void error(int led) {
for (;;) {
PIOS_LED_On(led);
PIOS_DELAY_WaitmS(500);
PIOS_LED_Off(led);
PIOS_DELAY_WaitmS(500);
}
}
/**
* @brief Initialize the MPU9150 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU9150_ConfigTypeDef struct to be used to configure sensor.
*
*/
static int32_t PIOS_MPU9150_Config(struct pios_mpu60x0_cfg const * cfg)
{
// Reset chip
if (PIOS_MPU9150_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, PIOS_MPU60X0_PWRMGMT_IMU_RST) != 0)
return -1;
// Give chip some time to initialize
PIOS_DELAY_WaitmS(50);
PIOS_WDG_Clear();
//Power management configuration
PIOS_MPU9150_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// User control
PIOS_MPU9150_SetReg(PIOS_MPU60X0_USER_CTRL_REG, cfg->User_ctl & ~0x40);
// Digital low-pass filter and scale
// set this before sample rate else sample rate calculation will fail
PIOS_MPU9150_SetLPF(cfg->default_filter);
// Sample rate
PIOS_MPU9150_SetSampleRate(cfg->default_samplerate);
// Set the gyro scale
PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
// Set the accel scale
PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
// Interrupt configuration
PIOS_MPU9150_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg | 0x02);
// To enable access to the mag on auxillary i2c we must set bit 0x02 in register 0x37
// and clear bit 0x40 in register 0x6a (PIOS_MPU60X0_USER_CTRL_REG, default condition)
// Disable mag first
if (PIOS_MPU9150_Mag_SetReg(MPU9150_MAG_CNTR, 0x00) != 0)
return -1;
PIOS_DELAY_WaitmS(20);
PIOS_WDG_Clear();
// Clear status registers
PIOS_MPU9150_Mag_GetReg(MPU9150_MAG_STATUS);
PIOS_MPU9150_Mag_GetReg(MPU9150_MAG_STATUS2);
PIOS_MPU9150_Mag_GetReg(MPU9150_MAG_XH);
// Trigger first measurement
if (PIOS_MPU9150_Mag_SetReg(MPU9150_MAG_CNTR, 0x01) != 0)
return -1;
// Interrupt enable
PIOS_MPU9150_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
return 0;
}
/**
* Indicate a target-specific error code when a component fails to initialize
* 1 pulse - flash chip
* 2 pulses - MPU6000
* 3 pulses - HMC5883
* 4 pulses - MS5611
* 5 pulses - I2C bus locked
*/
void panic(int32_t code) {
while(1){
for (int32_t i = 0; i < code; i++) {
PIOS_LED_Toggle(PIOS_LED_ALARM);
PIOS_DELAY_WaitmS(200);
PIOS_LED_Toggle(PIOS_LED_ALARM);
PIOS_DELAY_WaitmS(200);
}
PIOS_DELAY_WaitmS(500);
}
}
void error(int led, int code)
{
for (;;) {
PIOS_DELAY_WaitmS(1000);
for (int x = 0; x < code; x++) {
PIOS_LED_On(led);
PIOS_DELAY_WaitmS(200);
PIOS_LED_Off(led);
PIOS_DELAY_WaitmS(1000);
}
PIOS_DELAY_WaitmS(3000);
}
}
static enum opahrs_result opahrs_msg_v1_send_req(const struct opahrs_msg_v1 *req)
{
int32_t rc;
struct opahrs_msg_v1 link_rx;
for (uint8_t retries = 0; retries < 20; retries++) {
struct opahrs_msg_v1 *rsp = &link_rx;
if ((rc = opahrs_msg_txrx((const uint8_t *)req, (uint8_t *) rsp, sizeof(*rsp))) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
case OPAHRS_MSG_LINK_STATE_INACTIVE:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(MS2TICKS(1));
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_READY:
/* Peer was ready when we Tx'd so they have now Rx'd our message */
return OPAHRS_RESULT_OK;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
case OPAHRS_MSG_TYPE_USER_V1:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(MS2TICKS(1));
#else
PIOS_DELAY_WaitmS(50);
#endif
continue;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
int32_t PIOS_USB_Reenumerate()
{
/* Force USB reset and power-down (this will also release the USB pins for direct GPIO control) */
_SetCNTR(CNTR_FRES | CNTR_PDWN);
/* Using a "dirty" method to force a re-enumeration: */
/* Force DPM (Pin PA12) low for ca. 10 mS before USB Tranceiver will be enabled */
/* This overrules the external Pull-Up at PA12, and at least Windows & MacOS will enumerate again */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
PIOS_DELAY_WaitmS(50);
/* Release power-down, still hold reset */
_SetCNTR(CNTR_PDWN);
PIOS_DELAY_WaituS(5);
/* CNTR_FRES = 0 */
_SetCNTR(0);
/* Clear pending interrupts */
_SetISTR(0);
/* Configure USB clock */
/* USBCLK = PLLCLK / 1.5 */
RCC_USBCLKConfig(RCC_USBCLKSource_PLLCLK_1Div5);
/* Enable USB clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USB, ENABLE);
return 0;
}
/**
* Verify that the gyro can be initialised and that it is returning samples
* at approximately the expected rate.
*/
static void
testGyro(void)
{
struct pios_l3g4200_data sample;
int samples;
puts("L3G4200...");
PIOS_L3G4200_Init();
puts(" init OK");
PIOS_L3G4200_SelectRate(L3G4200_RATE_400Hz);
PIOS_L3G4200_SetRange(L3G4200_RANGE_2000dps);
puts(" config OK");
samples = 0;
for (int i = 0; i < 100; i++) {
if (PIOS_L3G4200_Read(&sample))
samples++;
PIOS_DELAY_WaitmS(1);
}
puts(" sampling");
if (samples < 30) {
println(" FAIL: undersample(%d)", samples);
} else if (samples > 50) {
println(" FAIL: oversample(%d)", samples);
} else {
println(" OK", samples);
}
}
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
MODULE_INITIALISE_ALL(PIOS_WDG_Clear);
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
while (1) {
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
PIOS_DELAY_WaitmS(100);
}
return 0;
}
/**
* Tau Labs Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
int result;
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
vPortInitialiseBlocks();
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
/* always rely on FreeRTOS primitive */
result = xTaskCreate(initTask, (const signed char *)"init",
INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY,
&initTaskHandle);
PIOS_Assert(result == pdPASS);
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
for(;;) { \
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
/**
* Verify that the magnetometer can be initialised and that it is returning samples
* at approximately the expected rate.
*/
static void
testMag(void)
{
struct pios_hmc5883_data sample;
int samples;
puts("HMC5883...");
PIOS_HMC5883_Init();
puts(" init OK");
#if 0
/* don't do this for now - it makes the I2C bus sad */
if (!PIOS_HMC5883_Test()) {
putln(" FAIL: selftest");
return;
}
puts(" selftest OK");
#endif
samples = 0;
for (int i = 0; i < 100; i++) {
if (PIOS_HMC5883_NewDataAvailable()) {
PIOS_HMC5883_ReadMag(&sample);
samples++;
}
PIOS_DELAY_WaitmS(10);
}
puts(" sampling");
if (samples < 10) {
println(" FAIL: undersample(%d)", samples);
} else if (samples > 20) {
println(" FAIL: oversample(%d)", samples);
} else {
println(" OK", samples);
}
}
/**
* Tau Labs Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
PIOS_WDG_Clear();
#ifdef ERASE_FLASH
PIOS_Flash_Jedec_EraseChip();
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
while (1) ;
#endif
/* Initialize modules */
MODULE_INITIALISE_ALL(PIOS_WDG_Clear);
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler, which should never return.
*
* NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
* (schedules) function files (modules). These functions never return from their
* while loops, which explains why each module has a while(1){} segment. Thus,
* the OpenPilot software actually starts at the vTaskStartScheduler() function,
* even though this is somewhat obscure.
*
* In addition, there are many main() functions in the OpenPilot firmware source tree
* This is because each main() refers to a separate hardware platform. Of course,
* C only allows one main(), so only the relevant main() function is compiled when
* making a specific firmware.
*
*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
while (1) {
#if defined(PIOS_LED_HEARTBEAT)
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
#endif /* PIOS_LED_HEARTBEAT */
PIOS_DELAY_WaitmS(100);
}
return 0;
}
enum opahrs_result PIOS_OPAHRS_resync(void)
{
struct opahrs_msg_v1 req;
struct opahrs_msg_v1 rsp;
enum opahrs_result rc = OPAHRS_RESULT_FAILED;
opahrs_msg_v1_init_link_tx(&req, OPAHRS_MSG_LINK_TAG_NOP);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(MS2TICKS(1));
#else
PIOS_DELAY_WaitmS(20);
#endif
for (uint32_t i = 0; i < sizeof(req); i++) {
/* Tx a shortened (by one byte) message to walk through all byte positions */
opahrs_msg_v1_init_rx(&rsp);
PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, (uint8_t *) & req, (uint8_t *) & rsp, sizeof(req) - 1, NULL);
/* Good magic means we're sync'd */
if ((rsp.head.magic == OPAHRS_MSG_MAGIC_HEAD) && (rsp.tail.magic == OPAHRS_MSG_MAGIC_TAIL)) {
/* We need to shift out one more byte to compensate for the short tx */
PIOS_SPI_TransferByte(PIOS_OPAHRS_SPI, 0x00);
rc = OPAHRS_RESULT_OK;
break;
}
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(MS2TICKS(1));
#else
PIOS_DELAY_WaitmS(10);
#endif
}
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
//vTaskDelay(MS2TICKS(5));
return rc;
}
static int32_t opahrs_msg_txrx(const uint8_t * tx, uint8_t * rx, uint32_t len)
{
int32_t rc;
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 0);
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(MS2TICKS(1));
#else
PIOS_DELAY_WaitmS(20);
#endif
rc = PIOS_SPI_TransferBlock(PIOS_OPAHRS_SPI, tx, rx, len, NULL);
PIOS_SPI_RC_PinSet(PIOS_OPAHRS_SPI, 1);
return (rc);
}
static enum opahrs_result opahrs_msg_v1_recv_rsp(enum opahrs_msg_v1_tag tag, struct opahrs_msg_v1 *rsp)
{
struct opahrs_msg_v1 link_tx;
opahrs_msg_v1_init_link_tx(&link_tx, OPAHRS_MSG_LINK_TAG_NOP);
for (uint8_t retries = 0; retries < 20; retries++) {
if (opahrs_msg_txrx((const uint8_t *)&link_tx, (uint8_t *) rsp, sizeof(*rsp)) < 0) {
return OPAHRS_RESULT_FAILED;
}
/* Make sure we got a sane response by checking the magic */
if ((rsp->head.magic != OPAHRS_MSG_MAGIC_HEAD) || (rsp->tail.magic != OPAHRS_MSG_MAGIC_TAIL)) {
return OPAHRS_RESULT_FAILED;
}
switch (rsp->head.type) {
case OPAHRS_MSG_TYPE_LINK:
switch (rsp->payload.link.state) {
case OPAHRS_MSG_LINK_STATE_BUSY:
/* Wait for a small delay and retry */
#ifdef PIOS_INCLUDE_FREERTOS
vTaskDelay(MS2TICKS(1));
#else
PIOS_DELAY_WaitmS(20);
#endif
continue;
case OPAHRS_MSG_LINK_STATE_INACTIVE:
case OPAHRS_MSG_LINK_STATE_READY:
/* somehow, we've missed our response */
return OPAHRS_RESULT_FAILED;
}
break;
case OPAHRS_MSG_TYPE_USER_V0:
/* This isn't the type we expected */
return OPAHRS_RESULT_FAILED;
break;
case OPAHRS_MSG_TYPE_USER_V1:
if (rsp->payload.user.t == tag) {
return OPAHRS_RESULT_OK;
} else {
return OPAHRS_RESULT_FAILED;
}
break;
}
}
return OPAHRS_RESULT_TIMEOUT;
}
/**
* @brief Initialize the MPU9250 gyro & accel registers
* \return 0 if successful
* \param[in] pios_mpu9250_cfg struct to be used to configure sensor.
