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b0b1a42aec
Protocol version is autodetected and 12 or 16 channels are supported. SRXL is available on Flexiport of Revolution board.
985 lines
35 KiB
C
985 lines
35 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 revomini 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 <oplinksettings.h>
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#include <oplinkstatus.h>
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#include <oplinkreceiver.h>
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#include <pios_oplinkrcvr_priv.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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/*
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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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/**
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* Sensor configurations
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*/
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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 /* if defined(PIOS_INCLUDE_ADC) */
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#if defined(PIOS_INCLUDE_HMC5X83)
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#include "pios_hmc5x83.h"
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pios_hmc5x83_dev_t onboard_mag = 0;
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bool pios_board_internal_mag_handler()
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{
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return PIOS_HMC5x83_IRQHandler(onboard_mag);
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}
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static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
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.vector = pios_board_internal_mag_handler,
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.line = EXTI_Line7,
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_7,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_IN,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = EXTI9_5_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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.exti = {
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.init = {
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.EXTI_Line = EXTI_Line7, // matches above GPIO pin
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Rising,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
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.exti_cfg = &pios_exti_hmc5x83_cfg,
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.M_ODR = PIOS_HMC5x83_ODR_75,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
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};
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#endif /* PIOS_INCLUDE_HMC5X83 */
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/**
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* Configuration for the MS5611 chip
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*/
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#if defined(PIOS_INCLUDE_MS5611)
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#include "pios_ms5611.h"
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static const struct pios_ms5611_cfg pios_ms5611_cfg = {
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.oversampling = MS5611_OSR_4096,
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};
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#endif /* PIOS_INCLUDE_MS5611 */
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/**
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* Configuration for the MPU6000 chip
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*/
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#if defined(PIOS_INCLUDE_MPU6000)
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#include "pios_mpu6000.h"
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#include "pios_mpu6000_config.h"
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static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
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.vector = PIOS_MPU6000_IRQHandler,
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.line = EXTI_Line4,
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.pin = {
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.gpio = GPIOC,
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.init = {
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.GPIO_Pin = GPIO_Pin_4,
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.GPIO_Speed = GPIO_Speed_100MHz,
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.GPIO_Mode = GPIO_Mode_IN,
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.GPIO_OType = GPIO_OType_OD,
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.GPIO_PuPd = GPIO_PuPd_NOPULL,
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},
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},
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.irq = {
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.init = {
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.NVIC_IRQChannel = EXTI4_IRQn,
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.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
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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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.exti = {
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.init = {
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.EXTI_Line = EXTI_Line4, // matches above GPIO pin
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.EXTI_Mode = EXTI_Mode_Interrupt,
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.EXTI_Trigger = EXTI_Trigger_Rising,
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.EXTI_LineCmd = ENABLE,
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},
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},
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};
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static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
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.exti_cfg = &pios_exti_mpu6000_cfg,
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.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
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// Clock at 8 khz
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.Smpl_rate_div_no_dlp = 0,
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// with dlp on output rate is 1000Hz
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.Smpl_rate_div_dlp = 0,
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.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
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.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
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.User_ctl = PIOS_MPU6000_USERCTL_DIS_I2C,
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.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
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.accel_range = PIOS_MPU6000_ACCEL_8G,
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.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
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.filter = PIOS_MPU6000_LOWPASS_256_HZ,
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.orientation = PIOS_MPU6000_TOP_180DEG,
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.fast_prescaler = PIOS_SPI_PRESCALER_4,
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.std_prescaler = PIOS_SPI_PRESCALER_64,
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.max_downsample = 20,
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};
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#endif /* PIOS_INCLUDE_MPU6000 */
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/* One slot per selectable receiver group.
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* eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS
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* NOTE: No slot in this map for NONE.
