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https://bitbucket.org/librepilot/librepilot.git
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403 lines
14 KiB
C
403 lines
14 KiB
C
/**
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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) 2011.
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* @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
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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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* @brief Defines board specific static initializers for hardware for the revolution board.
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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 <uavobjectsinit.h>
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#include <hwsettings.h>
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#include <manualcontrolsettings.h>
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#include <taskinfo.h>
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#include <pios_board_io.h>
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#include <pios_board_sensors.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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uintptr_t pios_uavo_settings_fs_id;
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uintptr_t pios_user_fs_id;
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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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#include <pios_board_info.h>
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int32_t PIOS_BOARD_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
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{
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const struct pios_usart_cfg *usart_cfg = PIOS_USART_GetConfig(usart_id);
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switch (ctl) {
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case PIOS_IOCTL_USART_SET_INVERTED:
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if (usart_cfg->regs == pios_usart_auxsbus_cfg.regs) { /* main port */
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GPIO_WriteBit(MAIN_USART_INVERTER_GPIO,
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MAIN_USART_INVERTER_PIN,
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(*(enum PIOS_USART_Inverted *)param & PIOS_USART_Inverted_Rx) ? MAIN_USART_INVERTER_ENABLE : MAIN_USART_INVERTER_DISABLE);
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return 0;
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}
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break;
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}
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return -1;
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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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PIOS_LED_Init(&pios_led_cfg);
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/* Connect flash to the appropriate interface and configure it */
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uintptr_t flash_id;
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// initialize the internal settings storage flash
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if (PIOS_Flash_Internal_Init(&flash_id, &flash_internal_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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/* Set up the SPI interface to the accelerometer*/
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if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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/* Set up the SPI interface to the gyro */
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if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#if !defined(PIOS_FLASH_ON_ACCEL)
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/* Set up the SPI interface to the flash */
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if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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/* Connect flash to the appropriate interface and configure it */
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if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_id, 0)) {
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PIOS_DEBUG_Assert(0);
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}
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#else
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/* Connect flash to the appropriate interface and configure it */
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if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_accel_id, 1)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif
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if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_cfg, &pios_jedec_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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#if defined(PIOS_INCLUDE_RTC)
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PIOS_RTC_Init(&pios_rtc_main_cfg);
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#endif
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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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/* 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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PIOS_CALLBACKSCHEDULER_Initialize();
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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HwSettingsInitialize();
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/* Initialize the alarms library */
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AlarmsInitialize();
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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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PIOS_TIM_InitClock(&tim_5_cfg);
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PIOS_TIM_InitClock(&tim_9_cfg);
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PIOS_TIM_InitClock(&tim_10_cfg);
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PIOS_TIM_InitClock(&tim_11_cfg);
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uint16_t boot_count = PIOS_IAP_ReadBootCount();
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if (boot_count < 3) {
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PIOS_IAP_WriteBootCount(++boot_count);
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AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
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} else {
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/* Too many failed boot attempts, force hwsettings to defaults */
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HwSettingsSetDefaults(HwSettingsHandle(), 0);
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AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
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}
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// PIOS_IAP_Init();
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/* Configure USB */
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#if defined(PIOS_INCLUDE_USB)
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PIOS_BOARD_IO_Configure_USB();
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#endif
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/* Initialize inverter gpio and set it to off */
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{
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GPIO_InitTypeDef inverterGPIOInit = {
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.GPIO_Pin = MAIN_USART_INVERTER_PIN,
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_OUT,
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.GPIO_OType = GPIO_OType_PP,
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.GPIO_PuPd = GPIO_PuPd_UP
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};
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GPIO_Init(MAIN_USART_INVERTER_GPIO, &inverterGPIOInit);
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GPIO_WriteBit(MAIN_USART_INVERTER_GPIO,
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MAIN_USART_INVERTER_PIN,
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MAIN_USART_INVERTER_DISABLE);
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}
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/* Configure IO ports */
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/* Configure Telemetry port */
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static const PIOS_BOARD_IO_UART_Function usart_telem_function_map[] = {
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[HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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// [HWSETTINGS_RV_TELEMETRYPORT_COMAUX] = ?? &pios_com_aux_id // UNUSED
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[HWSETTINGS_RV_TELEMETRYPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_RV_TELEMETRYPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_RV_TELEMETRYPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK
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};
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uint8_t hwsettings_rv_telemetryport;
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HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
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if (hwsettings_rv_telemetryport < NELEMENTS(usart_telem_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_telem_cfg, usart_telem_function_map[hwsettings_rv_telemetryport]);
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}
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/* Configure GPS port */
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static const PIOS_BOARD_IO_UART_Function usart_gps_function_map[] = {
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[HWSETTINGS_RV_GPSPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWSETTINGS_RV_GPSPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
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// [HWSETTINGS_RV_GPSPORT_COMAUX] =
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[HWSETTINGS_RV_GPSPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_RV_GPSPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_RV_GPSPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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};
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uint8_t hwsettings_rv_gpsport;
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HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
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if (hwsettings_rv_gpsport < NELEMENTS(usart_gps_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_gps_cfg, usart_gps_function_map[hwsettings_rv_gpsport]);
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}
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/* Configure AUXPort */
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static const PIOS_BOARD_IO_UART_Function usart_aux_function_map[] = {
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[HWSETTINGS_RV_AUXPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWSETTINGS_RV_AUXPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
