void HwFlyingF3GyroRangeSet( uint8_t *NewGyroRange )
{
UAVObjSetDataField(HwFlyingF3Handle(), (void*)NewGyroRange, offsetof( HwFlyingF3Data, GyroRange), sizeof(uint8_t));
}
void HwFlyingF3AccelRangeGet( uint8_t *NewAccelRange )
{
UAVObjGetDataField(HwFlyingF3Handle(), (void*)NewAccelRange, offsetof( HwFlyingF3Data, AccelRange), sizeof(uint8_t));
}
void HwFlyingF3DSMxBindGet( uint8_t *NewDSMxBind )
{
UAVObjGetDataField(HwFlyingF3Handle(), (void*)NewDSMxBind, offsetof( HwFlyingF3Data, DSMxBind), sizeof(uint8_t));
}
void HwFlyingF3USB_VCPPortGet( uint8_t *NewUSB_VCPPort )
{
UAVObjGetDataField(HwFlyingF3Handle(), (void*)NewUSB_VCPPort, offsetof( HwFlyingF3Data, USB_VCPPort), sizeof(uint8_t));
}
void HwFlyingF3Uart5Get( uint8_t *NewUart5 )
{
UAVObjGetDataField(HwFlyingF3Handle(), (void*)NewUart5, offsetof( HwFlyingF3Data, Uart5), sizeof(uint8_t));
}
/**
* Get/Set object Functions
*/
void HwFlyingF3RcvrPortSet( uint8_t *NewRcvrPort )
{
UAVObjSetDataField(HwFlyingF3Handle(), (void*)NewRcvrPort, offsetof( HwFlyingF3Data, RcvrPort), sizeof(uint8_t));
}
void PIOS_Board_Init(void) {
/* Delay system */
PIOS_DELAY_Init();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
#if defined(PIOS_INCLUDE_SPI)
if (PIOS_SPI_Init(&pios_spi_internal_id, &pios_spi_internal_cfg)) {
PIOS_DEBUG_Assert(0);
}
#endif
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_internal_id, &pios_i2c_internal_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_internal_id) != 0)
panic(3);
if (PIOS_I2C_Init(&pios_i2c_external_id, &pios_i2c_external_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_external_id) != 0)
panic(4);
#endif
#if defined(PIOS_INCLUDE_CAN)
if (PIOS_CAN_Init(&pios_can_id, &pios_can_cfg) != 0)
panic(6);
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_can_id, &pios_can_com_driver, pios_can_id,
rx_buffer, PIOS_COM_CAN_RX_BUF_LEN,
tx_buffer, PIOS_COM_CAN_TX_BUF_LEN))
panic(6);
pios_com_bridge_id = pios_com_can_id;
#endif
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);
/* Register the partition table */
const struct pios_flash_partition * flash_partition_table;
uint32_t num_partitions;
flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions);
PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);
/* Mount all filesystems */
PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS);
PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_internal_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS);
#if defined(ERASE_FLASH)
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif
#endif
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize UAVObject libraries */
UAVObjInitialize();
/* Initialize the alarms library. Reads RCC reset flags */
AlarmsInitialize();
PIOS_RESET_Clear(); // Clear the RCC reset flags after use.
