mirror of
https://bitbucket.org/librepilot/librepilot.git
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513 lines
17 KiB
C
513 lines
17 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotSystem OpenPilot System
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* @{
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* @addtogroup OpenPilotCore OpenPilot Core
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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) 2010.
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* @brief Defines board specific static initializers for hardware for the OpenPilot 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 "inc/openpilot.h"
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#include <pios_board_info.h>
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#include <pios_ppm_out.h>
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#include <oplinksettings.h>
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#include <taskinfo.h>
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#ifdef PIOS_INCLUDE_SERVO
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#include <pios_servo.h>
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#endif
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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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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
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#define PIOS_COM_TELEM_VCP_RX_BUF_LEN 256
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#define PIOS_COM_TELEM_VCP_TX_BUF_LEN 256
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#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
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#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
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#define PIOS_COM_TELEM_RX_BUF_LEN 256
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#define PIOS_COM_TELEM_TX_BUF_LEN 256
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uint32_t pios_com_telem_usb_id = 0;
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uint32_t pios_com_telem_vcp_id = 0;
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uint32_t pios_com_telem_uart_main_id = 0;
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uint32_t pios_com_telem_uart_flexi_id = 0;
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uint32_t pios_com_telemetry_id = 0;
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#if defined(PIOS_INCLUDE_PPM)
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uint32_t pios_ppm_rcvr_id = 0;
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#endif
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#if defined(PIOS_INCLUDE_PPM_OUT)
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uint32_t pios_ppm_out_id = 0;
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#endif
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#if defined(PIOS_INCLUDE_RFM22B)
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uint32_t pios_rfm22b_id = 0;
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uint32_t pios_com_rfm22b_id = 0;
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uint32_t pios_com_radio_id = 0;
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#endif
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uint8_t *pios_uart_rx_buffer;
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uint8_t *pios_uart_tx_buffer;
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uintptr_t pios_uavo_settings_fs_id;
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uint8_t servo_count = 0;
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// Forward definitions
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static void PIOS_Board_PPM_callback(const int16_t *channels);
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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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/* Delay system */
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PIOS_DELAY_Init();
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#ifdef PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
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uintptr_t flash_id;
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PIOS_Flash_Internal_Init(&flash_id, &flash_internal_cfg);
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PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id);
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#endif
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/* Initialize the task monitor */
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if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
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PIOS_Assert(0);
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}
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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/* Set up the SPI interface to the rfm22b */
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if (PIOS_SPI_Init(&pios_spi_rfm22b_id, &pios_spi_rfm22b_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#ifdef PIOS_INCLUDE_WDG
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/* Initialize watchdog as early as possible to catch faults during init */
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PIOS_WDG_Init();
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#endif /* PIOS_INCLUDE_WDG */
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#if defined(PIOS_INCLUDE_RTC)
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/* Initialize the real-time clock and its associated tick */
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PIOS_RTC_Init(&pios_rtc_main_cfg);
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#endif /* PIOS_INCLUDE_RTC */
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/* IAP System Setup */
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PIOS_IAP_Init();
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// check for safe mode commands from gcs
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if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
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PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
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PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
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PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
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PIOS_IAP_WriteBootCmd(0, 0);
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PIOS_IAP_WriteBootCmd(1, 0);
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PIOS_IAP_WriteBootCmd(2, 0);
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}
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#if defined(PIOS_INCLUDE_RFM22B)
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OPLinkSettingsInitialize();
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OPLinkStatusInitialize();
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#endif /* PIOS_INCLUDE_RFM22B */
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#if defined(PIOS_INCLUDE_LED)
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PIOS_LED_Init(&pios_led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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/* Initialize the delayed callback library */
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CallbackSchedulerInitialize();
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#if defined(PIOS_INCLUDE_TIM)
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/* Set up pulse timers */
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PIOS_TIM_InitClock(&tim_1_cfg);
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PIOS_TIM_InitClock(&tim_2_cfg);
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PIOS_TIM_InitClock(&tim_3_cfg);
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PIOS_TIM_InitClock(&tim_4_cfg);
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#endif /* PIOS_INCLUDE_TIM */
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/* Initialize board specific USB data */
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PIOS_USB_BOARD_DATA_Init();
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#if defined(PIOS_INCLUDE_USB_CDC)
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/* Flags to determine if various USB interfaces are advertised */
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bool usb_cdc_present = false;
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if (PIOS_USB_DESC_HID_CDC_Init()) {
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PIOS_Assert(0);
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}
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usb_cdc_present = true;
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#else
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if (PIOS_USB_DESC_HID_ONLY_Init()) {
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PIOS_Assert(0);
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}
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#endif
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/*Initialize the USB device */
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uint32_t pios_usb_id;
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PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
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/* Configure the USB HID port */
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{
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uint32_t pios_usb_hid_id;
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if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
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rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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/* Configure the USB virtual com port (VCP) */
