Exemplo n.º 1
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 *) pvPortMalloc(PIOS_COM_CAN_RX_BUF_LEN);
	uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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 UAVObject libraries */
	EventDispatcherInitialize();
	UAVObjInitialize();

	HwSparkyInitialize();
	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

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

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

	/* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_1_brushless_cfg);
	PIOS_TIM_InitClock(&tim_2_brushless_cfg);
	PIOS_TIM_InitClock(&tim_3_brushless_cfg);
	PIOS_TIM_InitClock(&tim_15_brushless_cfg);
	PIOS_TIM_InitClock(&tim_16_brushless_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 */
		HwSparkySetDefaults(HwSparkyHandle(), 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 */
	HwSparkyUSB_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 = HWSPARKY_USB_VCPPORT_DISABLED;
	}

	switch (hw_usb_vcpport) {
	case HWSPARKY_USB_VCPPORT_DISABLED:
		break;
	case HWSPARKY_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 *) 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 HWSPARKY_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 *) 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 HWSPARKY_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 *) 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;
	HwSparkyUSB_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 = HWSPARKY_USB_HIDPORT_DISABLED;
	}

	switch (hw_usb_hidport) {
	case HWSPARKY_USB_HIDPORT_DISABLED:
		break;
	case HWSPARKY_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 *) 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 IO ports */
	uint8_t hw_DSMxBind;
	HwSparkyDSMxBindGet(&hw_DSMxBind);

	/* UART1 Port */
	uint8_t hw_flexi;
	HwSparkyFlexiPortGet(&hw_flexi);
	switch (hw_flexi) {
	case HWSPARKY_FLEXIPORT_DISABLED:
		break;
	case HWSPARKY_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 HWSPARKY_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 HWSPARKY_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 HWSPARKY_FLEXIPORT_DSM2:
	case HWSPARKY_FLEXIPORT_DSMX10BIT:
	case HWSPARKY_FLEXIPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hw_flexi) {
			case HWSPARKY_FLEXIPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWSPARKY_FLEXIPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWSPARKY_FLEXIPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_dsm(&pios_flexi_dsm_cfg, &pios_flexi_dsm_aux_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hw_DSMxBind);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWSPARKY_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 HWSPARKY_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 HWSPARKY_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 HWSPARKY_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;
	}

	/* UART3 Port */
	uint8_t hw_main;
	HwSparkyMainPortGet(&hw_main);
	switch (hw_main) {
	case HWSPARKY_MAINPORT_DISABLED:
		break;
	case HWSPARKY_MAINPORT_TELEMETRY:
#if defined(PIOS_INCLUDE_TELEMETRY_RF) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_main_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 HWSPARKY_MAINPORT_GPS:
#if defined(PIOS_INCLUDE_GPS) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_main_usart_cfg, PIOS_COM_GPS_RX_BUF_LEN, 0, &pios_usart_com_driver, &pios_com_gps_id);
#endif
		break;
	case HWSPARKY_MAINPORT_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_main_sbus_cfg)) {
				PIOS_Assert(0);
			}
			uintptr_t pios_sbus_id;
			if (PIOS_SBus_Init(&pios_sbus_id, &pios_main_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 HWSPARKY_MAINPORT_DSM2:
	case HWSPARKY_MAINPORT_DSMX10BIT:
	case HWSPARKY_MAINPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hw_main) {
			case HWSPARKY_MAINPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWSPARKY_MAINPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWSPARKY_MAINPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_dsm(&pios_main_dsm_cfg, &pios_main_dsm_aux_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWSPARKY_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_main_usart_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
		break;
	case HWSPARKY_MAINPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_main_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 HWSPARKY_MAINPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_main_usart_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif  /* PIOS_INCLUDE_MAVLINK */
		break;
	case HWSPARKY_MAINPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
		PIOS_Board_configure_com(&pios_main_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;
	HwSparkyRcvrPortGet(&hw_rcvrport);

