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20ac6ed1e3
LibrePilot/flight/targets/boards/oplinkmini/firmware/pios_board.c
Laurent Lalanne 20ac6ed1e3 LP-520 Oplink : Send RSSI value as PPM output channel
2017-06-18 23:41:23 +02:00

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/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @file pios_board.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* 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
*/
#include "inc/openpilot.h"
#include <pios_board_info.h>
#include <pios_ppm_out.h>
#include <oplinksettings.h>
#include <pios_openlrs.h>
#include <taskinfo.h>
#ifdef PIOS_INCLUDE_SERVO
#include <pios_servo.h>
#endif
#include <pios_board_io.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"
uint32_t pios_com_hid_id = 0;
// uint32_t pios_com_vcp_id = 0; /* this is provided by pios_board_io.c */
uint32_t pios_com_main_id = 0;
uint32_t pios_com_flexi_id = 0;
uint32_t pios_com_gcs_id = 0;
uint32_t pios_com_gcs_out_id = 0;
#if defined(PIOS_INCLUDE_PPM_OUT)
uint32_t pios_ppm_out_id = 0;
bool ppm_rssi = false;
#endif
#if defined(PIOS_INCLUDE_RFM22B)
#include <pios_rfm22b_com.h>
uint32_t pios_com_pri_radio_out_id = 0;
uint32_t pios_com_aux_radio_out_id = 0;
#endif
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id = 0;
static uint8_t servo_count = 0;
// Forward definitions
static void PIOS_Board_PPM_callback(uint32_t context, const int16_t *channels);
/**
* 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();
#ifdef PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
uintptr_t flash_id;
PIOS_Flash_Internal_Init(&flash_id, &flash_internal_cfg);
PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id);
#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();
/* Set up the SPI interface to the rfm22b */
if (PIOS_SPI_Init(&pios_spi_rfm22b_id, &pios_spi_rfm22b_cfg)) {
PIOS_DEBUG_Assert(0);
}
#ifdef PIOS_INCLUDE_WDG
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif /* PIOS_INCLUDE_RTC */
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* 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);
}
OPLinkSettingsInitialize();
/* Retrieve the settings object. */
OPLinkSettingsData oplinkSettings;
OPLinkSettingsGet(&oplinkSettings);
/* Determine the modem protocols */
bool is_coordinator = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPLINKCOORDINATOR);
bool ppm_only = (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL);
bool ppm_mode = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) ||
(oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
ppm_rssi = (oplinkSettings.PPMOutRSSI == OPLINKSETTINGS_PPMOUTRSSI_CH9);
bool servo_main = false;
bool servo_flexi = false;
#if defined(PIOS_INCLUDE_TIM)
/* 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);
#endif /* PIOS_INCLUDE_TIM */
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
#if defined(PIOS_INCLUDE_USB_CDC)
/* Flags to determine if various USB interfaces are advertised */
bool usb_cdc_present = false;
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
#endif
/*Initialize the USB device */
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
/* Configure the USB HID port */
{
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 *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_hid_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);
}
}
/* Configure the USB virtual com port (VCP) */
#if defined(PIOS_INCLUDE_USB_CDC)
if (usb_cdc_present) {
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 *)pios_malloc(PIOS_COM_TELEM_VCP_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_VCP_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_TELEM_VCP_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif
// Configure the main port
uint32_t mainComSpeed = 0;
switch (oplinkSettings.MainComSpeed) {
case OPLINKSETTINGS_MAINCOMSPEED_4800:
mainComSpeed = 4800;
break;
case OPLINKSETTINGS_MAINCOMSPEED_9600:
mainComSpeed = 9600;
break;
case OPLINKSETTINGS_MAINCOMSPEED_19200:
mainComSpeed = 19200;
break;
case OPLINKSETTINGS_MAINCOMSPEED_38400:
mainComSpeed = 38400;
break;
case OPLINKSETTINGS_MAINCOMSPEED_57600:
mainComSpeed = 57600;
break;
case OPLINKSETTINGS_MAINCOMSPEED_115200:
mainComSpeed = 115200;
break;
case OPLINKSETTINGS_MAINCOMSPEED_DISABLED:
break;
}
switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
case OPLINKSETTINGS_MAINPORT_SERIAL:
#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
PIOS_BOARD_IO_Configure_UART_COM(&pios_usart_main_cfg,
PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN,
&pios_com_main_id);
PIOS_COM_ChangeBaud(pios_com_main_id, mainComSpeed);
#endif /* !PIOS_RFM22B_DEBUG_ON_TELEM */
break;
case OPLINKSETTINGS_MAINPORT_PPM:
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (is_coordinator) {
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_main_cfg);
}
// For some reason, PPM output on the main port doesn't work.
