Esempio n. 1
0
void PIOS_Board_Init(void) {
	if (board_init_complete) {
		return;
	}

	/* Enable Prefetch Buffer */
	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

	/* Flash 2 wait state */
	FLASH_SetLatency(FLASH_Latency_2);

	/* Delay system */
	PIOS_DELAY_Init();

	/* Initialize the PiOS library */
	PIOS_GPIO_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_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Activate the HID-only USB configuration */
	PIOS_USB_DESC_HID_ONLY_Init();

	uint32_t pios_usb_id;
	switch(bdinfo->board_rev) {
		case BOARD_REVISION_CC:
			PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
			break;
		case BOARD_REVISION_CC3D:
			PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
			break;
		default:
			PIOS_Assert(0);
	}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
	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);
	}
	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
		PIOS_Assert(0);
	}
#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

#endif	/* PIOS_INCLUDE_USB */

	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

	board_init_complete = true;
}
Esempio n. 2
0
void PIOS_Board_Init() {

	/* Delay system */
	PIOS_DELAY_Init();
	
#if defined(PIOS_INCLUDE_LED)
	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

	PWR_BackupAccessCmd(ENABLE);
	RCC_LSEConfig(RCC_LSE_OFF);

	PIOS_LED_On(PIOS_LED_HEARTBEAT);

#if defined(PIOS_INCLUDE_SPI)
	/* Set up the SPI interface to the flash */
	if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
#endif	/* PIOS_INCLUDE_SPI */

#if defined(PIOS_INCLUDE_FLASH)
	/* Inititialize all flash drivers */
	PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);

#if defined(PIOS_INCLUDE_SPI)
	PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_flash_id, 0, &flash_mx25_cfg);
#endif	/* PIOS_INCLUDE_SPI */

	/* Register the partition table */
	PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table));
    
#endif	/* PIOS_INCLUDE_FLASH */

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Activate the HID-only USB configuration */
	PIOS_USB_DESC_HID_ONLY_Init();

	uintptr_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
	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);
	}
	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
		PIOS_Assert(0);
	}
#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

	PIOS_USBHOOK_Activate();

#endif	/* PIOS_INCLUDE_USB */
}
Esempio n. 3
0
void PIOS_Board_Init()
{
	/* Delay system */
	PIOS_DELAY_Init();
	
#if defined(PIOS_INCLUDE_LED)
	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_FLASH)

#if !defined(PIOS_FLASH_ON_ACCEL)
	/* Set up the SPI interface to the flash */
	if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	/* Inititialize all flash drivers */
	PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_flash_id, 0, &flash_m25p_cfg);
#else
	/* Set up the SPI interface to the accelerometer*/
	if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	/* Inititialize all flash drivers */
	PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_accel_id, 1, &flash_m25p_cfg);
#endif

	PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);

	/* Register the partition table */
	PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table));
#endif	/* PIOS_INCLUDE_FLASH */

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Activate the HID-only USB configuration */
	PIOS_USB_DESC_HID_ONLY_Init();

	uintptr_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
	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);
	}
	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
		PIOS_Assert(0);
	}
#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

	PIOS_USBHOOK_Activate();

#endif	/* PIOS_INCLUDE_USB */
}
Esempio n. 4
0
void PIOS_Board_Init(void) {
	if (board_init_complete) {
		return;
	}

	/* Enable Prefetch Buffer */
	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

	/* Flash 2 wait state */
	FLASH_SetLatency(FLASH_Latency_2);

	/* Delay system */
	PIOS_DELAY_Init();

	/* Initialize the PiOS library */
	PIOS_GPIO_Init();

#if defined(PIOS_INCLUDE_LED)
 	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Activate the HID-only USB configuration */
	PIOS_USB_DESC_HID_ONLY_Init();

	uint32_t pios_usb_id;
	if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
		PIOS_Assert(0);
	}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
	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);
	}
	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
		PIOS_Assert(0);
	}
#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

#endif	/* PIOS_INCLUDE_USB */

	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

	board_init_complete = true;
}
Esempio n. 5
0
void PIOS_Board_Init()
{
	/* Delay system */
	PIOS_DELAY_Init();

#if defined(PIOS_INCLUDE_LED)
	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_FLASH)
	/* Inititialize all flash drivers */
	PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);

	/* Register the partition table */
	PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table));
#endif	/* PIOS_INCLUDE_FLASH */

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Activate the HID-only USB configuration */
	PIOS_USB_DESC_HID_ONLY_Init();

	uintptr_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
	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);
	}
	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
		PIOS_Assert(0);
	}
#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

#endif	/* PIOS_INCLUDE_USB */
}
Esempio n. 6
0
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);
}
Esempio n. 7
0
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);
}
Esempio n. 8
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void PIOS_Board_Init(void) {

	/* Delay system */
	PIOS_DELAY_Init();

	const struct pios_board_info * bdinfo = &pios_board_info_blob;

#if defined(PIOS_INCLUDE_LED)
	const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
	PIOS_Assert(led_cfg);
	PIOS_LED_Init(led_cfg);
#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_SPI)
	if (PIOS_SPI_Init(&pios_spi_internal_id, &pios_spi_internal_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
#endif

#if defined(PIOS_INCLUDE_I2C)
	if (PIOS_I2C_Init(&pios_i2c_internal_id, &pios_i2c_internal_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_I2C_CheckClear(pios_i2c_internal_id) != 0)
		panic(3);

	if (PIOS_I2C_Init(&pios_i2c_external_id, &pios_i2c_external_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_I2C_CheckClear(pios_i2c_external_id) != 0)
		panic(4);
#endif

#if defined(PIOS_INCLUDE_CAN)
	if (PIOS_CAN_Init(&pios_can_id, &pios_can_cfg) != 0)
		panic(6);

	uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_RX_BUF_LEN);
	uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_TX_BUF_LEN);
	PIOS_Assert(rx_buffer);
	PIOS_Assert(tx_buffer);
	if (PIOS_COM_Init(&pios_com_can_id, &pios_can_com_driver, pios_can_id,
	                  rx_buffer, PIOS_COM_CAN_RX_BUF_LEN,
	                  tx_buffer, PIOS_COM_CAN_TX_BUF_LEN))
		panic(6);

	pios_com_bridge_id = pios_com_can_id;
#endif

#if defined(PIOS_INCLUDE_FLASH)
	/* Inititialize all flash drivers */
	PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg);

	/* Register the partition table */
	const struct pios_flash_partition * flash_partition_table;
	uint32_t num_partitions;
	flash_partition_table = PIOS_BOARD_HW_DEFS_GetPartitionTable(bdinfo->board_rev, &num_partitions);
	PIOS_FLASH_register_partition_table(flash_partition_table, num_partitions);

	/* Mount all filesystems */
	PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS);
	PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_internal_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS);

#if defined(ERASE_FLASH)
	PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
#endif

#endif

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Initialize UAVObject libraries */
	UAVObjInitialize();

	/* Initialize the alarms library. Reads RCC reset flags */
	AlarmsInitialize();
	PIOS_RESET_Clear(); // Clear the RCC reset flags after use.

	/* Initialize the hardware UAVOs */
	HwFlyingF3Initialize();
	ModuleSettingsInitialize();

#if defined(PIOS_INCLUDE_RTC)
	/* Initialize the real-time clock and its associated tick */
	PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

#ifndef ERASE_FLASH
	/* Initialize watchdog as early as possible to catch faults during init
	 * but do it only if there is no debugger connected
	 */
	if ((CoreDebug->DHCSR & CoreDebug_DHCSR_C_DEBUGEN_Msk) == 0) {
		PIOS_WDG_Init();
	}
#endif

	/* Set up pulse timers */
	//inputs
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_8_cfg);
	PIOS_TIM_InitClock(&tim_15_cfg);
	PIOS_TIM_InitClock(&tim_16_cfg);
	PIOS_TIM_InitClock(&tim_17_cfg);
	//outputs
	PIOS_TIM_InitClock(&tim_2_cfg);
	PIOS_TIM_InitClock(&tim_3_cfg);
	PIOS_TIM_InitClock(&tim_4_cfg);

	/* IAP System Setup */
	PIOS_IAP_Init();
	uint16_t boot_count = PIOS_IAP_ReadBootCount();
	if (boot_count < 3) {
		PIOS_IAP_WriteBootCount(++boot_count);
		AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
	} else {
		/* Too many failed boot attempts, force hw config to defaults */
		HwFlyingF3SetDefaults(HwFlyingF3Handle(), 0);
		ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
	}

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Flags to determine if various USB interfaces are advertised */
	bool usb_hid_present = false;

#if defined(PIOS_INCLUDE_USB_CDC)
	bool usb_cdc_present = false;
	if (PIOS_USB_DESC_HID_CDC_Init()) {
		PIOS_Assert(0);
	}
	usb_hid_present = true;
	usb_cdc_present = true;
#else
	if (PIOS_USB_DESC_HID_ONLY_Init()) {
		PIOS_Assert(0);
	}
	usb_hid_present = true;
#endif

	uintptr_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));

#if defined(PIOS_INCLUDE_USB_CDC)

	uint8_t hw_usb_vcpport;
	/* Configure the USB VCP port */
	HwFlyingF3USB_VCPPortGet(&hw_usb_vcpport);

	if (!usb_cdc_present) {
		/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
		hw_usb_vcpport = HWFLYINGF3_USB_VCPPORT_DISABLED;
	}

	switch (hw_usb_vcpport) {
	case HWFLYINGF3_USB_VCPPORT_DISABLED:
		break;
	case HWFLYINGF3_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWFLYINGF3_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWFLYINGF3_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						NULL, 0,
						tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif	/* PIOS_INCLUDE_COM */

		break;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
	/* Configure the usb HID port */
	uint8_t hw_usb_hidport;
	HwFlyingF3USB_HIDPortGet(&hw_usb_hidport);

	if (!usb_hid_present) {
		/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
		hw_usb_hidport = HWFLYINGF3_USB_HIDPORT_DISABLED;
	}

	switch (hw_usb_hidport) {
	case HWFLYINGF3_USB_HIDPORT_DISABLED:
		break;
	case HWFLYINGF3_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_hid_id;
			if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	}

#endif	/* PIOS_INCLUDE_USB_HID */
#endif	/* PIOS_INCLUDE_USB */

	/* Configure the IO ports */
	HwFlyingF3DSMxModeOptions hw_DSMxMode;
	HwFlyingF3DSMxModeGet(&hw_DSMxMode);

	/* UART1 Port */
	uint8_t hw_uart1;
	HwFlyingF3Uart1Get(&hw_uart1);
	switch (hw_uart1) {
	case HWFLYINGF3_UART1_DISABLED:
		break;
	case HWFLYINGF3_UART1_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWFLYINGF3_UART1_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF3_UART1_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart1_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart1_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_rcvr_id;
			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_SBUS */
		break;
	case HWFLYINGF3_UART1_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart1_dsm_hsum_cfg, &pios_usart1_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWFLYINGF3_UART1_HOTTSUMD:
	case HWFLYINGF3_UART1_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart1) {
			case HWFLYINGF3_UART1_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF3_UART1_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart1_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF3_UART1_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWFLYINGF3_UART1_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWFLYINGF3_UART1_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART1_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
		pios_com_mavlink_id = pios_com_gps_id;
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART1_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
    case HWFLYINGF3_UART1_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
		case HWFLYINGF3_UART1_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart1_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
		case HWFLYINGF3_UART1_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
		PIOS_Board_configure_com(&pios_usart1_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
		break;
	}



	/* UART2 Port */
	uint8_t hw_uart2;
	HwFlyingF3Uart2Get(&hw_uart2);
	switch (hw_uart2) {
	case HWFLYINGF3_UART2_DISABLED:
		break;
	case HWFLYINGF3_UART2_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWFLYINGF3_UART2_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF3_UART2_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart2_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart2_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_rcvr_id;
			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_SBUS */
		break;
	case HWFLYINGF3_UART2_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart2_dsm_hsum_cfg, &pios_usart2_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWFLYINGF3_UART2_HOTTSUMD:
	case HWFLYINGF3_UART2_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart2) {
			case HWFLYINGF3_UART2_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF3_UART2_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart2_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF3_UART2_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWFLYINGF3_UART2_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWFLYINGF3_UART2_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART2_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
		pios_com_mavlink_id = pios_com_gps_id;
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART2_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
    case HWFLYINGF3_UART2_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWFLYINGF3_UART2_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart2_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
	case HWFLYINGF3_UART2_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
		PIOS_Board_configure_com(&pios_usart2_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
		break;
	}