*
*/
static int32_t PIOS_MPU9250_Config(struct pios_mpu9250_cfg const *cfg)
{
// reset chip
if (PIOS_MPU9250_WriteReg(PIOS_MPU60X0_PWR_MGMT_REG, PIOS_MPU60X0_PWRMGMT_IMU_RST) != 0)
return -1;
// give chip some time to initialize
PIOS_DELAY_WaitmS(50);
uint8_t id = PIOS_MPU9250_ReadReg(PIOS_MPU60X0_WHOAMI);
if (id != MPU9250_WHOAMI_ID)
return -2;
// power management config
PIOS_MPU9250_WriteReg(PIOS_MPU60X0_PWR_MGMT_REG, PIOS_MPU60X0_PWRMGMT_PLL_X_CLK);
// user control
PIOS_MPU9250_WriteReg(PIOS_MPU60X0_USER_CTRL_REG, PIOS_MPU60X0_USERCTL_DIS_I2C | PIOS_MPU60X0_USERCTL_I2C_MST_EN);
if (dev->cfg->use_magnetometer)
if (PIOS_MPU9250_Mag_Config() != 0)
return -3;
// Digital low-pass filter and scale
// set this before sample rate else sample rate calculation will fail
PIOS_MPU9250_SetAccelLPF(cfg->default_accel_filter);
PIOS_MPU9250_SetGyroLPF(cfg->default_gyro_filter);
// Sample rate
if (PIOS_MPU9250_SetSampleRate(cfg->default_samplerate) != 0)
return -4;
// Set the gyro scale
PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
// Set the accel scale
PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
// Interrupt configuration
PIOS_MPU9250_WriteReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg);
// Interrupt enable
PIOS_MPU9250_WriteReg(PIOS_MPU60X0_INT_EN_REG, PIOS_MPU60X0_INTEN_DATA_RDY);
return 0;
}
/**
* @brief Bootloader Main function
*/
int main() {
uint8_t GO_dfu = false;
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Enable Prefetch Buffer */
FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
/* Flash 2 wait state */
FLASH_SetLatency(FLASH_Latency_2);
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
/* Delay system */
PIOS_DELAY_Init();
for (uint32_t t = 0; t < 10000000; ++t) {
if (NSS_HOLD_STATE == 1)
GO_dfu = TRUE;
else {
GO_dfu = FALSE;
break;
}
}
//while(TRUE)
// {
// PIOS_LED_Toggle(LED1);
// PIOS_DELAY_WaitmS(1000);
// }
//GO_dfu = TRUE;
PIOS_IAP_Init();
GO_dfu = GO_dfu | PIOS_IAP_CheckRequest();// OR with app boot request
if (GO_dfu == FALSE) {
jump_to_app();
}
if (PIOS_IAP_CheckRequest()) {
PIOS_DELAY_WaitmS(1000);
PIOS_IAP_ClearRequest();
}
PIOS_Board_Init();
boot_status = idle;
Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
PIOS_LED_On(LED1);
while (1) {
process_spi_request();
}
return 0;
}
/**
* Transfer bytes from port buffers into another buffer
* \param[in] port COM port
* \returns Byte from buffer
*/
uint16_t PIOS_COM_ReceiveBuffer(uint32_t com_id, uint8_t *buf, uint16_t buf_len, uint32_t timeout_ms)
{
PIOS_Assert(buf);
PIOS_Assert(buf_len);
uint16_t bytes_from_fifo;
struct pios_com_dev *com_dev = (struct pios_com_dev *)com_id;
if (!PIOS_COM_validate(com_dev)) {
/* Undefined COM port for this board (see pios_board.c) */
PIOS_Assert(0);
}
PIOS_Assert(com_dev->has_rx);
check_again:
bytes_from_fifo = fifoBuf_getData(&com_dev->rx, buf, buf_len);
if (bytes_from_fifo == 0) {
/* No more bytes in receive buffer */
/* Make sure the receiver is running while we wait */
if (com_dev->driver->rx_start) {
/* Notify the lower layer that there is now room in the rx buffer */
(com_dev->driver->rx_start)(com_dev->lower_id,
fifoBuf_getFree(&com_dev->rx));
}
if (timeout_ms > 0) {
#if defined(PIOS_INCLUDE_FREERTOS)
if (xSemaphoreTake(com_dev->rx_sem, timeout_ms / portTICK_RATE_MS) == pdTRUE) {
/* Make sure we don't come back here again */
timeout_ms = 0;
goto check_again;
}
#else
PIOS_DELAY_WaitmS(1);
timeout_ms--;
goto check_again;
#endif
}
}
/* Return received byte */
return bytes_from_fifo;
}
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
int main()
{
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
MODULE_INITIALISE_ALL
#if INCLUDE_TEST_TASKS
/* Create test tasks */
xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
#endif
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
Stack_Change_Weak();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
int main(int argc, char *argv[]) {
PIOS_SYS_Args(argc, argv);
#else
int main()
{
#endif
/* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */
PIOS_heap_initialize_blocks();
#if defined(PIOS_INCLUDE_CHIBIOS)
halInit();
chSysInit();
boardInit();
#endif /* defined(PIOS_INCLUDE_CHIBIOS) */
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* For Revolution we use a FreeRTOS task to bring up the system so we can */
/* always rely on FreeRTOS primitive */
initTaskHandle = PIOS_Thread_Create(initTask, "init", INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY);
PIOS_Assert(initTaskHandle != NULL);
#if defined(PIOS_INCLUDE_FREERTOS)
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */
PIOS_LED_Off(PIOS_LED_HEARTBEAT); \
for(;;) { \
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \
PIOS_DELAY_WaitmS(100); \
};
#elif defined(PIOS_INCLUDE_CHIBIOS)
PIOS_Thread_Sleep(PIOS_THREAD_TIMEOUT_MAX);
#endif /* defined(PIOS_INCLUDE_CHIBIOS) */
return 0;
}
/**
* @brief Initialize the AK8963 magnetometer inside MPU9250
* \return 0 if success
*
*/
static int32_t PIOS_MPU9250_Mag_Config(void)
{
uint8_t id = PIOS_MPU9250_Mag_ReadReg(AK8963_WHOAMI_REG);
if (id != AK8963_WHOAMI_ID)
return -2;
// reset AK8963
if (PIOS_MPU9250_Mag_WriteReg(AK8963_CNTL2_REG, AK8963_CNTL2_SRST) != 0)
return -3;
// give chip some time to initialize
PIOS_DELAY_WaitmS(2);
// set magnetometer sampling rate to 100Hz and 16-bit resolution
PIOS_MPU9250_Mag_WriteReg(AK8963_CNTL1_REG, AK8963_MODE_CONTINUOUS_FAST_16B);
// configure mpu9250 to read ak8963 data range from STATUS1 to STATUS2 at ODR
PIOS_MPU9250_WriteReg(PIOS_MPU60X0_SLV0_REG_REG, AK8963_ST1_REG);
PIOS_MPU9250_WriteReg(PIOS_MPU60X0_SLV0_ADDR_REG, PIOS_MPU9250_AK8963_ADDR | 0x80);
PIOS_MPU9250_WriteReg(PIOS_MPU60X0_SLV0_CTRL_REG, PIOS_MPU60X0_I2CSLV_EN | 8);
return 0;
}
int main() {
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_IAP_Init();
USB_connected = PIOS_USB_CheckAvailable(0);
if (PIOS_IAP_CheckRequest() == true) {
PIOS_DELAY_WaitmS(1000);
User_DFU_request = true;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == true) || (User_DFU_request == true);
if (GO_dfu == true) {
PIOS_Board_Init();
if (User_DFU_request == true)
DeviceState = DFUidle;
else
DeviceState = BLidle;
} else
JumpToApp = true;
uint32_t stopwatch = 0;
uint32_t prev_ticks = PIOS_DELAY_GetuS();
while (true) {
/* Update the stopwatch */
uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
prev_ticks += elapsed_ticks;
stopwatch += elapsed_ticks;
if (JumpToApp == true)
jump_to_app();
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 5000;
sweep_steps1 = 100;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case uploading:
period1 = 5000;
sweep_steps1 = 100;
period2 = 2500;
sweep_steps2 = 50;
break;
case downloading:
period1 = 2500;
sweep_steps1 = 50;
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(PIOS_LED_HEARTBEAT);
period2 = 0;
break;
default://error
period1 = 5000;
sweep_steps1 = 100;
period2 = 5000;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, stopwatch))
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_On(PIOS_LED_HEARTBEAT);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, stopwatch))
PIOS_LED_On(PIOS_LED_HEARTBEAT);
else
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
} else
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
if (stopwatch > 50 * 1000 * 1000)
stopwatch = 0;
if ((stopwatch > 6 * 1000 * 1000) && (DeviceState
== BLidle))
JumpToApp = true;
processRX();
DataDownload(start);
}
}
int main()
{
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(3000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
/// Self overwrite check
uint32_t base_address = SCB->VTOR;
if ((0x08000000 + embedded_image_size) > base_address)
error(PIOS_LED_HEARTBEAT, 1);
///
/*
* Make sure the bootloader we're carrying is for the same
* board type and board revision as the one we're running on.
