/** * Initialise the module * \return -1 if initialisation failed * \return 0 on success */ static int32_t comUsbBridgeInitialize(void) { // TODO: Get from settings object usart_port = PIOS_COM_BRIDGE; vcp_port = PIOS_COM_VCP; #ifdef MODULE_COMUSBBRIDGE_BUILTIN bridge_enabled = true; #else HwSettingsInitialize(); HwSettingsOptionalModulesData optionalModules; HwSettingsOptionalModulesGet(&optionalModules); if (usart_port && vcp_port) { bridge_enabled = true; } else { bridge_enabled = false; } #endif if (bridge_enabled) { com2usb_buf = pios_malloc(BRIDGE_BUF_LEN); PIOS_Assert(com2usb_buf); usb2com_buf = pios_malloc(BRIDGE_BUF_LEN); PIOS_Assert(usb2com_buf); HwSettingsConnectCallback(&updateSettings); updateSettings(0); } return 0; }
/* * Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only */ static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len, const struct pios_com_driver *com_driver, uint32_t *pios_com_id) { uint32_t pios_usart_id; if (PIOS_USART_Init(&pios_usart_id, usart_port_cfg)) { PIOS_Assert(0); } uint8_t *rx_buffer = (uint8_t *)pios_malloc(rx_buf_len); PIOS_Assert(rx_buffer); if (tx_buf_len != (size_t)-1) { // this is the case for rx/tx ports uint8_t *tx_buffer = (uint8_t *)pios_malloc(tx_buf_len); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id, rx_buffer, rx_buf_len, tx_buffer, tx_buf_len)) { PIOS_Assert(0); } } else { // rx only port if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id, rx_buffer, rx_buf_len, NULL, 0)) { PIOS_Assert(0); } } }
/** * Initialize the UAVTalk library * \param[in] connection UAVTalkConnection to be used * \param[in] outputStream Function pointer that is called to send a data buffer * \return 0 Success * \return -1 Failure */ UAVTalkConnection UAVTalkInitialize(UAVTalkOutputStream outputStream) { // allocate object UAVTalkConnectionData *connection = pios_malloc(sizeof(UAVTalkConnectionData)); if (!connection) { return 0; } connection->canari = UAVTALK_CANARI; connection->iproc.rxPacketLength = 0; connection->iproc.state = UAVTALK_STATE_SYNC; connection->outStream = outputStream; connection->lock = xSemaphoreCreateRecursiveMutex(); connection->transLock = xSemaphoreCreateRecursiveMutex(); // allocate buffers connection->rxBuffer = pios_malloc(UAVTALK_MAX_PACKET_LENGTH); if (!connection->rxBuffer) { return 0; } connection->txBuffer = pios_malloc(UAVTALK_MAX_PACKET_LENGTH); if (!connection->txBuffer) { return 0; } vSemaphoreCreateBinary(connection->respSema); xSemaphoreTake(connection->respSema, 0); // reset to zero UAVTalkResetStats((UAVTalkConnection)connection); return (UAVTalkConnection)connection; }
/** * Initialise the telemetry module * \return -1 if initialisation failed * \return 0 on success */ int32_t OveroSyncStart(void) { overosync = (struct overosync *)pios_malloc(sizeof(*overosync)); if (overosync == NULL) { return -1; } overosync->transaction_lock = xSemaphoreCreateMutex(); if (overosync->transaction_lock == NULL) { return -1; } overosync->buffer_lock = xSemaphoreCreateMutex(); if (overosync->buffer_lock == NULL) { return -1; } overosync->active_transaction_id = 0; overosync->loading_transaction_id = 0; overosync->write_pointer = 0; overosync->sent_bytes = 0; overosync->framesync_error = 0; // Process all registered objects and connect queue for updates UAVObjIterate(®isterObject); // Start telemetry tasks xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle); PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle); return 0; }
