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990 lines
34 KiB
C
990 lines
34 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) 2015.
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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 CopterControl 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 <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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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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#include <pios_instrumentation.h>
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#endif
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#if defined(PIOS_INCLUDE_ADXL345)
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#include <pios_adxl345.h>
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#endif
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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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/* One slot per selectable receiver group.
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* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
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* NOTE: No slot in this map for NONE.
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*/
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uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
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static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
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static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
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#define PIOS_COM_TELEM_RF_RX_BUF_LEN 32
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#define PIOS_COM_TELEM_RF_TX_BUF_LEN 12
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#define PIOS_COM_GPS_RX_BUF_LEN 32
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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
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#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
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#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
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#define PIOS_COM_HKOSD_TX_BUF_LEN 22
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#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
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#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
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uint32_t pios_com_debug_id;
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#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
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uint32_t pios_com_telem_rf_id;
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uint32_t pios_com_telem_usb_id;
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uint32_t pios_com_vcp_id;
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uint32_t pios_com_gps_id;
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uint32_t pios_com_bridge_id;
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uint32_t pios_com_hkosd_id;
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uint32_t pios_usb_rctx_id;
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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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/**
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* Configuration for MPU6000 chip
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*/
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#if defined(PIOS_INCLUDE_MPU6000)
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#include "pios_mpu6000.h"
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#include "pios_mpu6000_config.h"
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static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
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.vector = PIOS_MPU6000_IRQHandler,
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.line = EXTI_Line3,
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.pin = {
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.gpio = GPIOA,
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.init = {
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.GPIO_Pin = GPIO_Pin_3,
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.GPIO_Speed = GPIO_Speed_10MHz,
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.GPIO_Mode = GPIO_Mode_IN_FLOATING,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = EXTI3_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.exti = {
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.init = {
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.EXTI_Line = EXTI_Line3, // matches above GPIO pin
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Rising,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
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.exti_cfg = &pios_exti_mpu6000_cfg,
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.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
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// Clock at 8 khz, downsampled by 8 for 1000 Hz
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.Smpl_rate_div_no_dlp = 7,
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// Clock at 1 khz, downsampled by 1 for 1000 Hz
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.Smpl_rate_div_dlp = 0,
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.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
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.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
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.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
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.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
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.accel_range = PIOS_MPU6000_ACCEL_8G,
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.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
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.filter = PIOS_MPU6000_LOWPASS_256_HZ,
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.orientation = PIOS_MPU6000_TOP_180DEG,
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.fast_prescaler = PIOS_SPI_PRESCALER_4,
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.std_prescaler = PIOS_SPI_PRESCALER_64,
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.max_downsample = 2
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};
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#endif /* PIOS_INCLUDE_MPU6000 */
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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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int32_t init_test;
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void PIOS_Board_Init(void)
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{
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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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(bdinfo->board_rev);
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PIOS_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 serial flash */
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switch (bdinfo->board_rev) {
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case BOARD_REVISION_CC:
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if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc)) {
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PIOS_Assert(0);
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}
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break;
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case BOARD_REVISION_CC3D:
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if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
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PIOS_Assert(0);
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}
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break;
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default:
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PIOS_Assert(0);
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}
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#endif
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uintptr_t flash_id;
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switch (bdinfo->board_rev) {
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case BOARD_REVISION_CC:
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if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 1)) {
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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_w25x_cfg, &pios_jedec_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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break;
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case BOARD_REVISION_CC3D:
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if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