*
* Assume the bootloader in flash and the bootloader contained in
* the updater both carry a board_info_blob at the end of the image.
*/
/* Calculate how far the board_info_blob is from the beginning of the bootloader */
uint32_t board_info_blob_offset = (uint32_t) &pios_board_info_blob - (uint32_t)0x08000000;
/* Use the same offset into our embedded bootloader image */
struct pios_board_info * new_board_info_blob = (struct pios_board_info *)
((uint32_t)embedded_image_start + board_info_blob_offset);
/* Compare the two board info blobs to make sure they're for the same HW revision */
if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
error(PIOS_LED_HEARTBEAT, 2);
}
/* Embedded bootloader looks like it's the right one for this HW, proceed... */
FLASH_Unlock();
/// Bootloader memory space erase
uint32_t pageAddress;
pageAddress = 0x08000000;
bool fail = false;
while ((pageAddress < base_address) && (fail == false)) {
for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
if (FLASH_ErasePage(pageAddress) == FLASH_COMPLETE) {
fail = false;
break;
} else {
fail = true;
}
}
#ifdef STM32F10X_HD
pageAddress += 2048;
#elif defined (STM32F10X_MD)
pageAddress += 1024;
#endif
}
if (fail == true)
error(PIOS_LED_HEARTBEAT, 3);
///
/// Bootloader programing
for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == false) {
result = (FLASH_ProgramWord(0x08000000 + (offset * 4), embedded_image_start[offset])
== FLASH_COMPLETE) ? true : false;
}
}
if (result == false)
error(PIOS_LED_HEARTBEAT, 4);
}
///
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
}
/// Invalidate the bootloader updater so we won't run
/// the update again on the next power cycle.
FLASH_ProgramWord(base_address, 0);
FLASH_Lock();
for (;;) {
PIOS_DELAY_WaitmS(1000);
}
}
/**
* @brief Initialize the MPU6000 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor.
*
*/
static void PIOS_MPU6000_Config(const struct pios_mpu60x0_cfg *cfg)
{
#if defined(PIOS_MPU6000_SIMPLE_INIT_SEQUENCE)
// Reset chip registers
PIOS_MPU6000_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, PIOS_MPU60X0_PWRMGMT_IMU_RST);
// Reset sensors signal path
PIOS_MPU6000_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_MPU6000_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// User control
PIOS_MPU6000_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_MPU6000_SetLPF(cfg->default_filter);
// Sample rate
PIOS_MPU6000_SetSampleRate(cfg->default_samplerate);
// Set the gyro scale
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
#if defined(PIOS_MPU6000_ACCEL)
// Set the accel scale
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
#endif /* PIOS_MPU6000_ACCEL */
// Interrupt configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg);
// Interrupt enable
PIOS_MPU6000_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
#else /* PIOS_MPU6000_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.
*/
PIOS_MPU6000_ClaimBus();
PIOS_DELAY_WaitmS(1);
PIOS_MPU6000_ReleaseBus();
PIOS_DELAY_WaitmS(10);
// Reset chip
PIOS_MPU6000_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, 0x80 | cfg->Pwr_mgmt_clk);
do {
PIOS_DELAY_WaitmS(5);
} while (PIOS_MPU6000_GetReg(PIOS_MPU60X0_PWR_MGMT_REG) & 0x80);
PIOS_DELAY_WaitmS(25);
// Reset chip and fifo
PIOS_MPU6000_SetReg(PIOS_MPU60X0_USER_CTRL_REG, 0x80 | 0x01 | 0x02 | 0x04);
do {
PIOS_DELAY_WaitmS(5);
} while (PIOS_MPU6000_GetReg(PIOS_MPU60X0_USER_CTRL_REG) & 0x07);
PIOS_DELAY_WaitmS(25);
//Power management configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// Interrupt configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg);
// Interrupt configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
#if defined(PIOS_MPU6000_ACCEL)
// Set the accel scale
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
#endif
// Digital low-pass filter and scale
// set this before sample rate else sample rate calculation will fail
PIOS_MPU6000_SetLPF(cfg->default_filter);
// Sample rate
PIOS_MPU6000_SetSampleRate(cfg->default_samplerate);
// Set the gyro scale
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
// Interrupt configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_USER_CTRL_REG, cfg->User_ctl);
//Power management configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_PWR_MGMT_REG, cfg->Pwr_mgmt_clk);
// Interrupt configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_INT_CFG_REG, cfg->interrupt_cfg);
// Interrupt configuration
PIOS_MPU6000_SetReg(PIOS_MPU60X0_INT_EN_REG, cfg->interrupt_en);
#endif /* PIOS_MPU6000_SIMPLE_INIT_SEQUENCE */
pios_mpu6000_dev->configured = true;
}
void PIOS_Board_Init(void) {
check_bor();
const struct pios_board_info * bdinfo = &pios_board_info_blob;
// Make sure all the PWM outputs are low
const struct pios_servo_cfg * servo_cfg = get_servo_cfg(bdinfo->board_rev);
const struct pios_tim_channel * channels = servo_cfg->channels;
uint8_t num_channels = servo_cfg->num_channels;
for (int i = 0; i < num_channels; i++) {
GPIO_Init(channels[i].pin.gpio, (GPIO_InitTypeDef*) &channels[i].pin.init);
}
/* Delay system */
PIOS_DELAY_Init();
#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 */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
#if defined(PIOS_INCLUDE_FLASH_JEDEC)
if (get_external_flash(bdinfo->board_rev)) {
if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
panic(1);
}
#endif /* PIOS_INCLUDE_FLASH_JEDEC */
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 */
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, get_flashfs_settings_cfg(bdinfo->board_rev), FLASH_PARTITION_LABEL_SETTINGS))
panic(1);
#if defined(PIOS_INCLUDE_FLASH_JEDEC)
if (get_external_flash(bdinfo->board_rev)) {
if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
panic(1);
}
#endif /* PIOS_INCLUDE_FLASH_JEDEC */
#if defined(ERASE_FLASH)
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif
#endif /* PIOS_INCLUDE_FLASH */
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
HwSparky2Initialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
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
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Set up pulse timers */
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_9_cfg);
PIOS_TIM_InitClock(&tim_12_cfg);
NVIC_InitTypeDef tim_8_up_irq = {
.NVIC_IRQChannel = TIM8_UP_TIM13_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
};
NVIC_Init(&tim_8_up_irq);
/* 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 */
HwSparky2SetDefaults(HwSparky2Handle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
//PIOS_IAP_Init();
#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 */
HwSparky2USB_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 = HWSPARKY2_USB_VCPPORT_DISABLED;
}
PIOS_HAL_ConfigureCDC(hw_usb_vcpport, pios_usb_id, &pios_usb_cdc_cfg);
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hw_usb_hidport;
HwSparky2USB_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 = HWSPARKY2_USB_HIDPORT_DISABLED;
}
PIOS_HAL_ConfigureHID(hw_usb_hidport, pios_usb_id, &pios_usb_hid_cfg);
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure IO ports */
HwSparky2DSMxModeOptions hw_DSMxMode;
HwSparky2DSMxModeGet(&hw_DSMxMode);
/* Configure main USART port */
uint8_t hw_mainport;
HwSparky2MainPortGet(&hw_mainport);
PIOS_HAL_ConfigurePort(hw_mainport, &pios_usart_main_cfg,
&pios_usart_com_driver, NULL, NULL, NULL,
PIOS_LED_ALARM,
&pios_usart_dsm_hsum_main_cfg, &pios_dsm_main_cfg,
hw_DSMxMode, NULL, NULL, false);
/* Configure FlexiPort */
uint8_t hw_flexiport;
HwSparky2FlexiPortGet(&hw_flexiport);
PIOS_HAL_ConfigurePort(hw_flexiport, &pios_usart_flexi_cfg,
&pios_usart_com_driver,
&pios_i2c_flexiport_adapter_id,
&pios_i2c_flexiport_adapter_cfg, NULL,
PIOS_LED_ALARM,
&pios_usart_dsm_hsum_flexi_cfg, &pios_dsm_flexi_cfg,
hw_DSMxMode, NULL, NULL, false);
#if defined(PIOS_INCLUDE_RFM22B)
HwSparky2Data hwSparky2;
HwSparky2Get(&hwSparky2);
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
const struct pios_openlrs_cfg *openlrs_cfg = PIOS_BOARD_HW_DEFS_GetOpenLRSCfg(bdinfo->board_rev);
PIOS_HAL_ConfigureRFM22B(hwSparky2.Radio,
bdinfo->board_type, bdinfo->board_rev,
hwSparky2.MaxRfPower, hwSparky2.MaxRfSpeed,
openlrs_cfg, rfm22b_cfg,
hwSparky2.MinChannel, hwSparky2.MaxChannel,
hwSparky2.CoordID, 1);
#endif /* PIOS_INCLUDE_RFM22B */
/* Configure the receiver port*/
uint8_t hw_rcvrport;
HwSparky2RcvrPortGet(&hw_rcvrport);
if (bdinfo->board_rev != BRUSHEDSPARKY_V0_2 && hw_DSMxMode >= HWSPARKY2_DSMXMODE_BIND3PULSES) {
hw_DSMxMode = HWSPARKY2_DSMXMODE_AUTODETECT; /* Do not try to bind through XOR */
}
PIOS_HAL_ConfigurePort(hw_rcvrport,
NULL, /* XXX TODO: fix as part of DSM refactor */
&pios_usart_com_driver,
NULL, NULL,
&pios_ppm_cfg,
PIOS_LED_ALARM,
&pios_usart_dsm_hsum_rcvr_cfg,
&pios_dsm_rcvr_cfg,
hw_DSMxMode, get_sbus_rcvr_cfg(bdinfo->board_rev),
&pios_sbus_cfg, get_sbus_toggle(bdinfo->board_rev));
#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
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_CAN)
if(get_use_can(bdinfo->board_rev)) {
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
PIOS_DELAY_WaitmS(50);
PIOS_SENSORS_Init();
#if defined(PIOS_INCLUDE_ADC)
uint32_t internal_adc_id;
PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
// configure the pullup for PA8 (inhibit pullups from current/sonar shared pin)
GPIO_Init(pios_current_sonar_pin.gpio, &pios_current_sonar_pin.init);
#endif
#if defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
panic(4);
if (PIOS_MS5611_Test() != 0)
panic(4);
#endif
uint8_t Magnetometer;
HwSparky2MagnetometerGet(&Magnetometer);
if (Magnetometer != HWSPARKY2_MAGNETOMETER_INTERNAL)
pios_mpu9250_cfg.use_magnetometer = false;
#if defined(PIOS_INCLUDE_MPU9250_SPI)
if (PIOS_MPU9250_SPI_Init(pios_spi_gyro_id, 0, &pios_mpu9250_cfg) != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwSparky2GyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWSPARKY2_GYRORANGE_250:
PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWSPARKY2_GYRORANGE_500:
PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWSPARKY2_GYRORANGE_1000:
PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWSPARKY2_GYRORANGE_2000:
PIOS_MPU9250_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwSparky2AccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWSPARKY2_ACCELRANGE_2G:
PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWSPARKY2_ACCELRANGE_4G:
PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWSPARKY2_ACCELRANGE_8G:
PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWSPARKY2_ACCELRANGE_16G:
PIOS_MPU9250_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
// the filter has to be set before rate else divisor calculation will fail
uint8_t hw_mpu9250_dlpf;
HwSparky2MPU9250GyroLPFGet(&hw_mpu9250_dlpf);
enum pios_mpu9250_gyro_filter mpu9250_gyro_lpf = \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_184) ? PIOS_MPU9250_GYRO_LOWPASS_184_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_92) ? PIOS_MPU9250_GYRO_LOWPASS_92_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_41) ? PIOS_MPU9250_GYRO_LOWPASS_41_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_20) ? PIOS_MPU9250_GYRO_LOWPASS_20_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_10) ? PIOS_MPU9250_GYRO_LOWPASS_10_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250GYROLPF_5) ? PIOS_MPU9250_GYRO_LOWPASS_5_HZ : \