int32_t filterBaroiInitialize(stateFilter *handle) { handle->init = &initwithoutgps; handle->filter = &filter; handle->localdata = pios_malloc(sizeof(struct data)); return STACK_REQUIRED; }
int32_t filterLLAInitialize(stateFilter *handle) { handle->init = &init; handle->filter = &filter; handle->localdata = pios_malloc(sizeof(struct data)); GPSSettingsInitialize(); GPSPositionSensorInitialize(); HomeLocationInitialize(); return STACK_REQUIRED; }
int32_t filterAltitudeInitialize(stateFilter *handle) { handle->init = &init; handle->filter = &filter; handle->localdata = pios_malloc(sizeof(struct data)); HomeLocationInitialize(); AttitudeStateInitialize(); AltitudeFilterSettingsInitialize(); AltitudeFilterSettingsConnectCallback(&settingsUpdatedCb); reloadSettings = true; return STACK_REQUIRED; }
static struct pios_usb_rctx_dev *PIOS_USB_RCTX_alloc(void) { struct pios_usb_rctx_dev *usb_rctx_dev; usb_rctx_dev = (struct pios_usb_rctx_dev *)pios_malloc(sizeof(*usb_rctx_dev)); if (!usb_rctx_dev) { return NULL; } usb_rctx_dev->magic = PIOS_USB_RCTX_DEV_MAGIC; return usb_rctx_dev; }
static struct pios_pwm_dev *PIOS_PWM_alloc(void) { struct pios_pwm_dev *pwm_dev; pwm_dev = (struct pios_pwm_dev *)pios_malloc(sizeof(*pwm_dev)); if (!pwm_dev) { return NULL; } pwm_dev->magic = PIOS_PWM_DEV_MAGIC; return pwm_dev; }
static struct pios_usb_dev *PIOS_USB_alloc(void) { struct pios_usb_dev *usb_dev; usb_dev = (struct pios_usb_dev *)pios_malloc(sizeof(*usb_dev)); if (!usb_dev) { return NULL; } vSemaphoreCreateBinary(usb_dev->statusCheckSemaphore); xSemaphoreGive(usb_dev->statusCheckSemaphore); usb_dev->magic = PIOS_USB_DEV_MAGIC; return usb_dev; }
int32_t LoggingInitialize(void) { DebugLogSettingsInitialize(); DebugLogControlInitialize(); DebugLogStatusInitialize(); DebugLogEntryInitialize(); FlightStatusInitialize(); PIOS_DEBUGLOG_Initialize(); entry = pios_malloc(sizeof(DebugLogEntryData)); if (!entry) { return -1; } return 0; }
/** * @brief Allocate a new device */ static struct jedec_flash_dev *PIOS_Flash_Jedec_alloc(void) { struct jedec_flash_dev *flash_dev; flash_dev = (struct jedec_flash_dev *)pios_malloc(sizeof(*flash_dev)); if (!flash_dev) { return NULL; } flash_dev->claimed = false; flash_dev->magic = PIOS_JEDEC_DEV_MAGIC; #if defined(FLASH_FREERTOS) flash_dev->transaction_lock = xSemaphoreCreateMutex(); #endif return flash_dev; }
static struct pios_overo_dev *PIOS_OVERO_alloc(void) { struct pios_overo_dev *overo_dev; overo_dev = (struct pios_overo_dev *)pios_malloc(sizeof(*overo_dev)); if (!overo_dev) { return NULL; } overo_dev->rx_in_cb = 0; overo_dev->rx_in_context = 0; overo_dev->tx_out_cb = 0; overo_dev->tx_out_context = 0; overo_dev->packets = 0; overo_dev->magic = PIOS_OVERO_DEV_MAGIC; return overo_dev; }
/** * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ int32_t VtolLandFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings, PathDesiredData *ptr_pathDesired, FlightStatusData *ptr_flightStatus) { PIOS_Assert(ptr_vtolPathFollowerSettings); PIOS_Assert(ptr_pathDesired); PIOS_Assert(ptr_flightStatus); if (mLandData == 0) { mLandData = (VtolLandFSMData_T *)pios_malloc(sizeof(VtolLandFSMData_T)); PIOS_Assert(mLandData); } memset(mLandData, sizeof(VtolLandFSMData_T), 0); vtolPathFollowerSettings = ptr_vtolPathFollowerSettings; pathDesired = ptr_pathDesired; flightStatus = ptr_flightStatus; initFSM(); return 0; }