	/* UART3 Port */
	uint8_t hw_uart3;
	HwFlyingF3Uart3Get(&hw_uart3);
	switch (hw_uart3) {
	case HWFLYINGF3_UART3_DISABLED:
		break;
	case HWFLYINGF3_UART3_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWFLYINGF3_UART3_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF3_UART3_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart3_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart3_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_rcvr_id;
			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_SBUS */
		break;
	case HWFLYINGF3_UART3_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart3_dsm_hsum_cfg, &pios_usart3_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWFLYINGF3_UART3_HOTTSUMD:
	case HWFLYINGF3_UART3_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart3) {
			case HWFLYINGF3_UART3_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF3_UART3_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart3_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF3_UART3_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWFLYINGF3_UART3_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWFLYINGF3_UART3_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART3_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
		pios_com_mavlink_id = pios_com_gps_id;
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART3_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
    case HWFLYINGF3_UART3_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWFLYINGF3_UART3_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart3_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
	case HWFLYINGF3_UART3_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
		PIOS_Board_configure_com(&pios_usart3_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
		break;
	}


	/* UART4 Port */
	uint8_t hw_uart4;
	HwFlyingF3Uart4Get(&hw_uart4);
	switch (hw_uart4) {
	case HWFLYINGF3_UART4_DISABLED:
		break;
	case HWFLYINGF3_UART4_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWFLYINGF3_UART4_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF3_UART4_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart4_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart4_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_rcvr_id;
			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_SBUS */
		break;
	case HWFLYINGF3_UART4_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart4_dsm_hsum_cfg, &pios_usart4_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWFLYINGF3_UART4_HOTTSUMD:
	case HWFLYINGF3_UART4_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart4) {
			case HWFLYINGF3_UART4_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF3_UART4_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart4_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF3_UART4_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWFLYINGF3_UART4_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWFLYINGF3_UART4_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART4_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
		pios_com_mavlink_id = pios_com_gps_id;
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART4_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
    case HWFLYINGF3_UART4_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWFLYINGF3_UART4_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart4_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
	case HWFLYINGF3_UART4_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
		PIOS_Board_configure_com(&pios_usart4_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
		break;
	}


	/* UART5 Port */
	uint8_t hw_uart5;
	HwFlyingF3Uart5Get(&hw_uart5);
	switch (hw_uart5) {
	case HWFLYINGF3_UART5_DISABLED:
		break;
	case HWFLYINGF3_UART5_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWFLYINGF3_UART5_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWFLYINGF3_UART5_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart5_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_usart5_sbus_aux_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_rcvr_id;
			if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_SBUS */
		break;
	case HWFLYINGF3_UART5_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_usart5_dsm_hsum_cfg, &pios_usart5_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWFLYINGF3_UART5_HOTTSUMD:
	case HWFLYINGF3_UART5_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			switch (hw_uart5) {
			case HWFLYINGF3_UART5_HOTTSUMD:
				proto = PIOS_HSUM_PROTO_SUMD;
				break;
			case HWFLYINGF3_UART5_HOTTSUMH:
				proto = PIOS_HSUM_PROTO_SUMH;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_hsum(&pios_usart5_dsm_hsum_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWFLYINGF3_UART5_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWFLYINGF3_UART5_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWFLYINGF3_UART5_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART5_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK) && defined(PIOS_INCLUDE_GPS)
		PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
		pios_com_mavlink_id = pios_com_gps_id;
#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWFLYINGF3_UART5_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart5_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
		break;
    case HWFLYINGF3_UART5_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
	case HWFLYINGF3_UART5_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart5_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
	case HWFLYINGF3_UART5_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY)
		PIOS_Board_configure_com(&pios_usart5_sport_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif
		break;
	}



	/* Configure the rcvr port */
	uint8_t hw_rcvrport;
	HwFlyingF3RcvrPortGet(&hw_rcvrport);

	switch (hw_rcvrport) {
	case HWFLYINGF3_RCVRPORT_DISABLED:
		break;
	case HWFLYINGF3_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_PWM */
		break;
	case HWFLYINGF3_RCVRPORT_PPM:
	case HWFLYINGF3_RCVRPORT_PPMOUTPUTS:
#if defined(PIOS_INCLUDE_PPM)
		{
			uintptr_t pios_ppm_id;
			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);

			uintptr_t pios_ppm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_PPM */
		break;
	case HWFLYINGF3_RCVRPORT_PPMPWM:
		/* This is a combination of PPM and PWM inputs */
#if defined(PIOS_INCLUDE_PPM)
		{
			uintptr_t pios_ppm_id;
			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);

			uintptr_t pios_ppm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_PPM */
#if defined(PIOS_INCLUDE_PWM)
		{
			uintptr_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);

			uintptr_t pios_pwm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_PWM */
		break;
	}


#if defined(PIOS_INCLUDE_GCSRCVR)
	GCSReceiverInitialize();
	uintptr_t pios_gcsrcvr_id;
	PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
	uintptr_t pios_gcsrcvr_rcvr_id;
	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
		PIOS_Assert(0);
	}
	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif	/* PIOS_INCLUDE_GCSRCVR */

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
	switch (hw_rcvrport) {
		case HWFLYINGF3_RCVRPORT_DISABLED:
		case HWFLYINGF3_RCVRPORT_PWM:
		case HWFLYINGF3_RCVRPORT_PPM:
			/* Set up the servo outputs */
#ifdef PIOS_INCLUDE_SERVO
			PIOS_Servo_Init(&pios_servo_cfg);
#endif
			break;
		case HWFLYINGF3_RCVRPORT_PPMOUTPUTS:
		case HWFLYINGF3_RCVRPORT_OUTPUTS:
#ifdef PIOS_INCLUDE_SERVO
			PIOS_Servo_Init(&pios_servo_rcvr_cfg);
#endif
			break;
	}
#else
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

	PIOS_WDG_Clear();
	PIOS_DELAY_WaitmS(200);
	PIOS_WDG_Clear();

	PIOS_SENSORS_Init();

#if defined(PIOS_INCLUDE_L3GD20) && defined(PIOS_INCLUDE_SPI)
	if (PIOS_L3GD20_Init(pios_spi_internal_id, 0, &pios_l3gd20_cfg) != 0)
		panic(1);
	if (PIOS_L3GD20_Test() != 0)
		panic(1);

	uint8_t hw_l3gd20_samplerate;
	HwFlyingF3L3GD20RateGet(&hw_l3gd20_samplerate);
	enum pios_l3gd20_rate l3gd20_samplerate = PIOS_L3GD20_RATE_380HZ_100HZ;
	switch(hw_l3gd20_samplerate) {
		case HWFLYINGF3_L3GD20RATE_380:
			l3gd20_samplerate = PIOS_L3GD20_RATE_380HZ_100HZ;
			break;
		case HWFLYINGF3_L3GD20RATE_760:
			l3gd20_samplerate = PIOS_L3GD20_RATE_760HZ_100HZ;
			break;
	}
	PIOS_Assert(PIOS_L3GD20_SetSampleRate(l3gd20_samplerate) == 0);

	// To be safe map from UAVO enum to driver enum
	/*
	 * FIXME: add support for this to l3gd20 driver
	uint8_t hw_gyro_range;
	HwFlyingF3GyroRangeGet(&hw_gyro_range);
	switch(hw_gyro_range) {
		case HWFLYINGF3_GYRORANGE_250:
			PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_250_DEG);
			break;
		case HWFLYINGF3_GYRORANGE_500:
			PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_500_DEG);
			break;
		case HWFLYINGF3_GYRORANGE_1000:
			//FIXME: how to behave in this case?
			PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_2000_DEG);
			break;
		case HWFLYINGF3_GYRORANGE_2000:
			PIOS_L3GD20_SetRange(PIOS_L3GD20_SCALE_2000_DEG);
			break;
	}
	*/

	PIOS_WDG_Clear();
	PIOS_DELAY_WaitmS(50);
	PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_L3GD20 && PIOS_INCLUDE_I2C*/

#if defined(PIOS_INCLUDE_LSM303) && defined(PIOS_INCLUDE_I2C)
	if (PIOS_LSM303_Init(pios_i2c_internal_id, &pios_lsm303_cfg) != 0)
		panic(2);
	if (PIOS_LSM303_Accel_Test() != 0)
		panic(2);
	if (PIOS_LSM303_Mag_Test() != 0)
		panic(2);

	uint8_t hw_accel_range;
	HwFlyingF3AccelRangeGet(&hw_accel_range);
	switch(hw_accel_range) {
		case HWFLYINGF3_ACCELRANGE_2G:
			PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_2G);
			break;
		case HWFLYINGF3_ACCELRANGE_4G:
			PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_4G);
			break;
		case HWFLYINGF3_ACCELRANGE_8G:
			PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_8G);
			break;
		case HWFLYINGF3_ACCELRANGE_16G:
			PIOS_LSM303_Accel_SetRange(PIOS_LSM303_ACCEL_16G);
			break;
	}

	//there is no setting for the mag scale yet
	PIOS_LSM303_Mag_SetRange(PIOS_LSM303_MAG_1_9GA);

	PIOS_WDG_Clear();
	PIOS_DELAY_WaitmS(50);
	PIOS_WDG_Clear();
#endif /* PIOS_INCLUDE_LSM303 && PIOS_INCLUDE_I2C*/

#if defined(PIOS_INCLUDE_GPIO)
	PIOS_GPIO_Init();
#endif

	//FlyingF3 shield specific hw init
	uint8_t flyingf3_shield;
	uint32_t internal_adc_id;
	HwFlyingF3ShieldGet(&flyingf3_shield);
	switch (flyingf3_shield) {
	case HWFLYINGF3_SHIELD_RCFLYER:
#if defined(PIOS_INCLUDE_ADC)
		//Sanity check, this is to ensure that no one changes the adc_pins array without changing the defines
		PIOS_Assert(internal_adc_cfg_rcflyer_shield.adc_pins[PIOS_ADC_RCFLYER_SHIELD_BARO_PIN].pin == GPIO_Pin_3);
		PIOS_Assert(internal_adc_cfg_rcflyer_shield.adc_pins[PIOS_ADC_RCFLYER_SHIELD_BAT_VOLTAGE_PIN].pin == GPIO_Pin_4);
		if (PIOS_INTERNAL_ADC_Init(&internal_adc_id, &internal_adc_cfg_rcflyer_shield) < 0)
			PIOS_Assert(0);
		PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#endif
#if defined(PIOS_INCLUDE_SPI)
		if (PIOS_SPI_Init(&pios_spi_2_id, &pios_spi_2_rcflyer_internal_cfg)) {
			PIOS_DEBUG_Assert(0);
		}
		if (PIOS_SPI_Init(&pios_spi_3_id, &pios_spi_3_rcflyer_external_cfg)) {
			PIOS_DEBUG_Assert(0);
		}
#if defined(PIOS_INCLUDE_MS5611_SPI)
		if (PIOS_MS5611_SPI_Init(pios_spi_2_id, 1, &pios_ms5611_cfg) != 0) {
			PIOS_Assert(0);
		}
#endif	/* PIOS_INCLUDE_MS5611_SPI */
#endif	/* PIOS_INCLUDE_SPI */
		break;
	case HWFLYINGF3_SHIELD_CHEBUZZ:
#if defined(PIOS_INCLUDE_I2C) && defined(PIOS_INCLUDE_MS5611)
		if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_external_id) != 0) {
			PIOS_Assert(0);
		}
#endif	/* PIOS_INCLUDE_I2C && PIOS_INCLUDE_MS5611 */
#if defined(PIOS_INCLUDE_SPI)
		if (PIOS_SPI_Init(&pios_spi_2_id, &pios_spi_2_chebuzz_external_cfg)) {
			PIOS_DEBUG_Assert(0);
		}
		if (PIOS_SPI_Init(&pios_spi_3_id, &pios_spi_3_chebuzz_internal_cfg)) {
			PIOS_DEBUG_Assert(0);
		}
#endif	/* PIOS_INCLUDE_SPI */
		break;
	case HWFLYINGF3_SHIELD_BMP085:
#if defined(PIOS_INCLUDE_BMP085) && defined(PIOS_INCLUDE_I2C)
	if (PIOS_BMP085_Init(&pios_bmp085_cfg, pios_i2c_external_id) != 0)
		panic(5);
	if (PIOS_BMP085_Test() != 0)
		panic(5);
#endif /* PIOS_INCLUDE_BMP085 && PIOS_INCLUDE_I2C */
		break;
	case HWFLYINGF3_SHIELD_NONE:
		break;
	default:
		PIOS_Assert(0);
		break;
	}

	/* Make sure we have at least one telemetry link configured or else fail initialization */
	PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}
Esempio n. 9
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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);
}
Esempio n. 10
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/**
 * PIOS_Board_Init()
 * initializes all the core subsystems on this specific hardware
 * called from System/openpilot.c
 */
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)
	PIOS_LED_Init(&pios_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);
#endif	/* PIOS_INCLUDE_FLASH */

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	/* Initialize the alarms library. Reads RCC reset flags */
	AlarmsInitialize();
	PIOS_RESET_Clear(); // Clear the RCC reset flags after use.