	switch (hw_rcvrport) {
	case HWSPARKY_RCVRPORT_DISABLED:
		break;
	case HWSPARKY_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 HWSPARKY_RCVRPORT_DSM2:
	case HWSPARKY_RCVRPORT_DSMX10BIT:
	case HWSPARKY_RCVRPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hw_rcvrport) {
			case HWSPARKY_RCVRPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWSPARKY_RCVRPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWSPARKY_RCVRPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}
			PIOS_Board_configure_dsm(&pios_rcvr_dsm_cfg, &pios_rcvr_dsm_aux_cfg, &pios_usart_com_driver,
				&proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hw_DSMxBind);
		}
#endif	/* PIOS_INCLUDE_DSM */
		break;
	case HWSPARKY_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

#if defined(PIOS_INCLUDE_ADC)
	uint32_t internal_adc_id;
	if(PIOS_INTERNAL_ADC_Init(&internal_adc_id, &internal_adc_cfg) < 0)
		PIOS_Assert(0);
	PIOS_ADC_Init(&pios_internal_adc_id, &pios_internal_adc_driver, internal_adc_id);
#endif /* PIOS_INCLUDE_ADC */

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

#if defined(PIOS_INCLUDE_MPU9150)
#if defined(PIOS_INCLUDE_MPU6050)
	// Enable autoprobing when both 6050 and 9050 compiled in
	bool mpu9150_found = false;
	if (PIOS_MPU9150_Probe(pios_i2c_internal_id, PIOS_MPU9150_I2C_ADD_A0_LOW) == 0) {
		mpu9150_found = true;
#else
	{
#endif /* PIOS_INCLUDE_MPU6050 */

		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;
		HwSparkyGyroRangeGet(&hw_gyro_range);
		switch(hw_gyro_range) {
			case HWSPARKY_GYRORANGE_250:
				PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
				break;
			case HWSPARKY_GYRORANGE_500:
				PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
				break;
			case HWSPARKY_GYRORANGE_1000:
				PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
				break;
			case HWSPARKY_GYRORANGE_2000:
				PIOS_MPU9150_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
				break;
		}

		uint8_t hw_accel_range;
		HwSparkyAccelRangeGet(&hw_accel_range);
		switch(hw_accel_range) {
			case HWSPARKY_ACCELRANGE_2G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
				break;
			case HWSPARKY_ACCELRANGE_4G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
				break;
			case HWSPARKY_ACCELRANGE_8G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
				break;
			case HWSPARKY_ACCELRANGE_16G:
				PIOS_MPU9150_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
				break;
		}

		uint8_t hw_mpu9150_dlpf;
		HwSparkyMPU9150DLPFGet(&hw_mpu9150_dlpf);
		enum pios_mpu60x0_filter mpu9150_dlpf = \
		    (hw_mpu9150_dlpf == HWSPARKY_MPU9150DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKY_MPU9150DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKY_MPU9150DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKY_MPU9150DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKY_MPU9150DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKY_MPU9150DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
		    (hw_mpu9150_dlpf == HWSPARKY_MPU9150DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
		    pios_mpu9150_cfg.default_filter;
		PIOS_MPU9150_SetLPF(mpu9150_dlpf);

		uint8_t hw_mpu9150_samplerate;
		HwSparkyMPU9150RateGet(&hw_mpu9150_samplerate);
		uint16_t mpu9150_samplerate = \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_200) ? 200 : \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_333) ? 333 : \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_500) ? 500 : \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_666) ? 666 : \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_1000) ? 1000 : \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_2000) ? 2000 : \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_4000) ? 4000 : \
		    (hw_mpu9150_samplerate == HWSPARKY_MPU9150RATE_8000) ? 8000 : \
		    pios_mpu9150_cfg.default_samplerate;
		PIOS_MPU9150_SetSampleRate(mpu9150_samplerate);	
	}

