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LibrePilot/flight/OSD/System/pios_board.c
Sambas a9cfc4a0af *float sprintf 
*h/v deadbands
2012-05-25 21:12:03 +03:00

700 lines
22 KiB
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/**
******************************************************************************
*
* @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
*/
#include <pios.h>
#include <fifo_buffer.h>
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <manualcontrolsettings.h>
#include <gcsreceiver.h>
#include "board_hw_defs.c"
#define TxBufferSize3 33
/* Private macro -------------------------------------------------------------*/
#define countof(a) (sizeof(a) / sizeof(*(a)))
/* Private variables ---------------------------------------------------------*/
//uint8_t TxBuffer2[TxBufferSize2];
uint8_t TxBuffer3[TxBufferSize3];
//uint8_t RxBuffer2[TxBufferSize2];
uint8_t RxBuffer3[TxBufferSize3];
//uint8_t UART1_REVDATA[380];
#if defined(PIOS_INCLUDE_ADC)
/*
* ADC system
*/
#include <pios_adc_priv.h>
void PIOS_ADC_handler(void)
{
PIOS_ADC_DMA_Handler();
}
void DMA2_Stream4_IRQHandler() __attribute__ ((alias("PIOS_ADC_handler")));
const struct pios_adc_cfg pios_adc_cfg = {
.dma = {
.irq = {
.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
.init = {
.NVIC_IRQChannel = DMA2_Stream4_IRQn
},
},
/* XXX there is secret knowledge here regarding the use of ADC1 by the pios_adc code */
.rx = {
.channel = DMA2_Stream4, // stream0 may be used by SPI1
.init = {
.DMA_Channel = DMA_Channel_0,
.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR
},
}
},
.half_flag = DMA_IT_HTIF4,
.full_flag = DMA_IT_TCIF4,
};
struct pios_adc_dev pios_adc_devs[] = {
{
.cfg = &pios_adc_cfg,
.callback_function = NULL,
.data_queue = NULL
},
};
uint8_t pios_adc_num_devices = NELEMENTS(pios_adc_devs);
#endif
/* Private define ------------------------------------------------------------*/
#define DAC_DHR12R2_ADDRESS 0x40007414
#define DAC_DHR8R1_ADDRESS 0x40007410
/* Private variables ---------------------------------------------------------*/
DAC_InitTypeDef DAC_InitStructure;
const uint16_t Sine12bit[32] = {
2047, 2447, 2831, 3185, 3498, 3750, 3939, 4056, 4095, 4056,
3939, 3750, 3495, 3185, 2831, 2447, 2047, 1647, 1263, 909,
599, 344, 155, 38, 0, 38, 155, 344, 599, 909, 1263, 1647};
const uint8_t Escalator8bit[6] = {0x0, 0x33, 0x66, 0x99, 0xCC, 0xFF};
/**
* @brief TIM6 Configuration
* @note TIM6 configuration is based on CPU @168MHz and APB1 @42MHz
* @note TIM6 Update event occurs each 37.5MHz/256 = 16.406 KHz
* @param None
* @retval None
*/
void TIM6_Config(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
/* TIM6 Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/* Time base configuration */
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = 27;
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
/* TIM6 TRGO selection */
TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
/* TIM6 enable counter */
TIM_Cmd(TIM6, ENABLE);
}
/**
* @brief DAC Channel2 SineWave Configuration
* @param None
* @retval None
*/
void DAC_Ch2_SineWaveConfig(void)
{
DMA_InitTypeDef DMA_InitStructure;
/* DAC channel2 Configuration */
DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
DAC_Init(DAC_Channel_2, &DAC_InitStructure);
/* DMA1_Stream5 channel7 configuration **************************************/
DMA_DeInit(DMA1_Stream6);
DMA_InitStructure.DMA_Channel = DMA_Channel_7;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R2;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = 32;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream6, &DMA_InitStructure);
/* Enable DMA1_Stream5 */
DMA_Cmd(DMA1_Stream6, ENABLE);
/* Enable DAC Channel2 */
DAC_Cmd(DAC_Channel_2, ENABLE);
/* Enable DMA for DAC Channel2 */
DAC_DMACmd(DAC_Channel_2, ENABLE);
}
void DAC_Ch1_SineWaveConfig(void)
{
DMA_InitTypeDef DMA_InitStructure;
/* DAC channel2 Configuration */
DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
DAC_Init(DAC_Channel_1, &DAC_InitStructure);
/* DMA1_Stream5 channel7 configuration **************************************/
DMA_DeInit(DMA1_Stream5);
DMA_InitStructure.DMA_Channel = DMA_Channel_7;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R1;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
DMA_InitStructure.DMA_BufferSize = 32;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA1_Stream5, &DMA_InitStructure);
/* Enable DMA1_Stream5 */
DMA_Cmd(DMA1_Stream5, ENABLE);
/* Enable DAC Channel2 */
DAC_Cmd(DAC_Channel_1, ENABLE);
/* Enable DMA for DAC Channel2 */
DAC_DMACmd(DAC_Channel_1, ENABLE);
}
static void Clock(uint32_t spektrum_id);
void initUSARTs(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
//RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
//RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART3, ENABLE);
/* Configure USART Tx as alternate function push-pull */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource0,GPIO_AF_UART4);