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// [HWSETTINGS_RV_AUXPORT_COMAUX] =
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[HWSETTINGS_RV_AUXPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_RV_AUXPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_RV_AUXPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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[HWSETTINGS_RV_AUXPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
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};
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uint8_t hwsettings_rv_auxport;
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HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
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if (hwsettings_rv_auxport < NELEMENTS(usart_aux_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_aux_cfg, usart_aux_function_map[hwsettings_rv_auxport]);
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}
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/* Configure AUXSbusPort */
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static const PIOS_BOARD_IO_UART_Function usart_auxsbus_function_map[] = {
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[HWSETTINGS_RV_AUXSBUSPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
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[HWSETTINGS_RV_AUXSBUSPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN, /* MAIN group, same as usart_aux! */
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// [HWSETTINGS_RV_AUXSBUSPORT_COMAUX] =
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[HWSETTINGS_RV_AUXSBUSPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_RV_AUXSBUSPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_RV_AUXSBUSPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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[HWSETTINGS_RV_AUXSBUSPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
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};
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uint8_t hwsettings_rv_auxsbusport;
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HwSettingsRV_AuxSBusPortGet(&hwsettings_rv_auxsbusport);
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if (hwsettings_rv_auxsbusport < NELEMENTS(usart_auxsbus_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_auxsbus_cfg, usart_auxsbus_function_map[hwsettings_rv_auxsbusport]);
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}
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/* Configure FlexiPort */
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static const PIOS_BOARD_IO_UART_Function usart_flexi_function_map[] = {
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[HWSETTINGS_RV_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
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// [HWSETTINGS_RV_FLEXIPORT_COMAUX] =
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[HWSETTINGS_RV_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_RV_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_RV_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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};
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uint8_t hwsettings_rv_flexiport;
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HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
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if (hwsettings_rv_flexiport < NELEMENTS(usart_flexi_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, usart_flexi_function_map[hwsettings_rv_flexiport]);
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}
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#if defined(PIOS_INCLUDE_I2C)
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if (hwsettings_rv_flexiport == HWSETTINGS_RV_FLEXIPORT_I2C) {
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if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
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PIOS_Assert(0);
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}
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PIOS_DELAY_WaitmS(50); // this was after the other PIOS_I2C_Init(), so I copied it here too
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#ifdef PIOS_INCLUDE_WDG
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// give HMC5x83 on I2C some extra time to allow for reset, etc. if needed
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// this is not in a loop, so it is safe
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// leave this here even if PIOS_INCLUDE_HMC5X83 is undefined
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// to avoid making something else fail when HMC5X83 is removed
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PIOS_WDG_Clear();
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#endif /* PIOS_INCLUDE_WDG */
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}
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#endif /* PIOS_INCLUDE_I2C */
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/* Configure the receiver port*/
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uint8_t hwsettings_rcvrport;
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HwSettingsRV_RcvrPortGet(&hwsettings_rcvrport);
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//
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switch (hwsettings_rcvrport) {
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case HWSETTINGS_RV_RCVRPORT_DISABLED:
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break;
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case HWSETTINGS_RV_RCVRPORT_PWM:
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#if defined(PIOS_INCLUDE_PWM)
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PIOS_BOARD_IO_Configure_PWM(&pios_pwm_cfg);
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#endif /* PIOS_INCLUDE_PWM */
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break;
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case HWSETTINGS_RV_RCVRPORT_PPM:
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case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
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#if defined(PIOS_INCLUDE_PPM)
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PIOS_BOARD_IO_Configure_PPM(&pios_ppm_cfg);
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#endif /* PIOS_INCLUDE_PPM */
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case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
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break;
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}
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#if defined(PIOS_OVERO_SPI)
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/* Set up the SPI based PIOS_COM interface to the overo */
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{
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HwSettingsData hwSettings;
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HwSettingsGet(&hwSettings);
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if (hwSettings.OptionalModules.Overo == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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const uint32_t PACKET_SIZE = 1024;
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uint8_t *rx_buffer = (uint8_t *)pios_malloc(PACKET_SIZE);
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(PACKET_SIZE);
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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_overo_id, &pios_overo_com_driver, pios_overo_id,
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rx_buffer, PACKET_SIZE,
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tx_buffer, PACKET_SIZE)) {
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PIOS_Assert(0);
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}
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}
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}
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#endif /* if defined(PIOS_OVERO_SPI) */
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#if defined(PIOS_INCLUDE_HCSR04)
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{
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PIOS_TIM_InitClock(&tim_8_cfg);
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uint32_t pios_hcsr04_id;
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PIOS_HCSR04_Init(&pios_hcsr04_id, &pios_hcsr04_cfg);
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}
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#endif
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#ifdef PIOS_INCLUDE_GCSRCVR
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PIOS_BOARD_IO_Configure_GCSRCVR();
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#endif
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#ifndef PIOS_ENABLE_DEBUG_PINS
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switch (hwsettings_rcvrport) {
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case HWSETTINGS_RV_RCVRPORT_DISABLED:
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case HWSETTINGS_RV_RCVRPORT_PWM:
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case HWSETTINGS_RV_RCVRPORT_PPM:
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/* Set up the servo outputs */
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PIOS_Servo_Init(&pios_servo_cfg);
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break;
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case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
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case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
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// PIOS_Servo_Init(&pios_servo_rcvr_cfg);
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// TODO: Prepare the configurations on board_hw_defs and handle here:
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PIOS_Servo_Init(&pios_servo_cfg);
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break;
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}
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#else
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PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
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#endif
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// init I2C1 for use with the internal mag
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if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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// init I2C1 for use with the internal baro
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if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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PIOS_DELAY_WaitmS(50);
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PIOS_BOARD_Sensors_Configure();
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}
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/**
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* @}
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* @}
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*/
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