mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-05 13:24:11 +01:00
133 lines
4.1 KiB
C
133 lines
4.1 KiB
C
/**
|
|
*****************************************************************************
|
|
* @file pios_board.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
|
|
* @addtogroup OpenPilotSystem OpenPilot System
|
|
* @{
|
|
* @addtogroup OpenPilotCore OpenPilot 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 <manualcontrolsettings.h>
|
|
#include <gcsreceiver.h>
|
|
#include <taskinfo.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"
|
|
|
|
#define PIOS_COM_MAIN_RX_BUF_LEN 32
|
|
#define PIOS_COM_MAIN_TX_BUF_LEN 128
|
|
|
|
uint32_t pios_com_main_id;
|
|
uintptr_t flash_id;
|
|
/**
|
|
* 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)
|
|
{
|
|
/* Delay system */
|
|
PIOS_DELAY_Init();
|
|
|
|
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 */
|
|
|
|
/* Initialize watchdog as early as possible to catch faults during init */
|
|
#ifdef PIOS_INCLUDE_WDG
|
|
PIOS_WDG_Init();
|
|
#endif
|
|
#if defined(PIOS_INCLUDE_SPI)
|
|
/* Set up the SPI interface to the serial flash */
|
|
if (PIOS_SPI_Init(&pios_spi_mag_flash_id, &pios_spi_mag_flash_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
#ifdef PIOS_INCLUDE_HMC5X83
|
|
PIOS_SPI_SetClockSpeed(pios_spi_mag_flash_id, SPI_BaudRatePrescaler_16);
|
|
onboard_mag = PIOS_HMC5x83_Init(&pios_mag_cfg, pios_spi_mag_flash_id, 0);
|
|
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_mag_flash_id, 1)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
#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 repeated boot failures */
|
|
uint16_t boot_count = PIOS_IAP_ReadBootCount();
|
|
if (boot_count < 3) {
|
|
PIOS_IAP_WriteBootCount(++boot_count);
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
{
|
|
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_MAIN_RX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
|
|
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_TX_BUF_LEN);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_main_id, &pios_usart_com_driver, pios_usart_generic_id,
|
|
rx_buffer, PIOS_COM_MAIN_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_MAIN_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
{
|
|
if (PIOS_I2C_Init(&pios_i2c_gps_id, &pios_i2c_gps_cfg)) {
|
|
flash_id = -1;
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|