mirror of
https://bitbucket.org/librepilot/librepilot.git
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328 lines
9.7 KiB
C
328 lines
9.7 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 <oplinksettings.h>
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#include <taskinfo.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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#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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/**
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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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/* Delay system */
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PIOS_DELAY_Init();
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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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OPLinkSettingsInitialize();
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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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OPLinkSettingsData oplinkSettings;
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#if defined(PIOS_INCLUDE_FLASH_EEPROM)
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PIOS_EEPROM_Init(&pios_eeprom_cfg);
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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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OPLinkSettingsGet(&oplinkSettings);
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OPLinkSettingsSetDefaults(&oplinkSettings,0);
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PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
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for (uint32_t i = 0; i < 10; i++) {
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PIOS_DELAY_WaitmS(100);
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PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
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}
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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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/* Read the settings from flash. */
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/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
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if (PIOS_EEPROM_Load((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData)) == 0)
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OPLinkSettingsSet(&oplinkSettings);
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else
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OPLinkSettingsGet(&oplinkSettings);
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#else
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OPLinkSettingsGet(&oplinkSettings);
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#endif /* PIOS_INCLUDE_FLASH_EEPROM */
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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 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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{
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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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/* Initalize the RFM22B radio COM device. */
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#if defined(PIOS_INCLUDE_RFM22B)
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{
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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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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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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 RFM22B bindings. */
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PIOS_RFM22B_SetBindings(pios_rfm22b_id, oplinkSettings.Bindings, oplinkSettings.RemoteMainPort,
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oplinkSettings.RemoteFlexiPort, oplinkSettings.RemoteVCPPort, oplinkSettings.ComSpeed);
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}
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#endif /* PIOS_INCLUDE_RFM22B */
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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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/* Remap AFIO pin */
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GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
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#ifdef PIOS_INCLUDE_ADC
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PIOS_ADC_Init();
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#endif
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PIOS_GPIO_Init();
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}
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void PIOS_InitUartMainPort()
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{
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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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#endif
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}
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void PIOS_InitUartFlexiPort()
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{
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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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}
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void PIOS_InitPPMMainPort(bool input)
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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 (input)
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{
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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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// For some reason, PPM output on the main port doesn't work.
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#endif /* PIOS_INCLUDE_PPM */
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}
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void PIOS_InitPPMFlexiPort(bool input)
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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 (input)
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{
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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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#if defined(PIOS_INCLUDE_PPM_OUT)
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else
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{
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PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_ppm_out_cfg);
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}
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#endif /* PIOS_INCLUDE_PPM_OUT */
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#endif /* PIOS_INCLUDE_PPM */
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}
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/**
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* @}
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*/
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