	/* Initialize the hardware UAVOs */
	HwDiscoveryF4Initialize();
	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 */
#ifndef DEBUG
	//PIOS_WDG_Init();
#endif
#endif

	/* Check for repeated boot failures */
	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 */
		HwDiscoveryF4SetDefaults(HwDiscoveryF4Handle(), 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_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_CDC)

	uint8_t hw_usb_vcpport;
	/* Configure the USB VCP port */
	HwDiscoveryF4USB_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 = HWDISCOVERYF4_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 HWDISCOVERYF4_USB_VCPPORT_DISABLED:
		break;
	case HWDISCOVERYF4_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 HWDISCOVERYF4_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 HWDISCOVERYF4_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;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
	/* Configure the usb HID port */
	uint8_t hw_usb_hidport;
	HwDiscoveryF4USB_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 = HWDISCOVERYF4_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 HWDISCOVERYF4_USB_HIDPORT_DISABLED:
		break;
	case HWDISCOVERYF4_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 main IO port */
	uint8_t hw_mainport;
	HwDiscoveryF4MainPortGet(&hw_mainport);

	switch (hw_mainport) {
	case HWDISCOVERYF4_MAINPORT_DISABLED:
		break;
	case HWDISCOVERYF4_MAINPORT_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 */
	case HWDISCOVERYF4_MAINPORT_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;
	}

#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 */

#if defined(PIOS_INCLUDE_GPIO)
	PIOS_GPIO_Init();
#endif

	/* Make sure we have at least one telemetry link configured or else fail initialization */
	PIOS_Assert(pios_com_telem_usb_id);
}
Esempio n. 11
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void PIOS_Board_Init(void) {

	/* Delay system */
	PIOS_DELAY_Init();

	const struct pios_board_info * bdinfo = &pios_board_info_blob;

#if defined(PIOS_INCLUDE_LED)
	const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
	PIOS_Assert(led_cfg);
	PIOS_LED_Init(led_cfg);
#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_SPI)
	/* Set up the SPI interface to the serial flash */

	switch(bdinfo->board_rev) {
		case BOARD_REVISION_CC:
			if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc)) {
				PIOS_Assert(0);
			}
			break;
		case BOARD_REVISION_CC3D:
			if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
				PIOS_Assert(0);
			}
			break;
		default:
			PIOS_Assert(0);
	}

#endif

	switch(bdinfo->board_rev) {
		case BOARD_REVISION_CC:
			PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_flash_accel_id, 1, &flash_w25x_cfg);
			break;
		case BOARD_REVISION_CC3D:
			PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_flash_accel_id, 0, &flash_m25p_cfg);
			break;
		default:
			PIOS_DEBUG_Assert(0);
	}

	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);

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	/* Initialize the alarms library */
	AlarmsInitialize();

	HwCopterControlInitialize();
	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 */
	PIOS_WDG_Init();
#endif

	/* Check for repeated boot failures */
	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 configuration to defaults */
		HwCopterControlSetDefaults(HwCopterControlHandle(), 0);
		ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
	}

	/* 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);
	PIOS_TIM_InitClock(&tim_4_cfg);

#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;
	
	switch(bdinfo->board_rev) {
		case BOARD_REVISION_CC:
			PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
			break;
		case BOARD_REVISION_CC3D:
			PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
			break;
		default:
			PIOS_Assert(0);
	}

#if defined(PIOS_INCLUDE_USB_CDC)

	uint8_t hw_usb_vcpport;
	/* Configure the USB VCP port */
	HwCopterControlUSB_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 = HWCOPTERCONTROL_USB_VCPPORT_DISABLED;
	}

	switch (hw_usb_vcpport) {
	case HWCOPTERCONTROL_USB_VCPPORT_DISABLED:
		break;
	case HWCOPTERCONTROL_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWCOPTERCONTROL_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWCOPTERCONTROL_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						NULL, 0,
						tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif	/* PIOS_INCLUDE_COM */
		break;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
	/* Configure the usb HID port */
	uint8_t hw_usb_hidport;
	HwCopterControlUSB_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 = HWCOPTERCONTROL_USB_HIDPORT_DISABLED;
	}

	switch (hw_usb_hidport) {
	case HWCOPTERCONTROL_USB_HIDPORT_DISABLED:
		break;
	case HWCOPTERCONTROL_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_hid_id;
			if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWCOPTERCONTROL_USB_HIDPORT_RCTRANSMITTER:
#if defined(PIOS_INCLUDE_USB_RCTX)
		{
			if (PIOS_USB_RCTX_Init(&pios_usb_rctx_id, &pios_usb_rctx_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_USB_RCTX */
		break;
	}

#endif	/* PIOS_INCLUDE_USB_HID */

#endif	/* PIOS_INCLUDE_USB */

	/* Configure the main IO port */
	HwCopterControlDSMxModeOptions hw_DSMxMode;
	HwCopterControlDSMxModeGet(&hw_DSMxMode);
	uint8_t hw_mainport;
	HwCopterControlMainPortGet(&hw_mainport);

	switch (hw_mainport) {
	case HWCOPTERCONTROL_MAINPORT_DISABLED:
		break;
	case HWCOPTERCONTROL_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
					  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
					  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWCOPTERCONTROL_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	/* PIOS_INCLUDE_SBUS */
		break;
	case HWCOPTERCONTROL_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_GPS_RX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
					  NULL, 0)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_GPS */
		break;
	case HWCOPTERCONTROL_MAINPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			uintptr_t pios_usart_dsm_id;
			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_hsum_main_cfg)) {
				PIOS_Assert(0);
			}

			if (hw_DSMxMode >= HWCOPTERCONTROL_DSMXMODE_BIND3PULSES) {
				hw_DSMxMode = HWCOPTERCONTROL_DSMXMODE_AUTODETECT; /* Do not try to bind through XOR */
			}

			uintptr_t pios_dsm_id;
			if (PIOS_DSM_Init(&pios_dsm_id,
					  &pios_dsm_main_cfg,
					  &pios_usart_com_driver,
					  pios_usart_dsm_id, hw_DSMxMode)) {
				PIOS_Assert(0);
			}

			uintptr_t pios_dsm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM] = pios_dsm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWCOPTERCONTROL_MAINPORT_HOTTSUMD:
	case HWCOPTERCONTROL_MAINPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			proto = (hw_mainport == HWCOPTERCONTROL_MAINPORT_HOTTSUMD) ? PIOS_HSUM_PROTO_SUMD : PIOS_HSUM_PROTO_SUMH;

			uintptr_t pios_usart_hsum_id;
			if (PIOS_USART_Init(&pios_usart_hsum_id, &pios_usart_dsm_hsum_main_cfg)) {
				PIOS_Assert(0);
			}

			uintptr_t pios_hsum_id;
			if (PIOS_HSUM_Init(&pios_hsum_id, &pios_usart_com_driver, pios_usart_hsum_id, proto)) {
				PIOS_Assert(0);
			}

			uintptr_t pios_hsum_rcvr_id;
			if (PIOS_RCVR_Init(&pios_hsum_rcvr_id, &pios_hsum_rcvr_driver, pios_hsum_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM] = pios_hsum_rcvr_id;

		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWCOPTERCONTROL_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_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 HWCOPTERCONTROL_MAINPORT_COMBRIDGE:
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
		break;
	case HWCOPTERCONTROL_MAINPORT_MAVLINKTX:
	#if defined(PIOS_INCLUDE_MAVLINK)
			{
				uintptr_t pios_usart_generic_id;
				if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
					PIOS_Assert(0);
				}

				uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_MAVLINK_TX_BUF_LEN);
				PIOS_Assert(tx_buffer);
				if (PIOS_COM_Init(&pios_com_mavlink_id, &pios_usart_com_driver, pios_usart_generic_id,
						  NULL, 0,
						  tx_buffer, PIOS_COM_MAVLINK_TX_BUF_LEN)) {
					PIOS_Assert(0);
				}
			}
			#endif	/* PIOS_INCLUDE_MAVLINK */
	break;
	case HWCOPTERCONTROL_MAINPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
	{
		uintptr_t pios_usart_generic_id;
		if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
			PIOS_Assert(0);
		}
		uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_GPS_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_MAVLINK_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
				rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
				tx_buffer, PIOS_COM_MAVLINK_TX_BUF_LEN)) {
			PIOS_Assert(0);
		}
		pios_com_mavlink_id = pios_com_gps_id;
	}
#endif	/* PIOS_INCLUDE_MAVLINK */
#endif	/* PIOS_INCLUDE_GPS */
	break;
	case HWCOPTERCONTROL_MAINPORT_FRSKYSENSORHUB:
	#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB)
			{
				uintptr_t pios_usart_generic_id;
				if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
					PIOS_Assert(0);
				}

				uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN);
				PIOS_Assert(tx_buffer);
				if (PIOS_COM_Init(&pios_com_frsky_sensor_hub_id, &pios_usart_com_driver, pios_usart_generic_id,
						  NULL, 0,
						  tx_buffer, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN)) {
					PIOS_Assert(0);
				}
			}
			#endif	/* PIOS_INCLUDE_FRSKYSENSORHUB */
	break;
	
	case HWCOPTERCONTROL_MAINPORT_LIGHTTELEMETRYTX:
    {
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)       
        uintptr_t pios_usart_generic_id;
        if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
            PIOS_Assert(0);
        }

        uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN);
        PIOS_Assert(tx_buffer);
        if (PIOS_COM_Init(&pios_com_lighttelemetry_id, &pios_usart_com_driver, pios_usart_generic_id,
                  NULL, 0,
                  tx_buffer, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN)) {
            PIOS_Assert(0);
        }   
#endif  
    }
	break;
}
	/* Configure the flexi port */
	uint8_t hw_flexiport;
	HwCopterControlFlexiPortGet(&hw_flexiport);

	switch (hw_flexiport) {
	case HWCOPTERCONTROL_FLEXIPORT_DISABLED:
		break;
	case HWCOPTERCONTROL_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
  					  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
					  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWCOPTERCONTROL_FLEXIPORT_COMBRIDGE:
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
		break;
	case HWCOPTERCONTROL_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_GPS_RX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
					  NULL, 0)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_GPS */
		break;
	case HWCOPTERCONTROL_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			uintptr_t pios_usart_dsm_id;
			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_hsum_flexi_cfg)) {
				PIOS_Assert(0);
			}

			uintptr_t pios_dsm_id;
			if (PIOS_DSM_Init(&pios_dsm_id,
					  &pios_dsm_flexi_cfg,
					  &pios_usart_com_driver,
					  pios_usart_dsm_id, hw_DSMxMode)) {
				PIOS_Assert(0);
			}

			uintptr_t pios_dsm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM] = pios_dsm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWCOPTERCONTROL_FLEXIPORT_HOTTSUMD:
	case HWCOPTERCONTROL_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
		{
			enum pios_hsum_proto proto;
			proto = (hw_flexiport == HWCOPTERCONTROL_FLEXIPORT_HOTTSUMD) ? PIOS_HSUM_PROTO_SUMD : PIOS_HSUM_PROTO_SUMH;

			uintptr_t pios_usart_hsum_id;
			if (PIOS_USART_Init(&pios_usart_hsum_id, &pios_usart_dsm_hsum_flexi_cfg)) {
				PIOS_Assert(0);
			}

			uintptr_t pios_hsum_id;
			if (PIOS_HSUM_Init(&pios_hsum_id, &pios_usart_com_driver, pios_usart_hsum_id, proto)) {
				PIOS_Assert(0);
			}

			uintptr_t pios_hsum_rcvr_id;
			if (PIOS_RCVR_Init(&pios_hsum_rcvr_id, &pios_hsum_rcvr_driver, pios_hsum_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM] = pios_hsum_rcvr_id;

