/** ***************************************************************************** * @file pios_board.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author 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 CopterControl 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 /* * 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" #define PIOS_COM_MAIN_RX_BUF_LEN 32 #define PIOS_COM_MAIN_TX_BUF_LEN 128 uint32_t pios_com_main_id; uintptr_t flash_id; /** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ int32_t init_test; void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); 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 */ /* Initialize watchdog as early as possible to catch faults during init */ #ifdef PIOS_INCLUDE_WDG PIOS_WDG_Init(); #endif #if defined(PIOS_INCLUDE_SPI) /* Set up the SPI interface to the serial flash */ if (PIOS_SPI_Init(&pios_spi_mag_flash_id, &pios_spi_mag_flash_cfg)) { PIOS_Assert(0); } #ifdef PIOS_INCLUDE_HMC5X83 PIOS_SPI_SetClockSpeed(pios_spi_mag_flash_id, SPI_BaudRatePrescaler_16); onboard_mag = PIOS_HMC5x83_Init(&pios_mag_cfg, pios_spi_mag_flash_id, 0); if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_mag_flash_id, 1)) { PIOS_DEBUG_Assert(0); } #endif #endif #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); #endif PIOS_IAP_Init(); /* Check for repeated boot failures */ uint16_t boot_count = PIOS_IAP_ReadBootCount(); if (boot_count < 3) { PIOS_IAP_WriteBootCount(++boot_count); } #if defined(PIOS_INCLUDE_COM) { uint32_t pios_usart_generic_id; if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) { PIOS_Assert(0); } uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_RX_BUF_LEN); PIOS_Assert(rx_buffer); uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_TX_BUF_LEN); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_main_id, &pios_usart_com_driver, pios_usart_generic_id, rx_buffer, PIOS_COM_MAIN_RX_BUF_LEN, tx_buffer, PIOS_COM_MAIN_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif #if defined(PIOS_INCLUDE_I2C) { if (PIOS_I2C_Init(&pios_i2c_gps_id, &pios_i2c_gps_cfg)) { flash_id = -1; } } #endif /* PIOS_INCLUDE_I2C */ } /** * @} */