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https://bitbucket.org/librepilot/librepilot.git
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338 lines
11 KiB
C
338 lines
11 KiB
C
/**
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******************************************************************************
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* @file pios_board.c
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
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* 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 revomini 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 <taskinfo.h>
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#include <pios_ws2811.h>
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#include "sanitycheck.h"
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#include "actuatorsettings.h"
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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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#include <pios_instrumentation.h>
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#endif
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#include <pios_board_io.h>
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#include <pios_board_sensors.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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uintptr_t pios_uavo_settings_fs_id;
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uintptr_t pios_user_fs_id;
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#ifdef PIOS_INCLUDE_WS2811
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uint32_t pios_ws2811_id;
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#endif
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static SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook();
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static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
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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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static const PIOS_BOARD_IO_UART_Function flexi_function_map[] = {
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[HWSETTINGS_RM_FLEXIPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWSETTINGS_RM_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
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[HWSETTINGS_RM_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
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[HWSETTINGS_RM_FLEXIPORT_EXBUS] = PIOS_BOARD_IO_UART_EXBUS,
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[HWSETTINGS_RM_FLEXIPORT_HOTTSUMD] = PIOS_BOARD_IO_UART_HOTT_SUMD,
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[HWSETTINGS_RM_FLEXIPORT_HOTTSUMH] = PIOS_BOARD_IO_UART_HOTT_SUMH,
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[HWSETTINGS_RM_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
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[HWSETTINGS_RM_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
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[HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
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[HWSETTINGS_RM_FLEXIPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_RM_FLEXIPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
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[HWSETTINGS_RM_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_RM_FLEXIPORT_MAVLINK] = PIOS_BOARD_IO_UART_MAVLINK,
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[HWSETTINGS_RM_FLEXIPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
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};
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static const PIOS_BOARD_IO_UART_Function main_function_map[] = {
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[HWSETTINGS_RM_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
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[HWSETTINGS_RM_MAINPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
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[HWSETTINGS_RM_MAINPORT_SBUS] = PIOS_BOARD_IO_UART_SBUS,
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[HWSETTINGS_RM_MAINPORT_DSM] = PIOS_BOARD_IO_UART_DSM_MAIN,
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[HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
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[HWSETTINGS_RM_MAINPORT_COMBRIDGE] = PIOS_BOARD_IO_UART_COMBRIDGE,
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[HWSETTINGS_RM_MAINPORT_OSDHK] = PIOS_BOARD_IO_UART_OSDHK,
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[HWSETTINGS_RM_MAINPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
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[HWSETTINGS_RM_MAINPORT_FRSKYSENSORHUB] = PIOS_BOARD_IO_UART_FRSKY_SENSORHUB,
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};
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void PIOS_Board_Init(void)
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{
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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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#ifdef PIOS_INCLUDE_INSTRUMENTATION
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PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
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#endif
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/* Set up the SPI interface to the gyro/acelerometer */
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if (PIOS_SPI_Init(&pios_spi_gyro_adapter_id, &pios_spi_gyro_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#ifdef PIOS_INCLUDE_I2C
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if (PIOS_I2C_Init(&pios_i2c_eeprom_pressure_adapter_id, &pios_i2c_eeprom_pressure_adapter_cfg)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif
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#if defined(PIOS_INCLUDE_FLASH)
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/* Connect flash to the appropriate interface and configure it */
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uintptr_t flash_id = 0;
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// Initialize the external USER flash
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if (PIOS_Flash_EEPROM_Init(&flash_id, &flash_main_chip_cfg, pios_i2c_eeprom_pressure_adapter_id, 0x50)) {
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PIOS_DEBUG_Assert(0);
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}
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if (PIOS_FLASHFS_Init(&pios_uavo_settings_fs_id, &flash_main_fs_cfg, &pios_EEPROM_flash_driver, flash_id)) {
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PIOS_DEBUG_Assert(0);
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}
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#endif /* if defined(PIOS_INCLUDE_FLASH) */
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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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/* IAP System Setup */
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PIOS_IAP_Init();
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// check for safe mode commands from gcs
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if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
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PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
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PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
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PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
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PIOS_IAP_WriteBootCmd(0, 0);
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PIOS_IAP_WriteBootCmd(1, 0);
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PIOS_IAP_WriteBootCmd(2, 0);
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}
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#ifdef PIOS_INCLUDE_WDG
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PIOS_WDG_Init();
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#endif
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/* Initialize the task monitor */
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if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
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PIOS_Assert(0);
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}
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/* Initialize the delayed callback library */
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PIOS_CALLBACKSCHEDULER_Initialize();
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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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/* Initialize the alarms library */
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AlarmsInitialize();
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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_2_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_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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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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#if defined(PIOS_INCLUDE_USB)
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PIOS_BOARD_IO_Configure_USB();
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#endif
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/* Configure FlexiPort */
