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2f8049e20a
and initialization respond appropriately. Enable hte L3GD20 and BMA180. Let the board type determine which is used.
833 lines
24 KiB
C
833 lines
24 KiB
C
/**
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******************************************************************************
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* @addtogroup Revolution Revolution configuration files
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* @{
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* @brief Configures the revolution board
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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) 2011.
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* @brief Defines board specific static initializers for hardware for the Revolution 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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#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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#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_HMC5883)
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#include "pios_hmc5883.h"
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static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = {
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.vector = PIOS_HMC5883_IRQHandler,
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.line = EXTI_Line5,
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.pin = {
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.gpio = GPIOB,
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.init = {
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.GPIO_Pin = GPIO_Pin_5,
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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_Line5, // 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_hmc5883_cfg pios_hmc5883_cfg = {
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.exti_cfg = &pios_exti_hmc5883_cfg,
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.M_ODR = PIOS_HMC5883_ODR_75,
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.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5883_GAIN_1_9,
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.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
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};
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#endif /* PIOS_INCLUDE_HMC5883 */
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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 = 1,
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};
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#endif /* PIOS_INCLUDE_MS5611 */
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/**
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* Configuration for the BMA180 chip
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*/
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#if defined(PIOS_INCLUDE_BMA180)
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#include "pios_bma180.h"
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static const struct pios_exti_cfg pios_exti_bma180_cfg __exti_config = {
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.vector = PIOS_BMA180_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_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_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_bma180_cfg pios_bma180_cfg = {
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.exti_cfg = &pios_exti_bma180_cfg,
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.bandwidth = BMA_BW_600HZ,
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.range = BMA_RANGE_8G,
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};
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#endif /* PIOS_INCLUDE_BMA180 */
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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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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_Line8,
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.pin = {
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.gpio = GPIOD,
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.init = {
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.GPIO_Pin = GPIO_Pin_8,
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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_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_Line8, // 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, downsampled by 8 for 1khz
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.Smpl_rate_div = 7,
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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_FIFO_EN,
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.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
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.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
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.filter = PIOS_MPU6000_LOWPASS_256_HZ
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};
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#endif /* PIOS_INCLUDE_MPU6000 */
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/**
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* Configuration for L3GD20 chip
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*/
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#if defined(PIOS_INCLUDE_L3GD20)
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#include "pios_l3gd20.h"
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static const struct pios_exti_cfg pios_exti_l3gd20_cfg __exti_config = {
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.vector = PIOS_L3GD20_IRQHandler,
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.line = EXTI_Line8,
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.pin = {
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.gpio = GPIOD,
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.init = {
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.GPIO_Pin = GPIO_Pin_8,
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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_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_Line8, // 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_l3gd20_cfg pios_l3gd20_cfg = {
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.exti_cfg = &pios_exti_l3gd20_cfg,
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.range = PIOS_L3GD20_SCALE_500_DEG,
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};
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#endif /* PIOS_INCLUDE_L3GD20 */
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static const struct flashfs_cfg flashfs_m25p_cfg = {
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.table_magic = 0x85FB3D35,
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.obj_magic = 0x3015A371,
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.obj_table_start = 0x00000010,