#endif /* PIOS_INCLUDE_MPU9150 */

#if defined(PIOS_INCLUDE_MPU6050)
#if defined(PIOS_INCLUDE_MPU9150)
	// MPU9150 looks like an MPU6050 _plus_ additional hardware.  So we cannot try and
	// probe if MPU9150 is found or we will find a duplicate
	if (mpu9150_found == false)
#endif /* PIOS_INCLUDE_MPU9150 */
	{
		if (PIOS_MPU6050_Init(pios_i2c_internal_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;
		HwSparkyGyroRangeGet(&hw_gyro_range);
		switch(hw_gyro_range) {
			case HWSPARKY_GYRORANGE_250:
				PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
				break;
			case HWSPARKY_GYRORANGE_500:
				PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
				break;
			case HWSPARKY_GYRORANGE_1000:
				PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
				break;
			case HWSPARKY_GYRORANGE_2000:
				PIOS_MPU6050_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
				break;
		}

		uint8_t hw_accel_range;
		HwSparkyAccelRangeGet(&hw_accel_range);
		switch(hw_accel_range) {
			case HWSPARKY_ACCELRANGE_2G:
				PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
				break;
			case HWSPARKY_ACCELRANGE_4G:
				PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
				break;
			case HWSPARKY_ACCELRANGE_8G:
				PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
				break;
			case HWSPARKY_ACCELRANGE_16G:
				PIOS_MPU6050_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
				break;
		}
	}

#endif /* PIOS_INCLUDE_MPU6050 */

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

#if defined(PIOS_INCLUDE_MS5611)
	PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_internal_id);
#endif

#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);
}
Exemplo n.º 2
0
/**
 * 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);
}
Exemplo n.º 3
0
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);
	}

}
Exemplo n.º 4
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_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_spi_flash_accel_id, 1, &flash_w25x_cfg);	
			PIOS_FLASHFS_Init(&flashfs_w25x_cfg);
			break;
		case BOARD_REVISION_CC3D:
			PIOS_Flash_Jedec_Init(pios_spi_flash_accel_id, 0, &flash_m25p_cfg);	
			PIOS_FLASHFS_Init(&flashfs_m25p_cfg);
			break;
		default:
			PIOS_DEBUG_Assert(0);
	}

	/* 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

	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;

#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;
	
	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 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;
	case HWSETTINGS_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 */
	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;
	case HWSETTINGS_CC_RCVRPORT_PPMPWM:
		/* This is a combination of PPM and PWM inputs */
#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 */
#if defined(PIOS_INCLUDE_PWM)
		{
			uint32_t pios_pwm_id;
			PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_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;
	}

#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:
		case HWSETTINGS_CC_RCVRPORT_PPMPWM:
			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 */

	switch(bdinfo->board_rev) {
		case BOARD_REVISION_CC:
			// Revision 1 with invensense gyros, start the ADC
#if defined(PIOS_INCLUDE_ADC)
			PIOS_ADC_Init(&pios_adc_cfg);
#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();
#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);
}
Exemplo n.º 5
0
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
}
Exemplo n.º 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_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 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

	HwCopterControlInitialize();
	ModuleSettingsInitialize();

#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 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 *) 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 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 *) 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 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 *) 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;
	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 *) 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;
	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 */
	uint8_t hw_DSMxBind;
	HwCopterControlDSMxBindGet(&hw_DSMxBind);
	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 *) 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 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 *) 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 HWCOPTERCONTROL_MAINPORT_DSM2:
	case HWCOPTERCONTROL_MAINPORT_DSMX10BIT:
	case HWCOPTERCONTROL_MAINPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hw_mainport) {
			case HWCOPTERCONTROL_MAINPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWCOPTERCONTROL_MAINPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWCOPTERCONTROL_MAINPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}