		}
#endif	/* PIOS_INCLUDE_HSUM */
		break;
	case HWCOPTERCONTROL_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			uintptr_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_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 HWCOPTERCONTROL_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
		{
			if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_I2C */
#if defined(PIOS_INCLUDE_PCF8591)
                {
                        uintptr_t pcf8591_adc_id;
                        if(PIOS_PCF8591_ADC_Init(&pcf8591_adc_id, &pios_8591_cfg) < 0)
                                PIOS_Assert(0);
                        PIOS_ADC_Init(&pios_pcf8591_adc_id, &pios_pcf8591_adc_driver, pcf8591_adc_id);
                }
#endif
		break;
	case HWCOPTERCONTROL_FLEXIPORT_MAVLINKTX:
	#if defined(PIOS_INCLUDE_MAVLINK)
			{
				uintptr_t pios_usart_generic_id;
				if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
					PIOS_Assert(0);
				}

				uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_MAVLINK_TX_BUF_LEN);
				PIOS_Assert(tx_buffer);
				if (PIOS_COM_Init(&pios_com_mavlink_id, &pios_usart_com_driver, pios_usart_generic_id,
						  NULL, 0,
						  tx_buffer, PIOS_COM_MAVLINK_TX_BUF_LEN)) {
					PIOS_Assert(0);
				}
			}
	#endif	/* PIOS_INCLUDE_MAVLINK */
		break;
	case HWCOPTERCONTROL_FLEXIPORT_LIGHTTELEMETRYTX:
    {
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)        
        uintptr_t pios_usart_generic_id;
        if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
            PIOS_Assert(0);
        }

        uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN);
        PIOS_Assert(tx_buffer);
        if (PIOS_COM_Init(&pios_com_lighttelemetry_id, &pios_usart_com_driver, pios_usart_generic_id,
                  NULL, 0,
                  tx_buffer, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN)) {
            PIOS_Assert(0);
        }         
#endif  
	case HWCOPTERCONTROL_FLEXIPORT_FRSKYSENSORHUB:
	#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB)
			{
				uintptr_t pios_usart_generic_id;
				if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
					PIOS_Assert(0);
				}

				uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN);
				PIOS_Assert(tx_buffer);
				if (PIOS_COM_Init(&pios_com_frsky_sensor_hub_id, &pios_usart_com_driver, pios_usart_generic_id,
						  NULL, 0,
						  tx_buffer, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN)) {
					PIOS_Assert(0);
				}
			}
			#endif	/* PIOS_INCLUDE_FRSKYSENSORHUB */
	break;
	}
    	break;
}
	/* Configure the rcvr port */
	uint8_t hw_rcvrport;
	HwCopterControlRcvrPortGet(&hw_rcvrport);

	switch (hw_rcvrport) {
	case HWCOPTERCONTROL_RCVRPORT_DISABLED:
		break;
	case HWCOPTERCONTROL_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 HWCOPTERCONTROL_RCVRPORT_PPM:
	case HWCOPTERCONTROL_RCVRPORT_PPMONPIN8:
	case HWCOPTERCONTROL_RCVRPORT_PPMOUTPUTS:
#if defined(PIOS_INCLUDE_PPM)
		{
			uintptr_t pios_ppm_id;
			PIOS_PPM_Init(&pios_ppm_id,
					(hw_rcvrport == HWCOPTERCONTROL_RCVRPORT_PPMONPIN8) ? &pios_ppm_pin8_cfg : &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 HWCOPTERCONTROL_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 */

	/* Remap AFIO pin for PB4 (Servo 5 Out)*/
	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
	switch (hw_rcvrport) {
		case HWCOPTERCONTROL_RCVRPORT_DISABLED:
		case HWCOPTERCONTROL_RCVRPORT_PWM:
		case HWCOPTERCONTROL_RCVRPORT_PPM:
		case HWCOPTERCONTROL_RCVRPORT_PPMONPIN8:
		case HWCOPTERCONTROL_RCVRPORT_PPMPWM:
			PIOS_Servo_Init(&pios_servo_cfg);
			break;
		case HWCOPTERCONTROL_RCVRPORT_PPMOUTPUTS:
		case HWCOPTERCONTROL_RCVRPORT_OUTPUTS:
			PIOS_Servo_Init(&pios_servo_rcvr_cfg);
			break;
	}
#else
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif	/* PIOS_DEBUG_ENABLE_DEBUG_PINS */

	PIOS_SENSORS_Init();

	switch(bdinfo->board_rev) {
		case BOARD_REVISION_CC:
			// Revision 1 with invensense gyros, start the ADC
#if defined(PIOS_INCLUDE_ADC)
		{
			uint32_t internal_adc_id;
			PIOS_INTERNAL_ADC_Init(&internal_adc_id, &internal_adc_cfg);
			PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
		}
#endif
#if defined(PIOS_INCLUDE_ADXL345)
			PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
#endif
			break;
		case BOARD_REVISION_CC3D:
			// Revision 2 with L3GD20 gyros, start a SPI interface and connect to it
			GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
#if defined(PIOS_INCLUDE_MPU6000)
			// Set up the SPI interface to the serial flash 
			if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
				PIOS_Assert(0);
			}
			PIOS_MPU6000_Init(pios_spi_gyro_id,0,&pios_mpu6000_cfg);
			init_test = PIOS_MPU6000_Test();

			uint8_t hw_gyro_range;
			HwCopterControlGyroRangeGet(&hw_gyro_range);
			switch(hw_gyro_range) {
				case HWCOPTERCONTROL_GYRORANGE_250:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
					break;
				case HWCOPTERCONTROL_GYRORANGE_500:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
					break;
				case HWCOPTERCONTROL_GYRORANGE_1000:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
					break;
				case HWCOPTERCONTROL_GYRORANGE_2000:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
					break;
			}

			uint8_t hw_accel_range;
			HwCopterControlAccelRangeGet(&hw_accel_range);
			switch(hw_accel_range) {
				case HWCOPTERCONTROL_ACCELRANGE_2G:
					PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
					break;
				case HWCOPTERCONTROL_ACCELRANGE_4G:
					PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
					break;
				case HWCOPTERCONTROL_ACCELRANGE_8G:
					PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
					break;
				case HWCOPTERCONTROL_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;
			HwCopterControlMPU6000DLPFGet(&hw_mpu6000_dlpf);
			enum pios_mpu60x0_filter mpu6000_dlpf = \
			    (hw_mpu6000_dlpf == HWCOPTERCONTROL_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
			    (hw_mpu6000_dlpf == HWCOPTERCONTROL_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
			    (hw_mpu6000_dlpf == HWCOPTERCONTROL_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
			    (hw_mpu6000_dlpf == HWCOPTERCONTROL_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
			    (hw_mpu6000_dlpf == HWCOPTERCONTROL_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
			    (hw_mpu6000_dlpf == HWCOPTERCONTROL_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
			    (hw_mpu6000_dlpf == HWCOPTERCONTROL_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
			    pios_mpu6000_cfg.default_filter;
			PIOS_MPU6000_SetLPF(mpu6000_dlpf);

			uint8_t hw_mpu6000_samplerate;
			HwCopterControlMPU6000RateGet(&hw_mpu6000_samplerate);
			uint16_t mpu6000_samplerate = \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_200) ? 200 : \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_333) ? 333 : \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_500) ? 500 : \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_666) ? 666 : \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_1000) ? 1000 : \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_2000) ? 2000 : \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_4000) ? 4000 : \
			    (hw_mpu6000_samplerate == HWCOPTERCONTROL_MPU6000RATE_8000) ? 8000 : \
			    pios_mpu6000_cfg.default_samplerate;
			PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);

#endif /* PIOS_INCLUDE_MPU6000 */

			break;
		default:
			PIOS_Assert(0);
	}

	PIOS_GPIO_Init();

	/* 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);
}
Esempio n. 12
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/**
 * PIOS_Board_Init()
 * initializes all the core subsystems on this specific hardware
 * called from System/openpilot.c
 */
void PIOS_Board_Init(void) {

	/* Remap AFIO pin */
	//GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

#ifdef PIOS_DEBUG_ENABLE_DEBUG_PINS
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif	/* PIOS_DEBUG_ENABLE_DEBUG_PINS */

	/* Delay system */
	PIOS_DELAY_Init();	
	
#if defined(PIOS_INCLUDE_SPI)	
	/* Set up the SPI interface to the SD card */
	if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
		PIOS_Assert(0);
	}

	/* Enable and mount the SDCard */
	PIOS_SDCARD_Init(pios_spi_sdcard_id);
	PIOS_SDCARD_MountFS(0);
#endif /* PIOS_INCLUDE_SPI */

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

#if defined(PIOS_INCLUDE_RTC)
	/* Initialize the real-time clock and its associated tick */
	PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

#if defined(PIOS_INCLUDE_LED)
	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

	HwSettingsInitialize();

	PIOS_WDG_Init();

	/* Initialize the alarms library */
	AlarmsInitialize();

	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 hwsettings to defaults */
		HwSettingsSetDefaults(HwSettingsHandle(), 0);
		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
	}

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_3_cfg);
	PIOS_TIM_InitClock(&tim_5_cfg);
	PIOS_TIM_InitClock(&tim_4_cfg);
	PIOS_TIM_InitClock(&tim_8_cfg);

	/* Prepare the AHRS Comms upper layer protocol */
	AhrsInitComms();

	/* Set up the SPI interface to the AHRS */
	if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
		PIOS_Assert(0);
	}

	/* Bind the AHRS comms layer to the AHRS SPI link */
	AhrsConnect(pios_spi_ahrs_id);

#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;

	uint8_t hwsettings_usb_devicetype;
	HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);

	switch (hwsettings_usb_devicetype) {
	case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
		if (PIOS_USB_DESC_HID_ONLY_Init()) {
			PIOS_Assert(0);
		}
		usb_hid_present = true;
		break;
	case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
		if (PIOS_USB_DESC_HID_CDC_Init()) {
			PIOS_Assert(0);
		}
		usb_hid_present = true;
		usb_cdc_present = true;
		break;
	case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
		break;
	default:
		PIOS_Assert(0);
	}

	uint32_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_CDC)
	/* Configure the USB VCP port */
	uint8_t hwsettings_usb_vcpport;
	HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);

	if (!usb_cdc_present) {
		/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
		hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
	}

	switch (hwsettings_usb_vcpport) {
	case HWSETTINGS_USB_VCPPORT_DISABLED:
		break;
	case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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 * 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_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 HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			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 * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
	/* Configure the usb HID port */
	uint8_t hwsettings_usb_hidport;
	HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);

	if (!usb_hid_present) {
		/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
		hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
	}

	switch (hwsettings_usb_hidport) {
	case HWSETTINGS_USB_HIDPORT_DISABLED:
		break;
	case HWSETTINGS_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 */

#endif	/* PIOS_INCLUDE_USB */

	/* Configure the main IO port */
	uint8_t hwsettings_op_mainport;
	HwSettingsOP_MainPortGet(&hwsettings_op_mainport);

	switch (hwsettings_op_mainport) {
	case HWSETTINGS_OP_MAINPORT_DISABLED:
		break;
	case HWSETTINGS_OP_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
		{
			uint32_t pios_usart_telem_rf_id;
			if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
							  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
							  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	}

	/* Configure the flexi port */
	uint8_t hwsettings_op_flexiport;
	HwSettingsOP_FlexiPortGet(&hwsettings_op_flexiport);

	switch (hwsettings_op_flexiport) {
	case HWSETTINGS_OP_FLEXIPORT_DISABLED:
		break;
	case HWSETTINGS_OP_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
		{
			uint32_t pios_usart_gps_id;
			if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
						rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
						NULL, 0)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_GPS */
		break;
	}

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
	PIOS_Servo_Init(&pios_servo_cfg);
#endif	/* PIOS_DEBUG_ENABLE_DEBUG_PINS */

	PIOS_ADC_Init();
	PIOS_GPIO_Init();