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uint8_t hwsettings_flexiport;
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HwSettingsRM_FlexiPortGet(&hwsettings_flexiport);
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if (hwsettings_flexiport < NELEMENTS(flexi_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, flexi_function_map[hwsettings_flexiport]);
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}
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uint8_t hwsettings_mainport;
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HwSettingsRM_MainPortGet(&hwsettings_mainport);
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if (hwsettings_mainport < NELEMENTS(main_function_map)) {
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PIOS_BOARD_IO_Configure_UART(&pios_usart_main_cfg, main_function_map[hwsettings_mainport]);
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}
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#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM)
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const struct pios_servo_cfg *pios_servo_cfg;
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// default to servo outputs only
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pios_servo_cfg = &pios_servo_cfg_out;
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#endif
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/* Configure the receiver port*/
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uint8_t hwsettings_rcvrport;
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HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
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//
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switch (hwsettings_rcvrport) {
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case HWSETTINGS_RM_RCVRPORT_DISABLED:
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break;
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case HWSETTINGS_RM_RCVRPORT_PWM:
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#if defined(PIOS_INCLUDE_PWM)
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/* Set up the receiver port. Later this should be optional */
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PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_cfg);
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#endif /* PIOS_INCLUDE_PWM */
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break;
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case HWSETTINGS_RM_RCVRPORT_PPM:
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case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
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case HWSETTINGS_RM_RCVRPORT_PPMPWM:
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#if defined(PIOS_INCLUDE_PPM)
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if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) {
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// configure servo outputs and the remaining 5 inputs as outputs
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pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
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}
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PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
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break;
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#endif /* PIOS_INCLUDE_PPM */
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case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
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// configure only the servo outputs
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pios_servo_cfg = &pios_servo_cfg_out_in;
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break;
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}
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#ifdef PIOS_INCLUDE_GCSRCVR
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PIOS_BOARD_IO_Configure_GCS_RCVR();
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#endif
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#ifdef PIOS_INCLUDE_WS2811
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#include <pios_ws2811.h>
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HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
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HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);
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// No other choices but servo pin 1 on nano
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if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED) {
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pios_tim_servoport_all_pins[0] = dummmy_timer; // free timer 1
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PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg, &pios_ws2811_pin_cfg[0]);
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}
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#endif // PIOS_INCLUDE_WS2811
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#ifndef PIOS_ENABLE_DEBUG_PINS
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// pios_servo_cfg points to the correct configuration based on input port settings
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PIOS_Servo_Init(pios_servo_cfg);
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#else
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PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
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#endif
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PIOS_DELAY_WaitmS(50);
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PIOS_BOARD_Sensors_Configure();
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// Attach the board config check hook
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SANITYCHECK_AttachHook(&RevoNanoConfigHook);
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// trigger a config check if actuatorsettings are updated
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ActuatorSettingsInitialize();
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ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
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}
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SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook()
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{
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// inhibit usage of oneshot for non supported RECEIVER port modes
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uint8_t recmode;
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HwSettingsRM_RcvrPortGet(&recmode);
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uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
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ActuatorSettingsBankModeGet(modes);
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switch ((HwSettingsRM_RcvrPortOptions)recmode) {
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// Those modes allows oneshot usage
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case HWSETTINGS_RM_RCVRPORT_DISABLED:
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case HWSETTINGS_RM_RCVRPORT_PPM:
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case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
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case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
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return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
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// inhibit oneshot for the following modes
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case HWSETTINGS_RM_RCVRPORT_PWM:
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for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
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if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
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modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
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modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
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modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
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return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
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}
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}
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return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
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default:
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break;
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}
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return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
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}
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// trigger a configuration check if ActuatorSettings are changed.
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void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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configuration_check();
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}
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/**
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* @}
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* @}
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*/
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