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_FLASH)
/* Inititialize all flash drivers */
if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
panic(1);
/* 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 */
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
panic(1);
#if defined(PIOS_INCLUDE_EXTERNAL_FLASH_WAYPOINTS)
/* Use external flash chip to store waypoints */
if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_external_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
panic(1);
#endif /* PIOS_INCLUDE_EXTERNAL_FLASH_WAYPOINTS */
#endif /* PIOS_INCLUDE_FLASH */
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
HwFlyingF4Initialize();
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_2_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_9_cfg);
//outputs
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_3_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 */
HwFlyingF4SetDefaults(HwFlyingF4Handle(), 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;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
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 */
HwFlyingF4USB_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 = HWFLYINGF4_USB_VCPPORT_DISABLED;
}
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);
}
switch (hw_usb_vcpport) {
case HWFLYINGF4_USB_VCPPORT_DISABLED:
break;
case HWFLYINGF4_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
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 HWFLYINGF4_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
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 HWFLYINGF4_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
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;
case HWFLYINGF4_USB_VCPPORT_PICOC:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_picoc_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_PICOC_RX_BUF_LEN,
tx_buffer, PIOS_COM_PICOC_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#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;
HwFlyingF4USB_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 = HWFLYINGF4_USB_HIDPORT_DISABLED;
}
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);
}
switch (hw_usb_hidport) {
case HWFLYINGF4_USB_HIDPORT_DISABLED:
break;
case HWFLYINGF4_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
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 */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure the IO ports */
uint8_t hw_DSMxBind;
HwFlyingF4DSMxBindGet(&hw_DSMxBind);
/* init sensor queue registration */
PIOS_SENSORS_Init();
/* UART1 Port */
uint8_t hw_uart1;
HwFlyingF4Uart1Get(&hw_uart1);
switch (hw_uart1) {
case HWFLYINGF4_UART1_DISABLED:
break;
case HWFLYINGF4_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 HWFLYINGF4_UART1_SBUS:
//hardware signal inverter required
#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 HWFLYINGF4_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_DSMMAINPORT, &hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF4_UART1_HOTTSUMD:
case HWFLYINGF4_UART1_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart1) {
case HWFLYINGF4_UART1_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF4_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 HWFLYINGF4_UART1_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
}
/* UART2 Port */
uint8_t hw_uart2;
HwFlyingF4Uart2Get(&hw_uart2);
switch (hw_uart2) {
case HWFLYINGF4_UART2_DISABLED:
break;
case HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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_DSMMAINPORT, &hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF4_UART2_HOTTSUMD:
case HWFLYINGF4_UART2_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart2) {
case HWFLYINGF4_UART2_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_UART2_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
case HWFLYINGF4_UART2_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
break;
}
/* UART3 Port */
uint8_t hw_uart3;
HwFlyingF4Uart3Get(&hw_uart3);
switch (hw_uart3) {
case HWFLYINGF4_UART3_DISABLED:
break;
case HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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_DSMMAINPORT, &hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
case HWFLYINGF4_UART3_HOTTSUMD:
case HWFLYINGF4_UART3_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart3) {
case HWFLYINGF4_UART3_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_UART3_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
case HWFLYINGF4_UART3_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
}
/* Configure the rcvr port */
uint8_t hw_rcvrport;
HwFlyingF4RcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWFLYINGF4_RCVRPORT_DISABLED:
break;
case HWFLYINGF4_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 HWFLYINGF4_RCVRPORT_PPM:
case HWFLYINGF4_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 HWFLYINGF4_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 HWFLYINGF4_RCVRPORT_DISABLED:
case HWFLYINGF4_RCVRPORT_PWM:
case HWFLYINGF4_RCVRPORT_PPM:
/* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_cfg);
#endif
break;
case HWFLYINGF4_RCVRPORT_PPMOUTPUTS:
case HWFLYINGF4_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();
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_10dof_adapter_id, &pios_i2c_10dof_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_10dof_adapter_id) != 0)
panic(5);
#if defined(PIOS_INCLUDE_MPU6050)
if (PIOS_MPU6050_Init(pios_i2c_10dof_adapter_id, PIOS_MPU6050_I2C_ADD_A0_LOW, &pios_mpu6050_cfg) != 0)
panic(2);
if (PIOS_MPU6050_Test() != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwFlyingF4GyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWFLYINGF4_GYRORANGE_250:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWFLYINGF4_GYRORANGE_500:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWFLYINGF4_GYRORANGE_1000:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWFLYINGF4_GYRORANGE_2000:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwFlyingF4AccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWFLYINGF4_ACCELRANGE_2G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWFLYINGF4_ACCELRANGE_4G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWFLYINGF4_ACCELRANGE_8G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWFLYINGF4_ACCELRANGE_16G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