pios_mpu9250_cfg.default_gyro_filter;
PIOS_MPU9250_SetGyroLPF(mpu9250_gyro_lpf);
HwSparky2MPU9250AccelLPFGet(&hw_mpu9250_dlpf);
enum pios_mpu9250_accel_filter mpu9250_accel_lpf = \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_460) ? PIOS_MPU9250_ACCEL_LOWPASS_460_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_184) ? PIOS_MPU9250_ACCEL_LOWPASS_184_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_92) ? PIOS_MPU9250_ACCEL_LOWPASS_92_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_41) ? PIOS_MPU9250_ACCEL_LOWPASS_41_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_20) ? PIOS_MPU9250_ACCEL_LOWPASS_20_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_10) ? PIOS_MPU9250_ACCEL_LOWPASS_10_HZ : \
(hw_mpu9250_dlpf == HWSPARKY2_MPU9250ACCELLPF_5) ? PIOS_MPU9250_ACCEL_LOWPASS_5_HZ : \
pios_mpu9250_cfg.default_accel_filter;
PIOS_MPU9250_SetAccelLPF(mpu9250_accel_lpf);
uint8_t hw_mpu9250_samplerate;
HwSparky2MPU9250RateGet(&hw_mpu9250_samplerate);
uint16_t mpu9250_samplerate = \
(hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_200) ? 200 : \
(hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_250) ? 250 : \
(hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_333) ? 333 : \
(hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_500) ? 500 : \
(hw_mpu9250_samplerate == HWSPARKY2_MPU9250RATE_1000) ? 1000 : \
pios_mpu9250_cfg.default_samplerate;
PIOS_MPU9250_SetSampleRate(mpu9250_samplerate);
#endif /* PIOS_INCLUDE_MPU9250_SPI */
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_HMC5883)
{
uint8_t Magnetometer;
HwSparky2MagnetometerGet(&Magnetometer);
if (Magnetometer == HWSPARKY2_MAGNETOMETER_EXTERNALI2CFLEXIPORT)
{
if (PIOS_HMC5883_Init(pios_i2c_flexiport_adapter_id, &pios_hmc5883_external_cfg) != 0)
panic(6);
if (PIOS_HMC5883_Test() != 0)
panic(6);
} else if (Magnetometer == HWSPARKY2_MAGNETOMETER_EXTERNALAUXI2C) {
if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_external_cfg) != 0)
panic(6);
if (PIOS_HMC5883_Test() != 0)
panic(6);
}
if (Magnetometer != HWSPARKY2_MAGNETOMETER_INTERNAL) {
// setup sensor orientation
uint8_t ExtMagOrientation;
HwSparky2ExtMagOrientationGet(&ExtMagOrientation);
enum pios_hmc5883_orientation hmc5883_orientation = \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5883_TOP_0DEG : \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5883_TOP_90DEG : \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5883_TOP_180DEG : \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5883_TOP_270DEG : \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5883_BOTTOM_0DEG : \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5883_BOTTOM_90DEG : \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5883_BOTTOM_180DEG : \
(ExtMagOrientation == HWSPARKY2_EXTMAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5883_BOTTOM_270DEG : \
pios_hmc5883_external_cfg.Default_Orientation;
PIOS_HMC5883_SetOrientation(hmc5883_orientation);
}
}
#endif /* PIOS_INCLUDE_HMC5883 */
#if defined(PIOS_INCLUDE_FLASH) && defined(PIOS_INCLUDE_FLASH_JEDEC)
if (get_external_flash(bdinfo->board_rev)) {
if ( PIOS_STREAMFS_Init(&streamfs_id, &streamfs_settings, FLASH_PARTITION_LABEL_LOG) != 0)
panic(8);
const uint32_t LOG_BUF_LEN = 256;
uint8_t *log_rx_buffer = PIOS_malloc(LOG_BUF_LEN);
uint8_t *log_tx_buffer = PIOS_malloc(LOG_BUF_LEN);
if (PIOS_COM_Init(&pios_com_logging_id, &pios_streamfs_com_driver, streamfs_id,
log_rx_buffer, LOG_BUF_LEN, log_tx_buffer, LOG_BUF_LEN) != 0)
panic(9);
}
#endif /* PIOS_INCLUDE_FLASH */
switch (bdinfo->board_rev) {
case BRUSHEDSPARKY_V0_2:
{
HwSparky2VTX_ChOptions channel;
HwSparky2VTX_ChGet(&channel);
set_vtx_channel(channel);
}
break;
}
}
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 */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg);
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_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS);
PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS);
#endif /* PIOS_INCLUDE_FLASH */
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
HwRevoMiniInitialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
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 */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_9_cfg);
PIOS_TIM_InitClock(&tim_10_cfg);
PIOS_TIM_InitClock(&tim_11_cfg);
PIOS_TIM_InitClock(&tim_12_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 */
HwRevoMiniSetDefaults(HwRevoMiniHandle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
//PIOS_IAP_Init();
#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 */
HwRevoMiniUSB_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 = HWREVOMINI_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 HWREVOMINI_USB_VCPPORT_DISABLED:
break;
case HWREVOMINI_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 HWREVOMINI_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 HWREVOMINI_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 HWREVOMINI_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;
HwRevoMiniUSB_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 = HWREVOMINI_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 HWREVOMINI_USB_HIDPORT_DISABLED:
break;
case HWREVOMINI_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 IO ports */
uint8_t hw_DSMxBind;
HwRevoMiniDSMxBindGet(&hw_DSMxBind);
/* Configure main USART port */
uint8_t hw_mainport;
HwRevoMiniMainPortGet(&hw_mainport);
switch (hw_mainport) {
case HWREVOMINI_MAINPORT_DISABLED:
break;
case HWREVOMINI_MAINPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWREVOMINI_MAINPORT_GPS:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWREVOMINI_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
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
break;
case HWREVOMINI_MAINPORT_DSM2:
case HWREVOMINI_MAINPORT_DSMX10BIT:
case HWREVOMINI_MAINPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
{
enum pios_dsm_proto proto;
switch (hw_mainport) {
case HWREVOMINI_MAINPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWREVOMINI_MAINPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWREVOMINI_MAINPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
// Force binding to zero on the main port
hw_DSMxBind = 0;
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWREVOMINI_MAINPORT_HOTTSUMD:
case HWREVOMINI_MAINPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_mainport) {
case HWREVOMINI_MAINPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWREVOMINI_MAINPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_main_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWREVOMINI_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWREVOMINI_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWREVOMINI_MAINPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWREVOMINI_MAINPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_main_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 HWREVOMINI_MAINPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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 HWREVOMINI_MAINPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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 HWREVOMINI_MAINPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWREVOMINI_MAINPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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 HWREVOMINI_MAINPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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;
} /* hw_mainport */
if (hw_mainport != HWREVOMINI_MAINPORT_SBUS) {
GPIO_Init(pios_sbus_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_sbus_cfg.inv.init);
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
}
/* Configure FlexiPort */
uint8_t hw_flexiport;
HwRevoMiniFlexiPortGet(&hw_flexiport);
switch (hw_flexiport) {
case HWREVOMINI_FLEXIPORT_DISABLED:
break;
case HWREVOMINI_FLEXIPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWREVOMINI_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
case HWREVOMINI_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWREVOMINI_FLEXIPORT_DSM2:
case HWREVOMINI_FLEXIPORT_DSMX10BIT:
case HWREVOMINI_FLEXIPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
{
enum pios_dsm_proto proto;
switch (hw_flexiport) {
case HWREVOMINI_FLEXIPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWREVOMINI_FLEXIPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWREVOMINI_FLEXIPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
}
break;
#endif /* PIOS_INCLUDE_DSM */
break;
case HWREVOMINI_FLEXIPORT_HOTTSUMD:
case HWREVOMINI_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_flexiport) {
case HWREVOMINI_FLEXIPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWREVOMINI_FLEXIPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_flexi_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWREVOMINI_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWREVOMINI_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWREVOMINI_FLEXIPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWREVOMINI_FLEXIPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_flexi_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 HWREVOMINI_FLEXIPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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 HWREVOMINI_FLEXIPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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 HWREVOMINI_FLEXIPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
case HWREVOMINI_FLEXIPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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 HWREVOMINI_FLEXIPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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;
} /* hwsettings_rv_flexiport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
uint8_t hwsettings_radioport;
HwRevoMiniRadioPortGet(&hwsettings_radioport);
switch (hwsettings_radioport) {
case HWREVOMINI_RADIOPORT_DISABLED:
break;
case HWREVOMINI_RADIOPORT_TELEMETRY:
{
extern const struct pios_rfm22b_cfg * PIOS_BOARD_HW_DEFS_GetRfm22Cfg (uint32_t board_revision);
const struct pios_board_info * bdinfo = &pios_board_info_blob;
const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
break;
}
}
#endif /* PIOS_INCLUDE_RFM22B */
/* Configure the receiver port*/
uint8_t hw_rcvrport;
HwRevoMiniRcvrPortGet(&hw_rcvrport);
//
switch (hw_rcvrport){
case HWREVOMINI_RCVRPORT_DISABLED:
break;
case HWREVOMINI_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
{
/* Set up the receiver port. Later this should be optional */
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 HWREVOMINI_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;
case HWREVOMINI_RCVRPORT_PPM:
case HWREVOMINI_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 */
case HWREVOMINI_RCVRPORT_OUTPUTS:
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 HWREVOMINI_RCVRPORT_DISABLED:
case HWREVOMINI_RCVRPORT_PWM:
case HWREVOMINI_RCVRPORT_PPM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWREVOMINI_RCVRPORT_PPMOUTPUTS:
case HWREVOMINI_RCVRPORT_OUTPUTS:
//PIOS_Servo_Init(&pios_servo_rcvr_cfg);
//TODO: Prepare the configurations on board_hw_defs and handle here:
PIOS_Servo_Init(&pios_servo_cfg);
break;
}
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
PIOS_DELAY_WaitmS(50);
PIOS_SENSORS_Init();
