/** ****************************************************************************** * * @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 #include #include #include #include #include #include #include "board_hw_defs.c" #define TxBufferSize3 33 /* Private macro -------------------------------------------------------------*/ #define countof(a) (sizeof(a) / sizeof(*(a))) /* Private variables ---------------------------------------------------------*/ //uint8_t TxBuffer2[TxBufferSize2]; uint8_t TxBuffer3[TxBufferSize3]; //uint8_t RxBuffer2[TxBufferSize2]; uint8_t RxBuffer3[TxBufferSize3]; //uint8_t UART1_REVDATA[380]; #if defined(PIOS_INCLUDE_ADC) /* * ADC system */ #include void PIOS_ADC_handler(void) { PIOS_ADC_DMA_Handler(); } void DMA2_Stream4_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler"))); const struct pios_adc_cfg pios_adc_cfg = { .dma = { .irq = { .flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4), .init = { .NVIC_IRQChannel = DMA2_Stream4_IRQn }, }, /* XXX there is secret knowledge here regarding the use of ADC1 by the pios_adc code */ .rx = { .channel = DMA2_Stream4, // stream0 may be used by SPI1 .init = { .DMA_Channel = DMA_Channel_0, .DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR }, } }, .half_flag = DMA_IT_HTIF4, .full_flag = DMA_IT_TCIF4, }; struct pios_adc_dev pios_adc_devs[] = { { .cfg = &pios_adc_cfg, .callback_function = NULL, .data_queue = NULL }, }; uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs); #endif /* Private define ------------------------------------------------------------*/ #define DAC_DHR12R2_ADDRESS 0x40007414 #define DAC_DHR8R1_ADDRESS 0x40007410 /* Private variables ---------------------------------------------------------*/ DAC_InitTypeDef DAC_InitStructure; const uint16_t Sine12bit[32] = { 2047, 2447, 2831, 3185, 3498, 3750, 3939, 4056, 4095, 4056, 3939, 3750, 3495, 3185, 2831, 2447, 2047, 1647, 1263, 909, 599, 344, 155, 38, 0, 38, 155, 344, 599, 909, 1263, 1647}; const uint8_t Escalator8bit[6] = {0x0, 0x33, 0x66, 0x99, 0xCC, 0xFF}; /** * @brief TIM6 Configuration * @note TIM6 configuration is based on CPU @168MHz and APB1 @42MHz * @note TIM6 Update event occurs each 37.5MHz/256 = 16.406 KHz * @param None * @retval None */ void TIM6_Config(void) { TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; /* TIM6 Periph clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE); /* Time base configuration */ TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructure.TIM_Period = 27; TIM_TimeBaseStructure.TIM_Prescaler = 0; TIM_TimeBaseStructure.TIM_ClockDivision = 0; TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure); /* TIM6 TRGO selection */ TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update); /* TIM6 enable counter */ TIM_Cmd(TIM6, ENABLE); } /** * @brief DAC Channel2 SineWave Configuration * @param None * @retval None */ void DAC_Ch2_SineWaveConfig(void) { DMA_InitTypeDef DMA_InitStructure; /* DAC channel2 Configuration */ DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO; DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None; DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable; DAC_Init(DAC_Channel_2, &DAC_InitStructure); /* DMA1_Stream5 channel7 configuration **************************************/ DMA_DeInit(DMA1_Stream6); DMA_InitStructure.DMA_Channel = DMA_Channel_7; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R2; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit; DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; DMA_InitStructure.DMA_BufferSize = 32; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord; DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; DMA_InitStructure.DMA_Priority = DMA_Priority_High; DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_Init(DMA1_Stream6, &DMA_InitStructure); /* Enable DMA1_Stream5 */ DMA_Cmd(DMA1_Stream6, ENABLE); /* Enable DAC Channel2 */ DAC_Cmd(DAC_Channel_2, ENABLE); /* Enable DMA for DAC Channel2 */ DAC_DMACmd(DAC_Channel_2, ENABLE); } void DAC_Ch1_SineWaveConfig(void) { DMA_InitTypeDef DMA_InitStructure; /* DAC channel2 Configuration */ DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO; DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None; DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable; DAC_Init(DAC_Channel_1, &DAC_InitStructure); /* DMA1_Stream5 channel7 configuration **************************************/ DMA_DeInit(DMA1_Stream5); DMA_InitStructure.DMA_Channel = DMA_Channel_7; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R1; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit; DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; DMA_InitStructure.DMA_BufferSize = 32; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord; DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; DMA_InitStructure.DMA_Priority = DMA_Priority_High; DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_Init(DMA1_Stream5, &DMA_InitStructure); /* Enable DMA1_Stream5 */ DMA_Cmd(DMA1_Stream5, ENABLE); /* Enable DAC Channel2 */ DAC_Cmd(DAC_Channel_1, ENABLE); /* Enable DMA for DAC Channel2 */ DAC_DMACmd(DAC_Channel_1, ENABLE); } static void Clock(uint32_t spektrum_id); void initUSARTs(void) { GPIO_InitTypeDef GPIO_InitStructure; USART_InitTypeDef USART_InitStructure; //RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); //RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE); //RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE); /* Configure USART Tx as alternate function push-pull */ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_UART4); GPIO_Init(GPIOA, &GPIO_InitStructure); /* Configure USART Rx as input floating */ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1; GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_UART4); GPIO_Init(GPIOA, &GPIO_InitStructure); USART_InitStructure.USART_BaudRate = 