { 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); } uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* Configure the telemetry serial port */ #ifndef PIOS_RFM22B_DEBUG_ON_TELEM { uint32_t pios_usart1_id; if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) { PIOS_Assert(0); } uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_uart_telem_id, &pios_usart_com_driver, pios_usart1_id, rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* Configure PPM input */ switch (oplinkSettings.PPM) { #if defined(PIOS_INCLUDE_PPM) case OPLINKSETTINGS_PPM_INPUT: { uint32_t pios_ppm_id; PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) PIOS_Assert(0); break; } #endif /* PIOS_INCLUDE_PPM */ #if defined(PIOS_INCLUDE_PPM_OUT) case OPLINKSETTINGS_PPM_OUTPUT: PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_ppm_out_cfg); break; #endif /* PIOS_INCLUDE_PPM_OUT */ default: { /* Configure the flexi serial port if PPM not selected */ uint32_t pios_usart3_id; if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id, rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) { PIOS_Assert(0); } } } /* Initalize the RFM22B radio COM device. */ #if defined(PIOS_INCLUDE_RFM22B) { extern const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision); const struct pios_board_info * bdinfo = &pios_board_info_blob; const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev); if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) { PIOS_Assert(0); } uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_rfm22b_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); } } #endif /* PIOS_INCLUDE_RFM22B */ /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); #ifdef PIOS_INCLUDE_ADC PIOS_ADC_Init(); #endif PIOS_GPIO_Init(); } /** * @} */