#if defined(PIOS_INCLUDE_ADC)
uint32_t internal_adc_id;
PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
// configure the pullup for PA8 (inhibit pullups from current/sonar shared pin)
GPIO_Init(pios_current_sonar_pin.gpio, &pios_current_sonar_pin.init);
#endif
#if defined(PIOS_INCLUDE_HMC5883)
PIOS_HMC5883_Init(PIOS_I2C_MAIN_ADAPTER, &pios_hmc5883_cfg);
#endif
#if defined(PIOS_INCLUDE_MS5611)
PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
#endif
#if defined(PIOS_INCLUDE_MPU6000)
PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwRevoMiniGyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWREVOMINI_GYRORANGE_250:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWREVOMINI_GYRORANGE_500:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWREVOMINI_GYRORANGE_1000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWREVOMINI_GYRORANGE_2000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwRevoMiniAccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWREVOMINI_ACCELRANGE_2G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWREVOMINI_ACCELRANGE_4G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWREVOMINI_ACCELRANGE_8G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWREVOMINI_ACCELRANGE_16G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
// the filter has to be set before rate else divisor calculation will fail
uint8_t hw_mpu6000_dlpf;
HwRevoMiniMPU6000DLPFGet(&hw_mpu6000_dlpf);
enum pios_mpu60x0_filter mpu6000_dlpf = \
(hw_mpu6000_dlpf == HWREVOMINI_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_mpu6000_dlpf == HWREVOMINI_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_mpu6000_dlpf == HWREVOMINI_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_mpu6000_dlpf == HWREVOMINI_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_mpu6000_dlpf == HWREVOMINI_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_mpu6000_dlpf == HWREVOMINI_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_mpu6000_dlpf == HWREVOMINI_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
pios_mpu6000_cfg.default_filter;
PIOS_MPU6000_SetLPF(mpu6000_dlpf);
uint8_t hw_mpu6000_samplerate;
HwRevoMiniMPU6000RateGet(&hw_mpu6000_samplerate);
uint16_t mpu6000_samplerate = \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_200) ? 200 : \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_333) ? 333 : \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_500) ? 500 : \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_666) ? 666 : \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_1000) ? 1000 : \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_2000) ? 2000 : \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_4000) ? 4000 : \
(hw_mpu6000_samplerate == HWREVOMINI_MPU6000RATE_8000) ? 8000 : \
pios_mpu6000_cfg.default_samplerate;
PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);
#endif
}
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 */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_FLASH)
/* Connect flash to the approrpiate interface and configure it */
uintptr_t flash_id;
if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
panic(1);
uintptr_t fs_id;
if (PIOS_FLASHFS_Logfs_Init(&fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id) != 0)
panic(1);
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
HwFreedomInitialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
/* Initialize the alarms library */
AlarmsInitialize();
/* Initialize the task monitor library */
TaskMonitorInitialize();
// /* Set up pulse timers */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_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 */
HwFreedomSetDefaults(HwFreedomHandle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
PIOS_IAP_Init();
#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
uint32_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 */
HwFreedomUSB_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 = HWFREEDOM_USB_VCPPORT_DISABLED;
}
switch (hw_usb_vcpport) {
case HWFREEDOM_USB_VCPPORT_DISABLED:
break;
case HWFREEDOM_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_TELEM_USB_RX_BUF_LEN, PIOS_COM_TELEM_USB_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_telem_usb_id);
#endif /* PIOS_INCLUDE_COM */
break;
case HWFREEDOM_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_vcp_id);
#endif /* PIOS_INCLUDE_COM */
break;
case HWFREEDOM_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_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 *) pvPortMalloc(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;
HwFreedomUSB_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 = HWFREEDOM_USB_HIDPORT_DISABLED;
}
switch (hw_usb_hidport) {
case HWFREEDOM_USB_HIDPORT_DISABLED:
break;
case HWFREEDOM_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint32_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure IO ports */
uint8_t hw_DSMxBind;
HwFreedomDSMxBindGet(&hw_DSMxBind);
/* Configure FlexiPort */
uint8_t hw_mainport;
HwFreedomMainPortGet(&hw_mainport);
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_DISABLED:
break;
case HWFREEDOM_MAINPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
break;
case HWFREEDOM_MAINPORT_GPS:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_MAINPORT_DSM2:
case HWFREEDOM_MAINPORT_DSMX10BIT:
case HWFREEDOM_MAINPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWFREEDOM_MAINPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWFREEDOM_MAINPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
}
break;
case HWFREEDOM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hw_freedom_mainport */
/* Configure flexi USART port */
uint8_t hw_flexiport;
HwFreedomFlexiPortGet(&hw_flexiport);
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_DISABLED:
break;
case HWFREEDOM_FLEXIPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWFREEDOM_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_FLEXIPORT_DSM2:
case HWFREEDOM_FLEXIPORT_DSMX10BIT:
case HWFREEDOM_FLEXIPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWFREEDOM_FLEXIPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWFREEDOM_FLEXIPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
}
break;
case HWFREEDOM_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
case HWFREEDOM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
} /* hw_freedom_flexiport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
uint8_t hwsettings_radioport;
HwFreedomRadioPortGet(&hwsettings_radioport);
switch (hwsettings_radioport) {
case HWFREEDOM_RADIOPORT_DISABLED:
break;
case HWFREEDOM_RADIOPORT_TELEMETRY:
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
PIOS_Assert(0);
}
uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
break;
}
}
#endif /* PIOS_INCLUDE_RFM22B */
/* Configure input receiver USART port */
uint8_t hw_rcvrport;
HwFreedomRcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_DISABLED:
break;
case HWFREEDOM_RCVRPORT_PPM:
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
break;
case HWFREEDOM_RCVRPORT_DSM2:
case HWFREEDOM_RCVRPORT_DSMX10BIT:
case HWFREEDOM_RCVRPORT_DSMX11BIT:
{
enum pios_dsm_proto proto;
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_DSM2:
proto = PIOS_DSM_PROTO_DSM2;
break;
case HWFREEDOM_RCVRPORT_DSMX10BIT:
proto = PIOS_DSM_PROTO_DSMX10BIT;
break;
case HWFREEDOM_RCVRPORT_DSMX11BIT:
proto = PIOS_DSM_PROTO_DSMX11BIT;
break;
default:
PIOS_Assert(0);
break;
}
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_rcvr_cfg, &pios_dsm_rcvr_cfg,
&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
}
break;
case HWFREEDOM_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uint32_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uint32_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif
break;
}
if (hw_rcvrport != HWFREEDOM_RCVRPORT_SBUS) {
GPIO_Init(pios_sbus_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_sbus_cfg.inv.init);
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
}
#if defined(PIOS_OVERO_SPI)
/* Set up the SPI based PIOS_COM interface to the overo */
{
bool overo_enabled = false;
#ifdef MODULE_OveroSync_BUILTIN
overo_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_OVEROSYNC] == MODULESETTINGS_ADMINSTATE_ENABLED) {
overo_enabled = true;
} else {
overo_enabled = false;
}
#endif
if (overo_enabled) {
if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
PIOS_DEBUG_Assert(0);
}
const uint32_t PACKET_SIZE = 1024;
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
rx_buffer, PACKET_SIZE,
tx_buffer, PACKET_SIZE)) {
PIOS_Assert(0);
}
}
}
#endif
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uint32_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uint32_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
uint8_t hw_output_port;
HwFreedomOutputGet(&hw_output_port);
switch (hw_output_port) {
case HWFREEDOM_OUTPUT_DISABLED:
break;
case HWFREEDOM_OUTPUT_PWM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
default:
break;
}
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
PIOS_DELAY_WaitmS(200);
PIOS_SENSORS_Init();
#if defined(PIOS_INCLUDE_MPU6000)
if (PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg) != 0)
panic(2);
if (PIOS_MPU6000_Test() != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwFreedomGyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWFREEDOM_GYRORANGE_250:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWFREEDOM_GYRORANGE_500:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWFREEDOM_GYRORANGE_1000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWFREEDOM_GYRORANGE_2000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwFreedomAccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWFREEDOM_ACCELRANGE_2G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWFREEDOM_ACCELRANGE_4G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWFREEDOM_ACCELRANGE_8G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWFREEDOM_ACCELRANGE_16G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
uint8_t hw_mpu6000_rate;
HwFreedomMPU6000RateGet(&hw_mpu6000_rate);
uint16_t hw_mpu6000_divisor = \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_500) ? 15 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_666) ? 11 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_1000) ? 7 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_2000) ? 3 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_4000) ? 1 : \
(hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_8000) ? 0 : \
15;
PIOS_MPU6000_SetDivisor(hw_mpu6000_divisor);
uint8_t hw_dlpf;
HwFreedomMPU6000DLPFGet(&hw_dlpf);
uint16_t hw_mpu6000_dlpf = \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_dlpf == HWFREEDOM_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
PIOS_MPU60X0_LOWPASS_256_HZ;
PIOS_MPU6000_SetLPF(hw_mpu6000_dlpf);
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_mag_pressure_adapter_id) != 0)
panic(5);
PIOS_DELAY_WaitmS(50);
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
PIOS_LED_On(0);
#if defined(PIOS_INCLUDE_HMC5883)
if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_cfg) != 0)
panic(3);
#endif
PIOS_LED_On(1);
#if defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
panic(4);
#endif
PIOS_LED_On(2);
}
/**
* @brief Initialize the MPU6000 3-axis gyro sensor
* \return none
* \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor.