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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_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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break;
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default:
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PIOS_DEBUG_Assert(0);
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}
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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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#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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AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
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}
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/* Set up pulse timers */
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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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#if defined(PIOS_INCLUDE_USB)
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/* Initialize board specific USB data */
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PIOS_USB_BOARD_DATA_Init();
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/* Flags to determine if various USB interfaces are advertised */
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bool usb_hid_present = false;
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bool usb_cdc_present = false;
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#if defined(PIOS_INCLUDE_USB_CDC)
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if (PIOS_USB_DESC_HID_CDC_Init()) {
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PIOS_Assert(0);
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}
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usb_hid_present = true;
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usb_cdc_present = true;
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#else
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if (PIOS_USB_DESC_HID_ONLY_Init()) {
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PIOS_Assert(0);
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}
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usb_hid_present = true;
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#endif
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uint32_t pios_usb_id;
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switch (bdinfo->board_rev) {
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case BOARD_REVISION_CC:
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PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
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break;
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case BOARD_REVISION_CC3D:
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PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
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break;
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default:
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PIOS_Assert(0);
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}
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#if defined(PIOS_INCLUDE_USB_CDC)
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uint8_t hwsettings_usb_vcpport;
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/* Configure the USB VCP port */
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HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
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if (!usb_cdc_present) {
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/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
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hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
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}
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switch (hwsettings_usb_vcpport) {
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case HWSETTINGS_USB_VCPPORT_DISABLED:
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break;
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case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
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#if defined(PIOS_INCLUDE_COM)
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{
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uint32_t pios_usb_cdc_id;
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if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_COM */
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break;
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case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
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#if defined(PIOS_INCLUDE_COM)
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{
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uint32_t pios_usb_cdc_id;
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if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
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tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_COM */
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break;
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case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE:
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#if defined(PIOS_INCLUDE_COM)
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#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
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{
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uint32_t pios_usb_cdc_id;
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if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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NULL, 0,
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tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
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#endif /* PIOS_INCLUDE_COM */
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break;
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}
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#endif /* PIOS_INCLUDE_USB_CDC */
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#if defined(PIOS_INCLUDE_USB_HID)
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/* Configure the usb HID port */
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uint8_t hwsettings_usb_hidport;
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HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
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if (!usb_hid_present) {
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/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
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hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
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}
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switch (hwsettings_usb_hidport) {
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case HWSETTINGS_USB_HIDPORT_DISABLED:
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break;
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case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
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#if defined(PIOS_INCLUDE_COM)
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{
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uint32_t pios_usb_hid_id;
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if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
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rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_COM */
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break;
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case HWSETTINGS_USB_HIDPORT_RCTRANSMITTER:
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#if defined(PIOS_INCLUDE_USB_RCTX)
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{
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if (PIOS_USB_RCTX_Init(&pios_usb_rctx_id, &pios_usb_rctx_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_USB_RCTX */
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break;
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}
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#endif /* PIOS_INCLUDE_USB_HID */
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#endif /* PIOS_INCLUDE_USB */
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/* Configure the main IO port */
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uint8_t hwsettings_DSMxBind;
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HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
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uint8_t hwsettings_cc_mainport;
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HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
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switch (hwsettings_cc_mainport) {
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case HWSETTINGS_CC_MAINPORT_DISABLED:
