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LibrePilot/flight/PipXtreme/System/pios_board.c
Brian Webb fcbf01fa74 RFM22b: Added SPI initialization back into PipX pios_board.c.
Signed-off-by: James Cotton <peabody124@gmail.com>
2012-09-01 19:14:36 -05:00

315 lines
9.0 KiB
C

/* -*- Mode: c; c-basic-offset: 2; tab-width: 2; indent-tabs-mode: t -*- */
/**
******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System
* @{
* @addtogroup OpenPilotCore OpenPilot Core
* @{
*
* @file pios_board.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Defines board specific static initializers for hardware for the OpenPilot board.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 <pios.h>
#include <openpilot.h>
#include <pipxsettings.h>
#include <board_hw_defs.c>
#define PIOS_COM_SERIAL_RX_BUF_LEN 256
#define PIOS_COM_SERIAL_TX_BUF_LEN 256
#define PIOS_COM_FLEXI_RX_BUF_LEN 256
#define PIOS_COM_FLEXI_TX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
#define PIOS_COM_VCP_USB_RX_BUF_LEN 256
#define PIOS_COM_VCP_USB_TX_BUF_LEN 256
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telemetry_id;
uint32_t pios_com_flexi_id;
uint32_t pios_com_vcp_id;
uint32_t pios_com_uavtalk_com_id = 0;
uint32_t pios_com_gcs_com_id = 0;
uint32_t pios_com_trans_com_id = 0;
uint32_t pios_com_debug_id = 0;
uint32_t pios_ppm_rcvr_id = 0;
/**
* PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware
* called from System/openpilot.c
*/
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Set up the SPI interface to the rfm22b */
if (PIOS_SPI_Init(&pios_spi_rfm22b_id, &pios_spi_rfm22b_cfg)) {
PIOS_DEBUG_Assert(0);
}
#ifdef PIOS_INCLUDE_WDG
/* Initialize watchdog as early as possible to catch faults during init */
PIOS_WDG_Init();
#endif /* PIOS_INCLUDE_WDG */
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif /* PIOS_INCLUDE_RTC */
PipXSettingsInitialize();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
PipXSettingsData pipxSettings;
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
PIOS_EEPROM_Init(&pios_eeprom_cfg);
/* Read the settings from flash. */
/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
if (PIOS_EEPROM_Load((uint8_t*)&pipxSettings, sizeof(PipXSettingsData)) == 0)
PipXSettingsSet(&pipxSettings);
else
PipXSettingsGet(&pipxSettings);
#else
PipXSettingsGet(&pipxSettings);
#endif /* PIOS_INCLUDE_FLASH_EEPROM */
/* Initialize the task monitor library */
TaskMonitorInitialize();
#if defined(PIOS_INCLUDE_TIM)
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
#endif /* PIOS_INCLUDE_TIM */
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
#endif
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
#if defined(PIOS_INCLUDE_USB_CDC)
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
pipxSettings.VCPConfig = PIPXSETTINGS_VCPCONFIG_DISABLED;
}
switch (pipxSettings.VCPConfig)
{
case PIPXSETTINGS_VCPCONFIG_SERIAL:
case PIPXSETTINGS_VCPCONFIG_DEBUG:
{
uint32_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_VCP_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_VCP_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_VCP_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.VCPConfig)
{
case PIPXSETTINGS_VCPCONFIG_SERIAL:
pios_com_trans_com_id = pios_com_vcp_id;
break;
case PIPXSETTINGS_VCPCONFIG_DEBUG:
pios_com_debug_id = pios_com_vcp_id;
break;
}
break;
}
case PIPXSETTINGS_VCPCONFIG_DISABLED:
break;
}
#endif
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
#endif /* PIOS_INCLUDE_USB_HID */
#endif /* PIOS_INCLUDE_USB */
/* Configure USART1 (telemetry port) */
switch (pipxSettings.TelemetryConfig)
{
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
{
uint32_t pios_usart1_id;
if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_SERIAL_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telemetry_id, &pios_usart_com_driver, pios_usart1_id,
rx_buffer, PIOS_COM_SERIAL_RX_BUF_LEN,
tx_buffer, PIOS_COM_SERIAL_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.TelemetryConfig)
{
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
pios_com_trans_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
pios_com_gcs_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
pios_com_debug_id = pios_com_telemetry_id;
break;
}
break;
}
case PIPXSETTINGS_TELEMETRYCONFIG_DISABLED:
break;
}
/* Configure USART3 */
switch (pipxSettings.FlexiConfig)
{
case PIPXSETTINGS_FLEXICONFIG_SERIAL:
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
case PIPXSETTINGS_FLEXICONFIG_GCS:
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
{
uint32_t pios_usart3_id;
if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_FLEXI_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_FLEXI_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_flexi_id, &pios_usart_com_driver, pios_usart3_id,
rx_buffer, PIOS_COM_FLEXI_RX_BUF_LEN,
tx_buffer, PIOS_COM_FLEXI_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.FlexiConfig)
{
case PIPXSETTINGS_FLEXICONFIG_SERIAL:
pios_com_trans_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_GCS:
pios_com_gcs_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
pios_com_debug_id = pios_com_flexi_id;
break;
}
break;
}
case PIPXSETTINGS_FLEXICONFIG_PPM_IN:
#if defined(PIOS_INCLUDE_PPM)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_PPM */
break;
case PIPXSETTINGS_FLEXICONFIG_PPM_OUT:
case PIPXSETTINGS_FLEXICONFIG_RSSI:
case PIPXSETTINGS_FLEXICONFIG_DISABLED:
break;
}
/* Remap AFIO pin */
GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
#ifdef PIOS_INCLUDE_ADC
PIOS_ADC_Init();
#endif
PIOS_GPIO_Init();
}
/**
* @}
*/