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.obj_table_end = 0x00010000,
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.sector_size = 0x00010000,
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};
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static const struct pios_flash_jedec_cfg flash_m25p_cfg = {
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.sector_erase = 0xD8,
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.chip_erase = 0xC7
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};
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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 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_AUX_RX_BUF_LEN 512
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#define PIOS_COM_AUX_TX_BUF_LEN 512
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uint32_t pios_com_aux_id = 0;
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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_bridge_id = 0;
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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 *) pvPortMalloc(rx_buf_len);
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PIOS_Assert(rx_buffer);
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if(tx_buf_len!= -1){ // this is the case for rx/tx ports
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uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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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}
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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 *pios_usart_com_driver,enum pios_dsm_proto *proto,
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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, pios_usart_com_driver,
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pios_usart_dsm_id, *proto, *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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/**
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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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const struct pios_board_info * bdinfo = &pios_board_info_blob;
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/* Delay system */
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PIOS_DELAY_Init();
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PIOS_LED_Init(&pios_led_cfg);
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/* Set up the SPI interface to the accelerometer*/
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if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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/* Set up the SPI interface to the gyro */
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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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#if !defined(PIOS_FLASH_ON_ACCEL)
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/* Set up the SPI interface to the flash */
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if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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PIOS_Flash_Jedec_Init(pios_spi_flash_id, 0, &flash_m25p_cfg);
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#else
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PIOS_Flash_Jedec_Init(pios_spi_accel_id, 1, &flash_m25p_cfg);
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#endif
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PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
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#if defined(PIOS_OVERO_SPI)
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/* Set up the SPI interface to the gyro */
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if (PIOS_SPI_Init(&pios_spi_overo_id, &pios_spi_overo_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif
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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_RTC)
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PIOS_RTC_Init(&pios_rtc_main_cfg);
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#endif
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/* Initialize the alarms library */
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AlarmsInitialize();
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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_4_cfg);
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PIOS_TIM_InitClock(&tim_5_cfg);
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PIOS_TIM_InitClock(&tim_9_cfg);
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PIOS_TIM_InitClock(&tim_10_cfg);
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PIOS_TIM_InitClock(&tim_11_cfg);
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/* IAP System Setup */
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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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//PIOS_IAP_Init();
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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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uint8_t hwsettings_usb_vcpport;
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/* Configure the USB VCP port */
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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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PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_TELEM_USB_RX_BUF_LEN, PIOS_COM_TELEM_USB_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_telem_usb_id);
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#endif /* PIOS_INCLUDE_COM */
|
|
break;
|
|
case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
|
|
#if defined(PIOS_INCLUDE_COM)
|
|
PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_vcp_id);
|
|
#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)
|
|
{
|
|
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);
|
|
}
|
|
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
|
|
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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 IO ports */
|
|
uint8_t hwsettings_DSMxBind;
|
|
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
|
|
|
|
/* Configure Telemetry port */
|
|
uint8_t hwsettings_rv_telemetryport;
|
|
HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
|
|
|
|
switch (hwsettings_rv_telemetryport){
|
|
case HWSETTINGS_RV_TELEMETRYPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY:
|
|
PIOS_Board_configure_com(&pios_usart_telem_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_RV_TELEMETRYPORT_COMAUX:
|
|
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
|
break;
|
|
case HWSETTINGS_RV_TELEMETRYPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
|
|
} /* hwsettings_rv_telemetryport */
|
|
|
|
/* Configure GPS port */
|
|
uint8_t hwsettings_rv_gpsport;
|
|
HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
|
|
switch (hwsettings_rv_gpsport){
