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https://bitbucket.org/librepilot/librepilot.git
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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.
441 lines
12 KiB
C
441 lines
12 KiB
C
/**
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******************************************************************************
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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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*
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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 OpenPilot 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 <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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//#define I2C_DEBUG_PIN 0
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//#define USART_GPS_DEBUG_PIN 1
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/* One slot per selectable receiver group.
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* eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, 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 192
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#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
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#define PIOS_COM_GPS_RX_BUF_LEN 96
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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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#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_telem_rf_id;
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uint32_t pios_com_telem_usb_id;
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uint32_t pios_com_vcp_id;
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uint32_t pios_com_gps_id;
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uint32_t pios_com_aux_id;
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uint32_t pios_com_dsm_id;
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#include "ahrs_spi_comm.h"
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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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/* Remap AFIO pin */
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//GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
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#ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS
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PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
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#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
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/* Delay system */
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PIOS_DELAY_Init();
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#if defined(PIOS_INCLUDE_SPI)
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/* Set up the SPI interface to the SD card */
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if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
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PIOS_Assert(0);
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}
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/* Enable and mount the SDCard */
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PIOS_SDCARD_Init(pios_spi_sdcard_id);
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PIOS_SDCARD_MountFS(0);
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#endif /* PIOS_INCLUDE_SPI */
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/* Initialize UAVObject libraries */
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EventDispatcherInitialize();
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UAVObjInitialize();
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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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#if defined(PIOS_INCLUDE_LED)
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PIOS_LED_Init(&pios_led_cfg);
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#endif /* PIOS_INCLUDE_LED */
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HwSettingsInitialize();
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PIOS_WDG_Init();
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/* Initialize the alarms library */
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AlarmsInitialize();
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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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/* Initialize the task monitor library */
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TaskMonitorInitialize();
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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_5_cfg);
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PIOS_TIM_InitClock(&tim_4_cfg);
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PIOS_TIM_InitClock(&tim_8_cfg);
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/* Prepare the AHRS Comms upper layer protocol */
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AhrsInitComms();
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/* Set up the SPI interface to the AHRS */
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if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
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PIOS_Assert(0);
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}
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/* Bind the AHRS comms layer to the AHRS SPI link */
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AhrsConnect(pios_spi_ahrs_id);
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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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uint8_t hwsettings_usb_devicetype;
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HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);
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switch (hwsettings_usb_devicetype) {
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case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
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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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break;
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case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
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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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break;
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case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
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break;
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default:
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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_CDC)
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/* Configure the USB VCP port */
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uint8_t hwsettings_usb_vcpport;
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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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#endif /* PIOS_INCLUDE_USB */
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/* Configure the main IO port */
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uint8_t hwsettings_op_mainport;
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HwSettingsOP_MainPortGet(&hwsettings_op_mainport);
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switch (hwsettings_op_mainport) {
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case HWSETTINGS_OP_MAINPORT_DISABLED:
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break;
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case HWSETTINGS_OP_MAINPORT_TELEMETRY:
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#if defined(PIOS_INCLUDE_TELEMETRY_RF)
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{
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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_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);
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PIOS_Assert(tx_buffer);
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if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
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rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
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tx_buffer, PIOS_COM_TELEM_RF_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_TELEMETRY_RF */
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break;
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}
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/* Configure the flexi port */
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uint8_t hwsettings_op_flexiport;
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HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport);
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switch (hwsettings_op_flexiport) {
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case HWSETTINGS_OP_FLEXIPORT_DISABLED:
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break;
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case HWSETTINGS_OP_FLEXIPORT_GPS:
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#if defined(PIOS_INCLUDE_GPS)
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{
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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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}
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#endif /* PIOS_INCLUDE_GPS */
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break;
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}
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#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
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PIOS_Servo_Init(&pios_servo_cfg);
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#endif /* PIOS_DEBUG_ENABLE_DEBUG_PINS */
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PIOS_ADC_Init();
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PIOS_GPIO_Init();
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/* Configure the rcvr port */
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uint8_t hwsettings_rcvrport;
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HwSettingsOP_RcvrPortGet(&hwsettings_rcvrport);
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switch (hwsettings_rcvrport) {
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case HWSETTINGS_OP_RCVRPORT_DISABLED:
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break;
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case HWSETTINGS_OP_RCVRPORT_DEBUG:
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/* Not supported yet */
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break;
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case HWSETTINGS_OP_RCVRPORT_DSM2:
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case HWSETTINGS_OP_RCVRPORT_DSMX10BIT:
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case HWSETTINGS_OP_RCVRPORT_DSMX11BIT:
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#if defined(PIOS_INCLUDE_DSM)
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{
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enum pios_dsm_proto proto;
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switch (hwsettings_rcvrport) {
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case HWSETTINGS_OP_RCVRPORT_DSM2:
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proto = PIOS_DSM_PROTO_DSM2;
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break;
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case HWSETTINGS_OP_RCVRPORT_DSMX10BIT:
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proto = PIOS_DSM_PROTO_DSMX10BIT;
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break;
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case HWSETTINGS_OP_RCVRPORT_DSMX11BIT:
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proto = PIOS_DSM_PROTO_DSMX11BIT;
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break;
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default:
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PIOS_Assert(0);
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break;
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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,
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&pios_dsm_cfg,
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&pios_usart_com_driver,
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pios_usart_dsm_id,
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proto, 0)) {
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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[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
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}
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#endif
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break;
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case HWSETTINGS_OP_RCVRPORT_PWM:
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#if defined(PIOS_INCLUDE_PWM)
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{
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uint32_t pios_pwm_id;
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PIOS_PWM_Init(&pios_pwm_id, &pios_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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#endif /* PIOS_INCLUDE_PWM */
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break;
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case HWSETTINGS_OP_RCVRPORT_PPM:
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#if defined(PIOS_INCLUDE_PPM)
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{
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uint32_t pios_ppm_id;
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PIOS_PPM_Init(&pios_ppm_id, &pios_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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#endif /* PIOS_INCLUDE_PPM */
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break;
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}
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#if defined(PIOS_INCLUDE_I2C)
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if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
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PIOS_Assert(0);
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}
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#endif /* PIOS_INCLUDE_I2C */
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/* Make sure we have at least one telemetry link configured or else fail initialization */
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PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
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}
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/**
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* @}
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|
*/
|