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514 lines
15 KiB
C
514 lines
15 KiB
C
/**
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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 OPOSD 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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/* 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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#include <pios.h>
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#include <fifo_buffer.h>
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#include <openpilot.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 <gcsreceiver.h>
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/* Private macro -------------------------------------------------------------*/
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#define countof(a) (sizeof(a) / sizeof(*(a)))
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/* Private variables ---------------------------------------------------------*/
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#if defined(PIOS_INCLUDE_ADC)
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#include "pios_adc_priv.h"
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void PIOS_ADC_DMC_irq_handler(void);
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void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler")));
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struct pios_adc_cfg pios_adc_cfg = {
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.adc_dev = ADC1,
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.dma = {
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.irq = {
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.flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4),
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.init = {
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.NVIC_IRQChannel = DMA2_Stream4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
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.NVIC_IRQChannelSubPriority = 0,
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.NVIC_IRQChannelCmd = ENABLE,
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},
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},
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.rx = {
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.channel = DMA2_Stream4,
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.init = {
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.DMA_Channel = DMA_Channel_0,
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.DMA_PeripheralBaseAddr = (uint32_t) & ADC1->DR
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},
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}
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},
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.half_flag = DMA_IT_HTIF4,
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.full_flag = DMA_IT_TCIF4,
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};
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void PIOS_ADC_DMC_irq_handler(void)
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{
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/* Call into the generic code to handle the IRQ for this specific device */
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PIOS_ADC_DMA_Handler();
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}
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#endif
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/* Private define ------------------------------------------------------------*/
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#define DAC_DHR12R2_ADDRESS 0x40007414
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#define DAC_DHR8R1_ADDRESS 0x40007410
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/* Private variables ---------------------------------------------------------*/
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DAC_InitTypeDef DAC_InitStructure;
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const uint16_t Sine12bit[32] = {
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2047, 2447, 2831, 3185, 3498, 3750, 3939, 4056, 4095, 4056,
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3939, 3750, 3495, 3185, 2831, 2447, 2047, 1647, 1263, 909,
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599, 344, 155, 38, 0, 38, 155, 344, 599, 909, 1263, 1647};
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const uint8_t Escalator8bit[6] = {0x0, 0x33, 0x66, 0x99, 0xCC, 0xFF};
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/**
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* @brief TIM6 Configuration
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* @note TIM6 configuration is based on CPU @168MHz and APB1 @42MHz
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* @note TIM6 Update event occurs each 37.5MHz/256 = 16.406 KHz
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* @param None
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* @retval None
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*/
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void TIM6_Config(void)
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{
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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/* TIM6 Periph clock enable */
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
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/* Time base configuration */
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TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
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TIM_TimeBaseStructure.TIM_Period = 27;
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TIM_TimeBaseStructure.TIM_Prescaler = 0;
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TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
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/* TIM6 TRGO selection */
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TIM_SelectOutputTrigger(TIM6, TIM_TRGOSource_Update);
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/* TIM6 enable counter */
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TIM_Cmd(TIM6, ENABLE);
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}
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/**
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* @brief DAC Channel2 SineWave Configuration
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* @param None
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* @retval None
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*/
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void DAC_Ch2_SineWaveConfig(void)
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{
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DMA_InitTypeDef DMA_InitStructure;
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/* DAC channel2 Configuration */
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DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
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DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
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DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
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DAC_Init(DAC_Channel_2, &DAC_InitStructure);
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/* DMA1_Stream5 channel7 configuration **************************************/
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DMA_DeInit(DMA1_Stream6);
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DMA_InitStructure.DMA_Channel = DMA_Channel_7;
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R2;
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DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit;
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DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
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DMA_InitStructure.DMA_BufferSize = 32;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(DMA1_Stream6, &DMA_InitStructure);
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/* Enable DMA1_Stream5 */
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DMA_Cmd(DMA1_Stream6, ENABLE);
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/* Enable DAC Channel2 */
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DAC_Cmd(DAC_Channel_2, ENABLE);
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/* Enable DMA for DAC Channel2 */
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DAC_DMACmd(DAC_Channel_2, ENABLE);
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}
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void DAC_Ch1_SineWaveConfig(void)
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{
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DMA_InitTypeDef DMA_InitStructure;
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/* DAC channel2 Configuration */
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DAC_InitStructure.DAC_Trigger = DAC_Trigger_T6_TRGO;
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DAC_InitStructure.DAC_WaveGeneration = DAC_WaveGeneration_None;
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DAC_InitStructure.DAC_OutputBuffer = DAC_OutputBuffer_Enable;
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DAC_Init(DAC_Channel_1, &DAC_InitStructure);
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/* DMA1_Stream5 channel7 configuration **************************************/
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DMA_DeInit(DMA1_Stream5);
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DMA_InitStructure.DMA_Channel = DMA_Channel_7;
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DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)(uint32_t)&DAC->DHR12R1;
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DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&Sine12bit;
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DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
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DMA_InitStructure.DMA_BufferSize = 32;
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DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
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DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
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DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
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DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
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DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
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DMA_InitStructure.DMA_Priority = DMA_Priority_High;
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DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
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DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull;
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DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
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DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
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DMA_Init(DMA1_Stream5, &DMA_InitStructure);
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/* Enable DMA1_Stream5 */
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DMA_Cmd(DMA1_Stream5, ENABLE);
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/* Enable DAC Channel2 */
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DAC_Cmd(DAC_Channel_1, ENABLE);
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/* Enable DMA for DAC Channel2 */