|
|
case HWSETTINGS_RV_GPSPORT_DISABLED:
|
|
break;
|
|
|
|
case HWSETTINGS_RV_GPSPORT_TELEMETRY:
|
|
PIOS_Board_configure_com(&pios_usart_gps_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_RV_GPSPORT_GPS:
|
|
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
|
|
break;
|
|
|
|
case HWSETTINGS_RV_GPSPORT_COMAUX:
|
|
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
|
break;
|
|
|
|
case HWSETTINGS_RV_GPSPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
}/* hwsettings_rv_gpsport */
|
|
|
|
/* Configure AUXPort */
|
|
uint8_t hwsettings_rv_auxport;
|
|
HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
|
|
|
|
switch (hwsettings_rv_auxport) {
|
|
case HWSETTINGS_RV_AUXPORT_DISABLED:
|
|
break;
|
|
|
|
case HWSETTINGS_RV_AUXPORT_TELEMETRY:
|
|
PIOS_Board_configure_com(&pios_usart_aux_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_RV_AUXPORT_DSM2:
|
|
case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
|
|
case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_rv_auxport) {
|
|
case HWSETTINGS_RV_AUXPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_RV_AUXPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_RV_AUXPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
|
PIOS_Board_configure_dsm(&pios_usart_dsm_aux_cfg, &pios_dsm_aux_cfg,
|
|
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
|
}
|
|
break;
|
|
case HWSETTINGS_RV_AUXPORT_COMAUX:
|
|
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
|
break;
|
|
case HWSETTINGS_RV_AUXPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
} /* hwsettings_rv_auxport */
|
|
/* Configure AUXSbusPort */
|
|
//TODO: ensure that the serial invertion pin is setted correctly
|
|
uint8_t hwsettings_rv_auxsbusport;
|
|
HwSettingsRV_AuxSBusPortGet(&hwsettings_rv_auxsbusport);
|
|
|
|
switch (hwsettings_rv_auxsbusport) {
|
|
case HWSETTINGS_RV_AUXSBUSPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RV_AUXSBUSPORT_SBUS:
|
|
#ifdef PIOS_INCLUDE_SBUS
|
|
{
|
|
uint32_t pios_usart_sbus_id;
|
|
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_auxsbus_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 /* PIOS_INCLUDE_SBUS */
|
|
break;
|
|
|
|
case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
|
|
case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
|
|
case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_rv_auxsbusport) {
|
|
case HWSETTINGS_RV_AUXSBUSPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_RV_AUXSBUSPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_RV_AUXSBUSPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
|
|
PIOS_Board_configure_dsm(&pios_usart_dsm_auxsbus_cfg, &pios_dsm_auxsbus_cfg,
|
|
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
|
}
|
|
break;
|
|
case HWSETTINGS_RV_AUXSBUSPORT_COMAUX:
|
|
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
|
break;
|
|
case HWSETTINGS_RV_AUXSBUSPORT_COMBRIDGE:
|
|
PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
|
|
break;
|
|
} /* hwsettings_rv_auxport */
|
|
|
|
/* Configure FlexiPort */
|
|
|
|
uint8_t hwsettings_rv_flexiport;
|
|
HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);
|
|
|
|
switch (hwsettings_rv_flexiport) {
|
|
case HWSETTINGS_RV_FLEXIPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_I2C:
|
|
//TODO: Enable I2C
|
|
#if defined(PIOS_INCLUDE_I2C)
|
|
/*
|
|
{
|
|
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
}
|
|
*/
|
|
#endif /* PIOS_INCLUDE_I2C */
|
|
break;
|
|
|
|
case HWSETTINGS_RV_FLEXIPORT_DSM2:
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
|
|
{
|
|
enum pios_dsm_proto proto;
|
|
switch (hwsettings_rv_flexiport) {
|
|
case HWSETTINGS_RV_FLEXIPORT_DSM2:
|
|
proto = PIOS_DSM_PROTO_DSM2;
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX10BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX10BIT;
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_DSMX11BIT:
|
|
proto = PIOS_DSM_PROTO_DSMX11BIT;
|
|
break;
|
|
default:
|
|
PIOS_Assert(0);
|
|
break;
|
|
}
|
|
//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, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
|
|
}
|
|
break;
|
|
case HWSETTINGS_RV_FLEXIPORT_COMAUX:
|
|
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
|
|
break;
|
|
case HWSETTINGS_RV_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;
|
|
} /* hwsettings_rv_flexiport */
|
|
|
|
|
|
/* Configure the receiver port*/
|
|
uint8_t hwsettings_rcvrport;
|
|
HwSettingsRV_RcvrPortGet(&hwsettings_rcvrport);
|
|
//
|
|
switch (hwsettings_rcvrport){
|
|
case HWSETTINGS_RV_RCVRPORT_DISABLED:
|
|
break;
|
|
case HWSETTINGS_RV_RCVRPORT_PWM:
|
|
#if defined(PIOS_INCLUDE_PWM)
|
|
{
|
|
/* Set up the receiver port. Later this should be optional */
|
|
uint32_t pios_pwm_id;
|
|
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
|
|
|
|
uint32_t pios_pwm_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_PWM */
|
|
break;
|
|
case HWSETTINGS_RV_RCVRPORT_PPM:
|
|
case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
|
|
#if defined(PIOS_INCLUDE_PPM)
|
|
{
|
|
uint32_t pios_ppm_id;
|
|
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
|
|
|
|
uint32_t pios_ppm_rcvr_id;
|
|
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
|
|
PIOS_Assert(0);
|
|
}
|
|
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
|
|
}
|
|
#endif /* PIOS_INCLUDE_PPM */
|
|
case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
|
|
|
|
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 */
|
|
|
|
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
|
|
switch (hwsettings_rcvrport) {
|
|
case HWSETTINGS_RV_RCVRPORT_DISABLED:
|
|
case HWSETTINGS_RV_RCVRPORT_PWM:
|
|
case HWSETTINGS_RV_RCVRPORT_PPM:
|
|
/* Set up the servo outputs */
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
break;
|
|
case HWSETTINGS_RV_RCVRPORT_PPMOUTPUTS:
|
|
case HWSETTINGS_RV_RCVRPORT_OUTPUTS:
|
|
//PIOS_Servo_Init(&pios_servo_rcvr_cfg);
|
|
//TODO: Prepare the configurations on board_hw_defs and handle here:
|
|
PIOS_Servo_Init(&pios_servo_cfg);
|
|
break;
|
|
}
|
|
#else
|
|
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
|
|
#endif
|
|
|
|
if (PIOS_I2C_Init(&pios_i2c_mag_adapter_id, &pios_i2c_mag_adapter_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
PIOS_DELAY_WaitmS(50);
|
|
|
|
#if defined(PIOS_INCLUDE_HMC5883)
|
|
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
|
|
#endif
|
|
|
|
#if defined(PIOS_INCLUDE_MS5611)
|
|
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_pressure_adapter_id);
|
|
#endif
|
|
|
|
switch(bdinfo->board_rev) {
|
|
case 0x01:
|
|
#if defined(PIOS_INCLUDE_L3GD20)
|
|
PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
|
|
PIOS_Assert(PIOS_L3GD20_Test() == 0);
|
|
#endif
|
|
#if defined(PIOS_INCLUDE_BMA180)
|
|
PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
|
|
PIOS_Assert(PIOS_BMA180_Test() == 0);
|
|
#endif
|
|
break;
|
|
case 0x02:
|
|
#if defined(PIOS_INCLUDE_MPU6000)
|
|
PIOS_MPU6000_Attach(pios_spi_gyro_id);
|
|
PIOS_MPU6000_Init(&pios_mpu6000_cfg);
|
|
#endif
|
|
break;
|
|
default:
|
|
PIOS_DEBUG_Assert(0);
|
|
}
|
|
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|
|
|