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*/
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uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
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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_GPS_RX_BUF_LEN 128
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#define PIOS_COM_GPS_TX_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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#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512
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#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512
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#define PIOS_COM_HKOSD_RX_BUF_LEN 22
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#define PIOS_COM_HKOSD_TX_BUF_LEN 22
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#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
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#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
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uint32_t pios_com_debug_id;
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#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
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uint32_t pios_com_gps_id = 0;
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uint32_t pios_com_telem_usb_id = 0;
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uint32_t pios_com_telem_rf_id = 0;
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uint32_t pios_com_rf_id = 0;
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uint32_t pios_com_bridge_id = 0;
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uint32_t pios_com_overo_id = 0;
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uint32_t pios_com_hkosd_id = 0;
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uint32_t pios_com_vcp_id = 0;
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#if defined(PIOS_INCLUDE_RFM22B)
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uint32_t pios_rfm22b_id = 0;
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#endif
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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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* Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only
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*/
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static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len,
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const struct pios_com_driver *com_driver, uint32_t *pios_com_id)
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{
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uint32_t pios_usart_id;
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if (PIOS_USART_Init(&pios_usart_id, usart_port_cfg)) {
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PIOS_Assert(0);
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}
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uint8_t *rx_buffer = (uint8_t *)pios_malloc(rx_buf_len);
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PIOS_Assert(rx_buffer);
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if (tx_buf_len != (size_t)-1) { // this is the case for rx/tx ports
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uint8_t *tx_buffer = (uint8_t *)pios_malloc(tx_buf_len);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
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rx_buffer, rx_buf_len,
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tx_buffer, tx_buf_len)) {
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PIOS_Assert(0);
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}
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} else { // rx only port
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if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id,
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rx_buffer, rx_buf_len,
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NULL, 0)) {
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PIOS_Assert(0);
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}
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}
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}
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static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm_cfg, const struct pios_dsm_cfg *pios_dsm_cfg,
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const struct pios_com_driver *usart_com_driver,
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ManualControlSettingsChannelGroupsOptions channelgroup, uint8_t *bind)
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{
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uint32_t pios_usart_dsm_id;
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if (PIOS_USART_Init(&pios_usart_dsm_id, pios_usart_dsm_cfg)) {
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PIOS_Assert(0);
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}
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uint32_t pios_dsm_id;
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if (PIOS_DSM_Init(&pios_dsm_id, pios_dsm_cfg, usart_com_driver,
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pios_usart_dsm_id, *bind)) {
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PIOS_Assert(0);
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}
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uint32_t pios_dsm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
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}
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static void PIOS_Board_configure_pwm(const struct pios_pwm_cfg *pwm_cfg)
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{
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/* Set up the receiver port. Later this should be optional */