#if defined(PIOS_INCLUDE_PPM_OUT)
else {
PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_main_ppm_out_cfg);
}
#endif /* PIOS_INCLUDE_PPM_OUT */
#endif /* PIOS_INCLUDE_PPM */
break;
case OPLINKSETTINGS_MAINPORT_PWM:
servo_main = true;
default:
break;
}
// Configure the flexi port
uint32_t flexiComSpeed = 0;
switch (oplinkSettings.FlexiComSpeed) {
case OPLINKSETTINGS_FLEXICOMSPEED_4800:
flexiComSpeed = 4800;
break;
case OPLINKSETTINGS_FLEXICOMSPEED_9600:
flexiComSpeed = 9600;
break;
case OPLINKSETTINGS_FLEXICOMSPEED_19200:
flexiComSpeed = 19200;
break;
case OPLINKSETTINGS_FLEXICOMSPEED_38400:
flexiComSpeed = 38400;
break;
case OPLINKSETTINGS_FLEXICOMSPEED_57600:
flexiComSpeed = 57600;
break;
case OPLINKSETTINGS_FLEXICOMSPEED_115200:
flexiComSpeed = 115200;
break;
case OPLINKSETTINGS_FLEXICOMSPEED_DISABLED:
break;
}
switch (oplinkSettings.FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
PIOS_BOARD_IO_Configure_UART_COM(&pios_usart_flexi_cfg,
PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN,
&pios_com_flexi_id);
PIOS_COM_ChangeBaud(pios_com_flexi_id, flexiComSpeed);
#endif /* !PIOS_RFM22B_DEBUG_ON_TELEM */
break;
case OPLINKSETTINGS_FLEXIPORT_PPM:
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (is_coordinator) {
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_flexi_cfg);
}
// For some reason, PPM output on the flexi port doesn't work.
#if defined(PIOS_INCLUDE_PPM_OUT)
else {
PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_flexi_ppm_out_cfg);
}
#endif /* PIOS_INCLUDE_PPM_OUT */
#endif /* PIOS_INCLUDE_PPM */
break;
case OPLINKSETTINGS_FLEXIPORT_PWM:
servo_flexi = true;
default:
break;
}
/* Configure the PWM servo outputs. */
#if defined(PIOS_INCLUDE_SERVO)
if (servo_main) {
if (servo_flexi) {
servo_count = 4;
PIOS_Servo_Init(&pios_servo_main_flexi_cfg);
} else {
servo_count = 2;
PIOS_Servo_Init(&pios_servo_main_cfg);
}
} else if (servo_flexi) {
servo_count = 2;
PIOS_Servo_Init(&pios_servo_flexi_cfg);
}
// Set bank modes
PIOS_Servo_SetBankMode(0, PIOS_SERVO_BANK_MODE_PWM);
PIOS_Servo_SetBankMode(1, PIOS_SERVO_BANK_MODE_PWM);
#endif
PIOS_BOARD_IO_Configure_RFM22B();
/* Set the PPM callback if we should be receiving PPM. */
if (ppm_mode || (ppm_only && !is_coordinator)) {
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback, 0);
}
// Configure the primary radio stream destination.
switch (oplinkSettings.RadioPriStream) {
case OPLINKSETTINGS_RADIOPRISTREAM_DISABLED:
break;
case OPLINKSETTINGS_RADIOPRISTREAM_HID:
// HID is always connected to GCS
pios_com_gcs_id = pios_com_hid_id;
pios_com_gcs_out_id = pios_com_pri_radio_id;
break;
case OPLINKSETTINGS_RADIOPRISTREAM_MAIN:
// Is the main port configured for telemetry (GCS)?
