mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
69a2691bc2
Conflicts: flight/targets/Bootloaders/Revolution/Makefile flight/targets/CopterControl/Makefile
431 lines
12 KiB
C
431 lines
12 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file pios_board.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Defines board specific static initializers for hardware for the OPOSD board.
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
/* Pull in the board-specific static HW definitions.
|
|
* Including .c files is a bit ugly but this allows all of
|
|
* the HW definitions to be const and static to limit their
|
|
* scope.
|
|
*
|
|
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
|
|
*/
|
|
#include "board_hw_defs.c"
|
|
|
|
#include <pios.h>
|
|
#include <fifo_buffer.h>
|
|
#include <openpilot.h>
|
|
#include <uavobjectsinit.h>
|
|
#include <hwsettings.h>
|
|
#include <manualcontrolsettings.h>
|
|
#include <gcsreceiver.h>
|
|
|
|
/* Private macro -------------------------------------------------------------*/
|
|
#define countof(a) (sizeof(a) / sizeof(*(a)))
|
|
|
|
/* Private variables ---------------------------------------------------------*/
|
|
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
#include "pios_adc_priv.h"
|
|
void PIOS_ADC_DMC_irq_handler(void);
|
|
void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
|
|
struct pios_adc_cfg pios_adc_cfg = {
|
|
.adc_dev = ADC1,
|
|
.dma = {
|
|
.irq = {
|
|
.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
|
|
.init = {
|
|
.NVIC_IRQChannel = DMA2_Stream4_IRQn,
|
|
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
|
|
.NVIC_IRQChannelSubPriority = 0,
|
|
.NVIC_IRQChannelCmd = ENABLE,
|
|
},
|
|
},
|
|
.rx = {
|
|
.channel = DMA2_Stream4,
|
|
.init = {
|
|
.DMA_Channel = DMA_Channel_0,
|
|
.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR
|
|
},
|
|
}
|
|
},
|
|
.half_flag = DMA_IT_HTIF4,
|
|
.full_flag = DMA_IT_TCIF4,
|
|
|
|
};
|
|
void PIOS_ADC_DMC_irq_handler(void)
|
|
{
|
|
/* Call into the generic code to handle the IRQ for this specific device */
|
|
PIOS_ADC_DMA_Handler();
|
|
}
|
|
|
|
#endif
|
|
|
|
|
|
static void Clock(uint32_t spektrum_id);
|
|
|
|
|
|
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
|
|
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
|
|
|
|
#define PIOS_COM_AUX_RX_BUF_LEN 512
|
|
#define PIOS_COM_AUX_TX_BUF_LEN 512
|
|
|
|
#define PIOS_COM_GPS_RX_BUF_LEN 32
|
|
|
|
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
|
|
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
|
|
|
|
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
|
|
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
|
|
|
|
uint32_t pios_com_aux_id;
|
|
uint32_t pios_com_gps_id;
|
|
uint32_t pios_com_telem_usb_id;
|
|
uint32_t pios_com_telem_rf_id;
|
|
|
|
|
|
|
|
void PIOS_Board_Init(void) {
|
|
|
|
// Delay system
|
|
PIOS_DELAY_Init();
|
|
|
|
PIOS_LED_Init(&pios_led_cfg);
|
|
|
|
#if defined(PIOS_INCLUDE_SPI)
|
|
/* Set up the SPI interface to the SD card */
|
|
if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
/* Enable and mount the SDCard */
|
|
PIOS_SDCARD_Init(pios_spi_sdcard_id);
|
|
PIOS_SDCARD_MountFS(0);
|
|
#endif /* PIOS_INCLUDE_SPI */
|
|
|
|
/* Initialize UAVObject libraries */
|
|
EventDispatcherInitialize();
|
|
UAVObjInitialize();
|
|
|
|
HwSettingsInitialize();
|
|
|
|
/* Initialize the alarms library */
|
|
AlarmsInitialize();
|
|
|
|
/* Initialize the task monitor library */
|
|
TaskMonitorInitialize();
|
|
|
|
/* IAP System Setup */
|
|
PIOS_IAP_Init();
|
|
uint16_t boot_count = PIOS_IAP_ReadBootCount();
|
|
if (boot_count < 3) {
|
|
PIOS_IAP_WriteBootCount(++boot_count);
|
|
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
|
|
} else {
|
|
/* Too many failed boot attempts, force hwsettings to defaults */
|
|
HwSettingsSetDefaults(HwSettingsHandle(), 0);
|
|
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_RTC)
|
|
/* Initialize the real-time clock and its associated tick */
|
|
PIOS_RTC_Init(&pios_rtc_main_cfg);
|
|
if (!PIOS_RTC_RegisterTickCallback(Clock, 0)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
/* Initialize board specific USB data */
|
|
PIOS_USB_BOARD_DATA_Init();
|
|
|
|
/* Flags to determine if various USB interfaces are advertised */
|
|
bool usb_hid_present = false;
|
|
bool usb_cdc_present = false;
|
|
|
|
#if defined(PIOS_INCLUDE_USB_CDC)
|
|
if (PIOS_USB_DESC_HID_CDC_Init()) {
|
|
PIOS_Assert(0);
|
|
}
|
|
usb_hid_present = true;
|
|
usb_cdc_present = true;
|
|
#else
|
|
if (PIOS_USB_DESC_HID_ONLY_Init()) {
|
|