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uint32_t pios_pwm_id;
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PIOS_PWM_Init(&pios_pwm_id, pwm_cfg);
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uint32_t pios_pwm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
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}
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static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *ppm_cfg)
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{
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uint32_t pios_ppm_id;
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PIOS_PPM_Init(&pios_ppm_id, ppm_cfg);
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uint32_t pios_ppm_rcvr_id;
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if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
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PIOS_Assert(0);
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}
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pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
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}
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static void PIOS_Board_PPM_callback(const int16_t *channels)
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{
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uint8_t max_chan = (RFM22B_PPM_NUM_CHANNELS < OPLINKRECEIVER_CHANNEL_NUMELEM) ? RFM22B_PPM_NUM_CHANNELS : OPLINKRECEIVER_CHANNEL_NUMELEM;
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OPLinkReceiverData opl_rcvr;
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for (uint8_t i = 0; i < max_chan; ++i) {
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opl_rcvr.Channel[i] = channels[i];
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}
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OPLinkReceiverSet(&opl_rcvr);
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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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#include <pios_board_info.h>
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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_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_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;
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// Initialize the external USER flash
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if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_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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#if defined(PIOS_INCLUDE_RFM22B)
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OPLinkSettingsInitialize();
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OPLinkStatusInitialize();
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#endif /* PIOS_INCLUDE_RFM22B */
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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_3_cfg);
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PIOS_TIM_InitClock(&tim_4_cfg);
|
|
PIOS_TIM_InitClock(&tim_5_cfg);
|
|
PIOS_TIM_InitClock(&tim_8_cfg);
|
|
PIOS_TIM_InitClock(&tim_9_cfg);
|
|
PIOS_TIM_InitClock(&tim_10_cfg);
|
|
PIOS_TIM_InitClock(&tim_11_cfg);
|
|
PIOS_TIM_InitClock(&tim_12_cfg);
|
|
|
|
uint16_t boot_count = PIOS_IAP_ReadBootCount();
|
|
if (boot_count < 3) {
|
|
PIOS_IAP_WriteBootCount(++boot_count);
|
|
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
|
|
} else {
|
|
/* Too many failed boot attempts, force hwsettings to defaults */
|
|
HwSettingsSetDefaults(HwSettingsHandle(), 0);
|
|
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
|
|
}
|
|
|
|
/* Configure IO ports */
|
|
uint8_t hwsettings_DSMxBind;
|
|
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
|
|
|
|
/* Configure FlexiPort */
|
|
uint8_t hwsettings_flexiport;
|
|
HwSettingsRM_FlexiPortGet(&hwsettings_flexiport);
|
|
switch (hwsettings_flexiport) {
|
|
case HWSETTINGS_RM_FLEXIPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_TELEMETRY:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_I2C:
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
{
|
|
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_GPS:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_DSM:
|
|
// TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
|
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
|
|
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind);
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE:
|
|
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
|
{
|
|
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
|
|
}
|
|
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_OSDHK:
|
|
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
|
|
break;
|
|
case HWSETTINGS_RM_FLEXIPORT_SRXL:
|
|
#if defined(PIOS_INCLUDE_SRXL)
|
|
{
|
|
uint32_t pios_usart_srxl_id;
|
|
if (PIOS_USART_Init(&pios_usart_srxl_id, &pios_usart_srxl_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_srxl_id;
|
|
if (PIOS_SRXL_Init(&pios_srxl_id, &pios_usart_com_driver, pios_usart_srxl_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_srxl_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_srxl_rcvr_id, &pios_srxl_rcvr_driver, pios_srxl_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
|
|
}
|
|
#endif
|
|
break;
|
|
} /* hwsettings_rm_flexiport */
|
|
|
|
/* Moved this here to allow binding on flexiport */
|
|
#if defined(PIOS_INCLUDE_FLASH)
|
|
if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_user_cfg, &pios_jedec_flash_driver, flash_id)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#endif /* if defined(PIOS_INCLUDE_FLASH) */
|
|
|
|
#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_hid_present = false;
|
|
bool usb_cdc_present = false;
|
|
|
|
