/** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Brings up System using CMSIS functions, enables the LEDs. */ PIOS_SYS_Init(); /* Delay system */ PIOS_DELAY_Init(); /* IAP System Setup */ PIOS_IAP_Init(); #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_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ #endif /* PIOS_INCLUDE_COM */ #if defined (PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_pres_mag_adapter_id, &pios_i2c_pres_mag_adapter_cfg)) { PIOS_DEBUG_Assert(0); } #if defined (PIOS_INCLUDE_BMP085) PIOS_BMP085_Init(); #endif /* PIOS_INCLUDE_BMP085 */ #if defined (PIOS_INCLUDE_HMC5883) PIOS_HMC5883_Init(); #endif /* PIOS_INCLUDE_HMC5883 */ #if defined(PIOS_INCLUDE_IMU3000) if (PIOS_I2C_Init(&pios_i2c_gyro_adapter_id, &pios_i2c_gyro_adapter_cfg)) { PIOS_DEBUG_Assert(0); } PIOS_IMU3000_Init(); #endif /* PIOS_INCLUDE_IMU3000 */ #endif /* PIOS_INCLUDE_I2C */ #if defined(PIOS_INCLUDE_SPI) /* Set up the SPI interface to the accelerometer*/ if (PIOS_SPI_Init(&pios_spi_accel_id, &pios_spi_accel_cfg)) { PIOS_DEBUG_Assert(0); } PIOS_BMA180_Attach(pios_spi_accel_id); // #include "ahrs_spi_comm.h" // InsInitComms(); // // /* Set up the SPI interface to the OP board */ // if (PIOS_SPI_Init(&pios_spi_op_id, &pios_spi_op_cfg)) { // PIOS_DEBUG_Assert(0); // } // // InsConnect(pios_spi_op_id); #endif /* PIOS_INCLUDE_SPI */ }
static void TaskTesting(void *pvParameters) { portTickType xDelay = 500 / portTICK_RATE_MS; portTickType xTimeout = 10 / portTICK_RATE_MS; PIOS_BMP085_Init(); for(;;) { PIOS_LED_Toggle(LED2); int16_t temp; int32_t pressure; PIOS_BMP085_StartADC(TemperatureConv); xSemaphoreTake(PIOS_BMP085_EOC, xTimeout); PIOS_BMP085_ReadADC(); PIOS_BMP085_StartADC(PressureConv); xSemaphoreTake(PIOS_BMP085_EOC, xTimeout); PIOS_BMP085_ReadADC(); temp = PIOS_BMP085_GetTemperature(); pressure = PIOS_BMP085_GetPressure(); PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_TELEM_RF, "%3u,%4u\r", temp, pressure); vTaskDelay(xDelay); } }
/** * Verify that the barometric pressure sensor can be initialised and that it is returning * data that looks approximately correct. */ static void testBaro(void) { int16_t temperature; int32_t pressure; puts("BMP085..."); PIOS_BMP085_Init(); puts(" init OK"); PIOS_BMP085_StartADC(TemperatureConv); PIOS_BMP085_ReadADC(); temperature = PIOS_BMP085_GetTemperature(); puts(" temperature"); if (temperature < 50) { print(" FAIL: undertemp(%d)", temperature); } else if (temperature > 500) { print(" FAIL: overtemp(%d)", temperature); } else { puts(" OK"); } PIOS_BMP085_StartADC(PressureConv); PIOS_BMP085_ReadADC(); pressure = PIOS_BMP085_GetPressure(); puts(" pressure"); if (pressure < 80000) { println(" FAIL: underpressure(%d)", pressure); } else if (pressure > 12000) { println(" FAIL: overpressure(%d)", pressure); } else { putln(" OK"); } }
/** * Module thread, should not return. */ static void altitudeTask(void* parameters) { BaroAltitudeData data; portTickType lastSysTime; PIOS_BMP085_Init(); // Main task loop lastSysTime = xTaskGetTickCount(); while (1) { // Update the temperature data PIOS_BMP085_StartADC(TemperatureConv); xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); PIOS_BMP085_ReadADC(); // Convert from 1/10ths of degC to degC data.Temperature = PIOS_BMP085_GetTemperature() / 10.0; // Update the pressure data PIOS_BMP085_StartADC(PressureConv); xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); PIOS_BMP085_ReadADC(); // Convert from Pa to kPa data.Pressure = PIOS_BMP085_GetPressure() / 1000.0; // Compute the current altitude (all pressures in kPa) data.Altitude = 44330.0 * (1.0 - powf((data.Pressure/ (BMP085_P0 / 1000.0)), (1.0/5.255))); // Update the AltitudeActual UAVObject BaroAltitudeSet(&data); // Delay until it is time to read the next sample vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS ); } }