PIOS_Assert(0);
|
|
}
|
|
usb_hid_present = true;
|
|
#endif
|
|
|
|
uint32_t pios_usb_id;
|
|
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
|
|
|
|
#if defined(PIOS_INCLUDE_USB_CDC)
|
|
|
|
uint8_t hwsettings_usb_vcpport;
|
|
/* Configure the USB VCP port */
|
|
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
|
|
|
|
if (!usb_cdc_present) {
|
|
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
|
|
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
|
|
}
|
|
|
|
switch (hwsettings_usb_vcpport) {
|
|
case HWSETTINGS_USB_VCPPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
{
|
|
uint32_t pios_usb_cdc_id;
|
|
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
|
|
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
break;
|
|
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
{
|
|
uint32_t pios_usb_cdc_id;
|
|
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
|
|
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
break;
|
|
}
|
|
#endif /* PIOS_INCLUDE_USB_CDC */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_HID)
|
|
/* Configure the usb HID port */
|
|
uint8_t hwsettings_usb_hidport;
|
|
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
|
|
|
|
if (!usb_hid_present) {
|
|
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
|
|
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
|
|
}
|
|
|
|
switch (hwsettings_usb_hidport) {
|
|
case HWSETTINGS_USB_HIDPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
{
|
|
uint32_t pios_usb_hid_id;
|
|
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
|
|
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
break;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_USB_HID */
|
|
|
|
if (usb_hid_present || usb_cdc_present) {
|
|
PIOS_USBHOOK_Activate();
|
|
}
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
#if defined(PIOS_INCLUDE_GPS)
|
|
|
|
uint32_t pios_usart_gps_id;
|
|
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
|
NULL, 0)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
|
|
#if defined(PIOS_INCLUDE_COM_AUX)
|
|
{
|
|
uint32_t pios_usart_aux_id;
|
|
|
|
if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_AUX_RX_BUF_LEN);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_AUX_TX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
PIOS_Assert(tx_buffer);
|
|
|
|
if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
|
|
rx_buffer, PIOS_COM_AUX_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_AUX_TX_BUF_LEN)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
}
|
|
#else
|
|
pios_com_aux_id = 0;
|
|
#endif /* PIOS_INCLUDE_COM_AUX */
|
|
|
|
#if defined(PIOS_INCLUDE_COM_TELEM)
|
|
{ /* Eventually add switch for this port function */
|
|
uint32_t pios_usart_telem_rf_id;
|
|
if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
|
|
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#else
|
|
pios_com_telem_rf_id = 0;
|
|
#endif /* PIOS_INCLUDE_COM_TELEM */
|
|
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
|
|
/* Configure FlexiPort */
|
|
|
|
/* uint8_t hwsettings_rv_flexiport;
|
|
HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
|
|
|
|
switch (hwsettings_rv_flexiport) {
|
|
case HWSETTINGS_RV_FLEXIPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_I2C:*/
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
{
|
|
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
/* break;
|
|
|
|
case HWSETTINGS_RV_FLEXIPORT_DSM2:
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_rv_flexiport) {
|
|
case HWSETTINGS_RV_FLEXIPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
|
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
|
|
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
|
}
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_COMAUX:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
}*/
|
|
/* hwsettings_rv_flexiport */
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_WAVE)
|
|
PIOS_WavPlay_Init(&pios_dac_cfg);
|
|
#endif
|
|
|
|
// ADC system
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
PIOS_ADC_Init(&pios_adc_cfg);
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_VIDEO)
|
|
PIOS_Video_Init(&pios_video_cfg);
|
|
#endif
|
|
}
|
|
|
|
uint16_t supv_timer=0;
|
|
|
|
static void Clock(uint32_t spektrum_id) {
|
|
/* 125hz */
|
|
++supv_timer;
|
|
if(supv_timer >= 625) {
|
|
supv_timer = 0;
|
|
timex.sec++;
|
|
}
|
|
if (timex.sec >= 60) {
|
|
timex.sec = 0;
|
|
timex.min++;
|
|
}
|
|
if (timex.min >= 60) {
|
|
timex.min = 0;
|
|
timex.hour++;
|
|
}
|
|
if (timex.hour >= 99) {
|
|
timex.hour = 0;
|
|
}
|
|
}
|