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure USART Rx as input floating */
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_PinAFConfig(GPIOA,GPIO_PinSource1,GPIO_AF_UART4);
GPIO_Init(GPIOA, &GPIO_InitStructure);
USART_InitStructure.USART_BaudRate = 57600;
USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No;
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
USART_Init(UART4, &USART_InitStructure);
USART_DMACmd(UART4, USART_DMAReq_Rx, ENABLE);
DMA_Cmd(DMA1_Stream2, ENABLE);
USART_Cmd(UART4, ENABLE);
}
#define DMA_Channel_USART4_RX DMA1_Stream2
#define DMA_Channel_USART4_TX DMA1_Stream4
#define DMA_FLAG_USART3_TC_RX DMA1_FLAG_TC3
#define DMA_FLAG_USART3_TC_TX DMA1_FLAG_TC2
#define USART3_DR_Base 0x40004804
void init_USART_dma()
{
DMA_InitTypeDef DMA_InitStructure;
/*RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&(USART3->DR);
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_BufferSize = size;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)buff[0];
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_DeInit(DMA_Channel_USART3_RX);
DMA_Init(DMA_Channel_USART3_RX, &DMA_InitStructure);
//DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
DMA_Cmd(DMA_Channel_USART3_RX, ENABLE);
USART_DMACmd(USART3, USART_DMAReq_Rx, ENABLE);*/
/*DMA Channel2 USART3 TX*/
DMA_DeInit(DMA1_Stream4);
DMA_InitStructure.DMA_Channel = DMA_Channel_4;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)TxBuffer3;
DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral; /*read from ram*/
DMA_InitStructure.DMA_BufferSize = TxBufferSize3; /*if content is 0,stop TX*/
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
//DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
//DMA_Init(DMA1_Channel2, &DMA_InitStructure);
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
/*DMA Channel3 USART3 RX*/
DMA_DeInit(DMA1_Stream2);
DMA_InitStructure.DMA_Channel = DMA_Channel_4;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&UART4->DR;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)RxBuffer3;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = sizeof(RxBuffer3);
DMA_Init(DMA1_Stream2, &DMA_InitStructure);
}
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
#define PIOS_COM_TELEM_RF_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;
uint32_t pios_com_cotelem_id;
void PIOS_Board_Init(void) {
// Delay system
PIOS_DELAY_Init();
PIOS_LED_Init(&pios_led_cfg);
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* 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;
uint8_t hwsettings_usb_devicetype;
HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
switch (hwsettings_usb_devicetype) {
case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
break;
case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
break;
default:
PIOS_Assert(0);
}
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);
}
const uint32_t BUF_SIZE = 512;
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(BUF_SIZE);
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, BUF_SIZE,
tx_buffer, BUF_SIZE)) {
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 */
#if defined(PIOS_INCLUDE_COM_COTELEM)
{ /* Eventually add switch for this port function */
uint32_t pios_usart_cotelem_id;
if (PIOS_USART_Init(&pios_usart_cotelem_id, &pios_usart_cotelem_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_cotelem_id, &pios_usart_com_driver, pios_usart_cotelem_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_cotelem_id = 0;
#endif /* PIOS_INCLUDE_COM_TELEM */
#endif /* PIOS_INCLUDE_COM */
/*
uint32_t pios_usart_hkosd_id;
if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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,
rx_buffer, PIOS_COM_HKOSD_RX_BUF_LEN,
tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
PIOS_Assert(0);
}*/
/*
uint32_t pios_usart_serial_id;
if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
PIOS_DEBUG_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_serial_id, &pios_usart_com_driver, pios_usart_serial_id,
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}*/
#if 1
/* Preconfiguration before using DAC----------------------------------------*/
GPIO_InitTypeDef GPIO_InitStructure;
/* DAC Periph clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
/* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
/* TIM6 Configuration ------------------------------------------------------*/
TIM6_Config();
DAC_DeInit();
DAC_Ch1_SineWaveConfig();
//DAC_Ch2_SineWaveConfig();
#endif
// ADC system
PIOS_ADC_Init();
// SPI link to master
/*if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
PIOS_DEBUG_Assert(0);
}*/
/*init_USART_dma();
initUSARTs();
extern t_fifo_buffer rx;
fifoBuf_init(&rx,RxBuffer3,sizeof(RxBuffer3));*/
PIOS_Video_Init(&pios_video_cfg);
//uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_HKOSD_RX_BUF_LEN);
//uint8_t test[16];
}
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;
}
}
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