	/* Configure the rcvr port */
	uint8_t hwsettings_rcvrport;
	HwSettingsOP_RcvrPortGet(&hwsettings_rcvrport);


	switch (hwsettings_rcvrport) {
	case HWSETTINGS_OP_RCVRPORT_DISABLED:
		break;
	case HWSETTINGS_OP_RCVRPORT_DEBUG:
		/* Not supported yet */
		break;
	case HWSETTINGS_OP_RCVRPORT_DSM2:
	case HWSETTINGS_OP_RCVRPORT_DSMX10BIT:
	case HWSETTINGS_OP_RCVRPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hwsettings_rcvrport) {
			case HWSETTINGS_OP_RCVRPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWSETTINGS_OP_RCVRPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWSETTINGS_OP_RCVRPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}

			uint32_t pios_usart_dsm_id;
			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_cfg)) {
				PIOS_Assert(0);
			}

			uint32_t pios_dsm_id;
			if (PIOS_DSM_Init(&pios_dsm_id,
					  &pios_dsm_cfg,
					  &pios_usart_com_driver,
					  pios_usart_dsm_id,
					  proto, 0)) {
				PIOS_Assert(0);
			}

			uint32_t pios_dsm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
		}
#endif
		break;
	case HWSETTINGS_OP_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
		{
			uint32_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);

			uint32_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 HWSETTINGS_OP_RCVRPORT_PPM:
#if defined(PIOS_INCLUDE_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;
		}
#endif	/* PIOS_INCLUDE_PPM */
		break;
	}

#if defined(PIOS_INCLUDE_I2C)
	if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) {
		PIOS_Assert(0);
	}
#endif	/* PIOS_INCLUDE_I2C */

	/* 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);
}
Esempio n. 13
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void PIOS_Board_Init(void) {

	const struct pios_board_info * bdinfo = &pios_board_info_blob;

	/* Delay system */
	PIOS_DELAY_Init();

	PIOS_LED_Init(&pios_led_cfg);

	/* Set up the SPI interface to the accelerometer*/
	if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

	/* Set up the SPI interface to the gyro */
	if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

#if !defined(PIOS_FLASH_ON_ACCEL)
	/* Set up the SPI interface to the flash */
	if (PIOS_SPI_Init(&pios_spi_flash_id, &pios_spi_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	/* Inititialize all flash drivers */
	PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_flash_id, 0, &flash_m25p_cfg);
#else
	/* Inititialize all flash drivers */
	PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_accel_id, 1, &flash_m25p_cfg);
#endif

	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);

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	HwRevolutionInitialize();
	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);
	PIOS_TIM_InitClock(&tim_4_cfg);
	PIOS_TIM_InitClock(&tim_5_cfg);
	PIOS_TIM_InitClock(&tim_9_cfg);
	PIOS_TIM_InitClock(&tim_10_cfg);
	PIOS_TIM_InitClock(&tim_11_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 */
		HwRevolutionSetDefaults(HwRevolutionHandle(), 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_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_CDC)

	uint8_t hw_usb_vcpport;
	/* Configure the USB VCP port */
	HwRevolutionUSB_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 = HWREVOLUTION_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 HWREVOLUTION_USB_VCPPORT_DISABLED:
		break;
	case HWREVOLUTION_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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_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 HWREVOLUTION_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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 HWREVOLUTION_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			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;
	HwRevolutionUSB_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 = HWREVOLUTION_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 HWREVOLUTION_USB_HIDPORT_DISABLED:
		break;
	case HWREVOLUTION_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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;
	HwRevolutionDSMxBindGet(&hw_DSMxBind);
	
	/* Configure Telemetry port */
	uint8_t hw_telemetryport;
	HwRevolutionTelemetryPortGet(&hw_telemetryport);

	switch (hw_telemetryport){
		case HWREVOLUTION_TELEMETRYPORT_DISABLED:
			break;
		case HWREVOLUTION_TELEMETRYPORT_TELEMETRY:
			PIOS_Board_configure_com(&pios_usart_telem_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 HWREVOLUTION_TELEMETRYPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			PIOS_Board_configure_com(&pios_usart_telem_cfg, 0, PIOS_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWREVOLUTION_TELEMETRYPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_telem_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;
			
	} /* 	hw_telemetryport */

	/* Configure GPS port */
	uint8_t hw_gpsport;
	HwRevolutionGPSPortGet(&hw_gpsport);
	switch (hw_gpsport){
		case HWREVOLUTION_GPSPORT_DISABLED:
			break;
			
		case HWREVOLUTION_GPSPORT_TELEMETRY:
			PIOS_Board_configure_com(&pios_usart_gps_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 HWREVOLUTION_GPSPORT_GPS:
			PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, 0,  &pios_usart_com_driver, &pios_com_gps_id);
			break;
		
		case HWREVOLUTION_GPSPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			PIOS_Board_configure_com(&pios_usart_gps_cfg, 0, PIOS_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
			
		case HWREVOLUTION_GPSPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_gps_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;
	}/* hw_gpsport */

	/* Configure AUXPort */
	uint8_t hw_auxport;
	HwRevolutionAuxPortGet(&hw_auxport);

	switch (hw_auxport) {
		case HWREVOLUTION_AUXPORT_DISABLED:
			break;
			
		case HWREVOLUTION_AUXPORT_TELEMETRY:
			PIOS_Board_configure_com(&pios_usart_aux_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 HWREVOLUTION_AUXPORT_DSM2:
		case HWREVOLUTION_AUXPORT_DSMX10BIT:
		case HWREVOLUTION_AUXPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
			{
				enum pios_dsm_proto proto;
				switch (hw_auxport) {
				case HWREVOLUTION_AUXPORT_DSM2:
					proto = PIOS_DSM_PROTO_DSM2;
					break;
				case HWREVOLUTION_AUXPORT_DSMX10BIT:
					proto = PIOS_DSM_PROTO_DSMX10BIT;
					break;
				case HWREVOLUTION_AUXPORT_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_aux_cfg, &pios_dsm_aux_cfg,
					&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
			}
#endif	/* PIOS_INCLUDE_DSM */
			break;

		case HWREVOLUTION_AUXPORT_HOTTSUMD:
		case HWREVOLUTION_AUXPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
			{
				enum pios_hsum_proto proto;
				switch (hw_auxport) {
				case HWREVOLUTION_AUXPORT_HOTTSUMD:
					proto = PIOS_HSUM_PROTO_SUMD;
					break;
				case HWREVOLUTION_AUXPORT_HOTTSUMH:
					proto = PIOS_HSUM_PROTO_SUMH;
					break;
				default:
					PIOS_Assert(0);
					break;
				}
				PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_aux_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
			}
#endif	/* PIOS_INCLUDE_HSUM */
			break;

		case HWREVOLUTION_AUXPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
			PIOS_Board_configure_com(&pios_usart_aux_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
			break;

		case HWREVOLUTION_AUXPORT_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_usart_aux_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 HWREVOLUTION_AUXPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
			break;

		case HWREVOLUTION_AUXPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			PIOS_Board_configure_com(&pios_usart_aux_cfg, 0, PIOS_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWREVOLUTION_AUXPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_aux_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;
	} /* hw_auxport */
	/* Configure AUXSbusPort */
	//TODO: ensure that the serial invertion pin is setted correctly
	uint8_t hw_auxsbusport;
	HwRevolutionAuxSBusPortGet(&hw_auxsbusport);
	
	switch (hw_auxsbusport) {
		case HWREVOLUTION_AUXSBUSPORT_DISABLED:
			break;
		case HWREVOLUTION_AUXSBUSPORT_SBUS:
#ifdef PIOS_INCLUDE_SBUS
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_auxsbus_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 /* PIOS_INCLUDE_SBUS */
			break;

		case HWREVOLUTION_AUXSBUSPORT_DSM2:
		case HWREVOLUTION_AUXSBUSPORT_DSMX10BIT:
		case HWREVOLUTION_AUXSBUSPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
			{
				enum pios_dsm_proto proto;
				switch (hw_auxsbusport) {
				case HWREVOLUTION_AUXSBUSPORT_DSM2:
					proto = PIOS_DSM_PROTO_DSM2;
					break;
				case HWREVOLUTION_AUXSBUSPORT_DSMX10BIT:
					proto = PIOS_DSM_PROTO_DSMX10BIT;
					break;
				case HWREVOLUTION_AUXSBUSPORT_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_auxsbus_cfg, &pios_dsm_auxsbus_cfg,
					&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
			}
#endif	/* PIOS_INCLUDE_DSM */
			break;
			
		case HWREVOLUTION_AUXSBUSPORT_HOTTSUMD:
		case HWREVOLUTION_AUXSBUSPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
			{
				enum pios_hsum_proto proto;
				switch (hw_auxsbusport) {
				case HWREVOLUTION_AUXSBUSPORT_HOTTSUMD:
					proto = PIOS_HSUM_PROTO_SUMD;
					break;
				case HWREVOLUTION_AUXSBUSPORT_HOTTSUMH:
					proto = PIOS_HSUM_PROTO_SUMH;
					break;
				default:
					PIOS_Assert(0);
					break;
				}
			PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_auxsbus_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
			}
#endif	/* PIOS_INCLUDE_HSUM */
			break;

		case HWREVOLUTION_AUXSBUSPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && defined(PIOS_INCLUDE_MAVLINK)
			PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
			break;

		case HWREVOLUTION_AUXSBUSPORT_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_usart_auxsbus_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 HWREVOLUTION_AUXSBUSPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, 0, PIOS_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWREVOLUTION_AUXSBUSPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;

		case HWREVOLUTION_AUXSBUSPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_auxsbus_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
			break;
	} /* hw_auxport */
	
	/* Configure FlexiPort */

	uint8_t hw_flexiport;
	HwRevolutionFlexiPortGet(&hw_flexiport);
	
	switch (hw_flexiport) {
		case HWREVOLUTION_FLEXIPORT_DISABLED:
			break;
		case HWREVOLUTION_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 HWREVOLUTION_FLEXIPORT_DSM2:
		case HWREVOLUTION_FLEXIPORT_DSMX10BIT:
		case HWREVOLUTION_FLEXIPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
			{
				enum pios_dsm_proto proto;
				switch (hw_flexiport) {
				case HWREVOLUTION_FLEXIPORT_DSM2:
					proto = PIOS_DSM_PROTO_DSM2;
					break;
				case HWREVOLUTION_FLEXIPORT_DSMX10BIT:
					proto = PIOS_DSM_PROTO_DSMX10BIT;
					break;
				case HWREVOLUTION_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_DSMMAINPORT,&hw_DSMxBind);
			}
#endif	/* PIOS_INCLUDE_DSM */
			break;
			
		case HWREVOLUTION_FLEXIPORT_HOTTSUMD:
		case HWREVOLUTION_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
			{
				enum pios_hsum_proto proto;
				switch (hw_flexiport) {
				case HWREVOLUTION_FLEXIPORT_HOTTSUMD:
					proto = PIOS_HSUM_PROTO_SUMD;
					break;
				case HWREVOLUTION_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 HWREVOLUTION_FLEXIPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM) && 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 HWREVOLUTION_FLEXIPORT_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_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 HWREVOLUTION_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWREVOLUTION_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 HWREVOLUTION_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_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
			break;
	} /* hw_flexiport */
	
	
	/* Configure the receiver port*/
	uint8_t hw_rcvrport;
	HwRevolutionRcvrPortGet(&hw_rcvrport);
	//   
	switch (hw_rcvrport){
		case HWREVOLUTION_RCVRPORT_DISABLED:
			break;
		case HWREVOLUTION_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 HWREVOLUTION_RCVRPORT_PPM:
		case HWREVOLUTION_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 HWREVOLUTION_RCVRPORT_OUTPUTS:
		
			break;
	}

#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();
	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 HWREVOLUTION_RCVRPORT_DISABLED:
		case HWREVOLUTION_RCVRPORT_PWM:
		case HWREVOLUTION_RCVRPORT_PPM:
			/* Set up the servo outputs */
			PIOS_Servo_Init(&pios_servo_cfg);
			break;
		case HWREVOLUTION_RCVRPORT_PPMOUTPUTS:
		case HWREVOLUTION_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_adapter_id, &pios_i2c_mag_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

	if (PIOS_I2C_Init(&pios_i2c_pressure_adapter_id, &pios_i2c_pressure_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	
	PIOS_DELAY_WaitmS(50);

	PIOS_SENSORS_Init();

