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);
}
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 */
#if defined(PIOS_INCLUDE_FLASH)
/* Inititialize all flash drivers */
if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
panic(1);
/* Register the partition table */
const struct pios_flash_partition * flash_partition_table;
uint32_t num_partitions;
flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions);
PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);
/* Mount all filesystems */
if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
panic(1);
#if defined(PIOS_INCLUDE_EXTERNAL_FLASH_WAYPOINTS)
/* Use external flash chip to store waypoints */
if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_external_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
panic(1);
#endif /* PIOS_INCLUDE_EXTERNAL_FLASH_WAYPOINTS */
#endif /* PIOS_INCLUDE_FLASH */
/* Initialize the task monitor library */
TaskMonitorInitialize();
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();
/* Initialize the alarms library */
AlarmsInitialize();
HwFlyingF4Initialize();
ModuleSettingsInitialize();
#if defined(PIOS_INCLUDE_RTC)
/* Initialize the real-time clock and its associated tick */
PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
#ifndef ERASE_FLASH
/* Initialize watchdog as early as possible to catch faults during init
* but do it only if there is no debugger connected
*/
if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
PIOS_WDG_Init();
}
#endif
/* Set up pulse timers */
//inputs
PIOS_TIM_InitClock(&tim_2_cfg);
PIOS_TIM_InitClock(&tim_4_cfg);
PIOS_TIM_InitClock(&tim_8_cfg);
PIOS_TIM_InitClock(&tim_9_cfg);
//outputs
PIOS_TIM_InitClock(&tim_1_cfg);
PIOS_TIM_InitClock(&tim_3_cfg);
/* IAP System Setup */
PIOS_IAP_Init();
uint16_t boot_count = PIOS_IAP_ReadBootCount();
if (boot_count < 3) {
PIOS_IAP_WriteBootCount(++boot_count);
AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
} else {
/* Too many failed boot attempts, force hw config to defaults */
HwFlyingF4SetDefaults(HwFlyingF4Handle(), 0);
ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
}
#if defined(PIOS_INCLUDE_USB)
/* Initialize board specific USB data */
PIOS_USB_BOARD_DATA_Init();
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uintptr_t pios_usb_id;
PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));
#if defined(PIOS_INCLUDE_USB_CDC)
uint8_t hw_usb_vcpport;
/* Configure the USB VCP port */
HwFlyingF4USB_VCPPortGet(&hw_usb_vcpport);
if (!usb_cdc_present) {
/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
hw_usb_vcpport = HWFLYINGF4_USB_VCPPORT_DISABLED;
}
uintptr_t pios_usb_cdc_id;
if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
switch (hw_usb_vcpport) {
case HWFLYINGF4_USB_VCPPORT_DISABLED:
break;
case HWFLYINGF4_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWFLYINGF4_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
case HWFLYINGF4_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
case HWFLYINGF4_USB_VCPPORT_PICOC:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_picoc_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
rx_buffer, PIOS_COM_PICOC_RX_BUF_LEN,
tx_buffer, PIOS_COM_PICOC_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_CDC */
#if defined(PIOS_INCLUDE_USB_HID)
/* Configure the usb HID port */
uint8_t hw_usb_hidport;
HwFlyingF4USB_HIDPortGet(&hw_usb_hidport);
if (!usb_hid_present) {
/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
hw_usb_hidport = HWFLYINGF4_USB_HIDPORT_DISABLED;
}
uintptr_t pios_usb_hid_id;
if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
PIOS_Assert(0);
}
switch (hw_usb_hidport) {
case HWFLYINGF4_USB_HIDPORT_DISABLED:
break;
case HWFLYINGF4_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
{
uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_COM */
break;
}
#endif /* PIOS_INCLUDE_USB_HID */
if (usb_hid_present || usb_cdc_present) {
PIOS_USBHOOK_Activate();
}
#endif /* PIOS_INCLUDE_USB */
/* Configure the IO ports */
uint8_t hw_DSMxBind;
HwFlyingF4DSMxBindGet(&hw_DSMxBind);
/* init sensor queue registration */
PIOS_SENSORS_Init();
/* UART1 Port */
uint8_t hw_uart1;
HwFlyingF4Uart1Get(&hw_uart1);
switch (hw_uart1) {
case HWFLYINGF4_UART1_DISABLED:
break;
case HWFLYINGF4_UART1_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF4_UART1_SBUS:
//hardware signal inverter required
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
{
uintptr_t pios_usart_sbus_id;
if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart1_sbus_cfg)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_id;
if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart1_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
PIOS_Assert(0);
}
uintptr_t pios_sbus_rcvr_id;
if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
}
#endif /* PIOS_INCLUDE_SBUS */
break;
