/** ****************************************************************************** * * @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 OPOSD 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 "inc/openpilot.h" #include #include #include #include #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" /* Private macro -------------------------------------------------------------*/ #define countof(a) (sizeof(a) / sizeof(*(a))) /* Private variables ---------------------------------------------------------*/ #if defined(PIOS_INCLUDE_ADC) #include 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) */ static void Clock(uint32_t spektrum_id); #define PIOS_COM_TELEM_RF_RX_BUF_LEN 128 #define PIOS_COM_TELEM_RF_TX_BUF_LEN 128 #define PIOS_COM_AUX_RX_BUF_LEN 512 #define PIOS_COM_AUX_TX_BUF_LEN 512 #define PIOS_COM_GPS_RX_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 uint32_t pios_com_aux_id; uint32_t pios_com_gps_id; uint32_t pios_com_telem_usb_id; uint32_t pios_com_telem_rf_id; uintptr_t pios_uavo_settings_fs_id; uintptr_t pios_user_fs_id = 0; /** * TIM3 is triggered by the HSYNC signal into its ETR line and will divide the * APB1_CLOCK to generate a pixel clock that is used by the SPI CLK lines. * TIM4 will be synced to it and will divide by that times the pixel width to * fire an IRQ when the last pixel of the line has been output. Then the timer will * be rearmed and wait for the next HSYNC signal. * The critical timing detail is that the task be _DISABLED_ at the end of the line * before an extra pixel is clocked out * or we will need to configure the DMA task per line */ #include "pios_tim_priv.h" #define NTSC_PX_CLOCK 6797088 #define PAL_PX_CLOCK 6750130 #define PX_PERIOD ((PIOS_PERIPHERAL_APB1_CLOCK / NTSC_PX_CLOCK) + 1) #define LINE_PERIOD PX_PERIOD * GRAPHICS_WIDTH static const TIM_TimeBaseInitTypeDef tim_4_time_base = { .TIM_Prescaler = 0, // PIOS_PERIPHERAL_APB1_CLOCK, .TIM_ClockDivision = TIM_CKD_DIV1, .TIM_CounterMode = TIM_CounterMode_Up, .TIM_Period = LINE_PERIOD - 1, .TIM_RepetitionCounter = 0x0000, }; static const struct pios_tim_clock_cfg pios_tim4_cfg = { .timer = TIM4, .time_base_init = &tim_4_time_base, .irq = { .init = { .NVIC_IRQChannel = TIM4_IRQn, .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, .NVIC_IRQChannelSubPriority = 0, .NVIC_IRQChannelCmd = ENABLE, }, } }; void PIOS_Board_Init(void) { // Delay system PIOS_DELAY_Init(); PIOS_LED_Init(&pios_led_cfg); #if defined(PIOS_INCLUDE_SPI) /* Set up the SPI interface to the SD card */ if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) { PIOS_Assert(0); } #if defined(PIOS_INCLUDE_SDCARD) /* Enable and mount the SDCard */ PIOS_SDCARD_Init(pios_spi_sdcard_id); PIOS_SDCARD_MountFS(0); #endif #endif /* PIOS_INCLUDE_SPI */ #ifdef PIOS_INCLUDE_FLASH_LOGFS_SETTINGS uintptr_t flash_id; PIOS_Flash_Internal_Init(&flash_id, &flash_internal_cfg); PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id); #elif !defined(PIOS_USE_SETTINGS_ON_SDCARD) #error No setting storage specified. (define PIOS_USE_SETTINGS_ON_SDCARD or INCLUDE_FLASH_SECTOR_SETTINGS) #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(); #ifdef PIOS_INCLUDE_WDG /* Initialize watchdog as early as possible to catch faults during init */ PIOS_WDG_Init(); #endif /* PIOS_INCLUDE_WDG */ /* Initialize the alarms library */ AlarmsInitialize(); /* IAP System Setup */ PIOS_IAP_Init(); 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); } #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); if (!PIOS_RTC_RegisterTickCallback(Clock, 0)) { PIOS_DEBUG_Assert(0); } #endif #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_usb_main_cfg); #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; } switch (hwsettings_usb_vcpport) { case HWSETTINGS_USB_VCPPORT_DISABLED: break; case HWSETTINGS_USB_VCPPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { 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 *)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) { 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 *)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; } #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) { 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 *)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 */ #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_GPS) uint32_t pios_usart_gps_id; if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_Assert(0); } uint8_t *gps_rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN); PIOS_Assert(gps_rx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, gps_rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, NULL, 0)) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ #if defined(PIOS_INCLUDE_COM_AUX) { uint32_t pios_usart_aux_id; if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) { PIOS_DEBUG_Assert(0); } uint8_t *aux_rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_AUX_RX_BUF_LEN); uint8_t *aux_tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_AUX_TX_BUF_LEN); PIOS_Assert(aux_rx_buffer); PIOS_Assert(aux_tx_buffer); if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id, aux_rx_buffer, PIOS_COM_AUX_RX_BUF_LEN, aux_tx_buffer, PIOS_COM_AUX_TX_BUF_LEN)) { PIOS_DEBUG_Assert(0); } } #else pios_com_aux_id = 0; #endif /* PIOS_INCLUDE_COM_AUX */ #if defined(PIOS_INCLUDE_COM_TELEM) { /* Eventually add switch for this port function */ uint32_t pios_usart_telem_rf_id; if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) { PIOS_Assert(0); } uint8_t *telem_rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t *telem_tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(telem_rx_buffer); PIOS_Assert(telem_tx_buffer); if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, telem_rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, telem_tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); } } #else pios_com_telem_rf_id = 0; #endif /* PIOS_INCLUDE_COM_TELEM */ #endif /* PIOS_INCLUDE_COM */ /* Configure FlexiPort */ /* uint8_t hwsettings_rv_flexiport; HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport); switch (hwsettings_rv_flexiport) { case HWSETTINGS_RV_FLEXIPORT_DISABLED: break; case HWSETTINGS_RV_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_RV_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_DSMMAINPORT,&hwsettings_DSMxBind); break; case HWSETTINGS_RV_FLEXIPORT_COMAUX: PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id); break; case HWSETTINGS_RV_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; }*/ /* hwsettings_rv_flexiport */ #if defined(PIOS_INCLUDE_WAVE) PIOS_WavPlay_Init(&pios_dac_cfg); #endif // ADC system #if defined(PIOS_INCLUDE_ADC) PIOS_ADC_Init(&pios_adc_cfg); #endif #if defined(PIOS_INCLUDE_VIDEO) PIOS_TIM_InitClock(&tim_8_cfg); PIOS_Servo_Init(&pios_servo_cfg); // Start the pixel and line clock counter // PIOS_TIM_InitClock(&pios_tim4_cfg); PIOS_Video_Init(&pios_video_cfg); #endif #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 } uint16_t supv_timer = 0; static void Clock(__attribute__((unused)) uint32_t spektrum_id) { /* 125hz */ ++supv_timer; if (supv_timer >= 625) { supv_timer = 0; timex.sec++; } if (timex.sec >= 60) { timex.sec = 0; timex.min++; } if (timex.min >= 60) { timex.min = 0; timex.hour++; } if (timex.hour >= 99) { timex.hour = 0; } }