mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
dc4aa07a32
Board specific HW configuration is now collected in a single .c file for each board. This HW configuration is #include'd into the FW, BL and BU builds for each board. These new .c files are found in: flight/board_hw_defs/<board_name>/board_hw_defs.c Parts of this information were previously duplicated between the BL and FW builds. This commit cleans up the duplication. Using a #include on a .c file is a bit ugly but it allows us to ensure that all of the symbols in the board_hw_defs.c file are *ONLY* used in the PIOS_Board_Init() function for each software build.
131 lines
3.7 KiB
C
131 lines
3.7 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup PIOS PIOS Core hardware abstraction layer
|
|
* @{
|
|
* @addtogroup PIOS_HMC5883 HMC5883 Functions
|
|
* @brief Deals with the hardware interface to the magnetometers
|
|
* @{
|
|
*
|
|
* @file pios_board.c
|
|
* @author David "Buzz" Carlson (buzz@chebuzz.com)
|
|
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
|
|
* @brief Defines board specific static initializers for hardware for the INS board.
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
|
|
/* Pull in the board-specific static HW definitions.
|
|
* Including .c files is a bit ugly but this allows all of
|
|
* the HW definitions to be const and static to limit their
|
|
* scope.
|
|
*
|
|
* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
|
|
*/
|
|
#include "board_hw_defs.c"
|
|
|
|
#include <pios.h>
|
|
|
|
#if 0
|
|
#define PIOS_COM_AUX_TX_BUF_LEN 192
|
|
static uint8_t pios_com_aux_tx_buffer[PIOS_COM_AUX_TX_BUF_LEN];
|
|
#endif
|
|
|
|
#define PIOS_COM_GPS_RX_BUF_LEN 96
|
|
static uint8_t pios_com_gps_rx_buffer[PIOS_COM_GPS_RX_BUF_LEN];
|
|
|
|
uint32_t pios_com_aux_id;
|
|
uint32_t pios_com_gps_id;
|
|
|
|
/**
|
|
* PIOS_Board_Init()
|
|
* initializes all the core subsystems on this specific hardware
|
|
* called from System/openpilot.c
|
|
*/
|
|
void PIOS_Board_Init(void) {
|
|
/* Brings up System using CMSIS functions, enables the LEDs. */
|
|
PIOS_SYS_Init();
|
|
|
|
#if defined(PIOS_INCLUDE_LED)
|
|
PIOS_LED_Init(&pios_led_cfg);
|
|
#endif /* PIOS_INCLUDE_LED */
|
|
|
|
/* Delay system */
|
|
PIOS_DELAY_Init();
|
|
|
|
/* IAP System Setup */
|
|
PIOS_IAP_Init();
|
|
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
#if defined(PIOS_INCLUDE_GPS)
|
|
uint32_t pios_usart_gps_id;
|
|
if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
|
pios_com_gps_rx_buffer, sizeof(pios_com_gps_rx_buffer),
|
|
NULL, 0)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#endif /* PIOS_INCLUDE_GPS */
|
|
#endif /* PIOS_INCLUDE_COM */
|
|
|
|
#if defined (PIOS_INCLUDE_I2C)
|
|
if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
#if defined (PIOS_INCLUDE_BMP085)
|
|
PIOS_BMP085_Init();
|
|
#endif /* PIOS_INCLUDE_BMP085 */
|
|
#if defined (PIOS_INCLUDE_HMC5883)
|
|
PIOS_HMC5883_Init();
|
|
#endif /* PIOS_INCLUDE_HMC5883 */
|
|
|
|
#if defined(PIOS_INCLUDE_IMU3000)
|
|
if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
PIOS_IMU3000_Init();
|
|
#endif /* PIOS_INCLUDE_IMU3000 */
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
|
|
#if defined(PIOS_INCLUDE_SPI)
|
|
/* Set up the SPI interface to the accelerometer*/
|
|
if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
PIOS_BMA180_Attach(pios_spi_accel_id);
|
|
|
|
// #include "ahrs_spi_comm.h"
|
|
// InsInitComms();
|
|
//
|
|
// /* Set up the SPI interface to the OP board */
|
|
// if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) {
|
|
// PIOS_DEBUG_Assert(0);
|
|
// }
|
|
//
|
|
// InsConnect(pios_spi_op_id);
|
|
#endif /* PIOS_INCLUDE_SPI */
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|
|
|