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https://bitbucket.org/librepilot/librepilot.git
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315 lines
11 KiB
C
315 lines
11 KiB
C
/**
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****************************************************************************************
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* @file pios_board.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2016.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* 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 Sparky2 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 <taskinfo.h>
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#include <pios_ws2811.h>
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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#include <pios_instrumentation.h>
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#endif
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#ifdef PIOS_INCLUDE_WS2811
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#include <pios_ws2811.h>
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#endif
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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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#ifdef PIOS_INCLUDE_WS2811
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uint32_t pios_ws2811_id;
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#endif
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static const PIOS_BOARD_IO_UART_Function rcvr_function_map[] = {
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[HWSETTINGS_SPK2_RCVRPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
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[HWSETTINGS_SPK2_RCVRPORT_DSM] = PIOS_BOARD_IO_UART_DSM_RCVR,
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[HWSETTINGS_SPK2_RCVRPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
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[HWSETTINGS_SPK2_RCVRPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
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[HWSETTINGS_SPK2_RCVRPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
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[HWSETTINGS_SPK2_RCVRPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
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[HWSETTINGS_SPK2_RCVRPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
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};
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static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
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[HWSETTINGS_SPK2_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWSETTINGS_SPK2_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
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[HWSETTINGS_SPK2_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
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[HWSETTINGS_SPK2_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
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[HWSETTINGS_SPK2_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_SPK2_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
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[HWSETTINGS_SPK2_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_SPK2_MAINPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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[HWSETTINGS_SPK2_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
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};
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static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
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[HWSETTINGS_SPK2_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWSETTINGS_SPK2_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
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[HWSETTINGS_SPK2_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
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[HWSETTINGS_SPK2_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
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[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
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[HWSETTINGS_SPK2_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
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[HWSETTINGS_SPK2_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
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[HWSETTINGS_SPK2_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
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[HWSETTINGS_SPK2_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
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[HWSETTINGS_SPK2_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_SPK2_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
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[HWSETTINGS_SPK2_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_SPK2_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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[HWSETTINGS_SPK2_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
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};
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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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{
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const struct pios_board_info *bdinfo = &pios_board_info_blob;
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#if defined(PIOS_INCLUDE_LED)
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const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
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PIOS_Assert(led_cfg);
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PIOS_LED_Init(led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
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#endif
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/* Set up the SPI interface to the gyro/acelerometer */
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if (PIOS_SPI_Init(&pios_spi_gyro_adapter_id, &pios_spi_gyro_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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/* Set up the SPI interface to the flash and rfm22b */
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if (PIOS_SPI_Init(&pios_spi_telem_flash_adapter_id, &pios_spi_telem_flash_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#if defined(PIOS_INCLUDE_FLASH)
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/* Connect flash to the appropriate interface and configure it */
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uintptr_t flash_id = 0;
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// Initialize the external USER flash
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if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_adapter_id, 1)) {
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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_external_system_cfg, &pios_jedec_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif /* if defined(PIOS_INCLUDE_FLASH) */
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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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#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_Init();
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#endif
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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_8_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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PIOS_TIM_InitClock(&tim_12_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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/* Configure IO ports */
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/* Configure FlexiPort */
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uint8_t hwsettings_flexiport;
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HwSettingsSPK2_FlexiPortGet(&hwsettings_flexiport);
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if (hwsettings_flexiport < NELEMENTS(flexi_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, flexi_function_map[hwsettings_flexiport]);
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}
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#if defined(PIOS_INCLUDE_I2C)
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/* Set up internal I2C bus */
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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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if (hwsettings_flexiport == HWSETTINGS_RM_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);
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}
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#endif
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/* Moved this here to allow binding on flexiport */
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#if defined(PIOS_INCLUDE_FLASH)
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if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_user_cfg, &pios_jedec_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif /* if defined(PIOS_INCLUDE_FLASH) */
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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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uint8_t hwsettings_mainport;
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HwSettingsSPK2_MainPortGet(&hwsettings_mainport);
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if (hwsettings_mainport < NELEMENTS(main_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_main_cfg, main_function_map[hwsettings_mainport]);
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}
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#if defined(PIOS_INCLUDE_RFM22B)
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PIOS_BOARD_IO_Configure_RFM22B();
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uint8_t hwsettings_radioaux;
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HwSettingsRadioAuxStreamGet(&hwsettings_radioaux);
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PIOS_BOARD_IO_Configure_RadioAuxStream(hwsettings_radioaux);
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#endif /* PIOS_INCLUDE_RFM22B */
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// Configure the receiver port
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// Sparky2 receiver input on PC7 TIM8 CH2
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// include PPM,S.Bus,DSM,SRXL,IBus,EX.Bus,HoTT SUMD,HoTT SUMH
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/* Configure the receiver port*/
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uint8_t hwsettings_rcvrport;
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HwSettingsSPK2_RcvrPortGet(&hwsettings_rcvrport);
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if (hwsettings_rcvrport < NELEMENTS(rcvr_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_rcvr_cfg, rcvr_function_map[hwsettings_rcvrport]);
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}
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#if defined(PIOS_INCLUDE_PPM)
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if (hwsettings_rcvrport == HWSETTINGS_SPK2_RCVRPORT_PPM) {
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PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_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_GCS_RCVR();
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#endif
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#ifdef PIOS_INCLUDE_OPLINKRCVR
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PIOS_BOARD_IO_Configure_OPLink_RCVR();
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#endif
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#ifndef PIOS_ENABLE_DEBUG_PINS
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PIOS_Servo_Init(&pios_servo_cfg_out);
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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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PIOS_BOARD_Sensors_Configure();
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#ifdef PIOS_INCLUDE_WS2811
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HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
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HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);
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if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) {
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PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
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}
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#endif // PIOS_INCLUDE_WS2811
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#ifdef PIOS_INCLUDE_ADC
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// Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout
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GPIO_InitTypeDef gpioA8 = {
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.GPIO_Speed = GPIO_Speed_2MHz,
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.GPIO_Mode = GPIO_Mode_IN,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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.GPIO_Pin = GPIO_Pin_8,
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.GPIO_OType = GPIO_OType_OD,
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};
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GPIO_Init(GPIOA, &gpioA8);
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#endif /* PIOS_INCLUDE_ADC */
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}
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/**
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* @}
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* @}
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*/
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