#if defined(PIOS_INCLUDE_USB_CDC)
|
|
if (PIOS_USB_DESC_HID_CDC_Init()) {
|
|
PIOS_Assert(0);
|
|
}
|
|
usb_hid_present = true;
|
|
usb_cdc_present = true;
|
|
#else
|
|
if (PIOS_USB_DESC_HID_ONLY_Init()) {
|
|
PIOS_Assert(0);
|
|
}
|
|
usb_hid_present = true;
|
|
#endif
|
|
|
|
uint32_t pios_usb_id;
|
|
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
|
|
|
|
#if defined(PIOS_INCLUDE_USB_CDC)
|
|
|
|
uint8_t hwsettings_usb_vcpport;
|
|
/* Configure the USB VCP port */
|
|
HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
|
|
|
|
if (!usb_cdc_present) {
|
|
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
|
|
hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
|
|
}
|
|
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);
|
|
}
|
|
|
|
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);
|
|
}
|
|
|
|
switch (hwsettings_usb_vcpport) {
|
|
case HWSETTINGS_USB_VCPPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
{
|
|
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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_cdc_com_driver, pios_usb_cdc_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 */
|
|
break;
|
|
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
{
|
|
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_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_BRIDGE_RX_BUF_LEN,
|
|
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
break;
|
|
case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
|
{
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
|
|
NULL, 0,
|
|
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
break;
|
|
}
|
|
#endif /* PIOS_INCLUDE_USB_CDC */
|
|
|
|
#if defined(PIOS_INCLUDE_USB_HID)
|
|
/* Configure the usb HID port */
|
|
uint8_t hwsettings_usb_hidport;
|
|
HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
|
|
|
|
if (!usb_hid_present) {
|
|
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
|
|
hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
|
|
}
|
|
|
|
switch (hwsettings_usb_hidport) {
|
|
case HWSETTINGS_USB_HIDPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
{
|
|
uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(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 */
|
|
break;
|
|
}
|
|
|
|
#endif /* PIOS_INCLUDE_USB_HID */
|
|
|
|
if (usb_hid_present || usb_cdc_present) {
|
|
PIOS_USBHOOK_Activate();
|
|
}
|
|
#endif /* PIOS_INCLUDE_USB */
|
|
|
|
|
|
/* Configure main USART port */
|
|
uint8_t hwsettings_mainport;
|
|
HwSettingsRM_MainPortGet(&hwsettings_mainport);
|
|
switch (hwsettings_mainport) {
|
|
case HWSETTINGS_RM_MAINPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RM_MAINPORT_TELEMETRY:
|
|
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
|
|
break;
|
|
case HWSETTINGS_RM_MAINPORT_GPS:
|
|
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
|
|
break;
|
|
case HWSETTINGS_RM_MAINPORT_SBUS:
|
|
#if defined(PIOS_INCLUDE_SBUS)
|
|
{
|
|
uint32_t pios_usart_sbus_id;
|
|
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_sbus_id;
|
|
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
|
|
uint32_t pios_sbus_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
|
|
}
|
|
#endif
|
|
break;
|
|
case HWSETTINGS_RM_MAINPORT_DSM:
|
|
// Force binding to zero on the main port
|
|
hwsettings_DSMxBind = 0;
|
|
|
|
// TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
|
PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg,
|
|
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind);
|
|
break;
|
|
case HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE:
|
|
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
|
|
{
|
|
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
|
|
}
|
|
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
|
|
break;
|
|
case HWSETTINGS_RM_MAINPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
case HWSETTINGS_RM_MAINPORT_OSDHK:
|
|
PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
|
|
break;
|
|
} /* hwsettings_rm_mainport */
|
|
|
|
if (hwsettings_mainport != HWSETTINGS_RM_MAINPORT_SBUS) {
|
|
GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init);
|
|
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
|
|
}
|
|
|
|
|
|
/* Initalize the RFM22B radio COM device. */
|
|
#if defined(PIOS_INCLUDE_RFM22B)
|
|
|
|
/* Fetch the OPinkSettings object. */
|
|
OPLinkSettingsData oplinkSettings;
|
|
OPLinkSettingsGet(&oplinkSettings);
|
|
|
|
// Initialize out status object.
|
|
OPLinkStatusData oplinkStatus;
|
|
OPLinkStatusGet(&oplinkStatus);
|
|
oplinkStatus.BoardType = bdinfo->board_type;
|
|
PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
|
|
PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
|
|
oplinkStatus.BoardRevision = bdinfo->board_rev;
|
|
|
|
/* Is the radio turned on? */
|
|
bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
|
|
bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
|
|
bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
|
|
bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
|
|
if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
|
|
/* Configure the RFM22B device. */
|
|
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 *)pios_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
|
|
uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
|
|
PIOS_Assert(rx_buffer);
|
|
PIOS_Assert(tx_buffer);
|
|
if (PIOS_COM_Init(&pios_com_rf_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);
|
|
}
|
|
|
|
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
|
|
|
|
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
|
|
enum rfm22b_datarate datarate = RFM22_datarate_64000;
|
|
switch (oplinkSettings.ComSpeed) {
|
|
case OPLINKSETTINGS_COMSPEED_4800:
|
|
datarate = RFM22_datarate_9600;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_9600:
|
|
datarate = RFM22_datarate_19200;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_19200:
|
|
