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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.
113 lines
3.5 KiB
C
113 lines
3.5 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 PipBee 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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#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
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#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
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static uint8_t pios_com_telem_usb_rx_buffer[PIOS_COM_TELEM_USB_RX_BUF_LEN];
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static uint8_t pios_com_telem_usb_tx_buffer[PIOS_COM_TELEM_USB_TX_BUF_LEN];
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#define PIOS_COM_SERIAL_RX_BUF_LEN 192
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#define PIOS_COM_SERIAL_TX_BUF_LEN 192
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static uint8_t pios_com_serial_rx_buffer[PIOS_COM_SERIAL_RX_BUF_LEN];
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static uint8_t pios_com_serial_tx_buffer[PIOS_COM_SERIAL_TX_BUF_LEN];
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uint32_t pios_com_serial_id;
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uint32_t pios_com_telem_usb_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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void PIOS_Board_Init(void) {
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// Bring up System using CMSIS functions, enables the LEDs.
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PIOS_SYS_Init();
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// turn all the leds on
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USB_LED_ON;
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LINK_LED_ON;
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RX_LED_ON;
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TX_LED_ON;
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// Delay system
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PIOS_DELAY_Init();
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uint32_t pios_usart_serial_id;
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if (PIOS_USART_Init(&pios_usart_serial_id, &pios_usart_serial_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_COM_Init(&pios_com_serial_id, &pios_usart_com_driver, pios_usart_serial_id,
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pios_com_serial_rx_buffer, sizeof(pios_com_serial_rx_buffer),
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pios_com_serial_tx_buffer, sizeof(pios_com_serial_tx_buffer))) {
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PIOS_DEBUG_Assert(0);
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}
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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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if (PIOS_USB_DESC_HID_ONLY_Init()) {
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PIOS_Assert(0);
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}
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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_HID) && defined(PIOS_INCLUDE_COM)
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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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if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
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pios_com_telem_usb_rx_buffer, sizeof(pios_com_telem_usb_rx_buffer),
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pios_com_telem_usb_tx_buffer, sizeof(pios_com_telem_usb_tx_buffer))) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM */
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#endif /* PIOS_INCLUDE_USB_HID */
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// ADC system
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// PIOS_ADC_Init();
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// SPI link to master
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if (PIOS_SPI_Init(&pios_spi_port_id, &pios_spi_port_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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}
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