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132 lines
3.9 KiB
C
132 lines
3.9 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) 2010.
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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 CopterControl 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 <gcsreceiver.h>
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#include <taskinfo.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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#define PIOS_COM_MAIN_RX_BUF_LEN 16
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#define PIOS_COM_MAIN_TX_BUF_LEN 64
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uint32_t pios_com_main_id;
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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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int32_t init_test;
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void PIOS_Board_Init(void)
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{
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/* Delay system */
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PIOS_DELAY_Init();
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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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#if defined(PIOS_INCLUDE_SPI)
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/* Set up the SPI interface to the serial flash */
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if (PIOS_SPI_Init(&pios_spi_mag_flash_id, &pios_spi_mag_flash_cfg)) {
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PIOS_Assert(0);
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}
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#endif
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/* Initialize the task monitor */
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if (PIOS_TASK_MONITOR_Initialize(3)) {
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PIOS_Assert(0);
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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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#endif
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PIOS_IAP_Init();
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/* Initialize watchdog as early as possible to catch faults during init */
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#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_Init();
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#endif
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/* Check for repeated boot failures */
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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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}
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#if defined(PIOS_INCLUDE_COM)
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{
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uint32_t pios_usart_generic_id;
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if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_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_MAIN_RX_BUF_LEN);
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PIOS_Assert(rx_buffer);
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uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_MAIN_TX_BUF_LEN);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_main_id, &pios_usart_com_driver, pios_usart_generic_id,
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rx_buffer, PIOS_COM_MAIN_RX_BUF_LEN,
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tx_buffer, PIOS_COM_MAIN_TX_BUF_LEN)) {
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PIOS_Assert(0);
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}
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}
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#endif
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#if defined(PIOS_INCLUDE_I2C)
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{
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if (PIOS_I2C_Init(&pios_i2c_gps_id, &pios_i2c_gps_cfg)) {
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PIOS_Assert(0);
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}
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}
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#endif /* PIOS_INCLUDE_I2C */
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}
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/**
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* @}
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*/
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