#if defined(PIOS_INCLUDE_ADC)
	uint32_t internal_adc_id;
	if(PIOS_INTERNAL_ADC_Init(&internal_adc_id, &pios_adc_cfg) < 0)
	        PIOS_Assert(0);
	PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#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_pressure_adapter_id);
#endif

	switch(bdinfo->board_rev) {
		case 0x01:
#if defined(PIOS_INCLUDE_L3GD20)
			PIOS_L3GD20_Init(pios_spi_gyro_id, 0, &pios_l3gd20_cfg);
			PIOS_Assert(PIOS_L3GD20_Test() == 0);
#endif
#if defined(PIOS_INCLUDE_BMA180)
			PIOS_BMA180_Init(pios_spi_accel_id, 0, &pios_bma180_cfg);
			PIOS_Assert(PIOS_BMA180_Test() == 0);
#endif
			break;
		case 0x02:
#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;
			HwRevolutionGyroRangeGet(&hw_gyro_range);
			switch(hw_gyro_range) {
				case HWREVOLUTION_GYRORANGE_250:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
					break;
				case HWREVOLUTION_GYRORANGE_500:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
					break;
				case HWREVOLUTION_GYRORANGE_1000:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
					break;
				case HWREVOLUTION_GYRORANGE_2000:
					PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
					break;
			}

			uint8_t hw_accel_range;
			HwRevolutionAccelRangeGet(&hw_accel_range);
			switch(hw_accel_range) {
				case HWREVOLUTION_ACCELRANGE_2G:
					PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
					break;
				case HWREVOLUTION_ACCELRANGE_4G:
					PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
					break;
				case HWREVOLUTION_ACCELRANGE_8G:
					PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
					break;
				case HWREVOLUTION_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;
			HwRevolutionMPU6000DLPFGet(&hw_mpu6000_dlpf);
			enum pios_mpu60x0_filter mpu6000_dlpf = \
			    (hw_mpu6000_dlpf == HWREVOLUTION_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
			    (hw_mpu6000_dlpf == HWREVOLUTION_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
			    (hw_mpu6000_dlpf == HWREVOLUTION_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
			    (hw_mpu6000_dlpf == HWREVOLUTION_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
			    (hw_mpu6000_dlpf == HWREVOLUTION_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
			    (hw_mpu6000_dlpf == HWREVOLUTION_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
			    (hw_mpu6000_dlpf == HWREVOLUTION_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
			    pios_mpu6000_cfg.default_filter;
			PIOS_MPU6000_SetLPF(mpu6000_dlpf);

			uint8_t hw_mpu6000_samplerate;
			HwRevolutionMPU6000RateGet(&hw_mpu6000_samplerate);
			uint16_t mpu6000_samplerate = \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_200) ? 200 : \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_333) ? 333 : \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_500) ? 500 : \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_666) ? 666 : \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_1000) ? 1000 : \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_2000) ? 2000 : \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_4000) ? 4000 : \
			    (hw_mpu6000_samplerate == HWREVOLUTION_MPU6000RATE_8000) ? 8000 : \
			    pios_mpu6000_cfg.default_samplerate;
			PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);
#endif
			break;
		default:
			PIOS_DEBUG_Assert(0);
	}

}
Esempio n. 14
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void PIOS_Board_Init(void)
{
    // Delay system
    PIOS_DELAY_Init();

    PIOS_LED_Init(&pios_led_cfg);

#if defined(PIOS_INCLUDE_SPI)
    /* Set up the SPI interface to the SD card */
    if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
        PIOS_Assert(0);
    }

#if defined(PIOS_INCLUDE_SDCARD)
    /* Enable and mount the SDCard */
    PIOS_SDCARD_Init(pios_spi_sdcard_id);
    PIOS_SDCARD_MountFS(0);
#endif
#endif /* PIOS_INCLUDE_SPI */

#ifdef PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
    uintptr_t flash_id;
    PIOS_Flash_Internal_Init(&flash_id, &flash_internal_cfg);
    PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id);
#elif !defined(PIOS_USE_SETTINGS_ON_SDCARD)
#error No setting storage specified. (define PIOS_USE_SETTINGS_ON_SDCARD or INCLUDE_FLASH_SECTOR_SETTINGS)
#endif

    /* Initialize the task monitor */
    if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
        PIOS_Assert(0);
    }

    /* Initialize the delayed callback library */
    PIOS_CALLBACKSCHEDULER_Initialize();

    /* Initialize UAVObject libraries */
    EventDispatcherInitialize();
    UAVObjInitialize();

    HwSettingsInitialize();

#ifdef PIOS_INCLUDE_WDG
    /* Initialize watchdog as early as possible to catch faults during init */
    PIOS_WDG_Init();
#endif /* PIOS_INCLUDE_WDG */

    /* Initialize the alarms library */
    AlarmsInitialize();

    /* 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 hwsettings to defaults */
        HwSettingsSetDefaults(HwSettingsHandle(), 0);
        AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
    }


#if defined(PIOS_INCLUDE_RTC)
    /* Initialize the real-time clock and its associated tick */
    PIOS_RTC_Init(&pios_rtc_main_cfg);
    if (!PIOS_RTC_RegisterTickCallback(Clock, 0)) {
        PIOS_DEBUG_Assert(0);
    }
#endif

#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_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_CDC)

    uint8_t hwsettings_usb_vcpport;
    /* Configure the USB VCP port */
    HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);

    if (!usb_cdc_present) {
        /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
        hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
    }

    switch (hwsettings_usb_vcpport) {
    case HWSETTINGS_USB_VCPPORT_DISABLED:
        break;
    case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
        {
            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 *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 HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
        {
            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 *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;
    }
#endif /* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
    /* Configure the usb HID port */
    uint8_t hwsettings_usb_hidport;
    HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);

    if (!usb_hid_present) {
        /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
        hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
    }

    switch (hwsettings_usb_hidport) {
    case HWSETTINGS_USB_HIDPORT_DISABLED:
        break;
    case HWSETTINGS_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 *)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 */

#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_GPS)

    uint32_t pios_usart_gps_id;
    if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) {
        PIOS_Assert(0);
    }

    uint8_t *gps_rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
    PIOS_Assert(gps_rx_buffer);
    if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
                      gps_rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
                      NULL, 0)) {
        PIOS_Assert(0);
    }

#endif /* PIOS_INCLUDE_GPS */

#if defined(PIOS_INCLUDE_COM_AUX)
    {
        uint32_t pios_usart_aux_id;

        if (PIOS_USART_Init(&pios_usart_aux_id, &pios_usart_aux_cfg)) {
            PIOS_DEBUG_Assert(0);
        }

        uint8_t *aux_rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_AUX_RX_BUF_LEN);
        uint8_t *aux_tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_AUX_TX_BUF_LEN);
        PIOS_Assert(aux_rx_buffer);
        PIOS_Assert(aux_tx_buffer);

        if (PIOS_COM_Init(&pios_com_aux_id, &pios_usart_com_driver, pios_usart_aux_id,
                          aux_rx_buffer, PIOS_COM_AUX_RX_BUF_LEN,
                          aux_tx_buffer, PIOS_COM_AUX_TX_BUF_LEN)) {
            PIOS_DEBUG_Assert(0);
        }
    }
#else
    pios_com_aux_id = 0;
#endif /* PIOS_INCLUDE_COM_AUX */

#if defined(PIOS_INCLUDE_COM_TELEM)
    { /* Eventually add switch for this port function */
        uint32_t pios_usart_telem_rf_id;
        if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) {
            PIOS_Assert(0);
        }

        uint8_t *telem_rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
        uint8_t *telem_tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
        PIOS_Assert(telem_rx_buffer);
        PIOS_Assert(telem_tx_buffer);
        if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id,
                          telem_rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
                          telem_tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
            PIOS_Assert(0);
        }
    }
#else
    pios_com_telem_rf_id = 0;
#endif /* PIOS_INCLUDE_COM_TELEM */

#endif /* PIOS_INCLUDE_COM */


    /* Configure FlexiPort */

/*	uint8_t hwsettings_rv_flexiport;
        HwSettingsRV_FlexiPortGet(&hwsettings_rv_flexiport);

        switch (hwsettings_rv_flexiport) {
                case HWSETTINGS_RV_FLEXIPORT_DISABLED:
                        break;
                case HWSETTINGS_RV_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 HWSETTINGS_RV_FLEXIPORT_DSM:
                        //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, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hwsettings_DSMxBind);
                        break;
                case HWSETTINGS_RV_FLEXIPORT_COMAUX:
                        PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
                        break;
                case HWSETTINGS_RV_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;
        }*/
    /* hwsettings_rv_flexiport */


#if defined(PIOS_INCLUDE_WAVE)
    PIOS_WavPlay_Init(&pios_dac_cfg);
#endif

    // ADC system
#if defined(PIOS_INCLUDE_ADC)
    PIOS_ADC_Init(&pios_adc_cfg);
#endif

#if defined(PIOS_INCLUDE_VIDEO)
    PIOS_TIM_InitClock(&tim_8_cfg);
    PIOS_Servo_Init(&pios_servo_cfg);
    // Start the pixel and line clock counter
    // PIOS_TIM_InitClock(&pios_tim4_cfg);
    PIOS_Video_Init(&pios_video_cfg);
#endif
}
Esempio n. 15
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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

}
Esempio n. 16
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void PIOS_Board_Init(void) {
	if (board_init_complete) {
		return;
	}

	/* Enable Prefetch Buffer */
	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);

	/* Flash 2 wait state */
	FLASH_SetLatency(FLASH_Latency_2);

	/* Delay system */
	PIOS_DELAY_Init();

	/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_COM)
	uint32_t pios_usart_telem_rf_id;
	if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver,
			  pios_usart_telem_rf_id,
			  pios_com_telem_rf_rx_buffer, sizeof(pios_com_telem_rf_rx_buffer),
			  pios_com_telem_rf_tx_buffer, sizeof(pios_com_telem_rf_tx_buffer))) {
		PIOS_DEBUG_Assert(0);
	}
#endif	/* PIOS_INCLUDE_COM */

	PIOS_GPIO_Init();

#if defined(PIOS_INCLUDE_LED)
	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Activate the HID-only USB configuration */
	PIOS_USB_DESC_HID_ONLY_Init();

	uint32_t pios_usb_id;
	if (PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg)) {
		PIOS_Assert(0);
	}
#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
	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);
	}
	if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
		PIOS_Assert(0);
	}
#endif	/* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */

#endif	/* PIOS_INCLUDE_USB */

	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);//TODO Tirar

	/* Set up the SPI interface to the AHRS */
	if (PIOS_SPI_Init(&pios_spi_ahrs_id, &pios_spi_ahrs_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

	/* Bind the AHRS comms layer to the AHRS SPI link */
	PIOS_OPAHRS_Attach(pios_spi_ahrs_id);

	board_init_complete = true;
}
Esempio n. 17
0
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_id, &pios_i2c_internal_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_I2C_CheckClear(pios_i2c_internal_id) != 0)
		panic(3);
#endif

#if defined(PIOS_INCLUDE_CAN)
	if (PIOS_CAN_Init(&pios_can_id, &pios_can_cfg) != 0)
		panic(6);

	uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_RX_BUF_LEN);
	uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_CAN_TX_BUF_LEN);
	PIOS_Assert(rx_buffer);
	PIOS_Assert(tx_buffer);
	if (PIOS_COM_Init(&pios_com_can_id, &pios_can_com_driver, pios_can_id,
	                  rx_buffer, PIOS_COM_CAN_RX_BUF_LEN,
	                  tx_buffer, PIOS_COM_CAN_TX_BUF_LEN))
		panic(6);

	pios_com_bridge_id = pios_com_can_id;
#endif

#if defined(PIOS_INCLUDE_FLASH)
	/* Inititialize all flash drivers */
	if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
		panic(5);

	/* Register the partition table */
	PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table));

	/* Mount all filesystems */
	if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
		panic(5);
	if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_internal_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
		panic(5);

#endif	/* PIOS_INCLUDE_FLASH */

	/* Initialize the task monitor library */
	TaskMonitorInitialize();

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	/* Initialize the alarms library. Reads RCC reset flags */
	AlarmsInitialize();
	PIOS_RESET_Clear(); // Clear the RCC reset flags after use.

