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https://bitbucket.org/librepilot/librepilot.git
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286 lines
9.8 KiB
C
286 lines
9.8 KiB
C
/**
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*****************************************************************************
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* @file pios_board.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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* @addtogroup LibrePilotSystem LibrePilot System
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* @{
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* @addtogroup LibrePilotCore LibrePilot Core
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* @{
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* @brief Defines board specific static initializers for hardware for the tinyFISH board.
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "inc/openpilot.h"
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#include <pios_board_info.h>
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#include <uavobjectsinit.h>
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#include <hwsettings.h>
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#include <hwtinyfishsettings.h>
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#include <manualcontrolsettings.h>
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#include <gcsreceiver.h>
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#include <taskinfo.h>
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#include <sanitycheck.h>
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#include <actuatorsettings.h>
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#include <auxmagsettings.h>
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#include <flightbatterysettings.h>
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#include <revosettings.h>
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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#include <pios_instrumentation.h>
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#endif
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#include <pios_board_io.h>
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#include <pios_board_sensors.h>
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/*
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* Pull in the board-specific static HW definitions.
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* Including .c files is a bit ugly but this allows all of
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* the HW definitions to be const and static to limit their
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* scope.
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*
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* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
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*/
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#include "../board_hw_defs.c"
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uintptr_t pios_uavo_settings_fs_id;
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uintptr_t pios_user_fs_id = 0;
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#ifdef PIOS_INCLUDE_WS2811
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uint32_t pios_ws2811_id;
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#endif
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void FlightBatterySettingsDataOverrideDefaults(FlightBatterySettingsData *data)
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{
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data->SensorCalibrations.VoltageFactor = 8.8f;
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data->SensorCalibrations.CurrentFactor = 0.07f;
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}
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void RevoSettingsDataOverrideDefaults(RevoSettingsData *data)
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{
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/* This board has no barometer, so adjust default fusion algorithm to one that does not depend on working baro */
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data->FusionAlgorithm = REVOSETTINGS_FUSIONALGORITHM_ACRONOSENSORS;
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}
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static HwTinyFISHSettingsData boardHwSettings;
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static void hwTinyFISHSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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HwTinyFISHSettingsData currentBoardHwSettings;
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HwTinyFISHSettingsGet(¤tBoardHwSettings);
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if (memcmp(¤tBoardHwSettings, &boardHwSettings, sizeof(HwTinyFISHSettingsData)) != 0) {
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ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
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}
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}
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/**
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* PIOS_Board_Init()
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* initializes all the core subsystems on this specific hardware
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* called from System/openpilot.c
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*/
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void PIOS_Board_Init(void)
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{
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#if defined(PIOS_INCLUDE_LED)
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const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(pios_board_info_blob.board_rev);
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PIOS_DEBUG_Assert(led_cfg);
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PIOS_LED_Init(led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
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#endif
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#if defined(PIOS_INCLUDE_SPI)
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/* Set up the SPI interface to the mpu6000 */
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if (PIOS_SPI_Init(&pios_spi1_id, &pios_spi1_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_SPI_Init(&pios_spi2_id, &pios_spi2_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif
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#if defined(PIOS_INCLUDE_FLASH)
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/* Connect flash to the appropriate interface and configure it */
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uintptr_t flash_id;
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// initialize the internal settings storage flash
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if (PIOS_Flash_Internal_Init(&flash_id, &flash_internal_system_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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/* init SPI flash here */
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#endif /* if defined(PIOS_INCLUDE_FLASH) */
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/* Initialize the task monitor */
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if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
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PIOS_Assert(0);
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}
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/* Initialize the delayed callback library */
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PIOS_CALLBACKSCHEDULER_Initialize();
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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#if defined(PIOS_INCLUDE_RTC)
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/* Initialize the real-time clock and its associated tick */
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PIOS_RTC_Init(&pios_rtc_main_cfg);
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#endif
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PIOS_IAP_Init();
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// check for safe mode commands from gcs
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if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
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PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
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PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
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PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
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PIOS_IAP_WriteBootCmd(0, 0);
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PIOS_IAP_WriteBootCmd(1, 0);
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PIOS_IAP_WriteBootCmd(2, 0);
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}
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HwSettingsInitialize();