static void magbaroTask(void *parameters) { BaroAltitudeData data; portTickType lastSysTime; #if defined(PIOS_INCLUDE_BMP085) PIOS_BMP085_Init(); #endif #if defined(PIOS_INCLUDE_HMC5883) PIOS_HMC5883_Init(PIOS_I2C_MAIN_ADAPTER, &pios_hmc5883_cfg); #endif mag_test = 0; // Main task loop lastSysTime = xTaskGetTickCount(); while (1) { #if defined(PIOS_INCLUDE_BMP085) // Update the temperature data PIOS_BMP085_StartADC(TemperatureConv); #ifdef PIOS_BMP085_HAS_GPIOS xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); #else vTaskDelay(5 / portTICK_RATE_MS); #endif PIOS_BMP085_ReadADC(); alt_ds_temp += PIOS_BMP085_GetTemperature(); // Update the pressure data PIOS_BMP085_StartADC(PressureConv); #ifdef PIOS_BMP085_HAS_GPIOS xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); #else vTaskDelay(26 / portTICK_RATE_MS); #endif PIOS_BMP085_ReadADC(); alt_ds_pres += PIOS_BMP085_GetPressure(); if (++alt_ds_count >= alt_ds_size) { alt_ds_count = 0; // Convert from 1/10ths of degC to degC data.Temperature = alt_ds_temp / (10.0 * alt_ds_size); alt_ds_temp = 0; // Convert from Pa to kPa data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size); alt_ds_pres = 0; // Compute the current altitude (all pressures in kPa) data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255))); // Update the AltitudeActual UAVObject BaroAltitudeSet(&data); } #endif #if defined(PIOS_INCLUDE_HMC5883) struct pios_sensor_mag_data mags; xQueueHandle queue = PIOS_SENSORS_GetQueue(PIOS_SENSOR_MAG); if (queue != NULL && xQueueReceive(queue, (void *) &mags, 0) != errQUEUE_EMPTY) { update_mags(&mags); } #endif // Delay until it is time to read the next sample vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS); } }
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); }
/** * Module thread, should not return. */ static void altitudeTask(void *parameters) { BaroAltitudeData data; portTickType lastSysTime; #if defined(PIOS_INCLUDE_HCSR04) SonarAltitudeData sonardata; int32_t value=0,timeout=5; float coeff=0.25,height_out=0,height_in=0; PIOS_HCSR04_Init(); PIOS_HCSR04_Trigger(); #endif PIOS_BMP085_Init(); // Main task loop lastSysTime = xTaskGetTickCount(); while (1) { #if defined(PIOS_INCLUDE_HCSR04) // Compute the current altitude (all pressures in kPa) if(PIOS_HCSR04_Completed()) { value = PIOS_HCSR04_Get(); if((value>100) && (value < 15000)) //from 3.4cm to 5.1m { height_in = value*0.00034; height_out = (height_out * (1 - coeff)) + (height_in * coeff); sonardata.Altitude = height_out; // m/us } // Update the AltitudeActual UAVObject SonarAltitudeSet(&sonardata); timeout=5; PIOS_HCSR04_Trigger(); } if(timeout--) { //retrigger timeout=5; PIOS_HCSR04_Trigger(); } #endif // Update the temperature data PIOS_BMP085_StartADC(TemperatureConv); #ifdef PIOS_BMP085_HAS_GPIOS xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); #else vTaskDelay(5 / portTICK_RATE_MS); #endif PIOS_BMP085_ReadADC(); alt_ds_temp += PIOS_BMP085_GetTemperature(); // Update the pressure data PIOS_BMP085_StartADC(PressureConv); #ifdef PIOS_BMP085_HAS_GPIOS xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY); #else vTaskDelay(26 / portTICK_RATE_MS); #endif PIOS_BMP085_ReadADC(); alt_ds_pres += PIOS_BMP085_GetPressure(); if (++alt_ds_count >= alt_ds_size) { alt_ds_count = 0; // Convert from 1/10ths of degC to degC data.Temperature = alt_ds_temp / (10.0 * alt_ds_size); alt_ds_temp = 0; // Convert from Pa to kPa data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size); alt_ds_pres = 0; // Compute the current altitude (all pressures in kPa) data.Altitude = 44330.0 * (1.0 - powf((data.Pressure / (BMP085_P0 / 1000.0)), (1.0 / 5.255))); // Update the AltitudeActual UAVObject BaroAltitudeSet(&data); } // Delay until it is time to read the next sample vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS); } }