/* Initialize the hardware UAVOs */
HwFlyingF3Initialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#ifndef ERASE_FLASH
/* Initialize watchdog as early as possible to catch faults during init
* but do it only if there is no debugger connected
*/
if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
PIOS_WDG_Init();
}
#endif
/* Set up pulse timers */
//inputs
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_15_cfg);
PIOS_TIM_InitClock(&tim_16_cfg);
PIOS_TIM_InitClock(&tim_17_cfg);
//outputs
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
/* IAP System Setup */
PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hw config to defaults */
HwFlyingF3SetDefaults(HwFlyingF3Handle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
bool usb_cdc_present = false;
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uintptr_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hw_usb_vcpport;
/* Configure the USB VCP port */
HwFlyingF3USB_VCPPortGet(&hw_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hw_usb_vcpport = HWFLYINGF3_USB_VCPPORT_DISABLED;
}
switch (hw_usb_vcpport) {
case HWFLYINGF3_USB_VCPPORT_DISABLED:
break;
case HWFLYINGF3_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(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_cdc_com_driver, pios_usb_cdc_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;
case HWFLYINGF3_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWFLYINGF3_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hw_usb_hidport;
HwFlyingF3USB_HIDPortGet(&hw_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hw_usb_hidport = HWFLYINGF3_USB_HIDPORT_DISABLED;
}
switch (hw_usb_hidport) {
case HWFLYINGF3_USB_HIDPORT_DISABLED:
break;
case HWFLYINGF3_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uintptr_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 *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(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 */
#endif /* PIOS_INCLUDE_USB */
/* Configure the IO ports */
HwFlyingF3DSMxModeOptions hw_DSMxMode;
HwFlyingF3DSMxModeGet(&hw_DSMxMode);
/* UART1 Port */
uint8_t hw_uart1;
HwFlyingF3Uart1Get(&hw_uart1);
switch (hw_uart1) {
case HWFLYINGF3_UART1_DISABLED:
break;
case HWFLYINGF3_UART1_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWFLYINGF3_UART1_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF3_UART1_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart1_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart1_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_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 HWFLYINGF3_UART1_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart1_dsm_hsum_cfg, &pios_usart1_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF3_UART1_HOTTSUMD:
case HWFLYINGF3_UART1_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart1) {
case HWFLYINGF3_UART1_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF3_UART1_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart1_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF3_UART1_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFLYINGF3_UART1_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWFLYINGF3_UART1_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART1_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART1_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWFLYINGF3_UART1_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFLYINGF3_UART1_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFLYINGF3_UART1_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart1_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
break;
}
/* UART2 Port */
uint8_t hw_uart2;
HwFlyingF3Uart2Get(&hw_uart2);
switch (hw_uart2) {
case HWFLYINGF3_UART2_DISABLED:
break;
case HWFLYINGF3_UART2_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWFLYINGF3_UART2_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF3_UART2_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart2_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart2_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_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 HWFLYINGF3_UART2_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart2_dsm_hsum_cfg, &pios_usart2_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF3_UART2_HOTTSUMD:
case HWFLYINGF3_UART2_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart2) {
case HWFLYINGF3_UART2_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF3_UART2_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart2_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF3_UART2_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFLYINGF3_UART2_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWFLYINGF3_UART2_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART2_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART2_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWFLYINGF3_UART2_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFLYINGF3_UART2_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFLYINGF3_UART2_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart2_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
break;
}
/* UART3 Port */
uint8_t hw_uart3;
HwFlyingF3Uart3Get(&hw_uart3);
switch (hw_uart3) {
case HWFLYINGF3_UART3_DISABLED:
break;
case HWFLYINGF3_UART3_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWFLYINGF3_UART3_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF3_UART3_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart3_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart3_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_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 HWFLYINGF3_UART3_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart3_dsm_hsum_cfg, &pios_usart3_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF3_UART3_HOTTSUMD:
case HWFLYINGF3_UART3_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart3) {