	/* Initialize the hardware UAVOs */
	HwSparkyBGCInitialize();
	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

#if defined(PIOS_INCLUDE_BRUSHLESS)
	/* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_2_brushless_cfg);
	PIOS_TIM_InitClock(&tim_3_brushless_cfg);
#endif /* PIOS_INCLUDE_BRUSHLESS */

	/* 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 */
		HwSparkyBGCSetDefaults(HwSparkyBGCHandle(), 0);
		ModuleSettingsSetDefaults(ModuleSettingsHandle(),0);
		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
	}

#if defined(PIOS_INCLUDE_USB)
	/* Initialize board specific USB data */
	PIOS_USB_BOARD_DATA_Init();

	/* Flags to determine if various USB interfaces are advertised */
	bool usb_hid_present = false;

#if defined(PIOS_INCLUDE_USB_CDC)
	bool usb_cdc_present = false;
	if (PIOS_USB_DESC_HID_CDC_Init()) {
		PIOS_Assert(0);
	}
	usb_hid_present = true;
	usb_cdc_present = true;
#else
	if (PIOS_USB_DESC_HID_ONLY_Init()) {
		PIOS_Assert(0);
	}
	usb_hid_present = true;
#endif

	uintptr_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));

#if defined(PIOS_INCLUDE_USB_CDC)

	uint8_t hw_usb_vcpport;
	/* Configure the USB VCP port */
	HwSparkyBGCUSB_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 = HWSPARKYBGC_USB_VCPPORT_DISABLED;
	}

	switch (hw_usb_vcpport) {
	case HWSPARKYBGC_USB_VCPPORT_DISABLED:
		break;
	case HWSPARKYBGC_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWSPARKYBGC_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWSPARKYBGC_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			uintptr_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						NULL, 0,
						tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif	/* PIOS_INCLUDE_COM */

		break;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
	/* Configure the usb HID port */
	uint8_t hw_usb_hidport;
	HwSparkyBGCUSB_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 = HWSPARKYBGC_USB_HIDPORT_DISABLED;
	}

	switch (hw_usb_hidport) {
	case HWSPARKYBGC_USB_HIDPORT_DISABLED:
		break;
	case HWSPARKYBGC_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uintptr_t pios_usb_hid_id;
			if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	}

#endif	/* PIOS_INCLUDE_USB_HID */
#endif	/* PIOS_INCLUDE_USB */

	/* Configure the IO ports */
	HwSparkyBGCDSMxModeOptions hw_DSMxMode;
	HwSparkyBGCDSMxModeGet(&hw_DSMxMode);

	/* UART1 Port */
	uint8_t hw_flexi;
	HwSparkyBGCFlexiPortGet(&hw_flexi);
	switch (hw_flexi) {
	case HWSPARKYBGC_FLEXIPORT_DISABLED:
		break;
	case HWSPARKYBGC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_flexi_usart_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 HWSPARKYBGC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_flexi_usart_cfg, PIOS_COM_GPS_RX_BUF_LEN, 0, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWSPARKYBGC_FLEXIPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_flexi_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_flexi_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 HWSPARKYBGC_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_flexi_dsm_cfg, &pios_flexi_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWSPARKYBGC_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_flexi_usart_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWSPARKYBGC_FLEXIPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_flexi_usart_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
#endif
		break;
	case HWSPARKYBGC_FLEXIPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_flexi_usart_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif  /* PIOS_INCLUDE_MAVLINK */
		break;
	case HWSPARKYBGC_FLEXIPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_flexi_usart_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;
	}

	/* Configure the rcvr port */
	uint8_t hw_rcvrport;
	HwSparkyBGCRcvrPortGet(&hw_rcvrport);

	switch (hw_rcvrport) {
	case HWSPARKYBGC_RCVRPORT_DISABLED:
		break;
	case HWSPARKYBGC_RCVRPORT_PPM:
#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 HWSPARKYBGC_RCVRPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
		{
			PIOS_Board_configure_dsm(&pios_rcvr_dsm_cfg, &pios_rcvr_dsm_aux_cfg, &pios_usart_com_driver,
				MANUALCONTROLSETTINGS_CHANNELGROUPS_DSM, &hw_DSMxMode);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWSPARKYBGC_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS) && defined(PIOS_INCLUDE_USART)
		{
			uintptr_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_rcvr_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_rcvr_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;		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
#ifdef PIOS_INCLUDE_SERVO
	PIOS_Servo_Init(&pios_servo_cfg);
#endif

#ifdef PIOS_INCLUDE_BRUSHLESS
	if (PIOS_Brushless_Init(&pios_brushless_cfg) != 0)
		panic(8);
#endif

#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_MPU9150)
	int retval;
	retval = PIOS_MPU9150_Init(pios_i2c_internal_id, PIOS_MPU9150_I2C_ADD_A0_LOW, &pios_mpu9150_cfg);
	if (retval == -10)
		panic(1); // indicate missing IRQ separately
	if (retval != 0)
		panic(2);

	// To be safe map from UAVO enum to driver enum
	uint8_t hw_gyro_range;
	HwSparkyBGCGyroRangeGet(&hw_gyro_range);
	switch(hw_gyro_range) {
		case HWSPARKYBGC_GYRORANGE_250:
			PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
			break;
		case HWSPARKYBGC_GYRORANGE_500:
			PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
			break;
		case HWSPARKYBGC_GYRORANGE_1000:
			PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
			break;
		case HWSPARKYBGC_GYRORANGE_2000:
			PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
			break;


		uint8_t hw_accel_range;
		HwSparkyBGCAccelRangeGet(&hw_accel_range);
		switch(hw_accel_range) {
			case HWSPARKYBGC_ACCELRANGE_2G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
				break;
			case HWSPARKYBGC_ACCELRANGE_4G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
				break;
			case HWSPARKYBGC_ACCELRANGE_8G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
				break;
			case HWSPARKYBGC_ACCELRANGE_16G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
				break;
		}

		uint8_t hw_mpu9150_dlpf;
		HwSparkyBGCMPU9150DLPFGet(&hw_mpu9150_dlpf);
		enum pios_mpu60x0_filter mpu9150_dlpf = \
		    (hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKYBGC_MPU9150DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
		    pios_mpu9150_cfg.default_filter;
		PIOS_MPU9150_SetLPF(mpu9150_dlpf);

		uint8_t hw_mpu9150_samplerate;
		HwSparkyBGCMPU9150RateGet(&hw_mpu9150_samplerate);
		uint16_t mpu9150_samplerate = \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_200) ? 200 : \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_333) ? 333 : \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_500) ? 500 : \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_666) ? 666 : \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_1000) ? 1000 : \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_2000) ? 2000 : \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_4000) ? 4000 : \
		    (hw_mpu9150_samplerate == HWSPARKYBGC_MPU9150RATE_8000) ? 8000 : \
		    pios_mpu9150_cfg.default_samplerate;
		PIOS_MPU9150_SetSampleRate(mpu9150_samplerate);	
	}

#endif /* PIOS_INCLUDE_MPU9150 */

	//I2C is slow, sensor init as well, reset watchdog to prevent reset here
	PIOS_WDG_Clear();

#if defined(PIOS_INCLUDE_GPIO)
	PIOS_GPIO_Init();
#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);
}
Esempio n. 18
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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;
	}

}
Esempio n. 19
0
/**
 * PIOS_Board_Init()
 * initializes all the core subsystems on this specific hardware
 * called from System/openpilot.c
 */
void PIOS_Board_Init(void) {

	/* Delay system */
	PIOS_DELAY_Init();

	/* Set up the SPI interface to the serial flash */
	if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) {
		PIOS_Assert(0);
	}

	PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);	
	PIOS_ADXL345_Attach(pios_spi_flash_accel_id);

	PIOS_FLASHFS_Init();

	/* Initialize UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

#if defined(PIOS_INCLUDE_RTC)
	/* Initialize the real-time clock and its associated tick */
	PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

#if defined(PIOS_INCLUDE_LED)
	PIOS_LED_Init(&pios_led_cfg);
#endif	/* PIOS_INCLUDE_LED */

	HwSettingsInitialize();

#ifndef ERASE_FLASH
	/* Initialize watchdog as early as possible to catch faults during init */
	PIOS_WDG_Init();
#endif

	/* Initialize the alarms library */
	AlarmsInitialize();

	/* Check for repeated boot failures */
	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 hwsettings to defaults */
		HwSettingsSetDefaults(HwSettingsHandle(), 0);
		AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
	}

	/* 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);
	PIOS_TIM_InitClock(&tim_4_cfg);

#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;

	uint8_t hwsettings_usb_devicetype;
	HwSettingsUSB_DeviceTypeGet(&hwsettings_usb_devicetype);

	switch (hwsettings_usb_devicetype) {
	case HWSETTINGS_USB_DEVICETYPE_HIDONLY:
		if (PIOS_USB_DESC_HID_ONLY_Init()) {
			PIOS_Assert(0);
		}
		usb_hid_present = true;
		break;
	case HWSETTINGS_USB_DEVICETYPE_HIDVCP:
		if (PIOS_USB_DESC_HID_CDC_Init()) {
			PIOS_Assert(0);
		}
		usb_hid_present = true;
		usb_cdc_present = true;
		break;
	case HWSETTINGS_USB_DEVICETYPE_VCPONLY:
		break;
	default:
		PIOS_Assert(0);
	}

	uint32_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg);

#if defined(PIOS_INCLUDE_USB_CDC)

	uint8_t hwsettings_usb_vcpport;
	/* Configure the USB VCP port */
	HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);

	if (!usb_cdc_present) {
		/* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
		hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
	}

	switch (hwsettings_usb_vcpport) {
	case HWSETTINGS_USB_VCPPORT_DISABLED:
		break;
	case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			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 * 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_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 HWSETTINGS_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			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 * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
	/* Configure the usb HID port */
	uint8_t hwsettings_usb_hidport;
	HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);

	if (!usb_hid_present) {
		/* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
		hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
	}

	switch (hwsettings_usb_hidport) {
	case HWSETTINGS_USB_HIDPORT_DISABLED:
		break;
	case HWSETTINGS_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 */

#endif	/* PIOS_INCLUDE_USB */

	/* Configure the main IO port */
	uint8_t hwsettings_DSMxBind;
	HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
	uint8_t hwsettings_cc_mainport;
	HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);

	switch (hwsettings_cc_mainport) {
	case HWSETTINGS_CC_MAINPORT_DISABLED:
		break;
	case HWSETTINGS_CC_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
		{
			uint32_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
					  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
					  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWSETTINGS_CC_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
		{
			uint32_t pios_usart_sbus_id;
			if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_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	/* PIOS_INCLUDE_SBUS */
		break;
	case HWSETTINGS_CC_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
		{
			uint32_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
					  NULL, 0)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_GPS */
		break;
	case HWSETTINGS_CC_MAINPORT_DSM2:
	case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
	case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hwsettings_cc_mainport) {
			case HWSETTINGS_CC_MAINPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWSETTINGS_CC_MAINPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWSETTINGS_CC_MAINPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}

			uint32_t pios_usart_dsm_id;
			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
				PIOS_Assert(0);
			}

			uint32_t pios_dsm_id;
			if (PIOS_DSM_Init(&pios_dsm_id,
					  &pios_dsm_main_cfg,
					  &pios_usart_com_driver,
					  pios_usart_dsm_id,
					  proto, 0)) {
				PIOS_Assert(0);
			}

			uint32_t pios_dsm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWSETTINGS_CC_MAINPORT_COMAUX:
		break;
	case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
		{
			uint32_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
		break;
	}

	/* Configure the flexi port */
	uint8_t hwsettings_cc_flexiport;
	HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);

	switch (hwsettings_cc_flexiport) {
	case HWSETTINGS_CC_FLEXIPORT_DISABLED:
		break;
	case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF)
		{
			uint32_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
  					  rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
					  tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif /* PIOS_INCLUDE_TELEMETRY_RF */
		break;
	case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE:
		{
			uint32_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
				PIOS_Assert(0);
			}

			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
		break;
	case HWSETTINGS_CC_FLEXIPORT_GPS:
#if defined(PIOS_INCLUDE_GPS)
		{
			uint32_t pios_usart_generic_id;
			if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
					  rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
					  NULL, 0)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_GPS */
		break;
	case HWSETTINGS_CC_FLEXIPORT_DSM2:
	case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
	case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hwsettings_cc_flexiport) {
			case HWSETTINGS_CC_FLEXIPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWSETTINGS_CC_FLEXIPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWSETTINGS_CC_FLEXIPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}

			uint32_t pios_usart_dsm_id;
			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_flexi_cfg)) {
				PIOS_Assert(0);
			}

			uint32_t pios_dsm_id;
			if (PIOS_DSM_Init(&pios_dsm_id,
					  &pios_dsm_flexi_cfg,
					  &pios_usart_com_driver,
					  pios_usart_dsm_id,
					  proto, hwsettings_DSMxBind)) {
				PIOS_Assert(0);
			}

			uint32_t pios_dsm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_dsm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWSETTINGS_CC_FLEXIPORT_COMAUX:
		break;
	case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
		{
			if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_I2C */
		break;
	}