57600; USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None; USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; USART_Init(UART4, &USART_InitStructure); USART_DMACmd(UART4, USART_DMAReq_Rx, ENABLE); DMA_Cmd(DMA1_Stream2, ENABLE); USART_Cmd(UART4, ENABLE); } #define DMA_Channel_USART4_RX DMA1_Stream2 #define DMA_Channel_USART4_TX DMA1_Stream4 #define DMA_FLAG_USART3_TC_RX DMA1_FLAG_TC3 #define DMA_FLAG_USART3_TC_TX DMA1_FLAG_TC2 #define USART3_DR_Base 0x40004804 void init_USART_dma() { DMA_InitTypeDef DMA_InitStructure; /*RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE); DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(USART3->DR); DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_BufferSize = size; DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; DMA_InitStructure.DMA_Priority = DMA_Priority_Low; DMA_InitStructure.DMA_M2M = DMA_M2M_Disable; DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)buff[0]; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_DeInit(DMA_Channel_USART3_RX); DMA_Init(DMA_Channel_USART3_RX, &DMA_InitStructure); //DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE); DMA_Cmd(DMA_Channel_USART3_RX, ENABLE); USART_DMACmd(USART3, USART_DMAReq_Rx, ENABLE);*/ /*DMA Channel2 USART3 TX*/ DMA_DeInit(DMA1_Stream4); DMA_InitStructure.DMA_Channel = DMA_Channel_4; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)TxBuffer3; DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; /*read from ram*/ DMA_InitStructure.DMA_BufferSize = TxBufferSize3; /*if content is 0,stop TX*/ DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte; DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; //DMA_InitStructure.DMA_Mode = DMA_Mode_Normal; DMA_InitStructure.DMA_Priority = DMA_Priority_Low; //DMA_Init(DMA1_Channel2, &DMA_InitStructure); DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; /*DMA Channel3 USART3 RX*/ DMA_DeInit(DMA1_Stream2); DMA_InitStructure.DMA_Channel = DMA_Channel_4; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR; DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)RxBuffer3; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory; DMA_InitStructure.DMA_BufferSize = sizeof(RxBuffer3); DMA_Init(DMA1_Stream2, &DMA_InitStructure); } #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 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; uint32_t pios_com_cotelem_id; void PIOS_Board_Init(void) { // Delay system PIOS_DELAY_Init(); PIOS_LED_Init(&pios_led_cfg); /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* 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; uint8_t hwsettings_usb_devicetype; HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype); switch (hwsettings_usb_devicetype) { case HWSETTINGS_USB_DEVICETYPE_HIDONLY: if (PIOS_USB_DESC_HID_ONLY_Init()) { PIOS_Assert(0); } usb_hid_present = true; break; case HWSETTINGS_USB_DEVICETYPE_HIDVCP: if (PIOS_USB_DESC_HID_CDC_Init()) { PIOS_Assert(0); } usb_hid_present = true; usb_cdc_present = true; break; case HWSETTINGS_USB_DEVICETYPE_VCPONLY: break; default: PIOS_Assert(0); } 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 *) 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_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 *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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 *) 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); } } #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 * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); PIOS_Assert(rx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id, 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); } const uint32_t BUF_SIZE = 512; uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id, rx_buffer, BUF_SIZE, tx_buffer, BUF_SIZE)) { 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 * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); } } #else pios_com_telem_rf_id = 0; #endif /* PIOS_INCLUDE_COM_TELEM */ #if defined(PIOS_INCLUDE_COM_COTELEM) { /* Eventually add switch for this port function */ uint32_t pios_usart_cotelem_id; if (PIOS_USART_Init(&pios_usart_cotelem_id, &pios_usart_cotelem_main_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_cotelem_id, &pios_usart_com_driver, pios_usart_cotelem_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); } } #else pios_com_cotelem_id = 0; #endif /* PIOS_INCLUDE_COM_TELEM */ #endif /* PIOS_INCLUDE_COM */ /* uint32_t pios_usart_hkosd_id; if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_serial_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN); PIOS_Assert(rx_buffer); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_TX_BUF_LEN); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id, rx_buffer, PIOS_COM_HKOSD_RX_BUF_LEN, tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) { PIOS_Assert(0); }*/ /* uint32_t pios_usart_serial_id; if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) { PIOS_DEBUG_Assert(0); } uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id, rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { PIOS_Assert(0); }*/ #if 1 /* Preconfiguration before using DAC----------------------------------------*/ GPIO_InitTypeDef GPIO_InitStructure; /* DAC Periph clock enable */ RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE); /* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(GPIOA, &GPIO_InitStructure); /* TIM6 Configuration ------------------------------------------------------*/ TIM6_Config(); DAC_DeInit(); DAC_Ch1_SineWaveConfig(); //DAC_Ch2_SineWaveConfig(); #endif // ADC system PIOS_ADC_Init(); // SPI link to master /*if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) { PIOS_DEBUG_Assert(0); }*/ /*init_USART_dma(); initUSARTs(); extern t_fifo_buffer rx; fifoBuf_init(&rx,RxBuffer3,sizeof(RxBuffer3));*/ PIOS_Video_Init(&pios_video_cfg); //uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN); //uint8_t test[16]; } uint16_t supv_timer=0; static void Clock(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; } }