*
*/
static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const *cfg)
{
PIOS_MPU6000_Test();
// Reset chip
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0) {
;
}
PIOS_DELAY_WaitmS(50);
// Reset chip and fifo
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG,
PIOS_MPU6000_USERCTL_GYRO_RST |
PIOS_MPU6000_USERCTL_SIG_COND |
PIOS_MPU6000_USERCTL_FIFO_RST) != 0) {
;
}
// Wait for reset to finish
while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) &
(PIOS_MPU6000_USERCTL_GYRO_RST |
PIOS_MPU6000_USERCTL_SIG_COND |
PIOS_MPU6000_USERCTL_FIFO_RST)) {
;
}
PIOS_DELAY_WaitmS(10);
// Power management configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) {
;
}
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) {
;
}
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) {
;
}
// FIFO storage
#if defined(PIOS_MPU6000_ACCEL)
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0) {
;
}
#else
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0) {
;
}
#endif
PIOS_MPU6000_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) {
;
}
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) {
;
}
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) {
;
}
// Interrupt configuration
while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) {
;
}
if ((PIOS_MPU6000_GetReg(PIOS_MPU6000_INT_EN_REG)) != cfg->interrupt_en) {
return;
}
mpu6000_configured = true;
}
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 */
/* Set up the SPI interface to the gyro/acelerometer */
if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
PIOS_DEBUG_Assert(0);
}
/* Set up the SPI interface to the flash and rfm22b */
if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
panic(1);
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 (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
panic(1);
#if defined(ERASE_FLASH)
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif
#endif /* PIOS_INCLUDE_FLASH */
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
HwFreedomInitialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
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 */
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_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 */
HwFreedomSetDefaults(HwFreedomHandle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
PIOS_IAP_Init();
#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 */
HwFreedomUSB_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 = HWFREEDOM_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 HWFREEDOM_USB_VCPPORT_DISABLED:
break;
case HWFREEDOM_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 HWFREEDOM_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 HWFREEDOM_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 HWFREEDOM_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;
HwFreedomUSB_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 = HWFREEDOM_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 HWFREEDOM_USB_HIDPORT_DISABLED:
break;
case HWFREEDOM_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 IO ports */
uint8_t hw_DSMxBind;
HwFreedomDSMxBindGet(&hw_DSMxBind);
/* Configure FlexiPort */
uint8_t hw_mainport;
HwFreedomMainPortGet(&hw_mainport);
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_DISABLED:
break;
case HWFREEDOM_MAINPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWFREEDOM_MAINPORT_GPS:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_RX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_MAINPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_main_cfg, &pios_dsm_main_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFREEDOM_MAINPORT_HOTTSUMD:
case HWFREEDOM_MAINPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_mainport) {
case HWFREEDOM_MAINPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFREEDOM_MAINPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_main_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFREEDOM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_MAINPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWFREEDOM_MAINPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFREEDOM_MAINPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_main_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 */
#endif /* PIOS_INCLUDE_GPS */
break;
case HWFREEDOM_MAINPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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 HWFREEDOM_MAINPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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 HWFREEDOM_MAINPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFREEDOM_MAINPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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 HWFREEDOM_MAINPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_main_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;
} /* hw_freedom_mainport */
/* Configure flexi USART port */
uint8_t hw_flexiport;
HwFreedomFlexiPortGet(&hw_flexiport);
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_DISABLED:
break;
case HWFREEDOM_FLEXIPORT_TELEMETRY:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
break;
case HWFREEDOM_FLEXIPORT_GPS:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_RX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
break;
case HWFREEDOM_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_flexi_cfg, &pios_dsm_flexi_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFREEDOM_FLEXIPORT_HOTTSUMD:
case HWFREEDOM_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_flexiport) {
case HWFREEDOM_FLEXIPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFREEDOM_FLEXIPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_flexi_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFREEDOM_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
{
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_I2C */
break;
case HWFREEDOM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFREEDOM_FLEXIPORT_COMBRIDGE:
PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
break;
case HWFREEDOM_FLEXIPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFREEDOM_FLEXIPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart_flexi_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 */
#endif /* PIOS_INCLUDE_GPS */
break;
case HWFREEDOM_FLEXIPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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 HWFREEDOM_FLEXIPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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 HWFREEDOM_FLEXIPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFREEDOM_FLEXIPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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 HWFREEDOM_FLEXIPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart_flexi_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;
} /* hw_freedom_flexiport */
/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
RFM22BStatusInitialize();
RFM22BStatusCreateInstance();
// Initialize out status object.
RFM22BStatusData rfm22bstatus;
RFM22BStatusGet(&rfm22bstatus);
RFM22BStatusInstSet(1,&rfm22bstatus);
HwFreedomData hwFreedom;
HwFreedomGet(&hwFreedom);
// Initialize out status object.
rfm22bstatus.BoardType = bdinfo->board_type;
rfm22bstatus.BoardRevision = bdinfo->board_rev;
if (hwFreedom.Radio == HWFREEDOM_RADIO_DISABLED || hwFreedom.MaxRfPower == HWFREEDOM_MAXRFPOWER_0) {
// When radio disabled, it is ok for init to fail. This allows boards without populating
// this component.
