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201 lines
6.0 KiB
C
201 lines
6.0 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 "inc/openpilot.h"
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#include <pios_board_info.h>
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#include <uavobjectsinit.h>
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#include <hwsettings.h>
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#include <manualcontrolsettings.h>
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#include <taskinfo.h>
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/*
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* Pull in the board-specific static HW definitions.
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* Including .c files is a bit ugly but this allows all of
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* the HW definitions to be const and static to limit their
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* scope.
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*
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* NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
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*/
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#include "../board_hw_defs.c"
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/**
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* Sensor configurations
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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_udp_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_UDP_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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/**
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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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/* Delay system */
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PIOS_DELAY_Init();
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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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UAVObjectsInitializeAll();
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/* Initialize the alarms library */
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AlarmsInitialize();
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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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CallbackSchedulerInitialize();
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/* Configure IO ports */
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/* Configure Telemetry port */
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uint8_t hwsettings_rv_telemetryport;
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HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
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switch (hwsettings_rv_telemetryport){
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case HWSETTINGS_RV_TELEMETRYPORT_DISABLED:
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break;
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case HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY:
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PIOS_Board_configure_com(&pios_udp_telem_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_telem_rf_id);
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break;
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case HWSETTINGS_RV_TELEMETRYPORT_COMAUX:
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PIOS_Board_configure_com(&pios_udp_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
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break;
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} /* hwsettings_rv_telemetryport */
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/* Configure GPS port */
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uint8_t hwsettings_rv_gpsport;
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HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
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switch (hwsettings_rv_gpsport){
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case HWSETTINGS_RV_GPSPORT_DISABLED:
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break;
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case HWSETTINGS_RV_GPSPORT_TELEMETRY:
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PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_telem_rf_id);
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break;
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case HWSETTINGS_RV_GPSPORT_GPS:
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PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_udp_com_driver, &pios_com_gps_id);
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break;
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case HWSETTINGS_RV_GPSPORT_COMAUX:
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PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
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break;
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}/* hwsettings_rv_gpsport */
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/* Configure AUXPort */
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uint8_t hwsettings_rv_auxport;
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HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
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switch (hwsettings_rv_auxport) {
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case HWSETTINGS_RV_AUXPORT_DISABLED:
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break;
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case HWSETTINGS_RV_AUXPORT_TELEMETRY:
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PIOS_Board_configure_com(&pios_udp_aux_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_telem_rf_id);
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break;
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case HWSETTINGS_RV_AUXPORT_COMAUX:
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PIOS_Board_configure_com(&pios_udp_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
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break;
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break;
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} /* hwsettings_rv_auxport */
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}
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/**
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* @}
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* @}
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*/
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