datarate = RFM22_datarate_32000;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_38400:
|
|
datarate = RFM22_datarate_64000;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_57600:
|
|
datarate = RFM22_datarate_100000;
|
|
break;
|
|
case OPLINKSETTINGS_COMSPEED_115200:
|
|
datarate = RFM22_datarate_192000;
|
|
break;
|
|
}
|
|
|
|
/* Set the radio configuration parameters. */
|
|
PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
|
|
PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);
|
|
|
|
/* Set the PPM callback if we should be receiving PPM. */
|
|
if (ppm_mode || (ppm_only && !is_coordinator)) {
|
|
PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
|
|
}
|
|
|
|
/* Set the modem Tx poer level */
|
|
switch (oplinkSettings.MaxRFPower) {
|
|
case OPLINKSETTINGS_MAXRFPOWER_125:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_16:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_316:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_63:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_126:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_25:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_50:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
|
|
break;
|
|
case OPLINKSETTINGS_MAXRFPOWER_100:
|
|
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
|
|
break;
|
|
default:
|
|
// do nothing
|
|
break;
|
|
}
|
|
|
|
/* Reinitialize the modem. */
|
|
PIOS_RFM22B_Reinit(pios_rfm22b_id);
|
|
} else {
|
|
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
|
|
}
|
|
|
|
OPLinkStatusSet(&oplinkStatus);
|
|
#endif /* PIOS_INCLUDE_RFM22B */
|
|
|
|
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
|
|
|
|
const struct pios_servo_cfg *pios_servo_cfg;
|
|
// default to servo outputs only
|
|
pios_servo_cfg = &pios_servo_cfg_out;
|
|
#endif
|
|
|
|
/* Configure the receiver port*/
|
|
uint8_t hwsettings_rcvrport;
|
|
HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
|
|
//
|
|
switch (hwsettings_rcvrport) {
|
|
case HWSETTINGS_RM_RCVRPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RM_RCVRPORT_PWM:
|
|
#if defined(PIOS_INCLUDE_PWM)
|
|
/* Set up the receiver port. Later this should be optional */
|
|
PIOS_Board_configure_pwm(&pios_pwm_cfg);
|
|
#endif /* PIOS_INCLUDE_PWM */
|
|
break;
|
|
case HWSETTINGS_RM_RCVRPORT_PPM:
|
|
case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
|
|
case HWSETTINGS_RM_RCVRPORT_PPMPWM:
|
|
case HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY:
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
PIOS_Board_configure_ppm(&pios_ppm_cfg);
|
|
|
|
if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) {
|
|
// configure servo outputs and the remaining 5 inputs as outputs
|
|
pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
|
|
}
|
|
|
|
// enable pwm on the remaining channels
|
|
if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) {
|
|
PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg);
|
|
}
|
|
|
|
if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY) {
|
|
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
|
|
}
|
|
|
|
break;
|
|
#endif /* PIOS_INCLUDE_PPM */
|
|
case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
|
|
// configure only the servo outputs
|
|
pios_servo_cfg = &pios_servo_cfg_out_in;
|
|
break;
|
|
case HWSETTINGS_RM_RCVRPORT_TELEMETRY:
|
|
PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
|
|
break;
|
|
}
|
|
|
|
#if defined(PIOS_INCLUDE_GCSRCVR)
|
|
GCSReceiverInitialize();
|
|
uint32_t pios_gcsrcvr_id;
|
|
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
|
|
uint32_t pios_gcsrcvr_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
|
|
#endif /* PIOS_INCLUDE_GCSRCVR */
|
|
|
|
#if defined(PIOS_INCLUDE_OPLINKRCVR)
|
|
{
|
|
OPLinkReceiverInitialize();
|
|
uint32_t pios_oplinkrcvr_id;
|
|
PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
|
|
uint32_t pios_oplinkrcvr_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_OPLINKRCVR */
|
|
|
|
#ifndef PIOS_ENABLE_DEBUG_PINS
|
|
// pios_servo_cfg points to the correct configuration based on input port settings
|
|
PIOS_Servo_Init(pios_servo_cfg);
|
|
#else
|
|
PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
|
|
#endif
|
|
|
|
// Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout
|
|
GPIO_InitTypeDef gpioA8 = {
|
|
.GPIO_Speed = GPIO_Speed_2MHz,
|
|
.GPIO_Mode = GPIO_Mode_IN,
|
|
.GPIO_PuPd = GPIO_PuPd_NOPULL,
|
|
.GPIO_Pin = GPIO_Pin_8,
|
|
.GPIO_OType = GPIO_OType_OD,
|
|
};
|
|
GPIO_Init(GPIOA, &gpioA8);
|
|
|
|
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
PIOS_DELAY_WaitmS(50);
|
|
|
|
#if defined(PIOS_INCLUDE_ADC)
|
|
PIOS_ADC_Init(&pios_adc_cfg);
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_MPU6000)
|
|
PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
|
|
PIOS_MPU6000_CONFIG_Configure();
|
|
PIOS_MPU6000_Register();
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_HMC5X83)
|
|
onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
|
|
PIOS_HMC5x83_Register(onboard_mag);
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_MS5611)
|
|
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
|
|
PIOS_MS5611_Register();
|
|
#endif
|
|
|
|
#ifdef PIOS_INCLUDE_WS2811
|
|
#include <pios_ws2811.h>
|
|
HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
|
|
HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);
|
|
|
|
if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) {
|
|
PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
|
|
}
|
|
#endif // PIOS_INCLUDE_WS2811
|
|
#ifdef PIOS_INCLUDE_ADC
|
|
{
|
|
uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
|
|
HwSettingsADCRoutingArrayGet(adc_config);
|
|
for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
|
|
if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
|
|
PIOS_ADC_PinSetup(i);
|
|
}
|
|
}
|
|
}
|
|
#endif // PIOS_INCLUDE_ADC
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|