case HWFLYINGF3_UART3_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF3_UART3_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart3_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF3_UART3_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFLYINGF3_UART3_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWFLYINGF3_UART3_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART3_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART3_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWFLYINGF3_UART3_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFLYINGF3_UART3_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFLYINGF3_UART3_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart3_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
break;
}
/* UART4 Port */
uint8_t hw_uart4;
HwFlyingF3Uart4Get(&hw_uart4);
switch (hw_uart4) {
case HWFLYINGF3_UART4_DISABLED:
break;
case HWFLYINGF3_UART4_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWFLYINGF3_UART4_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF3_UART4_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart4_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart4_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_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 HWFLYINGF3_UART4_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart4_dsm_hsum_cfg, &pios_usart4_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF3_UART4_HOTTSUMD:
case HWFLYINGF3_UART4_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart4) {
case HWFLYINGF3_UART4_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF3_UART4_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart4_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF3_UART4_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFLYINGF3_UART4_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWFLYINGF3_UART4_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART4_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART4_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWFLYINGF3_UART4_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFLYINGF3_UART4_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFLYINGF3_UART4_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart4_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
break;
}
/* UART5 Port */
uint8_t hw_uart5;
HwFlyingF3Uart5Get(&hw_uart5);
switch (hw_uart5) {
case HWFLYINGF3_UART5_DISABLED:
break;
case HWFLYINGF3_UART5_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWFLYINGF3_UART5_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF3_UART5_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart5_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart5_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_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 HWFLYINGF3_UART5_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart5_dsm_hsum_cfg, &pios_usart5_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF3_UART5_HOTTSUMD:
case HWFLYINGF3_UART5_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart5) {
case HWFLYINGF3_UART5_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF3_UART5_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart5_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF3_UART5_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFLYINGF3_UART5_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWFLYINGF3_UART5_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART5_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF3_UART5_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
break;
case HWFLYINGF3_UART5_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFLYINGF3_UART5_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFLYINGF3_UART5_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart5_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
break;
}
/* Configure the rcvr port */
uint8_t hw_rcvrport;
HwFlyingF3RcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWFLYINGF3_RCVRPORT_DISABLED:
break;
case HWFLYINGF3_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
{
uintptr_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
uintptr_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 HWFLYINGF3_RCVRPORT_PPM:
case HWFLYINGF3_RCVRPORT_PPMOUTPUTS:
#if defined(PIOS_INCLUDE_PPM)
{
uintptr_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uintptr_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 */
break;
case HWFLYINGF3_RCVRPORT_PPMPWM:
/* This is a combination of PPM and PWM inputs */
#if defined(PIOS_INCLUDE_PPM)
{
uintptr_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uintptr_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 */
#if defined(PIOS_INCLUDE_PWM)
{
uintptr_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);
uintptr_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;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uintptr_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uintptr_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 (hw_rcvrport) {
case HWFLYINGF3_RCVRPORT_DISABLED:
case HWFLYINGF3_RCVRPORT_PWM:
case HWFLYINGF3_RCVRPORT_PPM:
/* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_cfg);
#endif
break;
case HWFLYINGF3_RCVRPORT_PPMOUTPUTS:
case HWFLYINGF3_RCVRPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
#endif
break;
}
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
PIOS_WDG_Clear();
PIOS_DELAY_WaitmS(200);
PIOS_WDG_Clear();
PIOS_SENSORS_Init();
#if defined(PIOS_INCLUDE_L3GD20) && defined(PIOS_INCLUDE_SPI)
if (PIOS_L3GD20_Init(pios_spi_internal_id, 0, &pios_l3gd20_cfg) != 0)
panic(1);
if (PIOS_L3GD20_Test() != 0)
panic(1);
uint8_t hw_l3gd20_samplerate;
HwFlyingF3L3GD20RateGet(&hw_l3gd20_samplerate);
enum pios_l3gd20_rate l3gd20_samplerate = PIOS_L3GD20_RATE_380HZ_100HZ;
switch(hw_l3gd20_samplerate) {
case HWFLYINGF3_L3GD20RATE_380:
l3gd20_samplerate = PIOS_L3GD20_RATE_380HZ_100HZ;
break;
case HWFLYINGF3_L3GD20RATE_760:
l3gd20_samplerate = PIOS_L3GD20_RATE_760HZ_100HZ;
break;
}
PIOS_Assert(PIOS_L3GD20_SetSampleRate(l3gd20_samplerate) == 0);
// To be safe map from UAVO enum to driver enum
/*
* FIXME: add support for this to l3gd20 driver
uint8_t hw_gyro_range;
HwFlyingF3GyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWFLYINGF3_GYRORANGE_250:
PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_250_DEG);
break;
case HWFLYINGF3_GYRORANGE_500:
PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_500_DEG);
break;
case HWFLYINGF3_GYRORANGE_1000:
//FIXME: how to behave in this case?
PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_2000_DEG);
break;
case HWFLYINGF3_GYRORANGE_2000:
PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_2000_DEG);
break;
}
*/
PIOS_WDG_Clear();
PIOS_DELAY_WaitmS(50);
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_L3GD20 && PIOS_INCLUDE_I2C*/
#if defined(PIOS_INCLUDE_LSM303) && defined(PIOS_INCLUDE_I2C)
if (PIOS_LSM303_Init(pios_i2c_internal_id, &pios_lsm303_cfg) != 0)
panic(2);
if (PIOS_LSM303_Accel_Test() != 0)
panic(2);
if (PIOS_LSM303_Mag_Test() != 0)
panic(2);
uint8_t hw_accel_range;
HwFlyingF3AccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWFLYINGF3_ACCELRANGE_2G:
PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_2G);
break;
case HWFLYINGF3_ACCELRANGE_4G:
PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_4G);
break;
case HWFLYINGF3_ACCELRANGE_8G:
PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_8G);
break;
case HWFLYINGF3_ACCELRANGE_16G:
PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_16G);
break;
}
//there is no setting for the mag scale yet
PIOS_LSM303_Mag_SetRange(PIOS_LSM303_MAG_1_9GA);
PIOS_WDG_Clear();
PIOS_DELAY_WaitmS(50);
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_LSM303 && PIOS_INCLUDE_I2C*/
#if defined(PIOS_INCLUDE_GPIO)
PIOS_GPIO_Init();
#endif
//FlyingF3 shield specific hw init
uint8_t flyingf3_shield;
uint32_t internal_adc_id;
HwFlyingF3ShieldGet(&flyingf3_shield);
switch (flyingf3_shield) {
case HWFLYINGF3_SHIELD_RCFLYER:
#if defined(PIOS_INCLUDE_ADC)
//Sanity check, this is to ensure that no one changes the adc_pins array without changing the defines
PIOS_Assert(internal_adc_cfg_rcflyer_shield.adc_pins[PIOS_ADC_RCFLYER_SHIELD_BARO_PIN].pin == GPIO_Pin_3);
PIOS_Assert(internal_adc_cfg_rcflyer_shield.adc_pins[PIOS_ADC_RCFLYER_SHIELD_BAT_VOLTAGE_PIN].pin == GPIO_Pin_4);
if (PIOS_INTERNAL_ADC_Init(&internal_adc_id, &internal_adc_cfg_rcflyer_shield) < 0)
PIOS_Assert(0);
PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#endif
#if defined(PIOS_INCLUDE_SPI)
if (PIOS_SPI_Init(&pios_spi_2_id, &pios_spi_2_rcflyer_internal_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_SPI_Init(&pios_spi_3_id, &pios_spi_3_rcflyer_external_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_MS5611_SPI)
if (PIOS_MS5611_SPI_Init(pios_spi_2_id, 1, &pios_ms5611_cfg) != 0) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_MS5611_SPI */
#endif /* PIOS_INCLUDE_SPI */
break;
case HWFLYINGF3_SHIELD_CHEBUZZ:
#if defined(PIOS_INCLUDE_I2C) && defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_external_id) != 0) {
PIOS_Assert(0);
}
#endif /* PIOS_INCLUDE_I2C && PIOS_INCLUDE_MS5611 */
#if defined(PIOS_INCLUDE_SPI)
if (PIOS_SPI_Init(&pios_spi_2_id, &pios_spi_2_chebuzz_external_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_SPI_Init(&pios_spi_3_id, &pios_spi_3_chebuzz_internal_cfg)) {
PIOS_DEBUG_Assert(0);
}
#endif /* PIOS_INCLUDE_SPI */
break;
case HWFLYINGF3_SHIELD_BMP085:
#if defined(PIOS_INCLUDE_BMP085) && defined(PIOS_INCLUDE_I2C)
if (PIOS_BMP085_Init(&pios_bmp085_cfg, pios_i2c_external_id) != 0)
panic(5);
if (PIOS_BMP085_Test() != 0)
panic(5);
#endif /* PIOS_INCLUDE_BMP085 && PIOS_INCLUDE_I2C */
break;
case HWFLYINGF3_SHIELD_NONE:
break;
default:
PIOS_Assert(0);
break;
}
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}