mirror of
https://bitbucket.org/librepilot/librepilot.git
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f20e5da9ed
Conflicts: ground/openpilotgcs/src/plugins/config/config.pro ground/openpilotgcs/src/plugins/config/configrevowidget.h ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp
748 lines
21 KiB
C
748 lines
21 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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* @{
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*
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* @file pios_board.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Defines board specific static initializers for hardware for the OpenPilot board.
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* @see The GNU Public License (GPL) Version 3
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*
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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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/* 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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#include <pios.h>
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#include <openpilot.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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/* 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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#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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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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/**
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* Configuration for the BMA180 chip
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*/
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#if defined(PIOS_INCLUDE_BMA180)
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#include "pios_bma180.h"
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static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
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.vector = PIOS_BMA180_IRQHandler,
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.line = EXTI_Line13,
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.pin = {
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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_13,
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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 = EXTI15_10_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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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_Line13, // 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_bma180_cfg pios_bma180_cfg = {
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.exti_cfg = &pios_exti_bma180_cfg,
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.bandwidth = BMA_BW_300HZ,
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.range = BMA_RANGE_8G,
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};
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#endif /* PIOS_INCLUDE_BMA180 */
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/**
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* Configuration for L3GD20 chip
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*/
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#if defined(PIOS_INCLUDE_L3GD20)
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#include "pios_l3gd20.h"
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static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
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.vector = PIOS_L3GD20_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_l3gd20_cfg pios_l3gd20_cfg = {
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.exti_cfg = &pios_exti_l3gd20_cfg,
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.range = PIOS_L3GD20_SCALE_500_DEG,
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};
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#endif /* PIOS_INCLUDE_L3GD20 */
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static const struct flashfs_cfg flashfs_w25x_cfg = {
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.table_magic = 0x85FB3C35,
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.obj_magic = 0x3015AE71,
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.obj_table_start = 0x00000010,
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.obj_table_end = 0x00001000,
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.sector_size = 0x00001000,
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};
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static const struct pios_flash_jedec_cfg flash_w25x_cfg = {
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.sector_erase = 0x20,
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.chip_erase = 0x60
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};
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#include <pios_board_info.h>
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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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/* Delay system */
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PIOS_DELAY_Init();
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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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switch(bdinfo->board_rev) {
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case 0x01: // Revision 1
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PIOS_LED_Init(&pios_led_cfg_cc);
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break;
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case 0x02: // Revision 2
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GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
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PIOS_LED_Init(&pios_led_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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#endif /* PIOS_INCLUDE_LED */
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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 0x01: // Revision 1
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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 0x02: // Revision 2
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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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PIOS_Flash_Jedec_Init(pios_spi_flash_accel_id, 1, &flash_w25x_cfg);
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PIOS_FLASHFS_Init(&flashfs_w25x_cfg);
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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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HwSettingsInitialize();
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#ifndef ERASE_FLASH
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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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/* Initialize the alarms library */
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AlarmsInitialize();
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/* Check for repeated boot failures */
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PIOS_IAP_Init();
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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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/* Initialize the task monitor library */
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TaskMonitorInitialize();
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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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uint8_t hwsettings_usb_devicetype;
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HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
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switch (hwsettings_usb_devicetype) {
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case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
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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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break;
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case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
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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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break;
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case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
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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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uint32_t pios_usb_id;
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switch(bdinfo->board_rev) {
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case 0x01: // Revision 1
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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 0x02: // Revision 2
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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 *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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 *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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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}
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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 *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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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}
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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;
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if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
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PIOS_Assert(0);
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}
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uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_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_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
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rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_RF_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_TELEMETRY_RF */
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break;
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case HWSETTINGS_CC_MAINPORT_SBUS:
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#if defined(PIOS_INCLUDE_SBUS)
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{
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uint32_t pios_usart_sbus_id;
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if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
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PIOS_Assert(0);
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}
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uint32_t pios_sbus_id;
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if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
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PIOS_Assert(0);
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}
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uint32_t pios_sbus_rcvr_id;
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if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
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}
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#endif /* PIOS_INCLUDE_SBUS */
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break;
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case HWSETTINGS_CC_MAINPORT_GPS:
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#if defined(PIOS_INCLUDE_GPS)
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{
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uint32_t pios_usart_generic_id;
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if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
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PIOS_Assert(0);
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}
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uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
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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_DSM2:
|
|
case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
|
|
case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
|
|
#if defined(PIOS_INCLUDE_DSM)
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_cc_mainport) {
|
|
case HWSETTINGS_CC_MAINPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
|
|
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,
|
|
proto, 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_COMAUX:
|
|
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 *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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;
|
|
}
|
|
|
|
/* 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 *) 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_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 *) 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_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 *) 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_generic_id,
|
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
|
NULL, 0)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_DSM2:
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
|
|
#if defined(PIOS_INCLUDE_DSM)
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_cc_flexiport) {
|
|
case HWSETTINGS_CC_FLEXIPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
|
|
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,
|
|
proto, 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_COMAUX:
|
|
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;
|
|
}
|
|
|
|
/* Configure the rcvr port */
|
|
uint8_t hwsettings_rcvrport;
|
|
HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
|
|
|
|
switch (hwsettings_rcvrport) {
|
|
case HWSETTINGS_CC_RCVRPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_CC_RCVRPORT_PWM:
|
|
#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_PPM:
|
|
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
|
|
#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 */
|
|
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_DEBUG_ENABLE_DEBUG_PINS
|
|
switch (hwsettings_rcvrport) {
|
|
case HWSETTINGS_CC_RCVRPORT_DISABLED:
|
|
case HWSETTINGS_CC_RCVRPORT_PWM:
|
|
case HWSETTINGS_CC_RCVRPORT_PPM:
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
break;
|
|
case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
|
|
case HWSETTINGS_CC_RCVRPORT_OUTPUTS:
|
|
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
|
|
break;
|
|
}
|
|
#else
|
|
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
|
|
#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
|
|
|
|
switch(bdinfo->board_rev) {
|
|
case 0x01:
|
|
// Revision 1 with invensense gyros, start the ADC
|
|
PIOS_ADC_Init();
|
|
#if defined(PIOS_INCLUDE_ADXL345)
|
|
PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
|
|
#endif
|
|
break;
|
|
case 0x02:
|
|
// Revision 2 with L3GD20 gyros, start a SPI interface and connect to it
|
|
GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
|
|
|
|
#if defined(PIOS_INCLUDE_L3GD20)
|
|
// 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_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
|
|
PIOS_Assert(PIOS_L3GD20_Test() == 0);
|
|
#endif /* PIOS_INCLUDE_L3GD20 */
|
|
|
|
#if defined(PIOS_INCLUDE_BMA180)
|
|
PIOS_BMA180_Init(pios_spi_flash_accel_id, 0, &pios_bma180_cfg);
|
|
PIOS_Assert(PIOS_BMA180_Test() == 0);
|
|
#endif /* PIOS_INCLUDE_BMA180 */
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
PIOS_GPIO_Init();
|
|
|
|
/* 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);
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|