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DAC_DMACmd(DAC_Channel_1, ENABLE);
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}
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static void Clock(uint32_t spektrum_id);
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#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512
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#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512
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#define PIOS_COM_AUX_RX_BUF_LEN 512
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#define PIOS_COM_AUX_TX_BUF_LEN 512
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#define PIOS_COM_GPS_RX_BUF_LEN 32
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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65
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#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
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#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
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uint32_t pios_com_aux_id;
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uint32_t pios_com_gps_id;
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uint32_t pios_com_telem_usb_id;
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uint32_t pios_com_telem_rf_id;
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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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PIOS_LED_Init(&pios_led_cfg);
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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/* Initialize the alarms library */
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AlarmsInitialize();
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/* Initialize the task monitor library */
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TaskMonitorInitialize();
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/* IAP System Setup */
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PIOS_IAP_Init();
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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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#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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if (!PIOS_RTC_RegisterTickCallback(Clock, 0)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif
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#if defined(PIOS_INCLUDE_USB)
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/* Initialize board specific USB data */
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PIOS_USB_BOARD_DATA_Init();
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/* Flags to determine if various USB interfaces are advertised */
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bool usb_hid_present = false;
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bool usb_cdc_present = false;
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#if defined(PIOS_INCLUDE_USB_CDC)
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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_hid_present = true;
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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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usb_hid_present = true;
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#endif
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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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#if defined(PIOS_INCLUDE_USB_CDC)
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uint8_t hwsettings_usb_vcpport;
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/* Configure the USB VCP port */
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HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
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if (!usb_cdc_present) {
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/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
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hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
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}
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switch (hwsettings_usb_vcpport) {
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case HWSETTINGS_USB_VCPPORT_DISABLED:
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break;
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case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
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#if defined(PIOS_INCLUDE_COM)
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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_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_cdc_com_driver, pios_usb_cdc_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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#endif /* PIOS_INCLUDE_COM */
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break;
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case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
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#if defined(PIOS_INCLUDE_COM)
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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_BRIDGE_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_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_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
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rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
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tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_COM */
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break;
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}
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#endif /* PIOS_INCLUDE_USB_CDC */
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#if defined(PIOS_INCLUDE_USB_HID)
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/* Configure the usb HID port */
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uint8_t hwsettings_usb_hidport;
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HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
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if (!usb_hid_present) {
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/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
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hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
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}
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switch (hwsettings_usb_hidport) {
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case HWSETTINGS_USB_HIDPORT_DISABLED:
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break;
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case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
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#if defined(PIOS_INCLUDE_COM)
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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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#endif /* PIOS_INCLUDE_COM */
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break;
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}
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#endif /* PIOS_INCLUDE_USB_HID */
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if (usb_hid_present || usb_cdc_present) {
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PIOS_USBHOOK_Activate();
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}
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#endif /* PIOS_INCLUDE_USB */
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#if defined(PIOS_INCLUDE_COM)
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#if defined(PIOS_INCLUDE_GPS)
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uint32_t pios_usart_gps_id;
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if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_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_GPS_RX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
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rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
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NULL, 0)) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_GPS */
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#if defined(PIOS_INCLUDE_COM_AUX)
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{
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uint32_t pios_usart_aux_id;
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if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_AUX_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_AUX_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_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
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rx_buffer, PIOS_COM_AUX_RX_BUF_LEN,
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tx_buffer, PIOS_COM_AUX_TX_BUF_LEN)) {
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PIOS_DEBUG_Assert(0);
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}
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}
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#else
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pios_com_aux_id = 0;
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#endif /* PIOS_INCLUDE_COM_AUX */
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#if defined(PIOS_INCLUDE_COM_TELEM)
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{ /* Eventually add switch for this port function */
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uint32_t pios_usart_telem_rf_id;
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if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_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_TELEM_RF_RX_BUF_LEN);
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
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PIOS_Assert(rx_buffer);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
|
|
rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#else
|
|
pios_com_telem_rf_id = 0;
|
|
#endif /* PIOS_INCLUDE_COM_TELEM */
|
|
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
|
|
#if 1
|
|
/* Preconfiguration before using DAC----------------------------------------*/
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
|
|
/* DAC Periph clock enable */
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
|
|
|
|
/* DAC channel 1 & 2 (DAC_OUT1 = PA.4)(DAC_OUT2 = PA.5) configuration */
|
|
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
|
|
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
|
|
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
|
|
GPIO_Init(GPIOA, &GPIO_InitStructure);
|
|
|
|
/* TIM6 Configuration ------------------------------------------------------*/
|
|
TIM6_Config();
|
|
|
|
DAC_DeInit();
|
|
DAC_Ch1_SineWaveConfig();
|
|
//DAC_Ch2_SineWaveConfig();
|
|
#endif
|
|
|
|
// ADC system
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
PIOS_ADC_Init(&pios_adc_cfg);
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_VIDEO)
|
|
PIOS_Video_Init(&pios_video_cfg);
|
|
#endif
|
|
}
|
|
|
|
uint16_t supv_timer=0;
|
|
|
|
static void Clock(uint32_t spektrum_id) {
|
|
/* 125hz */
|
|
++supv_timer;
|
|
if(supv_timer >= 625) {
|
|
supv_timer = 0;
|
|
timex.sec++;
|
|
}
|
|
if (timex.sec >= 60) {
|
|
timex.sec = 0;
|
|
timex.min++;
|
|
}
|
|
if (timex.min >= 60) {
|
|
timex.min = 0;
|
|
timex.hour++;
|
|
}
|
|
if (timex.hour >= 99) {
|
|
timex.hour = 0;
|
|
}
|
|
}
|