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LibrePilot/flight/targets/boards/coptercontrol/firmware/pios_board.c

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/**
*****************************************************************************
* @file pios_board.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
* @addtogroup LibrePilotSystem LibrePilot System
* @{
* @addtogroup LibrePilotCore LibrePilot Core
* @{
* @brief Defines board specific static initializers for hardware for the CopterControl board.
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "inc/openpilot.h"
#include <pios_board_info.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include <taskinfo.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
#endif
#include <pios_board_io.h>
#include <pios_board_sensors.h>
/*
* Pull in the board-specific static HW definitions.
* Including .c files is a bit ugly but this allows all of
* the HW definitions to be const and static to limit their
* scope.
*
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
*/
#include "../board_hw_defs.c"
static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
uintptr_t pios_uavo_settings_fs_id;
uintptr_t pios_user_fs_id = 0;
static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
[HWSETTINGS_CC_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
[HWSETTINGS_CC_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
[HWSETTINGS_CC_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
[HWSETTINGS_CC_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
[HWSETTINGS_CC_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
[HWSETTINGS_CC_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_CC_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
[HWSETTINGS_CC_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_CC_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
};
static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
[HWSETTINGS_CC_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
[HWSETTINGS_CC_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
[HWSETTINGS_CC_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
[HWSETTINGS_CC_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
[HWSETTINGS_CC_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
[HWSETTINGS_CC_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
[HWSETTINGS_CC_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
[HWSETTINGS_CC_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
[HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
[HWSETTINGS_CC_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
[HWSETTINGS_CC_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
[HWSETTINGS_CC_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
[HWSETTINGS_CC_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
};
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
int32_t init_test;
void PIOS_Board_Init(void)
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#ifdef PIOS_INCLUDE_INSTRUMENTATION
PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif
#if defined(PIOS_INCLUDE_SPI)
/* Set up the SPI interface to the serial flash */
switch (bdinfo->board_rev) {
case BOARD_REVISION_CC:
if (PIOS_SPI_Init(&pios_spi_flash_accel_adapter_id, &pios_spi_flash_accel_cfg_cc)) {
PIOS_Assert(0);
}
break;
case BOARD_REVISION_CC3D:
if (PIOS_SPI_Init(&pios_spi_flash_accel_adapter_id, &pios_spi_flash_accel_cfg_cc3d)) {
PIOS_Assert(0);
}
break;
default:
PIOS_Assert(0);
}
#endif
uintptr_t flash_id;
switch (bdinfo->board_rev) {
case BOARD_REVISION_CC:
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_adapter_id, 1)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_w25x_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
break;
case BOARD_REVISION_CC3D:
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_adapter_id, 0)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
PIOS_DEBUG_Assert(0);
}
break;
default:
PIOS_DEBUG_Assert(0);
}
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* Initialize the delayed callback library */
PIOS_CALLBACKSCHEDULER_Initialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
PIOS_IAP_Init();
// check for safe mode commands from gcs
if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
PIOS_IAP_WriteBootCmd(0, 0);
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
HwSettingsInitialize();
#ifndef ERASE_FLASH
#ifdef PIOS_INCLUDE_WDG
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif
#endif
/* Initialize the alarms library */
AlarmsInitialize();
/* Check for repeated boot failures */
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);
}
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
#if defined(PIOS_INCLUDE_USB)
PIOS_BOARD_IO_Configure_USB();
#endif
/* Configure FlexiPort */
uint8_t hwsettings_flexiport;
HwSettingsCC_FlexiPortGet(&hwsettings_flexiport);
if (hwsettings_flexiport < NELEMENTS(flexi_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, flexi_function_map[hwsettings_flexiport]);
}
switch (hwsettings_flexiport) {
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_PPM:
#if defined(PIOS_INCLUDE_PPM_FLEXI)
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_flexi_cfg);
#endif /* PIOS_INCLUDE_PPM_FLEXI */
break;
}
/* Configure main USART port */
uint8_t hwsettings_mainport;
HwSettingsCC_MainPortGet(&hwsettings_mainport);
if (hwsettings_mainport < NELEMENTS(main_function_map)) {
PIOS_BOARD_IO_Configure_UART(&pios_usart_main_cfg, main_function_map[hwsettings_mainport]);
}
/* 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)
PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_cfg);
#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)
PIOS_BOARD_IO_Configure_PPM_RCVR((hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT) ? &pios_ppm_pin8_cfg : &pios_ppm_cfg);
#endif /* PIOS_INCLUDE_PPM */
break;
case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
/* This is a combination of PPM and PWM inputs */
#if defined(PIOS_INCLUDE_PPM)
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
#endif /* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_PWM)
PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_with_ppm_cfg);
#endif /* PIOS_INCLUDE_PWM */
break;
case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
break;
}
#ifdef PIOS_INCLUDE_GCSRCVR
PIOS_BOARD_IO_Configure_GCS_RCVR();
#endif
/* 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:
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);
// Set up the SPI interface to the mpu6000
if (PIOS_SPI_Init(&pios_spi_gyro_adapter_id, &pios_spi_gyro_cfg)) {
PIOS_Assert(0);
}
break;
default:
PIOS_Assert(0);
}
PIOS_BOARD_Sensors_Configure();
/* 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 ||
modes[3] == ACTUATORSETTINGS_BANKMODE_MULTISHOT)) {
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 ||
modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
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();
}
/**
* @}
*/
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