mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-12 20:08:48 +01:00
589 lines
17 KiB
C
589 lines
17 KiB
C
/**
|
|
******************************************************************************
|
|
* @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
|
|
*/
|
|
|
|
/* 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"
|
|
|
|
#include <pios.h>
|
|
#include <openpilot.h>
|
|
#include <uavobjectsinit.h>
|
|
#include <hwsettings.h>
|
|
#include <manualcontrolsettings.h>
|
|
#include <gcsreceiver.h>
|
|
|
|
/* One slot per selectable receiver group.
|
|
* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
|
|
* NOTE: No slot in this map for NONE.
|
|
*/
|
|
uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
|
|
|
|
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32
|
|
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12
|
|
|
|
#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_telem_rf_id;
|
|
uint32_t pios_com_telem_usb_id;
|
|
uint32_t pios_com_vcp_id;
|
|
uint32_t pios_com_gps_id;
|
|
uint32_t pios_com_bridge_id;
|
|
|
|
/**
|
|
* 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();
|
|
|
|
/* Set up the SPI interface to the serial flash */
|
|
if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
|
|
PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
|
|
|
|
PIOS_FLASHFS_Init();
|
|
|
|
/* Initialize UAVObject libraries */
|
|
EventDispatcherInitialize();
|
|
UAVObjInitialize();
|
|
|
|
#if defined(PIOS_INCLUDE_RTC)
|
|
/* Initialize the real-time clock and its associated tick */
|
|
PIOS_RTC_Init(&pios_rtc_main_cfg);
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_LED)
|
|
PIOS_LED_Init(&pios_led_cfg);
|
|
#endif /* PIOS_INCLUDE_LED */
|
|
|
|
HwSettingsInitialize();
|
|
|
|
#ifndef ERASE_FLASH
|
|
/* Initialize watchdog as early as possible to catch faults during init */
|
|
PIOS_WDG_Init();
|
|
#endif
|
|
|
|
/* Initialize the alarms library */
|
|
AlarmsInitialize();
|
|
|
|
/* Check for repeated boot failures */
|
|
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);
|
|
}
|
|
|
|
/* Initialize the task monitor library */
|
|
TaskMonitorInitialize();
|
|
|
|
/* 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);
|
|
|
|
#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 */
|
|
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
|
|
/* Configure the main IO port */
|
|
uint8_t hwsettings_DSMxBind;
|
|
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
|
|
uint8_t hwsettings_cc_mainport;
|
|
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
|
|
|
|
switch (hwsettings_cc_mainport) {
|
|
case HWSETTINGS_CC_MAINPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_TELEMETRY:
|
|
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
|
{
|
|
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_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_generic_id,
|
|
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_SBUS:
|
|
#if defined(PIOS_INCLUDE_SBUS)
|
|
{
|
|
uint32_t pios_usart_sbus_id;
|
|
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_sbus_id;
|
|
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_sbus_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
|
|
|
|
}
|
|
#endif /* PIOS_INCLUDE_SBUS */
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_GPS:
|
|
#if defined(PIOS_INCLUDE_GPS)
|
|
{
|
|
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_GPS_RX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
|
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
|
NULL, 0)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_DSM2:
|
|
case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
|
|
case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
|
|
#if defined(PIOS_INCLUDE_DSM)
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_cc_mainport) {
|
|
case HWSETTINGS_CC_MAINPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
|
|
uint32_t pios_usart_dsm_id;
|
|
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_dsm_id;
|
|
if (PIOS_DSM_Init(&pios_dsm_id,
|
|
&pios_dsm_main_cfg,
|
|
&pios_usart_com_driver,
|
|
pios_usart_dsm_id,
|
|
proto, 0)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_dsm_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_DSM */
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_COMAUX:
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
|
|
{
|
|
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_BRIDGE_RX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
|
|
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
/* Configure the flexi port */
|
|
uint8_t hwsettings_cc_flexiport;
|
|
HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
|
|
|
|
switch (hwsettings_cc_flexiport) {
|
|
case HWSETTINGS_CC_FLEXIPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
|
|
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
|
|
{
|
|
uint32_t pios_usart_generic_id;
|
|
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_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_generic_id,
|
|
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE:
|
|
{
|
|
uint32_t pios_usart_generic_id;
|
|
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
|
|
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_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
|
|
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_GPS:
|
|
#if defined(PIOS_INCLUDE_GPS)
|
|
{
|
|
uint32_t pios_usart_generic_id;
|
|
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_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_generic_id,
|
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
|
NULL, 0)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_DSM2:
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
|
|
#if defined(PIOS_INCLUDE_DSM)
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_cc_flexiport) {
|
|
case HWSETTINGS_CC_FLEXIPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
|
|
uint32_t pios_usart_dsm_id;
|
|
if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_flexi_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_dsm_id;
|
|
if (PIOS_DSM_Init(&pios_dsm_id,
|
|
&pios_dsm_flexi_cfg,
|
|
&pios_usart_com_driver,
|
|
pios_usart_dsm_id,
|
|
proto, hwsettings_DSMxBind)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_dsm_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_dsm_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_DSM */
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_COMAUX:
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_I2C:
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
{
|
|
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
break;
|
|
}
|
|
|
|
/* Configure the rcvr port */
|
|
uint8_t hwsettings_rcvrport;
|
|
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
|
|
|
|
switch (hwsettings_rcvrport) {
|
|
case HWSETTINGS_CC_RCVRPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_CC_RCVRPORT_PWM:
|
|
#if defined(PIOS_INCLUDE_PWM)
|
|
{
|
|
uint32_t pios_pwm_id;
|
|
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
|
|
|
|
uint32_t pios_pwm_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_PWM */
|
|
break;
|
|
case HWSETTINGS_CC_RCVRPORT_PPM:
|
|
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
{
|
|
uint32_t pios_ppm_id;
|
|
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
|
|
|
|
uint32_t pios_ppm_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_PPM */
|
|
break;
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_GCSRCVR)
|
|
GCSReceiverInitialize();
|
|
uint32_t pios_gcsrcvr_id;
|
|
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
|
|
uint32_t pios_gcsrcvr_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
|
|
#endif /* PIOS_INCLUDE_GCSRCVR */
|
|
|
|
/* Remap AFIO pin for PB4 (Servo 5 Out)*/
|
|
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
|
|
|
|
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
|
|
switch (hwsettings_rcvrport) {
|
|
case HWSETTINGS_CC_RCVRPORT_DISABLED:
|
|
case HWSETTINGS_CC_RCVRPORT_PWM:
|
|
case HWSETTINGS_CC_RCVRPORT_PPM:
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
break;
|
|
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
|
|
case HWSETTINGS_CC_RCVRPORT_OUTPUTS:
|
|
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
|
|
break;
|
|
}
|
|
#else
|
|
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
|
|
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
|
|
|
|
PIOS_ADC_Init();
|
|
PIOS_GPIO_Init();
|
|
|
|
/* Make sure we have at least one telemetry link configured or else fail initialization */
|
|
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|