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break;
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case HWSETTINGS_CC_MAINPORT_TELEMETRY:
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#if defined(PIOS_INCLUDE_TELEMETRY_RF)
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{
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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 *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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 *)pios_malloc(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_DSM:
|
|
#if defined(PIOS_INCLUDE_DSM)
|
|
{
|
|
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,
|
|
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_DEBUGCONSOLE:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
|
{
|
|
uint32_t pios_usart_generic_id;
|
|
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
|
|
NULL, 0,
|
|
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
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 *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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;
|
|
case HWSETTINGS_CC_MAINPORT_OSDHK:
|
|
{
|
|
uint32_t pios_usart_hkosd_id;
|
|
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
|
|
NULL, 0,
|
|
tx_buffer, PIOS_COM_HKOSD_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 *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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 *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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 *)pios_malloc(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_PPM:
|
|
#if defined(PIOS_INCLUDE_PPM_FLEXI)
|
|
{
|
|
uint32_t pios_ppm_id;
|
|
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_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_FLEXI */
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_DSM:
|
|
#if defined(PIOS_INCLUDE_DSM)
|
|
{
|
|
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,
|
|
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_HOTTSUMD:
|
|
case HWSETTINGS_CC_FLEXIPORT_HOTTSUMH:
|
|
#if defined(PIOS_INCLUDE_HOTT)
|
|
{
|
|
uint32_t pios_usart_hott_id;
|
|
if (PIOS_USART_Init(&pios_usart_hott_id, &pios_usart_hott_flexi_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_hott_id;
|
|
if (PIOS_HOTT_Init(&pios_hott_id, &pios_usart_com_driver, pios_usart_hott_id,
|
|
hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_HOTTSUMD ? PIOS_HOTT_PROTO_SUMD : PIOS_HOTT_PROTO_SUMH)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_hott_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_hott_rcvr_id, &pios_hott_rcvr_driver, pios_hott_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTT] = pios_hott_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_HOTT */
|
|
break;
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_EXBUS:
|
|
#if defined(PIOS_INCLUDE_EXBUS)
|
|
{
|
|
uint32_t pios_usart_exbus_id;
|
|
if (PIOS_USART_Init(&pios_usart_exbus_id, &pios_usart_exbus_flexi_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_exbus_id;
|
|
if (PIOS_EXBUS_Init(&pios_exbus_id, &pios_usart_com_driver, pios_usart_exbus_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_exbus_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_exbus_rcvr_id, &pios_exbus_rcvr_driver, pios_exbus_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_EXBUS] = pios_exbus_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_EXBUS */
|
|
break;
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_SRXL:
|
|
#if defined(PIOS_INCLUDE_SRXL)
|
|
{
|
|
uint32_t pios_usart_srxl_id;
|
|
if (PIOS_USART_Init(&pios_usart_srxl_id, &pios_usart_srxl_flexi_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_srxl_id;
|
|
if (PIOS_SRXL_Init(&pios_srxl_id, &pios_usart_com_driver, pios_usart_srxl_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_srxl_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_srxl_rcvr_id, &pios_srxl_rcvr_driver, pios_srxl_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_SRXL */
|
|
break;
|
|
|
|
case HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
|
{
|
|
uint32_t pios_usart_generic_id;
|
|
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
|
|
NULL, 0,
|
|
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
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;
|
|
case HWSETTINGS_CC_FLEXIPORT_OSDHK:
|
|
{
|
|
uint32_t pios_usart_hkosd_id;
|
|
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_flexi_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
|
|
NULL, 0,
|
|
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
break;
|
|
}
|
|
|
|
/* Configure the rcvr port */
|
|
uint8_t hwsettings_rcvrport;
|
|
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
|
|
|
|
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
|
|
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
|
|
#if defined(PIOS_INCLUDE_HCSR04)
|
|
{
|
|
uint32_t pios_hcsr04_id;
|
|
PIOS_HCSR04_Init(&pios_hcsr04_id, &pios_hcsr04_cfg);
|
|
}
|
|
#endif
|
|
break;
|
|
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
|
|
#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_PPMNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
{
|
|
uint32_t pios_ppm_id;
|
|
if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT) {
|
|
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin8_cfg);
|
|
} else {
|
|
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;
|
|
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
|
|
/* This is a combination of PPM and PWM inputs */
|
|
#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 */
|
|
#if defined(PIOS_INCLUDE_PWM)
|
|
{
|
|
uint32_t pios_pwm_id;
|
|
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_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_OUTPUTSONESHOT:
|
|
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_ENABLE_DEBUG_PINS
|
|
switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
|
|
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
break;
|
|
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
|
|
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
|
|
break;
|
|
}
|
|
#else
|
|
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
|
|
#endif /* PIOS_ENABLE_DEBUG_PINS */
|
|
|
|
switch (bdinfo->board_rev) {
|
|
case BOARD_REVISION_CC:
|
|
// Revision 1 with invensense gyros, start the ADC
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
PIOS_ADC_Init(&pios_adc_cfg);
|
|
#endif
|
|
#if defined(PIOS_INCLUDE_ADXL345)
|
|
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
|
|
#endif
|
|
break;
|
|
case BOARD_REVISION_CC3D:
|
|
// Revision 2 with MPU6000 gyros, start a SPI interface and connect to it
|
|
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
|
|
|
|
#if defined(PIOS_INCLUDE_MPU6000)
|
|
// Set up the SPI interface to the serial flash
|
|
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
|
|
PIOS_MPU6000_CONFIG_Configure();
|
|
init_test = !PIOS_MPU6000_Driver.test(0);
|
|
#endif /* PIOS_INCLUDE_MPU6000 */
|
|
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
/* 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);
|
|
|
|
// Attach the board config check hook
|
|
SANITYCHECK_AttachHook(&CopterControlConfigHook);
|
|
// trigger a config check if actuatorsettings are updated
|
|
ActuatorSettingsInitialize();
|
|
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
|
|
}
|
|
|
|
SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
|
|
{
|
|
// inhibit usage of oneshot for non supported RECEIVER port modes
|
|
uint8_t recmode;
|
|
|
|
HwSettingsCC_RcvrPortGet(&recmode);
|
|
uint8_t flexiMode;
|
|
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
|
|
ActuatorSettingsBankModeGet(modes);
|
|
HwSettingsCC_FlexiPortGet(&flexiMode);
|
|
|
|
switch ((HwSettingsCC_RcvrPortOptions)recmode) {
|
|
// Those modes allows oneshot usage
|
|
case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
|
|
if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
|
|
flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
|
|
(modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
|
|
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
|
|
modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT42)) {
|
|
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
|
|
} else {
|
|
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
|
|
}
|
|
|
|
// inhibit oneshot for the following modes
|
|
case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
|
|
case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
|
|
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
|
|
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
|
|
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
|
|
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42) {
|
|
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
|
|
}
|
|
|
|
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
|
|
}
|
|
}
|
|
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
|
|
}
|
|
// trigger a configuration check if ActuatorSettings are changed.
|
|
void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
|
{
|
|
configuration_check();
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|