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

			uintptr_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);
			}

			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_DSMMAINPORT] = pios_dsm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_DSM */
		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 *) pvPortMalloc(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 *) 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;
	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 *) pvPortMalloc(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 *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(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;
}
	/* 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 *) 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 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 *) 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 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 *) 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 HWCOPTERCONTROL_FLEXIPORT_DSM2:
	case HWCOPTERCONTROL_FLEXIPORT_DSMX10BIT:
	case HWCOPTERCONTROL_FLEXIPORT_DSMX11BIT:
#if defined(PIOS_INCLUDE_DSM)
		{
			enum pios_dsm_proto proto;
			switch (hw_flexiport) {
			case HWCOPTERCONTROL_FLEXIPORT_DSM2:
				proto = PIOS_DSM_PROTO_DSM2;
				break;
			case HWCOPTERCONTROL_FLEXIPORT_DSMX10BIT:
				proto = PIOS_DSM_PROTO_DSMX10BIT;
				break;
			case HWCOPTERCONTROL_FLEXIPORT_DSMX11BIT:
				proto = PIOS_DSM_PROTO_DSMX11BIT;
				break;
			default:
				PIOS_Assert(0);
				break;
			}

			uintptr_t pios_usart_dsm_id;
			if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_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,
					  proto, hw_DSMxBind)) {
				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_DSMFLEXIPORT] = pios_dsm_rcvr_id;
		}
#endif	/* PIOS_INCLUDE_DSM */
		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 *) pvPortMalloc(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 *) pvPortMalloc(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;
	}

	/* 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_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 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_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);
}
Exemplo n.º 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)
    /* 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);
    }

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

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

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

    /* 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);
    }


    // 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 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 *)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)
        {
            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 HWSETTINGS_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 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 *)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 hwsettings_DSMxBind;
    HwSettingsDSMxBindGet(&hwsettings_DSMxBind);

    /* 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, -1, &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_DSM2:
    case HWSETTINGS_RM_MAINPORT_DSMX10BIT:
    case HWSETTINGS_RM_MAINPORT_DSMX11BIT:
    {
        enum pios_dsm_proto proto;
        switch (hwsettings_mainport) {
        case HWSETTINGS_RM_MAINPORT_DSM2:
            proto = PIOS_DSM_PROTO_DSM2;
            break;
        case HWSETTINGS_RM_MAINPORT_DSMX10BIT:
            proto = PIOS_DSM_PROTO_DSMX10BIT;
            break;
        case HWSETTINGS_RM_MAINPORT_DSMX11BIT:
            proto = PIOS_DSM_PROTO_DSMX11BIT;
            break;
        default:
            PIOS_Assert(0);
            break;
        }

        // 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, &proto, 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);
    }

    /* 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, -1, &pios_usart_com_driver, &pios_com_gps_id);
        break;
    case HWSETTINGS_RM_FLEXIPORT_DSM2:
    case HWSETTINGS_RM_FLEXIPORT_DSMX10BIT:
    case HWSETTINGS_RM_FLEXIPORT_DSMX11BIT:
    {
        enum pios_dsm_proto proto;
        switch (hwsettings_flexiport) {
        case HWSETTINGS_RM_FLEXIPORT_DSM2:
            proto = PIOS_DSM_PROTO_DSM2;
            break;
        case HWSETTINGS_RM_FLEXIPORT_DSMX10BIT:
            proto = PIOS_DSM_PROTO_DSMX10BIT;
            break;
        case HWSETTINGS_RM_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, &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 */


    /* 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 *)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);
        }
        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_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only);
        PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID);

        /* Set the PPM callback if we should be receiving PPM. */
        if (ppm_mode) {
            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:
#if defined(PIOS_INCLUDE_PPM)
        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;
        }

        PIOS_Board_configure_ppm(&pios_ppm_cfg);

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

        break;
#endif /* PIOS_INCLUDE_PPM */
    case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
        // configure only the servo outputs
        pios_servo_cfg = &pios_servo_cfg_out_in;
        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

    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_HMC5883)
    PIOS_HMC5883_Init(&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);
    PIOS_MPU6000_CONFIG_Configure();
#endif
}
Exemplo n.º 8
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_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);
}
Exemplo n.º 9
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();

	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 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

	HwDiscoveryF4Initialize();
	ModuleSettingsInitialize();

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

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

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

	/* 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 *) 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 HWDISCOVERYF4_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 HWDISCOVERYF4_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;
	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 *) 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 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);
}