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#if defined(PIOS_INCLUDE_USB_CDC)
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if (usb_cdc_present) {
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uint32_t pios_usb_cdc_id;
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if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif
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/* Allocate the uart buffers. */
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pios_uart_rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
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pios_uart_tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
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// Configure the main port
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OPLinkSettingsData oplinkSettings;
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OPLinkSettingsGet(&oplinkSettings);
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bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
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bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
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bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
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bool ppm_mode = false;
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bool servo_main = false;
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bool servo_flexi = false;
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switch (oplinkSettings.MainPort) {
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case OPLINKSETTINGS_MAINPORT_TELEMETRY:
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case OPLINKSETTINGS_MAINPORT_SERIAL:
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{
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/* Configure the main port for uart serial */
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#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
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uint32_t pios_usart1_id;
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if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
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PIOS_Assert(0);
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}
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PIOS_Assert(pios_uart_rx_buffer);
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PIOS_Assert(pios_uart_tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_uart_main_id, &pios_usart_com_driver, pios_usart1_id,
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pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
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pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
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#endif
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break;
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}
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case OPLINKSETTINGS_MAINPORT_PPM:
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{
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#if defined(PIOS_INCLUDE_PPM)
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/* PPM input is configured on the coordinator modem and output on the remote modem. */
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if (is_coordinator) {
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uint32_t pios_ppm_id;
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PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_main_cfg);
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
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PIOS_Assert(0);
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}
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}
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// For some reason, PPM output on the main port doesn't work.
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#if defined(PIOS_INCLUDE_PPM_OUT)
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else {
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PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_main_ppm_out_cfg);
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}
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#endif /* PIOS_INCLUDE_PPM_OUT */
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ppm_mode = true;
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#endif /* PIOS_INCLUDE_PPM */
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break;
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}
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case OPLINKSETTINGS_MAINPORT_PWM:
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servo_main = true;
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break;
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case OPLINKSETTINGS_MAINPORT_DISABLED:
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break;
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}
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// Configure the flexi port
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switch (oplinkSettings.FlexiPort) {
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case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
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case OPLINKSETTINGS_FLEXIPORT_SERIAL:
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{
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/* Configure the flexi port as uart serial */
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uint32_t pios_usart3_id;
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if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
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PIOS_Assert(0);
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}
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PIOS_Assert(pios_uart_rx_buffer);
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PIOS_Assert(pios_uart_tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
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pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
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pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
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break;
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}
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case OPLINKSETTINGS_FLEXIPORT_PPM:
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{
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#if defined(PIOS_INCLUDE_PPM)
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/* PPM input is configured on the coordinator modem and output on the remote modem. */
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if (is_coordinator) {
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uint32_t pios_ppm_id;
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PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_cfg);
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
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PIOS_Assert(0);
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}
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} else {
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PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_flexi_ppm_out_cfg);
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}
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#endif /* PIOS_INCLUDE_PPM */
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ppm_mode = true;
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break;
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}
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case OPLINKSETTINGS_FLEXIPORT_PWM:
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servo_flexi = true;
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break;
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case OPLINKSETTINGS_FLEXIPORT_DISABLED:
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break;
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}
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// Configure the USB VCP port
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switch (oplinkSettings.VCPPort) {
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case OPLINKSETTINGS_VCPPORT_SERIAL:
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PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
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break;
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case OPLINKSETTINGS_VCPPORT_DISABLED:
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break;
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}
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#if defined(PIOS_INCLUDE_SERVO)
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if (servo_main) {
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if (servo_flexi) {
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servo_count = 4;
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PIOS_Servo_Init(&pios_servo_main_flexi_cfg);
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} else {
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servo_count = 2;
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PIOS_Servo_Init(&pios_servo_main_cfg);
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}
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} else if (servo_flexi) {
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servo_count = 2;
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PIOS_Servo_Init(&pios_servo_flexi_cfg);
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}
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ppm_mode = ppm_mode || (servo_count > 0);
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#endif
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// Initialize out status object.
