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LibrePilot/flight/targets/boards/oplinkmini/firmware/pios_board.c

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/**
******************************************************************************
* @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 "inc/openpilot.h"
#include <pios_board_info.h>
#include <oplinksettings.h>
#include <taskinfo.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"
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
#define PIOS_COM_TELEM_VCP_RX_BUF_LEN 256
#define PIOS_COM_TELEM_VCP_TX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
#define PIOS_COM_TELEM_RX_BUF_LEN 256
#define PIOS_COM_TELEM_TX_BUF_LEN 256
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telem_vcp_id = 0;
uint32_t pios_com_telem_uart_main_id = 0;
uint32_t pios_com_telem_uart_flexi_id = 0;
uint32_t pios_com_telemetry_id = 0;
#if defined(PIOS_INCLUDE_PPM)
uint32_t pios_ppm_rcvr_id = 0;
#endif
#if defined(PIOS_INCLUDE_PPM_OUT)
uint32_t pios_ppm_out_id = 0;
#endif
#if defined(PIOS_INCLUDE_RFM22B)
uint32_t pios_rfm22b_id = 0;
uint32_t pios_com_rfm22b_id = 0;
uint32_t pios_com_radio_id = 0;
#endif
uint8_t *pios_uart_rx_buffer;
uint8_t *pios_uart_tx_buffer;
uintptr_t pios_uavo_settings_fs_id;
// Forward definitions
static void PIOS_InitUartMainPort();
static void PIOS_InitUartFlexiPort();
static void PIOS_InitPPMMainPort(bool input);
static void PIOS_InitPPMFlexiPort(bool input);
/**
* 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();
#ifdef PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
uintptr_t flash_id;
PIOS_Flash_Internal_Init(&flash_id, &flash_internal_cfg);
PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id);
#endif
/* Initialize the task monitor */
if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
PIOS_Assert(0);
}
/* 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 */
OPLinkSettingsInitialize();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */
OPLinkSettingsData oplinkSettings;
/* IAP System Setup */
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) {
OPLinkSettingsGet(&oplinkSettings);
OPLinkSettingsSetDefaults(&oplinkSettings, 0);
OPLinkSettingsSet(&oplinkSettings);
// PIOS_EEPROM_Save((uint8_t*)&oplinkSettings, sizeof(OPLinkSettingsData));
for (uint32_t i = 0; i < 10; i++) {
PIOS_DELAY_WaitmS(100);
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
}
PIOS_IAP_WriteBootCmd(0, 0);
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
OPLinkSettingsGet(&oplinkSettings);
/* Initialize the delayed callback library */
CallbackSchedulerInitialize();
#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 */
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
#if defined(PIOS_INCLUDE_USB_CDC)
/* Flags to determine if various USB interfaces are advertised */
bool usb_cdc_present = false;
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
/*Initialize the USB device */
uint32_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);
/* Configure the USB HID port */
{
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);
}
}
/* Configure the USB virtual com port (VCP) */
#if defined(PIOS_INCLUDE_USB_CDC)
if (usb_cdc_present) {
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_TELEM_VCP_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_VCP_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
{
// Configure the RFM22B device
const struct pios_board_info *bdinfo = &pios_board_info_blob;
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
PIOS_Assert(0);
}
// Configure the radio com interface
uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
uint32_t comBaud = 9600;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_2400:
comBaud = 2400;
break;
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;
}
PIOS_COM_ChangeBaud(pios_com_rfm22b_id, comBaud);
// Set the radio configuration parameters.
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, oplinkSettings.NumChannels, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet,
oplinkSettings.PacketTime, (oplinkSettings.OneWayLink == OPLINKSETTINGS_ONEWAYLINK_TRUE));
PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE));
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
// Reinitilize the modem to affect te changes.
PIOS_RFM22B_Reinit(pios_rfm22b_id);
}
#endif /* PIOS_INCLUDE_RFM22B */
/* Allocate the uart buffers. */
pios_uart_rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
pios_uart_tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
// Configure the main port
bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
switch (oplinkSettings.MainPort) {
case OPLINKSETTINGS_MAINPORT_TELEMETRY:
case OPLINKSETTINGS_MAINPORT_SERIAL:
/* Configure the main port for uart serial */
PIOS_InitUartMainPort();
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
break;
case OPLINKSETTINGS_MAINPORT_PPM:
PIOS_InitPPMMainPort(is_coordinator);
break;
case OPLINKSETTINGS_MAINPORT_DISABLED:
break;
}
// Configure the flexi port
switch (oplinkSettings.FlexiPort) {
case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
case OPLINKSETTINGS_FLEXIPORT_SERIAL:
/* Configure the flexi port as uart serial */
PIOS_InitUartFlexiPort();
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
break;
case OPLINKSETTINGS_FLEXIPORT_PPM:
PIOS_InitPPMFlexiPort(is_coordinator);
break;
case OPLINKSETTINGS_FLEXIPORT_DISABLED:
break;
}
// Configure the USB VCP port
switch (oplinkSettings.VCPPort) {
case OPLINKSETTINGS_VCPPORT_SERIAL:
PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
break;
case OPLINKSETTINGS_VCPPORT_DISABLED:
break;
}
// Update the com baud rate.
uint32_t comBaud = 9600;
switch (oplinkSettings.ComSpeed) {
case OPLINKSETTINGS_COMSPEED_2400:
comBaud = 2400;
break;
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_InitUartMainPort()
{
#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
uint32_t pios_usart1_id;
if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
PIOS_Assert(0);
}
PIOS_Assert(pios_uart_rx_buffer);
PIOS_Assert(pios_uart_tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_uart_main_id, &pios_usart_com_driver, pios_usart1_id,
pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
#endif
}
static void PIOS_InitUartFlexiPort()
{
uint32_t pios_usart3_id;
if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
PIOS_Assert(0);
}
PIOS_Assert(pios_uart_rx_buffer);
PIOS_Assert(pios_uart_tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
static void PIOS_InitPPMMainPort(bool input)
{
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (input) {
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_main_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
}
// For some reason, PPM output on the main port doesn't work.
#endif /* PIOS_INCLUDE_PPM */
}
static void PIOS_InitPPMFlexiPort(bool input)
{
#if defined(PIOS_INCLUDE_PPM)
/* PPM input is configured on the coordinator modem and output on the remote modem. */
if (input) {
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
}
#if defined(PIOS_INCLUDE_PPM_OUT)
else {
PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_ppm_out_cfg);
}
#endif /* PIOS_INCLUDE_PPM_OUT */
#endif /* PIOS_INCLUDE_PPM */
}
/**
* @}
*/
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