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg) == 0) {
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
rfm22bstatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
rfm22bstatus.BoardRevision = PIOS_RFM22B_ModuleVersion(pios_rfm22b_id);
} else {
pios_rfm22b_id = 0;
}
rfm22bstatus.LinkState = RFM22BSTATUS_LINKSTATE_DISABLED;
} else {
// always allow receiving PPM when radio is on
bool ppm_mode = hwFreedom.Radio == HWFREEDOM_RADIO_TELEMPPM || hwFreedom.Radio == HWFREEDOM_RADIO_PPM;
bool ppm_only = hwFreedom.Radio == HWFREEDOM_RADIO_PPM;
bool is_oneway = hwFreedom.Radio == HWFREEDOM_RADIO_PPM; // Sparky2 can only receive PPM only
/* Configure the RFM22B device. */
const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
panic(6);
}
rfm22bstatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
rfm22bstatus.BoardRevision = PIOS_RFM22B_ModuleVersion(pios_rfm22b_id);
/* Configure the radio com interface */
uint8_t *rx_buffer = (uint8_t *)PIOS_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
uint8_t *tx_buffer = (uint8_t *)PIOS_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
panic(6);
}
/* Set Telemetry to use RFM22b if no other telemetry is configured (USB always overrides anyway) */
if (!pios_com_telem_rf_id) {
pios_com_telem_rf_id = pios_com_rf_id;
}
rfm22bstatus.LinkState = RFM22BSTATUS_LINKSTATE_ENABLED;
enum rfm22b_datarate datarate = RFM22_datarate_64000;
switch (hwFreedom.MaxRfSpeed) {
case HWFREEDOM_MAXRFSPEED_9600:
datarate = RFM22_datarate_9600;
break;
case HWFREEDOM_MAXRFSPEED_19200:
datarate = RFM22_datarate_19200;
break;
case HWFREEDOM_MAXRFSPEED_32000:
datarate = RFM22_datarate_32000;
break;
case HWFREEDOM_MAXRFSPEED_64000:
datarate = RFM22_datarate_64000;
break;
case HWFREEDOM_MAXRFSPEED_100000:
datarate = RFM22_datarate_100000;
break;
case HWFREEDOM_MAXRFSPEED_192000:
datarate = RFM22_datarate_192000;
break;
}
/* Set the radio configuration parameters. */
PIOS_RFM22B_Config(pios_rfm22b_id, datarate, hwFreedom.MinChannel, hwFreedom.MaxChannel, hwFreedom.CoordID, is_oneway, ppm_mode, ppm_only);
/* Set the modem Tx poer level */
switch (hwFreedom.MaxRfPower) {
case HWFREEDOM_MAXRFPOWER_125:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
break;
case HWFREEDOM_MAXRFPOWER_16:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
break;
case HWFREEDOM_MAXRFPOWER_316:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
break;
case HWFREEDOM_MAXRFPOWER_63:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
break;
case HWFREEDOM_MAXRFPOWER_126:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
break;
case HWFREEDOM_MAXRFPOWER_25:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
break;
case HWFREEDOM_MAXRFPOWER_50:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
break;
case HWFREEDOM_MAXRFPOWER_100:
PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
break;
default:
// do nothing
break;
}
/* Reinitialize the modem. */
PIOS_RFM22B_Reinit(pios_rfm22b_id);
#if defined(PIOS_INCLUDE_RFM22B_RCVR)
{
uintptr_t pios_rfm22brcvr_id;
PIOS_RFM22B_Rcvr_Init(&pios_rfm22brcvr_id, pios_rfm22b_id);
uintptr_t pios_rfm22brcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_rfm22brcvr_rcvr_id, &pios_rfm22b_rcvr_driver, pios_rfm22brcvr_id)) {
panic(6);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_RFM22B] = pios_rfm22brcvr_rcvr_id;
}
}
RFM22BStatusInstSet(1,&rfm22bstatus);
#endif /* PIOS_INCLUDE_RFM22B_RCVR */
#endif /* PIOS_INCLUDE_RFM22B */
PIOS_WDG_Clear();
/* Configure input receiver USART port */
uint8_t hw_rcvrport;
HwFreedomRcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_DISABLED:
break;
case HWFREEDOM_RCVRPORT_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;
}
break;
case HWFREEDOM_RCVRPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_rcvr_cfg, &pios_dsm_rcvr_cfg,
&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMRCVRPORT,&hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFREEDOM_RCVRPORT_HOTTSUMD:
case HWFREEDOM_RCVRPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_rcvrport) {
case HWFREEDOM_RCVRPORT_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFREEDOM_RCVRPORT_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_rcvr_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFREEDOM_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
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
break;
}
if (hw_rcvrport != HWFREEDOM_RCVRPORT_SBUS) {
GPIO_Init(pios_sbus_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_sbus_cfg.inv.init);
GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
}
#if defined(PIOS_OVERO_SPI)
/* Set up the SPI based PIOS_COM interface to the overo */
{
bool overo_enabled = false;
#ifdef MODULE_OveroSync_BUILTIN
overo_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_OVEROSYNC] == MODULESETTINGS_ADMINSTATE_ENABLED) {
overo_enabled = true;
} else {
overo_enabled = false;
}
#endif
if (overo_enabled) {
if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
PIOS_DEBUG_Assert(0);
}
const uint32_t PACKET_SIZE = 1024;
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PACKET_SIZE);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PACKET_SIZE);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
rx_buffer, PACKET_SIZE,
tx_buffer, PACKET_SIZE)) {
PIOS_Assert(0);
}
}
}
#endif
#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
uint8_t hw_output_port;
HwFreedomOutputGet(&hw_output_port);
switch (hw_output_port) {
case HWFREEDOM_OUTPUT_DISABLED:
break;
case HWFREEDOM_OUTPUT_PWM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
default:
break;
}
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
PIOS_DELAY_WaitmS(200);
PIOS_SENSORS_Init();
#if defined(PIOS_INCLUDE_MPU6000)
if (PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg) != 0)
panic(2);
if (PIOS_MPU6000_Test() != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwFreedomGyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWFREEDOM_GYRORANGE_250:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWFREEDOM_GYRORANGE_500:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWFREEDOM_GYRORANGE_1000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWFREEDOM_GYRORANGE_2000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwFreedomAccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWFREEDOM_ACCELRANGE_2G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWFREEDOM_ACCELRANGE_4G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWFREEDOM_ACCELRANGE_8G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWFREEDOM_ACCELRANGE_16G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
// the filter has to be set before rate else divisor calculation will fail
uint8_t hw_mpu6000_dlpf;
HwFreedomMPU6000DLPFGet(&hw_mpu6000_dlpf);
enum pios_mpu60x0_filter mpu6000_dlpf = \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
pios_mpu6000_cfg.default_filter;
PIOS_MPU6000_SetLPF(mpu6000_dlpf);
uint8_t hw_mpu6000_samplerate;
HwFreedomMPU6000RateGet(&hw_mpu6000_samplerate);
uint16_t mpu6000_samplerate = \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_200) ? 200 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_333) ? 333 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_500) ? 500 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_666) ? 666 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_1000) ? 1000 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_2000) ? 2000 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_4000) ? 4000 : \
(hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_8000) ? 8000 : \
pios_mpu6000_cfg.default_samplerate;
PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);
#endif
if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_mag_pressure_adapter_id) != 0)
panic(5);
PIOS_DELAY_WaitmS(50);
#if defined(PIOS_INCLUDE_ADC)
uint32_t internal_adc_id;
PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#endif
PIOS_LED_On(0);
#if defined(PIOS_INCLUDE_HMC5883)
if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_cfg) != 0)
panic(3);
#endif
PIOS_LED_On(1);
#if defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
panic(4);
#endif
PIOS_LED_On(2);
}
int main() {
PIOS_SYS_Init();
if (BSL_HOLD_STATE == 0)
USB_connected = TRUE;
PIOS_IAP_Init();
if (PIOS_IAP_CheckRequest() == TRUE) {
PIOS_Board_Init();
PIOS_DELAY_WaitmS(1000);
User_DFU_request = TRUE;
PIOS_IAP_ClearRequest();
}
GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
if (GO_dfu == TRUE) {
PIOS_Board_Init();
if (User_DFU_request == TRUE)
DeviceState = DFUidle;
else
DeviceState = BLidle;
STOPWATCH_Init(100, LED_PWM_TIMER);
} else
JumpToApp = TRUE;
STOPWATCH_Reset(LED_PWM_TIMER);
while (TRUE) {
if (JumpToApp == TRUE)
jump_to_app();
switch (DeviceState) {
case Last_operation_Success:
case uploadingStarting:
case DFUidle:
period1 = 50;
sweep_steps1 = 100;
PIOS_LED_Off(BLUE);
period2 = 0;
break;
case uploading:
period1 = 50;
sweep_steps1 = 100;
period2 = 25;
sweep_steps2 = 50;
break;
case downloading:
period1 = 25;
sweep_steps1 = 50;
PIOS_LED_Off(BLUE);
period2 = 0;
break;
case BLidle:
period1 = 0;
PIOS_LED_On(BLUE);
period2 = 0;
break;
default://error
period1 = 50;
sweep_steps1 = 100;
period2 = 50;
sweep_steps2 = 100;
}
if (period1 != 0) {
if (LedPWM(period1, sweep_steps1, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_On(BLUE);
if (period2 != 0) {
if (LedPWM(period2, sweep_steps2, STOPWATCH_ValueGet(LED_PWM_TIMER)))
PIOS_LED_On(BLUE);
else
PIOS_LED_Off(BLUE);
} else
PIOS_LED_Off(BLUE);
if (STOPWATCH_ValueGet(LED_PWM_TIMER) > 100 * 50 * 100)
STOPWATCH_Reset(LED_PWM_TIMER);
if ((STOPWATCH_ValueGet(LED_PWM_TIMER) > 60000) && (DeviceState
== BLidle))
JumpToApp = TRUE;
processRX();
DataDownload(start);
}
}
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_I2C)
if (PIOS_I2C_Init
(&pios_i2c_internal_adapter_id,
&pios_i2c_internal_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_internal_adapter_id) != 0)
panic(5);
#endif
#if defined(PIOS_INCLUDE_SPI)
if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_SPI_Init
(&pios_spi_gyro_accel_id, &pios_spi_gyro_accel_cfg)) {
PIOS_Assert(0);
}
#endif
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
if (PIOS_Flash_Jedec_Init
(&pios_external_flash_id, pios_spi_flash_id, 0,
&flash_mx25_cfg) != 0)
panic(1);
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 (PIOS_FLASHFS_Logfs_Init
(&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg,
FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
panic(1);
#if defined(ERASE_FLASH)
PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif
#endif /* PIOS_INCLUDE_FLASH */
/* 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 */
HwColibriInitialize();
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 */
//Timers used for inputs (1, 2, 5, 8)
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_5_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
// Timers used for outputs (3, 10, 11, 12)
PIOS_TIM_InitClock(&tim_3_cfg);
PIOS_TIM_InitClock(&tim_10_cfg);
PIOS_TIM_InitClock(&tim_11_cfg);
PIOS_TIM_InitClock(&tim_12_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 */