// the filter has to be set before rate else divisor calculation will fail
uint8_t hw_mpu6050_dlpf;
HwFlyingF4MPU6050DLPFGet(&hw_mpu6050_dlpf);
enum pios_mpu60x0_filter mpu6050_dlpf = \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
pios_mpu6050_cfg.default_filter;
PIOS_MPU6050_SetLPF(mpu6050_dlpf);
uint8_t hw_mpu6050_samplerate;
HwFlyingF4MPU6050RateGet(&hw_mpu6050_samplerate);
uint16_t mpu6050_samplerate = \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_200) ? 200 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_333) ? 333 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_500) ? 500 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_666) ? 666 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_1000) ? 1000 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_2000) ? 2000 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_4000) ? 4000 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_8000) ? 8000 : \
pios_mpu6050_cfg.default_samplerate;
PIOS_MPU6050_SetSampleRate(mpu6050_samplerate);
PIOS_MPU6050_SetPassThrough(true);
#endif /* PIOS_INCLUDE_MPU6050 */
PIOS_WDG_Clear();
PIOS_DELAY_WaitmS(50);
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_HMC5883)
{
uint8_t Magnetometer;
HwFlyingF4MagnetometerGet(&Magnetometer);
if (Magnetometer == HWFLYINGF4_MAGNETOMETER_EXTERNALI2C) {
if (PIOS_HMC5883_Init(pios_i2c_10dof_adapter_id, &pios_hmc5883_external_cfg) != 0)
panic(3);
if (PIOS_HMC5883_Test() != 0)
panic(3);
// setup sensor orientation
uint8_t ExtMagOrientation;
HwFlyingF4ExtMagOrientationGet(&ExtMagOrientation);
enum pios_hmc5883_orientation hmc5883_orientation = \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5883_TOP_0DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5883_TOP_90DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5883_TOP_180DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5883_TOP_270DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5883_BOTTOM_0DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5883_BOTTOM_90DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5883_BOTTOM_180DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5883_BOTTOM_270DEG : \
pios_hmc5883_external_cfg.Default_Orientation;
PIOS_HMC5883_SetOrientation(hmc5883_orientation);
}
}
#endif
//I2C is slow, sensor init as well, reset watchdog to prevent reset here
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_10dof_adapter_id) != 0)
panic(4);
if (PIOS_MS5611_Test() != 0)
panic(4);
#endif
//I2C is slow, sensor init as well, reset watchdog to prevent reset here
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_GPIO)
PIOS_GPIO_Init();
#endif
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
/* 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);
}
/**
* @brief Initialize the MPU6050 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU6050_ConfigTypeDef struct to be used to configure sensor.
*
*/
static void PIOS_MPU6050_Config(struct pios_mpu60x0_cfg const *cfg)
{
#if defined(PIOS_MPU6050_SIMPLE_INIT_SEQUENCE)
// Reset chip
PIOS_MPU6050_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, PIOS_MPU60X0_PWRMGMT_IMU_RST);
// Reset sensors signal path
PIOS_MPU6050_SetReg(PIOS_MPU60X0_USER_CTRL_REG, PIOS_MPU60X0_USERCTL_GYRO_RST);
// Give chip some time to initialize
PIOS_DELAY_WaitmS(10);
//Power management configuration
PIOS_MPU6050_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// User control
PIOS_MPU6050_SetReg(PIOS_MPU60X0_USER_CTRL_REG, cfg->User_ctl);
// Digital low-pass filter and scale
// set this before sample rate else sample rate calculation will fail
PIOS_MPU6050_SetLPF(cfg->default_filter);
// Sample rate
PIOS_MPU6050_SetSampleRate(cfg->default_samplerate);
// Set the gyro scale
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
#if defined(PIOS_MPU6050_ACCEL)
// Set the accel scale
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
#endif /* PIOS_MPU6050_ACCEL */
// Interrupt configuration
PIOS_MPU6050_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg);
// Interrupt enable
PIOS_MPU6050_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
#else /* PIOS_MPU6050_SIMPLE_INIT_SEQUENCE */
/* This init sequence should really be dropped in favor of something
* less redundant but it seems to be hard to get it running well
* on all different targets.
*/
// Reset chip
PIOS_MPU6050_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, 0x80 | cfg->Pwr_mgmt_clk);
do {
PIOS_DELAY_WaitmS(5);
} while (PIOS_MPU6050_GetReg(PIOS_MPU60X0_PWR_MGMT_REG) & 0x80);
PIOS_DELAY_WaitmS(25);
// Reset chip and fifo
PIOS_MPU6050_SetReg(PIOS_MPU60X0_USER_CTRL_REG, 0x80 | 0x01 | 0x02 | 0x04);
do {
PIOS_DELAY_WaitmS(5);
} while (PIOS_MPU6050_GetReg(PIOS_MPU60X0_USER_CTRL_REG) & 0x07);
PIOS_DELAY_WaitmS(25);
//Power management configuration
PIOS_MPU6050_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// Interrupt configuration
PIOS_MPU6050_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg);
// Interrupt enable
PIOS_MPU6050_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
#if defined(PIOS_MPU6050_ACCEL)
// Set the accel scale
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
#endif
// Digital low-pass filter and scale
// set this before sample rate else sample rate calculation will fail
PIOS_MPU6050_SetLPF(cfg->default_filter);
// Sample rate
PIOS_MPU6050_SetSampleRate(cfg->default_samplerate);
// Set the gyro scale
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
// User control
PIOS_MPU6050_SetReg(PIOS_MPU60X0_USER_CTRL_REG, cfg->User_ctl);
//Power management configuration
PIOS_MPU6050_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// Interrupt configuration
PIOS_MPU6050_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg);
// Interrupt enable
PIOS_MPU6050_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
#endif /* PIOS_MPU6050_SIMPLE_INIT_SEQUENCE */
}
