1
0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-05 13:24:11 +01:00
LibrePilot/flight/targets/boards/gpsplatinum/firmware/pios_board.c
2014-09-16 22:51:28 +02:00

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 */
}
/**
* @}
*/