mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-14 21:23:52 +01:00
274 lines
9.1 KiB
C
274 lines
9.1 KiB
C
/**
|
|
*****************************************************************************
|
|
* @file pios_board.c
|
|
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
|
|
* 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 SPRacing F3 EVO 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 <hwspracingf3evosettings.h>
|
|
#include <manualcontrolsettings.h>
|
|
#include <gcsreceiver.h>
|
|
#include <taskinfo.h>
|
|
#include <sanitycheck.h>
|
|
#include <actuatorsettings.h>
|
|
#include <auxmagsettings.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"
|
|
|
|
uintptr_t pios_uavo_settings_fs_id;
|
|
uintptr_t pios_user_fs_id = 0;
|
|
|
|
#ifdef PIOS_INCLUDE_WS2811
|
|
uint32_t pios_ws2811_id;
|
|
#endif
|
|
|
|
|
|
static HwSPRacingF3EVOSettingsData boardHwSettings;
|
|
|
|
static void hwSPRacingF3EVOSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
|
{
|
|
HwSPRacingF3EVOSettingsData currentBoardHwSettings;
|
|
|
|
HwSPRacingF3EVOSettingsGet(¤tBoardHwSettings);
|
|
|
|
if (memcmp(¤tBoardHwSettings, &boardHwSettings, sizeof(HwSPRacingF3EVOSettingsData)) != 0) {
|
|
ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* PIOS_Board_Init()
|
|
* initializes all the core subsystems on this specific hardware
|
|
* called from System/openpilot.c
|
|
*/
|
|
|
|
void PIOS_Board_Init(void)
|
|
{
|
|
#if defined(PIOS_INCLUDE_LED)
|
|
PIOS_LED_Init(&pios_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 mpu9250 */
|
|
|
|
if (PIOS_SPI_Init(&pios_spi_mpu9250_id, &pios_spi_mpu9250_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
/* Set up the SPI interface to the sdcard */
|
|
if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_FLASH)
|
|
/* Connect flash to the appropriate interface and configure it */
|
|
uintptr_t flash_id;
|
|
|
|
// initialize the internal settings storage flash
|
|
if (PIOS_Flash_Internal_Init(&flash_id, &flash_internal_system_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
// if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_internal_user_cfg, &pios_internal_flash_driver, flash_id)) {
|
|
// PIOS_DEBUG_Assert(0);
|
|
// }
|
|
|
|
#endif /* if defined(PIOS_INCLUDE_FLASH) */
|
|
|
|
/* 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();
|
|
SETTINGS_INITIALISE_ALL;
|
|
|
|
#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);
|
|
}
|
|
|
|
#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);
|
|
HwSPRacingF3EVOSettingsSetDefaults(HwSPRacingF3EVOSettingsHandle(), 0);
|
|
|
|
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
|
|
}
|
|
|
|
|
|
/* Set up pulse timers: 2, 3, 8, 15 */
|
|
// PIOS_TIM_InitClock(&tim_1_cfg);
|
|
PIOS_TIM_InitClock(&tim_2_cfg);
|
|
PIOS_TIM_InitClock(&tim_3_cfg);
|
|
// PIOS_TIM_InitClock(&tim_4_cfg);
|
|
PIOS_TIM_InitClock(&tim_8_cfg);
|
|
PIOS_TIM_InitClock(&tim_15_cfg);
|
|
// PIOS_TIM_InitClock(&tim_16_cfg);
|
|
// PIOS_TIM_InitClock(&tim_17_cfg);
|
|
|
|
|
|
#if defined(PIOS_INCLUDE_USB)
|
|
PIOS_BOARD_IO_Configure_USB();
|
|
#endif
|
|
|
|
|
|
HwSPRacingF3EVOSettingsConnectCallback(hwSPRacingF3EVOSettingsUpdatedCb);
|
|
|
|
HwSPRacingF3EVOSettingsGet(&boardHwSettings);
|
|
|
|
static const PIOS_BOARD_IO_UART_Function uart_function_map[] = {
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN, // single DSM instance? ok.
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_HOTTTELEMETRY] = PIOS_BOARD_IO_UART_HOTT_BRIDGE,
|
|
[HWSPRACINGF3EVOSETTINGS_UARTPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
|
|
};
|
|
|
|
for (unsigned int i = 0; i < HWSPRACINGF3EVOSETTINGS_UARTPORT_NUMELEM; ++i) {
|
|
if (boardHwSettings.UARTPort[i] < NELEMENTS(uart_function_map)) {
|
|
PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[i], uart_function_map[boardHwSettings.UARTPort[i]]);
|
|
}
|
|
}
|
|
|
|
/* allow PPM on uart2 only, to avoid uart1&3 TIM2_CH4 conflict with output PWMSync, OneShot and MultiShot modes */
|
|
if (boardHwSettings.UARTPort[1] == HWSPRACINGF3EVOSETTINGS_UARTPORT_PPM) {
|
|
PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
|
|
}
|
|
|
|
#ifdef PIOS_INCLUDE_GCSRCVR
|
|
PIOS_BOARD_IO_Configure_GCS_RCVR();
|
|
#endif
|
|
|
|
#ifdef PIOS_INCLUDE_OPLINKRCVR
|
|
PIOS_BOARD_IO_Configure_OPLink_RCVR();
|
|
#endif
|
|
|
|
#ifndef PIOS_ENABLE_DEBUG_PINS
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
#else
|
|
PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels);
|
|
#endif
|
|
|
|
switch (boardHwSettings.LEDPort) {
|
|
case HWSPRACINGF3EVOSETTINGS_LEDPORT_WS281X:
|
|
#if defined(PIOS_INCLUDE_WS2811)
|
|
PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg);
|
|
#endif
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
|
|
// init I2C1 for use with the internal baro
|
|
if (PIOS_I2C_Init(&pios_i2c_id, &pios_i2c_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
PIOS_DELAY_WaitmS(50);
|
|
|
|
#endif
|
|
|
|
PIOS_BOARD_Sensors_Configure();
|
|
|
|
PIOS_LED_On(PIOS_LED_HEARTBEAT);
|
|
|
|
/* 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);
|
|
}
|
|
|
|
|
|
/**
|
|
* @}
|
|
*/
|