case HWFLYINGF4_UART1_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart1_dsm_hsum_cfg, &pios_usart1_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF4_UART1_HOTTSUMD:
case HWFLYINGF4_UART1_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart1) {
case HWFLYINGF4_UART1_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF4_UART1_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart1_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF4_UART1_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
}
/* UART2 Port */
uint8_t hw_uart2;
HwFlyingF4Uart2Get(&hw_uart2);
switch (hw_uart2) {
case HWFLYINGF4_UART2_DISABLED:
break;
case HWFLYINGF4_UART2_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWFLYINGF4_UART2_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF4_UART2_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart2_dsm_hsum_cfg, &pios_usart2_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWFLYINGF4_UART2_HOTTSUMD:
case HWFLYINGF4_UART2_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart2) {
case HWFLYINGF4_UART2_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF4_UART2_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart2_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF4_UART2_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFLYINGF4_UART2_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWFLYINGF4_UART2_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF4_UART2_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF4_UART2_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFLYINGF4_UART2_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFLYINGF4_UART2_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
case HWFLYINGF4_UART2_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
break;
}
/* UART3 Port */
uint8_t hw_uart3;
HwFlyingF4Uart3Get(&hw_uart3);
switch (hw_uart3) {
case HWFLYINGF4_UART3_DISABLED:
break;
case HWFLYINGF4_UART3_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
break;
case HWFLYINGF4_UART3_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
break;
case HWFLYINGF4_UART3_DSM:
#if defined(PIOS_INCLUDE_DSM)
{
PIOS_Board_configure_dsm(&pios_usart3_dsm_hsum_cfg, &pios_usart3_dsm_aux_cfg, &pios_usart_com_driver,
MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
}
#endif /* PIOS_INCLUDE_DSM */
case HWFLYINGF4_UART3_HOTTSUMD:
case HWFLYINGF4_UART3_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
{
enum pios_hsum_proto proto;
switch (hw_uart3) {
case HWFLYINGF4_UART3_HOTTSUMD:
proto = PIOS_HSUM_PROTO_SUMD;
break;
case HWFLYINGF4_UART3_HOTTSUMH:
proto = PIOS_HSUM_PROTO_SUMH;
break;
default:
PIOS_Assert(0);
break;
}
PIOS_Board_configure_hsum(&pios_usart3_dsm_hsum_cfg, &pios_usart_com_driver,
&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
}
#endif /* PIOS_INCLUDE_HSUM */
break;
case HWFLYINGF4_UART3_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
break;
case HWFLYINGF4_UART3_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
break;
case HWFLYINGF4_UART3_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF4_UART3_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
pios_com_mavlink_id = pios_com_gps_id;
#endif /* PIOS_INCLUDE_MAVLINK */
break;
case HWFLYINGF4_UART3_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
break;
case HWFLYINGF4_UART3_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif
break;
case HWFLYINGF4_UART3_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
break;
case HWFLYINGF4_UART3_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
}
/* Configure the rcvr port */
uint8_t hw_rcvrport;
HwFlyingF4RcvrPortGet(&hw_rcvrport);
switch (hw_rcvrport) {
case HWFLYINGF4_RCVRPORT_DISABLED:
break;
case HWFLYINGF4_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
{
uintptr_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
uintptr_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */
break;
case HWFLYINGF4_RCVRPORT_PPM:
case HWFLYINGF4_RCVRPORT_PPMOUTPUTS:
#if defined(PIOS_INCLUDE_PPM)
{
uintptr_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uintptr_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM */
break;
case HWFLYINGF4_RCVRPORT_PPMPWM:
/* This is a combination of PPM and PWM inputs */
#if defined(PIOS_INCLUDE_PPM)
{
uintptr_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
uintptr_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_PWM)
{
uintptr_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);
uintptr_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uintptr_t pios_gcsrcvr_id;
PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
uintptr_t pios_gcsrcvr_rcvr_id;
if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif /* PIOS_INCLUDE_GCSRCVR */
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
switch (hw_rcvrport) {
case HWFLYINGF4_RCVRPORT_DISABLED:
case HWFLYINGF4_RCVRPORT_PWM:
