/** ****************************************************************************** * @file pios_board.c * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 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 revomini 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 "hwdiscoveryf4baresettings.h" #include "firmwareiapobj.h" #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; #ifdef PIOS_INCLUDE_WS2811 uint32_t pios_ws2811_id; #endif static HwDiscoveryF4BareSettingsData boardHwSettings; static void hwDiscoveryF4BareSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) { HwDiscoveryF4BareSettingsData currentBoardHwSettings; HwDiscoveryF4BareSettingsGet(¤tBoardHwSettings); if (memcmp(¤tBoardHwSettings, &boardHwSettings, sizeof(HwDiscoveryF4BareSettingsData)) != 0) { ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0); } } static const PIOS_BOARD_IO_UART_Function flexiio_function_map[] = { [HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY, [HWSETTINGS_RM_RCVRPORT_PPMDEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE, [HWSETTINGS_RM_RCVRPORT_PPMCOMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE, [HWSETTINGS_RM_RCVRPORT_PPMMSP] = PIOS_BOARD_IO_UART_MSP, [HWSETTINGS_RM_RCVRPORT_PPMMAVLINK] = PIOS_BOARD_IO_UART_MAVLINK, [HWSETTINGS_RM_RCVRPORT_PPMGPS] = PIOS_BOARD_IO_UART_GPS, [HWSETTINGS_RM_RCVRPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY, [HWSETTINGS_RM_RCVRPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE, [HWSETTINGS_RM_RCVRPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE, [HWSETTINGS_RM_RCVRPORT_MSP] = PIOS_BOARD_IO_UART_MSP, [HWSETTINGS_RM_RCVRPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK, [HWSETTINGS_RM_RCVRPORT_GPS] = PIOS_BOARD_IO_UART_GPS, [HWSETTINGS_RM_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS, [HWSETTINGS_RM_RCVRPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB, }; static const PIOS_BOARD_IO_UART_Function main_function_map[] = { [HWSETTINGS_RM_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY, [HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS, [HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS, [HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN, [HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE, [HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE, [HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK, [HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP, [HWSETTINGS_RM_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK, [HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB, }; static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = { [HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY, [HWSETTINGS_RM_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS, [HWSETTINGS_RM_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI, [HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS, [HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD, [HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH, [HWSETTINGS_RM_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL, [HWSETTINGS_RM_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS, [HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE, [HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE, [HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK, [HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP, [HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK, [HWSETTINGS_RM_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 #ifdef PIOS_INCLUDE_MPU6000 /* 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); } #endif /* PIOS_INCLUDE_MPU6000 */ #ifdef PIOS_INCLUDE_RFM22B /* Set up the SPI interface to the rfm22b */ if (PIOS_SPI_Init(&pios_spi_telem_flash_adapter_id, &pios_spi_telem_flash_cfg)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_RFM22B */ #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) */ #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(); SETTINGS_INITIALISE_ALL; HwDiscoveryF4BareSettingsConnectCallback(hwDiscoveryF4BareSettingsUpdatedCb); HwDiscoveryF4BareSettingsGet(&boardHwSettings); if (boardHwSettings.BoardType != 0) { FirmwareIAPObjInitialize(); FirmwareIAPObjData iap; FirmwareIAPObjGet(&iap); iap.BoardType = boardHwSettings.BoardType; iap.BoardRevision = boardHwSettings.BoardRevision; FirmwareIAPObjSet(&iap); } /* Initialize the alarms library */ AlarmsInitialize(); /* Set up pulse timers */ PIOS_TIM_InitClock(&tim_1_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; HwSettingsRM_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_mag_pressure_adapter_id, &pios_i2c_mag_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 #if defined(PIOS_INCLUDE_USB) PIOS_BOARD_IO_Configure_USB(); #endif uint8_t hwsettings_mainport; HwSettingsRM_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 */ #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) const struct pios_servo_cfg *pios_servo_cfg; // default to servo outputs only pios_servo_cfg = &pios_servo_cfg_out; #endif /* Configure the receiver port*/ uint8_t hwsettings_rcvrport; HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport); if (hwsettings_rcvrport < NELEMENTS(flexiio_function_map)) { PIOS_BOARD_IO_Configure_UART(&pios_usart_flexiio_cfg, flexiio_function_map[hwsettings_rcvrport]); } // Configure rcvrport PPM/PWM/OUTPUTS switch (hwsettings_rcvrport) { case HWSETTINGS_RM_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) /* Set up the receiver port. Later this should be optional */ PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_cfg); #endif /* PIOS_INCLUDE_PWM */ break; case HWSETTINGS_RM_RCVRPORT_PPM: case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS: case HWSETTINGS_RM_RCVRPORT_PPMPWM: case HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY: case HWSETTINGS_RM_RCVRPORT_PPMDEBUGCONSOLE: case HWSETTINGS_RM_RCVRPORT_PPMCOMBRIDGE: case HWSETTINGS_RM_RCVRPORT_PPMMSP: case HWSETTINGS_RM_RCVRPORT_PPMMAVLINK: case HWSETTINGS_RM_RCVRPORT_PPMGPS: #if defined(PIOS_INCLUDE_PPM) PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg); if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) { // configure servo outputs and the remaining 5 inputs as outputs pios_servo_cfg = &pios_servo_cfg_out_in_ppm; } // enable pwm on the remaining channels if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) { PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_ppm_cfg); } break; #endif /* PIOS_INCLUDE_PPM */ case HWSETTINGS_RM_RCVRPORT_OUTPUTS: // configure only the servo outputs pios_servo_cfg = &pios_servo_cfg_out_in; break; } #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_cfg points to the correct configuration based on input port settings PIOS_Servo_Init(pios_servo_cfg); #else PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins)); #endif PIOS_BOARD_Sensors_Configure(); #ifdef PIOS_INCLUDE_WS2811 PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg, &pios_ws2811_pin_cfg); #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 } /** * @} * @} */