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LibrePilot/flight/targets/boards/revoproto/firmware/pios_board.c

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/**
*****************************************************************************
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
* @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 revolution 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 <pios_board_info.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <taskinfo.h>
#include <pios_board_io.h>
#include <pios_board_sensors.h>
/*
* 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;
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
#include <pios_board_info.h>
void PIOS_Board_Init(void)
{
/* Delay system */
PIOS_DELAY_Init();
PIOS_LED_Init(&pios_led_cfg);
/* 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_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);
}
/* Set up the SPI interface to the accelerometer*/
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the gyro */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if !defined(PIOS_FLASH_ON_ACCEL)
/* Set up the SPI interface to the flash */
if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Connect flash to the appropriate interface and configure it */
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_id, 0)) {
PIOS_DEBUG_Assert(0);
}
#else
/* Connect flash to the appropriate interface and configure it */
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_accel_id, 1)) {
PIOS_DEBUG_Assert(0);
}
#endif
if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
#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);
}
/* 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();
/* Initialize the alarms library */
AlarmsInitialize();
/* 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);
PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_9_cfg);
PIOS_TIM_InitClock(&tim_10_cfg);
PIOS_TIM_InitClock(&tim_11_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);
}
// PIOS_IAP_Init();
/* Configure USB */
#if defined(PIOS_INCLUDE_USB)
PIOS_BOARD_IO_Configure_USB();
#endif
/* Configure IO ports */
/* Configure Telemetry port */
static const PIOS_BOARD_IO_UART_Function usart_telem_function_map[] = {
[HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
// [HWSETTINGS_RV_TELEMETRYPORT_COMAUX] = ?? &pios_com_aux_id // UNUSED
[HWSETTINGS_RV_TELEMETRYPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_RV_TELEMETRYPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_RV_TELEMETRYPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK
};
uint8_t hwsettings_rv_telemetryport;
HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
if (hwsettings_rv_telemetryport < NELEMENTS(usart_telem_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_telem_cfg, usart_telem_function_map[hwsettings_rv_telemetryport]);
}
/* Configure GPS port */
static const PIOS_BOARD_IO_UART_Function usart_gps_function_map[] = {
[HWSETTINGS_RV_GPSPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
[HWSETTINGS_RV_GPSPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
// [HWSETTINGS_RV_GPSPORT_COMAUX] =
[HWSETTINGS_RV_GPSPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_RV_GPSPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_RV_GPSPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
};
uint8_t hwsettings_rv_gpsport;
HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
if (hwsettings_rv_gpsport < NELEMENTS(usart_gps_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_gps_cfg, usart_gps_function_map[hwsettings_rv_gpsport]);
}
/* Configure AUXPort */
static const PIOS_BOARD_IO_UART_Function usart_aux_function_map[] = {
[HWSETTINGS_RV_AUXPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
[HWSETTINGS_RV_AUXPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
// [HWSETTINGS_RV_AUXPORT_COMAUX] =
[HWSETTINGS_RV_AUXPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_RV_AUXPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_RV_AUXPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
[HWSETTINGS_RV_AUXPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
};
uint8_t hwsettings_rv_auxport;
HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
if (hwsettings_rv_auxport < NELEMENTS(usart_aux_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_aux_cfg, usart_aux_function_map[hwsettings_rv_auxport]);
}
/* Configure AUXSbusPort */
static const PIOS_BOARD_IO_UART_Function usart_auxsbus_function_map[] = {
[HWSETTINGS_RV_AUXSBUSPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
[HWSETTINGS_RV_AUXSBUSPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN, /* MAIN group, same as usart_aux! */
// [HWSETTINGS_RV_AUXSBUSPORT_COMAUX] =
[HWSETTINGS_RV_AUXSBUSPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_RV_AUXSBUSPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_RV_AUXSBUSPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
[HWSETTINGS_RV_AUXSBUSPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
};
uint8_t hwsettings_rv_auxsbusport;
HwSettingsRV_AuxSBusPortGet(&hwsettings_rv_auxsbusport);
if (hwsettings_rv_auxsbusport < NELEMENTS(usart_auxsbus_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_auxsbus_cfg, usart_auxsbus_function_map[hwsettings_rv_auxsbusport]);
}
/* Configure FlexiPort */
static const PIOS_BOARD_IO_UART_Function usart_flexi_function_map[] = {
[HWSETTINGS_RV_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
// [HWSETTINGS_RV_FLEXIPORT_COMAUX] =
[HWSETTINGS_RV_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_RV_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_RV_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
};
uint8_t hwsettings_rv_flexiport;
HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
if (hwsettings_rv_flexiport < NELEMENTS(usart_flexi_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, usart_flexi_function_map[hwsettings_rv_flexiport]);
}
#if defined(PIOS_INCLUDE_I2C)
if (hwsettings_rv_flexiport == HWSETTINGS_RV_FLEXIPORT_I2C) {
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
#ifdef PIOS_INCLUDE_WDG
// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
// this is not in a loop, so it is safe
// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
// to avoid making something else fail when HMC5X83 is removed
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_WDG */
}
#endif /* PIOS_INCLUDE_I2C */
/* Configure the receiver port*/
uint8_t hwsettings_rcvrport;
HwSettingsRV_RcvrPortGet(&hwsettings_rcvrport);
//
switch (hwsettings_rcvrport) {
case HWSETTINGS_RV_RCVRPORT_DISABLED:
break;
case HWSETTINGS_RV_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_cfg);
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_RV_RCVRPORT_PPM:
case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
#if defined(PIOS_INCLUDE_PPM)
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
#endif /* PIOS_INCLUDE_PPM */
case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
break;
}
#if defined(PIOS_OVERO_SPI)
/* Set up the SPI based PIOS_COM interface to the overo */
{
HwSettingsData hwSettings;
HwSettingsGet(&hwSettings);
if (hwSettings.OptionalModules.Overo == HWSETTINGS_OPTIONALMODULES_ENABLED) {
if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
PIOS_DEBUG_Assert(0);
}
const uint32_t PACKET_SIZE = 1024;
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PACKET_SIZE);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PACKET_SIZE);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
rx_buffer, PACKET_SIZE,
tx_buffer, PACKET_SIZE)) {
PIOS_Assert(0);
}
}
}
#endif /* if defined(PIOS_OVERO_SPI) */
#if defined(PIOS_INCLUDE_HCSR04)
{
PIOS_TIM_InitClock(&tim_8_cfg);
uint32_t pios_hcsr04_id;
PIOS_HCSR04_Init(&pios_hcsr04_id, &pios_hcsr04_cfg);
}
#endif
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
#ifndef PIOS_ENABLE_DEBUG_PINS
switch (hwsettings_rcvrport) {
case HWSETTINGS_RV_RCVRPORT_DISABLED:
case HWSETTINGS_RV_RCVRPORT_PWM:
case HWSETTINGS_RV_RCVRPORT_PPM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
// PIOS_Servo_Init(&pios_servo_rcvr_cfg);
// TODO: Prepare the configurations on board_hw_defs and handle here:
PIOS_Servo_Init(&pios_servo_cfg);
break;
}
#else
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif
// init I2C1 for use with the internal mag
if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
// init I2C1 for use with the internal baro
if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_DELAY_WaitmS(50);
PIOS_BOARD_Sensors_Configure();
}
/**
* @}
* @}
*/
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