if (oplinkSettings.MainPort == OPLINKSETTINGS_MAINPORT_TELEMETRY) {
pios_com_gcs_id = pios_com_main_id;
pios_com_gcs_out_id = pios_com_pri_radio_id;
} else {
PIOS_COM_LinkComPair(pios_com_pri_radio_id, pios_com_main_id, false, false);
}
break;
case OPLINKSETTINGS_RADIOPRISTREAM_FLEXI:
// Is the flexi port configured for telemetry (GCS)?
if (oplinkSettings.FlexiPort == OPLINKSETTINGS_FLEXIPORT_TELEMETRY) {
pios_com_gcs_id = pios_com_flexi_id;
pios_com_gcs_out_id = pios_com_pri_radio_id;
} else {
PIOS_COM_LinkComPair(pios_com_pri_radio_id, pios_com_flexi_id, false, false);
}
break;
case OPLINKSETTINGS_RADIOPRISTREAM_VCP:
// VCP is never connected to GCS
PIOS_COM_LinkComPair(pios_com_pri_radio_id, pios_com_vcp_id, false, false);
break;
}
// Configure the Auxiliary radio stream destination.
switch (oplinkSettings.RadioAuxStream) {
case OPLINKSETTINGS_RADIOAUXSTREAM_DISABLED:
break;
case OPLINKSETTINGS_RADIOAUXSTREAM_HID:
// HID is always connected to GCS
pios_com_gcs_id = pios_com_hid_id;
pios_com_gcs_out_id = pios_com_aux_radio_id;
break;
case OPLINKSETTINGS_RADIOAUXSTREAM_MAIN:
// Is the main port configured for telemetry (GCS)?
if (oplinkSettings.MainPort == OPLINKSETTINGS_MAINPORT_TELEMETRY) {
pios_com_gcs_id = pios_com_main_id;
pios_com_gcs_out_id = pios_com_aux_radio_id;
} else {
PIOS_COM_LinkComPair(pios_com_aux_radio_id, pios_com_main_id, false, false);
}
break;
case OPLINKSETTINGS_RADIOAUXSTREAM_FLEXI:
// Is the flexi port configured for telemetry (GCS)?
if (oplinkSettings.FlexiPort == OPLINKSETTINGS_FLEXIPORT_TELEMETRY) {
pios_com_gcs_id = pios_com_flexi_id;
pios_com_gcs_out_id = pios_com_aux_radio_id;
} else {
PIOS_COM_LinkComPair(pios_com_aux_radio_id, pios_com_flexi_id, false, false);
}
break;
case OPLINKSETTINGS_RADIOAUXSTREAM_VCP:
// VCP is never connected to GCS
PIOS_COM_LinkComPair(pios_com_aux_radio_id, pios_com_vcp_id, false, false);
break;
}
// Configure the VCP COM bridge
switch (oplinkSettings.VCPBridge) {
case OPLINKSETTINGS_VCPBRIDGE_MAIN:
PIOS_COM_LinkComPair(pios_com_vcp_id, pios_com_main_id, true, true);
break;
case OPLINKSETTINGS_VCPBRIDGE_FLEXI:
PIOS_COM_LinkComPair(pios_com_vcp_id, pios_com_flexi_id, true, true);
break;
case OPLINKSETTINGS_VCPBRIDGE_DISABLED:
break;
}
/* Remap AFIO pin */
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
#ifdef PIOS_INCLUDE_ADC
PIOS_ADC_Init();
#endif
}
static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, const int16_t *channels)
{
#if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT)
if (pios_ppm_out_id) {
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
if (channels[i] != PIOS_RCVR_INVALID) {
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, channels[i]);
}
}
// Rssi channel output is added after RC channels
// Output Rssi from 1000µs to 2000µs (-127dBm to -16dBm range)
if (ppm_rssi) {
int8_t rssi;
int16_t ppm_value;
OPLinkStatusRSSIGet(&rssi);
ppm_value = 1000 + ((rssi + 127) * 9);
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, RFM22B_PPM_NUM_CHANNELS, ppm_value);
}
}
#if defined(PIOS_INCLUDE_SERVO)
for (uint8_t i = 0; i < servo_count; ++i) {
uint16_t val = (channels[i] == PIOS_RCVR_INVALID) ? 0 : channels[i];
PIOS_Servo_Set(i, val);
}
#endif /* PIOS_INCLUDE_SERVO */
#endif /* PIOS_INCLUDE_PPM && PIOS_INCLUDE_PPM_OUT */
}
/**
* @}
*/
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