case HWFLYINGF4_RCVRPORT_PPM:
/* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_cfg);
#endif
break;
case HWFLYINGF4_RCVRPORT_PPMOUTPUTS:
case HWFLYINGF4_RCVRPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
PIOS_Servo_Init(&pios_servo_rcvr_cfg);
#endif
break;
}
#else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif
PIOS_WDG_Clear();
PIOS_DELAY_WaitmS(200);
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_I2C)
if (PIOS_I2C_Init(&pios_i2c_10dof_adapter_id, &pios_i2c_10dof_adapter_cfg)) {
PIOS_DEBUG_Assert(0);
}
if (PIOS_I2C_CheckClear(pios_i2c_10dof_adapter_id) != 0)
panic(5);
#if defined(PIOS_INCLUDE_MPU6050)
if (PIOS_MPU6050_Init(pios_i2c_10dof_adapter_id, PIOS_MPU6050_I2C_ADD_A0_LOW, &pios_mpu6050_cfg) != 0)
panic(2);
if (PIOS_MPU6050_Test() != 0)
panic(2);
// To be safe map from UAVO enum to driver enum
uint8_t hw_gyro_range;
HwFlyingF4GyroRangeGet(&hw_gyro_range);
switch(hw_gyro_range) {
case HWFLYINGF4_GYRORANGE_250:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
break;
case HWFLYINGF4_GYRORANGE_500:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
break;
case HWFLYINGF4_GYRORANGE_1000:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
break;
case HWFLYINGF4_GYRORANGE_2000:
PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
break;
}
uint8_t hw_accel_range;
HwFlyingF4AccelRangeGet(&hw_accel_range);
switch(hw_accel_range) {
case HWFLYINGF4_ACCELRANGE_2G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
break;
case HWFLYINGF4_ACCELRANGE_4G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
break;
case HWFLYINGF4_ACCELRANGE_8G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
break;
case HWFLYINGF4_ACCELRANGE_16G:
PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
break;
}
// the filter has to be set before rate else divisor calculation will fail
uint8_t hw_mpu6050_dlpf;
HwFlyingF4MPU6050DLPFGet(&hw_mpu6050_dlpf);
enum pios_mpu60x0_filter mpu6050_dlpf = \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
(hw_mpu6050_dlpf == HWFLYINGF4_MPU6050DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
pios_mpu6050_cfg.default_filter;
PIOS_MPU6050_SetLPF(mpu6050_dlpf);
uint8_t hw_mpu6050_samplerate;
HwFlyingF4MPU6050RateGet(&hw_mpu6050_samplerate);
uint16_t mpu6050_samplerate = \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_200) ? 200 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_333) ? 333 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_500) ? 500 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_666) ? 666 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_1000) ? 1000 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_2000) ? 2000 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_4000) ? 4000 : \
(hw_mpu6050_samplerate == HWFLYINGF4_MPU6050RATE_8000) ? 8000 : \
pios_mpu6050_cfg.default_samplerate;
PIOS_MPU6050_SetSampleRate(mpu6050_samplerate);
PIOS_MPU6050_SetPassThrough(true);
#endif /* PIOS_INCLUDE_MPU6050 */
PIOS_WDG_Clear();
PIOS_DELAY_WaitmS(50);
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_HMC5883)
{
uint8_t Magnetometer;
HwFlyingF4MagnetometerGet(&Magnetometer);
if (Magnetometer == HWFLYINGF4_MAGNETOMETER_EXTERNALI2C) {
if (PIOS_HMC5883_Init(pios_i2c_10dof_adapter_id, &pios_hmc5883_external_cfg) != 0)
panic(3);
if (PIOS_HMC5883_Test() != 0)
panic(3);
// setup sensor orientation
uint8_t ExtMagOrientation;
HwFlyingF4ExtMagOrientationGet(&ExtMagOrientation);
enum pios_hmc5883_orientation hmc5883_orientation = \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP0DEGCW) ? PIOS_HMC5883_TOP_0DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP90DEGCW) ? PIOS_HMC5883_TOP_90DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP180DEGCW) ? PIOS_HMC5883_TOP_180DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_TOP270DEGCW) ? PIOS_HMC5883_TOP_270DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM0DEGCW) ? PIOS_HMC5883_BOTTOM_0DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM90DEGCW) ? PIOS_HMC5883_BOTTOM_90DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM180DEGCW) ? PIOS_HMC5883_BOTTOM_180DEG : \
(ExtMagOrientation == HWFLYINGF4_EXTMAGORIENTATION_BOTTOM270DEGCW) ? PIOS_HMC5883_BOTTOM_270DEG : \
pios_hmc5883_external_cfg.Default_Orientation;
PIOS_HMC5883_SetOrientation(hmc5883_orientation);
}
}
#endif
//I2C is slow, sensor init as well, reset watchdog to prevent reset here
PIOS_WDG_Clear();
#if defined(PIOS_INCLUDE_MS5611)
if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_10dof_adapter_id) != 0)
panic(4);
if (PIOS_MS5611_Test() != 0)
panic(4);
#endif
//I2C is slow, sensor init as well, reset watchdog to prevent reset here
PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_GPIO)
PIOS_GPIO_Init();
#endif
#if defined(PIOS_INCLUDE_ADC)
PIOS_ADC_Init(&pios_adc_cfg);
#endif
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}