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OPLinkStatusData oplinkStatus;
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OPLinkStatusGet(&oplinkStatus);
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// Get our hardware information.
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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oplinkStatus.BoardType = bdinfo->board_type;
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PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
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PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
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oplinkStatus.BoardRevision = bdinfo->board_rev;
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/* Initalize the RFM22B radio COM device. */
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if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
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oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
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// Configure the RFM22B device
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const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
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if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
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PIOS_Assert(0);
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}
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// Configure the radio com interface
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uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
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rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
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tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
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enum rfm22b_datarate datarate = RFM22_datarate_64000;
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switch (oplinkSettings.ComSpeed) {
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case OPLINKSETTINGS_COMSPEED_4800:
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datarate = RFM22_datarate_9600;
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break;
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case OPLINKSETTINGS_COMSPEED_9600:
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datarate = RFM22_datarate_19200;
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break;
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case OPLINKSETTINGS_COMSPEED_19200:
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datarate = RFM22_datarate_32000;
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break;
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case OPLINKSETTINGS_COMSPEED_38400:
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datarate = RFM22_datarate_64000;
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break;
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case OPLINKSETTINGS_COMSPEED_57600:
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datarate = RFM22_datarate_100000;
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break;
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case OPLINKSETTINGS_COMSPEED_115200:
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datarate = RFM22_datarate_192000;
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break;
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}
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/* Set the modem Tx poer level */
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switch (oplinkSettings.MaxRFPower) {
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case OPLINKSETTINGS_MAXRFPOWER_125:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_16:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_316:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_63:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_126:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
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break;
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case OPLINKSETTINGS_MAXRFPOWER_25:
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PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_50:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_100:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
|
|
break;
|
|
default:
|
|
// do nothing
|
|
break;
|
|
}
|
|
|
|
// Set the radio configuration parameters.
|
|
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only);
|
|
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
|
|
|
|
/* Set the PPM callback if we should be receiving PPM. */
|
|
if (ppm_mode) {
|
|
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
|
|
}
|
|
|
|
// Reinitilize the modem to affect te changes.
|
|
PIOS_RFM22B_Reinit(pios_rfm22b_id);
|
|
} else {
|
|
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
|
|
}
|
|
|
|
// Update the object
|
|
OPLinkStatusSet(&oplinkStatus);
|
|
|
|
// Update the com baud rate.
|
|
uint32_t comBaud = 9600;
|
|
switch (oplinkSettings.ComSpeed) {
|
|
case OPLINKSETTINGS_COMSPEED_4800:
|
|
comBaud = 4800;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_9600:
|
|
comBaud = 9600;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_19200:
|
|
comBaud = 19200;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_38400:
|
|
comBaud = 38400;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_57600:
|
|
comBaud = 57600;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_115200:
|
|
comBaud = 115200;
|
|
break;
|
|
}
|
|
if (PIOS_COM_TELEMETRY) {
|
|
PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, comBaud);
|
|
}
|
|
|
|
/* Remap AFIO pin */
|
|
GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
|
|
|
|
#ifdef PIOS_INCLUDE_ADC
|
|
PIOS_ADC_Init();
|
|
#endif
|
|
PIOS_GPIO_Init();
|
|
}
|
|
|
|
static void PIOS_Board_PPM_callback(const int16_t *channels)
|
|
{
|
|
#if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT)
|
|
if (pios_ppm_out_id) {
|
|
for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
|
|
if (channels[i] != PIOS_RCVR_INVALID) {
|
|
PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, channels[i]);
|
|
}
|
|
}
|
|
}
|
|
#if defined(PIOS_INCLUDE_SERVO)
|
|
for (uint8_t i = 0; i < servo_count; ++i) {
|
|
uint16_t val = (channels[i] == PIOS_RCVR_INVALID) ? 0 : channels[i];
|
|
PIOS_Servo_Set(i, val);
|
|
}
|
|
#endif /* PIOS_INCLUDE_SERVO */
|
|
#endif /* PIOS_INCLUDE_PPM && PIOS_INCLUDE_PPM_OUT */
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|