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79 lines
2.6 KiB
C
79 lines
2.6 KiB
C
/**
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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) 2014.
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* @brief Defines board specific static initializers for hardware for the GPS 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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#include <pios.h>
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#include <pios_board_info.h>
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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_com_msg.h>
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uint32_t PIOS_COM_TELEM_USB;
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#define PIOS_COM_MAIN_RX_BUF_LEN 256
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#define PIOS_COM_MAIN_TX_BUF_LEN 256
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uint8_t rx_buffer[PIOS_COM_MAIN_RX_BUF_LEN];
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uint8_t tx_buffer[PIOS_COM_MAIN_TX_BUF_LEN];
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static void setupCom();
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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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{
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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FLASH_PrefetchBufferCmd(ENABLE);
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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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setupCom();
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}
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void setupCom()
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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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if (PIOS_COM_Init(&PIOS_COM_TELEM_USB, &pios_usart_com_driver, pios_usart_generic_id,
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rx_buffer, PIOS_COM_MAIN_RX_BUF_LEN,
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tx_buffer, PIOS_COM_MAIN_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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