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HwTinyFISHSettingsInitialize();
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#ifndef ERASE_FLASH
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#ifdef PIOS_INCLUDE_WDG
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/* Initialize watchdog as early as possible to catch faults during init */
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PIOS_WDG_Init();
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#endif
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#endif
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/* Initialize the alarms library */
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AlarmsInitialize();
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/* Check for repeated boot failures */
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uint16_t boot_count = PIOS_IAP_ReadBootCount();
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if (boot_count < 3) {
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PIOS_IAP_WriteBootCount(++boot_count);
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AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
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} else {
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/* Too many failed boot attempts, force hwsettings to defaults */
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HwSettingsSetDefaults(HwSettingsHandle(), 0);
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HwTinyFISHSettingsSetDefaults(HwTinyFISHSettingsHandle(), 0);
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AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
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}
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PIOS_TIM_InitClock(&tim_1_cfg);
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PIOS_TIM_InitClock(&tim_2_cfg);
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// PIOS_TIM_InitClock(&tim_3_cfg);
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PIOS_TIM_InitClock(&tim_4_cfg);
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PIOS_TIM_InitClock(&tim_8_cfg);
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PIOS_TIM_InitClock(&tim_15_cfg);
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// PIOS_TIM_InitClock(&tim_16_cfg);
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// PIOS_TIM_InitClock(&tim_17_cfg);
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#if defined(PIOS_INCLUDE_USB)
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PIOS_BOARD_IO_Configure_USB();
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#endif
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HwTinyFISHSettingsConnectCallback(hwTinyFISHSettingsUpdatedCb);
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HwTinyFISHSettingsGet(&boardHwSettings);
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static const PIOS_BOARD_IO_UART_Function uart_function_map[] = {
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[HWTINYFISHSETTINGS_UART3PORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWTINYFISHSETTINGS_UART3PORT_GPS] = PIOS_BOARD_IO_UART_GPS,
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[HWTINYFISHSETTINGS_UART3PORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
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[HWTINYFISHSETTINGS_UART3PORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN, // single DSM instance? ok.
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[HWTINYFISHSETTINGS_UART3PORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
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[HWTINYFISHSETTINGS_UART3PORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
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[HWTINYFISHSETTINGS_UART3PORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
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[HWTINYFISHSETTINGS_UART3PORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
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[HWTINYFISHSETTINGS_UART3PORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
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[HWTINYFISHSETTINGS_UART3PORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
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[HWTINYFISHSETTINGS_UART3PORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWTINYFISHSETTINGS_UART3PORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWTINYFISHSETTINGS_UART3PORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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[HWTINYFISHSETTINGS_UART3PORT_HOTTTELEMETRY] = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
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[HWTINYFISHSETTINGS_UART3PORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
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};
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if (boardHwSettings.UART3Port < NELEMENTS(uart_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[2], uart_function_map[boardHwSettings.UART3Port]);
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}
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#ifdef PIOS_INCLUDE_PPM
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if (boardHwSettings.UART3Port == HWTINYFISHSETTINGS_UART3PORT_PPM) {
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PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
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}
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#endif
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if (PIOS_COM_DEBUG) {
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PIOS_COM_ChangeBaud(PIOS_COM_DEBUG, 57600);
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DEBUG_PRINTF(0, "\r\n\r\ntinyFISH FC booting\r\n");
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}
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/* Configure SBus as primary usart client.
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* PIOS_BOARD_IO_Configure_UART() will also lock COM port config so that secondary client cannot mess with settings */
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if (boardHwSettings.UART3Port != HWTINYFISHSETTINGS_UART3PORT_SBUS) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[1], PIOS_BOARD_IO_UART_SBUS_NOT_INVERTED);
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}
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/* Configure Frsky SensorHub as secondary client. */
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if (boardHwSettings.UART3Port != HWTINYFISHSETTINGS_UART3PORT_FRSKYSENSORHUB) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[1], PIOS_BOARD_IO_UART_FRSKY_SENSORHUB);
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}
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/* and what to do with UART1? There is RX_DEBUG only connected. Maybe make it into configurable ComBridge? */
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if (boardHwSettings.UART1Port == HWTINYFISHSETTINGS_UART1PORT_COMBRIDGE) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[0], PIOS_BOARD_IO_UART_COMBRIDGE);
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}
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#ifdef PIOS_ENABLE_DEBUG_PINS
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PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels);
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#else
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if (boardHwSettings.UART3Port == HWTINYFISHSETTINGS_UART3PORT_OUTPUTS) {
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PIOS_Servo_Init(&pios_servo_uart3_cfg);
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} else {
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PIOS_Servo_Init(&pios_servo_cfg);
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}
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#endif /* PIOS_ENABLE_DEBUG_PINS */
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switch (boardHwSettings.LEDPort) {
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case HWTINYFISHSETTINGS_LEDPORT_WS281X:
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#if defined(PIOS_INCLUDE_WS2811)
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PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg);
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#endif
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break;
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default:
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break;
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}
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PIOS_BOARD_Sensors_Configure();
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PIOS_LED_On(PIOS_LED_HEARTBEAT);
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}
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/**
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* @}
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*/
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