	/* Configure the rcvr port */
	uint8_t hwsettings_rcvrport;
	HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);

	switch (hwsettings_rcvrport) {
	case HWSETTINGS_CC_RCVRPORT_DISABLED:
		break;
	case HWSETTINGS_CC_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
		{
			uint32_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);

			uint32_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 HWSETTINGS_CC_RCVRPORT_PPM:
	case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
#if defined(PIOS_INCLUDE_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;
		}
#endif	/* PIOS_INCLUDE_PPM */
		break;
	}

#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 */

	/* Remap AFIO pin for PB4 (Servo 5 Out)*/
	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
	switch (hwsettings_rcvrport) {
		case HWSETTINGS_CC_RCVRPORT_DISABLED:
		case HWSETTINGS_CC_RCVRPORT_PWM:
		case HWSETTINGS_CC_RCVRPORT_PPM:
			PIOS_Servo_Init(&pios_servo_cfg);
			break;
		case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTS:
		case HWSETTINGS_CC_RCVRPORT_OUTPUTS:
			PIOS_Servo_Init(&pios_servo_rcvr_cfg);
			break;
	}
#else
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif	/* PIOS_DEBUG_ENABLE_DEBUG_PINS */
	
	PIOS_ADC_Init();
	PIOS_GPIO_Init();

	/* 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);
}
Esempio n. 20
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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);
}
Esempio n. 21
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void PIOS_Board_Init(void)
{
    const struct pios_board_info *bdinfo = &pios_board_info_blob;

#if defined(PIOS_INCLUDE_LED)
    const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
    PIOS_Assert(led_cfg);
    PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */


#ifdef PIOS_INCLUDE_INSTRUMENTATION
    PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
#endif

    /* 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 appropriate interface and configure it */
    uintptr_t flash_id;

    // Initialize the external USER flash
    if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1)) {
        PIOS_DEBUG_Assert(0);
    }

    if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_external_system_cfg, &pios_jedec_flash_driver, flash_id)) {
        PIOS_DEBUG_Assert(0);
    }
#endif /* if defined(PIOS_INCLUDE_FLASH) */

#if defined(PIOS_INCLUDE_RTC)
    PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif
    /* IAP System Setup */
    PIOS_IAP_Init();
    // check for safe mode commands from gcs
    if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
        PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
        PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
        PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
        PIOS_IAP_WriteBootCmd(0, 0);
        PIOS_IAP_WriteBootCmd(1, 0);
        PIOS_IAP_WriteBootCmd(2, 0);
    }
#ifdef PIOS_INCLUDE_WDG
    PIOS_WDG_Init();
#endif

    /* Initialize the task monitor */
    if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
        PIOS_Assert(0);
    }

    /* Initialize the delayed callback library */
    PIOS_CALLBACKSCHEDULER_Initialize();

    /* Initialize UAVObject libraries */
    EventDispatcherInitialize();
    UAVObjInitialize();
    HwSettingsInitialize();
#if defined(PIOS_INCLUDE_RFM22B)
    OPLinkSettingsInitialize();
    OPLinkStatusInitialize();
#endif /* PIOS_INCLUDE_RFM22B */

    /* Initialize the alarms library */
    AlarmsInitialize();

    /* 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);

    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 hwsettings to defaults */
        HwSettingsSetDefaults(HwSettingsHandle(), 0);
        AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
    }

    /* Configure IO ports */
    uint8_t hwsettings_DSMxBind;
    HwSettingsDSMxBindGet(&hwsettings_DSMxBind);

    /* Configure FlexiPort */
    uint8_t hwsettings_flexiport;
    HwSettingsRM_FlexiPortGet(&hwsettings_flexiport);
    switch (hwsettings_flexiport) {
    case HWSETTINGS_RM_FLEXIPORT_DISABLED:
        break;
    case HWSETTINGS_RM_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 HWSETTINGS_RM_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 HWSETTINGS_RM_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 HWSETTINGS_RM_FLEXIPORT_DSM:
        // 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, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind);
        break;
    case HWSETTINGS_RM_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 HWSETTINGS_RM_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 HWSETTINGS_RM_FLEXIPORT_OSDHK:
        PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
        break;
    } /* hwsettings_rm_flexiport */

    /* Moved this here to allow binding on flexiport */
#if defined(PIOS_INCLUDE_FLASH)
    if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_user_cfg, &pios_jedec_flash_driver, flash_id)) {
        PIOS_DEBUG_Assert(0);
    }
#endif /* if defined(PIOS_INCLUDE_FLASH) */

#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 hwsettings_usb_vcpport;
    /* Configure the USB VCP port */
    HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);

    if (!usb_cdc_present) {
        /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
        hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
    }
    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);
    }

    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);
    }

    switch (hwsettings_usb_vcpport) {
    case HWSETTINGS_USB_VCPPORT_DISABLED:
        break;
    case HWSETTINGS_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 HWSETTINGS_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 HWSETTINGS_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;
    }
#endif /* PIOS_INCLUDE_USB_CDC */

#if defined(PIOS_INCLUDE_USB_HID)
    /* Configure the usb HID port */
    uint8_t hwsettings_usb_hidport;
    HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);

    if (!usb_hid_present) {
        /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
        hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
    }

    switch (hwsettings_usb_hidport) {
    case HWSETTINGS_USB_HIDPORT_DISABLED:
        break;
    case HWSETTINGS_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 main USART port */
    uint8_t hwsettings_mainport;
    HwSettingsRM_MainPortGet(&hwsettings_mainport);
    switch (hwsettings_mainport) {
    case HWSETTINGS_RM_MAINPORT_DISABLED:
        break;
    case HWSETTINGS_RM_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 HWSETTINGS_RM_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 HWSETTINGS_RM_MAINPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
        {
            uint32_t pios_usart_sbus_id;
            if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_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;
    case HWSETTINGS_RM_MAINPORT_DSM:
        // Force binding to zero on the main port
        hwsettings_DSMxBind = 0;

        // TODO: Define the various Channelgroup for Revo dsm inputs and handle here
        PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg,
                                 &pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind);
        break;
    case HWSETTINGS_RM_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 HWSETTINGS_RM_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 HWSETTINGS_RM_MAINPORT_OSDHK:
        PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
        break;
    } /*        hwsettings_rm_mainport */

    if (hwsettings_mainport != HWSETTINGS_RM_MAINPORT_SBUS) {
        GPIO_Init(pios_sbus_cfg.inv.gpio, &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);
    }


    /* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)

    /* Fetch the OPinkSettings object. */
    OPLinkSettingsData oplinkSettings;
    OPLinkSettingsGet(&oplinkSettings);

    // Initialize out status object.
    OPLinkStatusData oplinkStatus;
    OPLinkStatusGet(&oplinkStatus);
    oplinkStatus.BoardType     = bdinfo->board_type;
    PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM);
    PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial);
    oplinkStatus.BoardRevision = bdinfo->board_rev;

    /* Is the radio turned on? */
    bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
    bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE);
    bool ppm_mode  = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE);
    bool ppm_only  = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE);
    if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) {
        /* 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)) {
            PIOS_Assert(0);
        }

        /* 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)) {
            PIOS_Assert(0);
        }
        /* Set Telemetry to use OPLinkMini 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;
        }
        oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;

        // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
        enum rfm22b_datarate datarate = RFM22_datarate_64000;
        switch (oplinkSettings.ComSpeed) {
        case OPLINKSETTINGS_COMSPEED_4800:
            datarate = RFM22_datarate_9600;
            break;
        case OPLINKSETTINGS_COMSPEED_9600:
            datarate = RFM22_datarate_19200;
            break;
        case OPLINKSETTINGS_COMSPEED_19200:
            datarate = RFM22_datarate_32000;
            break;
        case OPLINKSETTINGS_COMSPEED_38400:
            datarate = RFM22_datarate_64000;
            break;
        case OPLINKSETTINGS_COMSPEED_57600:
            datarate = RFM22_datarate_100000;
            break;
        case OPLINKSETTINGS_COMSPEED_115200:
            datarate = RFM22_datarate_192000;
            break;
        }

        /* Set the radio configuration parameters. */
        PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);
        PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only);

        /* Set the PPM callback if we should be receiving PPM. */
        if (ppm_mode || (ppm_only && !is_coordinator)) {
            PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback);
        }

        /* Set the modem Tx poer level */
        switch (oplinkSettings.MaxRFPower) {
        case OPLINKSETTINGS_MAXRFPOWER_125:
            PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
            break;
        case OPLINKSETTINGS_MAXRFPOWER_16:
            PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
            break;
        case OPLINKSETTINGS_MAXRFPOWER_316:
            PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
            break;
        case OPLINKSETTINGS_MAXRFPOWER_63:
            PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
            break;
        case OPLINKSETTINGS_MAXRFPOWER_126:
            PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
            break;
        case OPLINKSETTINGS_MAXRFPOWER_25:
            PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
            break;
        case OPLINKSETTINGS_MAXRFPOWER_50:
            PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
            break;
        case OPLINKSETTINGS_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);
    } else {
        oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
    }

    OPLinkStatusSet(&oplinkStatus);
#endif /* PIOS_INCLUDE_RFM22B */

#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)

    const struct pios_servo_cfg *pios_servo_cfg;
    // default to servo outputs only
    pios_servo_cfg = &pios_servo_cfg_out;
#endif

    /* Configure the receiver port*/
    uint8_t hwsettings_rcvrport;
    HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
    //
    switch (hwsettings_rcvrport) {
    case HWSETTINGS_RM_RCVRPORT_DISABLED:
        break;
    case HWSETTINGS_RM_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM)
        /* Set up the receiver port.  Later this should be optional */
        PIOS_Board_configure_pwm(&pios_pwm_cfg);
#endif /* PIOS_INCLUDE_PWM */
        break;
    case HWSETTINGS_RM_RCVRPORT_PPM:
    case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
    case HWSETTINGS_RM_RCVRPORT_PPMPWM:
    case HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY:
#if defined(PIOS_INCLUDE_PPM)
        PIOS_Board_configure_ppm(&pios_ppm_cfg);

        if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) {
            // configure servo outputs and the remaining 5 inputs as outputs
            pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
        }

        // enable pwm on the remaining channels
        if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) {
            PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg);
        }

        if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY) {
            PIOS_Board_configure_com(&pios_usart_rcvrport_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;
#endif /* PIOS_INCLUDE_PPM */
    case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
        // configure only the servo outputs
        pios_servo_cfg = &pios_servo_cfg_out_in;
        break;
    case HWSETTINGS_RM_RCVRPORT_TELEMETRY:
        PIOS_Board_configure_com(&pios_usart_rcvrport_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;
    }


#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 */

#if defined(PIOS_INCLUDE_OPLINKRCVR)
    {
        OPLinkReceiverInitialize();
        uint32_t pios_oplinkrcvr_id;
        PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id);
        uint32_t pios_oplinkrcvr_rcvr_id;
        if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) {
            PIOS_Assert(0);
        }
        pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id;
    }
#endif /* PIOS_INCLUDE_OPLINKRCVR */

#ifndef PIOS_ENABLE_DEBUG_PINS
    // pios_servo_cfg points to the correct configuration based on input port settings
    PIOS_Servo_Init(pios_servo_cfg);
#else
    PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
#endif

    // Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout
    GPIO_InitTypeDef gpioA8 = {
        .GPIO_Speed = GPIO_Speed_2MHz,
        .GPIO_Mode  = GPIO_Mode_IN,
        .GPIO_PuPd  = GPIO_PuPd_NOPULL,
        .GPIO_Pin   = GPIO_Pin_8,
        .GPIO_OType = GPIO_OType_OD,
    };
    GPIO_Init(GPIOA, &gpioA8);

    if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
        PIOS_DEBUG_Assert(0);
    }

    PIOS_DELAY_WaitmS(50);

#if defined(PIOS_INCLUDE_ADC)
    PIOS_ADC_Init(&pios_adc_cfg);
#endif

#if defined(PIOS_INCLUDE_MPU6000)
    PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
    PIOS_MPU6000_CONFIG_Configure();
    PIOS_MPU6000_Register();
#endif

#if defined(PIOS_INCLUDE_HMC5X83)
    onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0);
    PIOS_HMC5x83_Register(onboard_mag);
#endif

#if defined(PIOS_INCLUDE_MS5611)
    PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id);
    PIOS_MS5611_Register();
#endif

    #ifdef PIOS_INCLUDE_WS2811
#include <pios_ws2811.h>
    HwSettingsWS2811LED_OutOptions ws2811_pin_settings;
    HwSettingsWS2811LED_OutGet(&ws2811_pin_settings);

    if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) {
        PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
    }

#endif // PIOS_INCLUDE_WS2811
}