HwColibriSetDefaults(HwColibriHandle(), 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 */
HwColibriUSB_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 = HWCOLIBRI_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 HWCOLIBRI_USB_VCPPORT_DISABLED:
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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;
HwColibriUSB_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 = HWCOLIBRI_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 HWCOLIBRI_USB_HIDPORT_DISABLED:
break;
case HWCOLIBRI_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 */
HwColibriDSMxModeOptions hw_DSMxMode;
HwColibriDSMxModeGet(&hw_DSMxMode);
/* init sensor queue registration */
PIOS_SENSORS_Init();
/* UART1 Port */
uint8_t hw_uart1;
HwColibriUart1Get(&hw_uart1);
switch (hw_uart1) {
case HWCOLIBRI_UART1_DISABLED:
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_UART1_I2C:
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init
(&pios_i2c_usart1_adapter_id,
&pios_i2c_usart1_adapter_cfg)) {
PIOS_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_usart1_adapter_id) != 0)
panic(6);
#if defined(PIOS_INCLUDE_HMC5883)
{
uint8_t Magnetometer;
HwColibriMagnetometerGet(&Magnetometer);
if (Magnetometer ==
HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART1) {
// init sensor
if (PIOS_HMC5883_Init
(pios_i2c_usart1_adapter_id,
&pios_hmc5883_external_cfg) != 0)
panic(8);
if (PIOS_HMC5883_Test() != 0)
panic(8);
}
}
#endif /* PIOS_INCLUDE_HMC5883 */
#endif /* PIOS_INCLUDE_I2C */
break;
case HWCOLIBRI_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 HWCOLIBRI_UART1_HOTTSUMD:
case HWCOLIBRI_UART1_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart1) {
case HWCOLIBRI_UART1_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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;
HwColibriUart2Get(&hw_uart2);
switch (hw_uart2) {
case HWCOLIBRI_UART2_DISABLED:
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_UART2_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_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 HWCOLIBRI_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 HWCOLIBRI_UART2_HOTTSUMD:
case HWCOLIBRI_UART2_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart2) {
case HWCOLIBRI_UART2_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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;
}
if (hw_uart2 != HWCOLIBRI_UART2_SBUS) {
GPIO_Init(pios_usart2_sbus_aux_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_usart2_sbus_aux_cfg.inv.init);
GPIO_WriteBit(pios_usart2_sbus_aux_cfg.inv.gpio, pios_usart2_sbus_aux_cfg.inv.init.GPIO_Pin, pios_usart2_sbus_aux_cfg.gpio_inv_disable);
}
/* UART3 Port */
uint8_t hw_uart3;
HwColibriUart3Get(&hw_uart3);
switch (hw_uart3) {
case HWCOLIBRI_UART3_DISABLED:
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_UART3_I2C:
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init
(&pios_i2c_usart3_adapter_id,
&pios_i2c_usart3_adapter_cfg)) {
PIOS_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_usart3_adapter_id) != 0)
panic(7);
#if defined(PIOS_INCLUDE_HMC5883)
{
uint8_t Magnetometer;
HwColibriMagnetometerGet(&Magnetometer);
if (Magnetometer ==
HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART3) {
// init sensor
if (PIOS_HMC5883_Init
(pios_i2c_usart3_adapter_id,
&pios_hmc5883_external_cfg) != 0)
panic(9);
if (PIOS_HMC5883_Test() != 0)
panic(9);
}
}
#endif /* PIOS_INCLUDE_HMC5883 */
#endif /* PIOS_INCLUDE_I2C */
break;
case HWCOLIBRI_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 HWCOLIBRI_UART3_HOTTSUMD:
case HWCOLIBRI_UART3_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart3) {
case HWCOLIBRI_UART3_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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;
}
/* UART4 Port */
uint8_t hw_uart4;
HwColibriUart4Get(&hw_uart4);
switch (hw_uart4) {
case HWCOLIBRI_UART4_DISABLED:
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_UART4_HOTTSUMD:
case HWCOLIBRI_UART4_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart4) {
case HWCOLIBRI_UART4_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_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 HWCOLIBRI_UART4_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart4_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;
}
/* Configure the rcvr port */
uint8_t hw_rcvrport;
HwColibriRcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWCOLIBRI_RCVRPORT_DISABLED:
break;
case HWCOLIBRI_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 HWCOLIBRI_RCVRPORT_PWMADC:
#if defined(PIOS_INCLUDE_PWM)
{
uintptr_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id,
&pios_pwm_with_adc_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 HWCOLIBRI_RCVRPORT_PPM:
case HWCOLIBRI_RCVRPORT_PPMADC:
case HWCOLIBRI_RCVRPORT_PPMOUTPUTS:
case HWCOLIBRI_RCVRPORT_PPMOUTPUTSADC:
#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 HWCOLIBRI_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;
case HWCOLIBRI_RCVRPORT_PPMPWMADC:
/* This is a combination of PPM and PWM inputs with IN6 and IN7 free for adc */
#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_with_adc_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 HWCOLIBRI_RCVRPORT_DISABLED:
case HWCOLIBRI_RCVRPORT_PWM:
case HWCOLIBRI_RCVRPORT_PWMADC:
case HWCOLIBRI_RCVRPORT_PPM:
case HWCOLIBRI_RCVRPORT_PPMADC:
case HWCOLIBRI_RCVRPORT_PPMPWM:
case HWCOLIBRI_RCVRPORT_PPMPWMADC:
/* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_cfg);
#endif
break;
case HWCOLIBRI_RCVRPORT_PPMOUTPUTS:
case HWCOLIBRI_RCVRPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_with_rcvr_cfg);
#endif
break;
case HWCOLIBRI_RCVRPORT_PPMOUTPUTSADC:
case HWCOLIBRI_RCVRPORT_OUTPUTSADC:
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_with_rcvr_with_adc_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_MPU6000)
if (PIOS_MPU6000_Init(pios_spi_gyro_accel_id, 0, &pios_mpu6000_cfg)
!= 0)
panic(2);
if (PIOS_MPU6000_Test() != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwColibriGyroRangeGet(&hw_gyro_range);
switch (hw_gyro_range) {
case HWCOLIBRI_GYRORANGE_250:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWCOLIBRI_GYRORANGE_500:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWCOLIBRI_GYRORANGE_1000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWCOLIBRI_GYRORANGE_2000:
PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwColibriAccelRangeGet(&hw_accel_range);
switch (hw_accel_range) {
case HWCOLIBRI_ACCELRANGE_2G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWCOLIBRI_ACCELRANGE_4G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWCOLIBRI_ACCELRANGE_8G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWCOLIBRI_ACCELRANGE_16G:
PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
// the filter has to be set before rate else divisor calculation will fail
uint8_t hw_mpu6000_dlpf;
HwColibriMPU6000DLPFGet(&hw_mpu6000_dlpf);
enum pios_mpu60x0_filter mpu6000_dlpf =
(hw_mpu6000_dlpf ==
HWCOLIBRI_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ
: (hw_mpu6000_dlpf ==
HWCOLIBRI_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ
: (hw_mpu6000_dlpf ==
HWCOLIBRI_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ
: (hw_mpu6000_dlpf ==
HWCOLIBRI_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ
: (hw_mpu6000_dlpf ==
HWCOLIBRI_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ
: (hw_mpu6000_dlpf ==
HWCOLIBRI_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ
: (hw_mpu6000_dlpf ==
HWCOLIBRI_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ :
pios_mpu6000_cfg.default_filter;
PIOS_MPU6000_SetLPF(mpu6000_dlpf);
uint8_t hw_mpu6000_samplerate;
HwColibriMPU6000RateGet(&hw_mpu6000_samplerate);
uint16_t mpu6000_samplerate =
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_200) ? 200 :
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_333) ? 333 :
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_500) ? 500 :
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_666) ? 666 :
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_1000) ? 1000 :
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_2000) ? 2000 :
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_4000) ? 4000 :
(hw_mpu6000_samplerate == HWCOLIBRI_MPU6000RATE_8000) ? 8000 :
pios_mpu6000_cfg.default_samplerate;
PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);
#endif
#if defined(PIOS_INCLUDE_I2C)
#if defined(PIOS_INCLUDE_HMC5883)
{
uint8_t Magnetometer;
HwColibriMagnetometerGet(&Magnetometer);
if (Magnetometer == HWCOLIBRI_MAGNETOMETER_INTERNAL) {
if (PIOS_HMC5883_Init
(pios_i2c_internal_adapter_id,
&pios_hmc5883_internal_cfg) != 0)
panic(3);
if (PIOS_HMC5883_Test() != 0)
panic(3);
}
if (Magnetometer == HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART1
|| Magnetometer ==
HWCOLIBRI_MAGNETOMETER_EXTERNALI2CUART3) {
// setup sensor orientation
uint8_t ExtMagOrientation;
HwColibriExtMagOrientationGet(&ExtMagOrientation);
enum pios_hmc5883_orientation hmc5883_orientation =
(ExtMagOrientation ==
HWCOLIBRI_EXTMAGORIENTATION_TOP0DEGCW) ?
PIOS_HMC5883_TOP_0DEG : (ExtMagOrientation ==
HWCOLIBRI_EXTMAGORIENTATION_TOP90DEGCW)
? PIOS_HMC5883_TOP_90DEG : (ExtMagOrientation
==
HWCOLIBRI_EXTMAGORIENTATION_TOP180DEGCW)
? PIOS_HMC5883_TOP_180DEG : (ExtMagOrientation
==
HWCOLIBRI_EXTMAGORIENTATION_TOP270DEGCW)
? PIOS_HMC5883_TOP_270DEG : (ExtMagOrientation
==
HWCOLIBRI_EXTMAGORIENTATION_BOTTOM0DEGCW)
? PIOS_HMC5883_BOTTOM_0DEG : (ExtMagOrientation
==
HWCOLIBRI_EXTMAGORIENTATION_BOTTOM90DEGCW)
? PIOS_HMC5883_BOTTOM_90DEG
: (ExtMagOrientation ==
HWCOLIBRI_EXTMAGORIENTATION_BOTTOM180DEGCW)
? PIOS_HMC5883_BOTTOM_180DEG
: (ExtMagOrientation ==
HWCOLIBRI_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_internal_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)
if (hw_rcvrport == HWCOLIBRI_RCVRPORT_PWMADC ||
hw_rcvrport == HWCOLIBRI_RCVRPORT_PPMADC ||
hw_rcvrport == HWCOLIBRI_RCVRPORT_PPMPWMADC ||
hw_rcvrport == HWCOLIBRI_RCVRPORT_OUTPUTSADC ||
hw_rcvrport == HWCOLIBRI_RCVRPORT_PPMOUTPUTSADC) {
uint32_t internal_adc_id;
PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg);
PIOS_ADC_Init(&pios_internal_adc_id,
&pios_internal_adc_driver, internal_adc_id);
}
#endif
#if defined(PIOS_INCLUDE_FLASH)
if ( PIOS_STREAMFS_Init(&streamfs_id, &streamfs_settings, FLASH_PARTITION_LABEL_LOG) != 0)
panic(8);
const uint32_t LOG_BUF_LEN = 256;
uint8_t *log_rx_buffer = PIOS_malloc(LOG_BUF_LEN);
uint8_t *log_tx_buffer = PIOS_malloc(LOG_BUF_LEN);
if (PIOS_COM_Init(&pios_com_spiflash_logging_id, &pios_streamfs_com_driver, streamfs_id,
log_rx_buffer, LOG_BUF_LEN, log_tx_buffer, LOG_BUF_LEN) != 0)
panic(9);
#endif /* PIOS_INCLUDE_FLASH */
//Set battery input pin to floating as long as it is unused
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15;
GPIO_Init(GPIOC, &GPIO_InitStructure);
GPIO_ResetBits(GPIOC, GPIO_Pin_15);
//Set buzzer output to low as long as it is unused
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_ResetBits(GPIOA, GPIO_Pin_4);
/* 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);
}