/** * Initialise the module. Called before the start function * \returns 0 on success or -1 if initialisation failed */ int32_t SensorsInitialize(void) { source_data = (sensor_data *)pios_malloc(MAX_SENSOR_DATA_SIZE); GyroSensorInitialize(); AccelSensorInitialize(); MagSensorInitialize(); BaroSensorInitialize(); RevoCalibrationInitialize(); RevoSettingsInitialize(); AttitudeSettingsInitialize(); AccelGyroSettingsInitialize(); rotate = 0; RevoSettingsConnectCallback(&settingsUpdatedCb); RevoCalibrationConnectCallback(&settingsUpdatedCb); AttitudeSettingsConnectCallback(&settingsUpdatedCb); AccelGyroSettingsConnectCallback(&settingsUpdatedCb); return 0; }
/** * Initialise the module, called on startup * \returns 0 on success or -1 if initialisation failed */ int32_t VtolBrakeFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings, PathDesiredData *ptr_pathDesired, FlightStatusData *ptr_flightStatus, PathStatusData *ptr_pathStatus) { PIOS_Assert(ptr_vtolPathFollowerSettings); PIOS_Assert(ptr_pathDesired); PIOS_Assert(ptr_flightStatus); // allow for Initialize being called more than once. if (!mBrakeData) { mBrakeData = (VtolBrakeFSMData_T *)pios_malloc(sizeof(VtolBrakeFSMData_T)); PIOS_Assert(mBrakeData); } memset(mBrakeData, 0, sizeof(VtolBrakeFSMData_T)); vtolPathFollowerSettings = ptr_vtolPathFollowerSettings; pathDesired = ptr_pathDesired; flightStatus = ptr_flightStatus; pathStatus = ptr_pathStatus; initFSM(); return 0; }
int32_t NotifyInitialize(void) { uint8_t ws281xOutStatus; HwSettingsWS2811LED_OutGet(&ws281xOutStatus); // Todo: Until further applications exists for WS2811 notify enabled status is tied to ws281x output configuration bool enabled = ws281xOutStatus != HWSETTINGS_WS2811LED_OUT_DISABLED; if (enabled) { alarmStatus = (AlarmStatus_t *)pios_malloc(sizeof(AlarmStatus_t) * alarmsMapSize); for (uint8_t i = 0; i < alarmsMapSize; i++) { alarmStatus[i].lastAlarm = SYSTEMALARMS_ALARM_OK; alarmStatus[i].lastAlarmTime = 0; } FlightStatusConnectCallback(&updatedCb); static UAVObjEvent ev; memset(&ev, 0, sizeof(UAVObjEvent)); EventPeriodicCallbackCreate(&ev, onTimerCb, SAMPLE_PERIOD_MS / portTICK_RATE_MS); updatedCb(0); } return 0; }
/** * Initialise the overosync module * \return -1 if initialisation failed * \return 0 on success */ int32_t OveroSyncStart(void) { // Check if module is enabled or not if (overoEnabled == false) { return -1; } overosync = (struct overosync *)pios_malloc(sizeof(*overosync)); if (overosync == NULL) { return -1; } overosync->sent_bytes = 0; // Process all registered objects and connect queue for updates UAVObjIterate(®isterObject); // Start overosync tasks xTaskCreate(overoSyncTask, (signed char *)"OveroSync", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &overoSyncTaskHandle); PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_OVEROSYNC, overoSyncTaskHandle); return 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 }
void PIOS_Board_Init(void) { const struct pios_board_info *bdinfo = &pios_board_info_blob; #if defined(PIOS_INCLUDE_LED) const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev); PIOS_Assert(led_cfg); PIOS_LED_Init(led_cfg); #endif /* PIOS_INCLUDE_LED */ #ifdef PIOS_INCLUDE_INSTRUMENTATION PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS); #endif /* Set up the SPI interface to the gyro/acelerometer */ if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) { PIOS_DEBUG_Assert(0); } /* Set up the SPI interface to the flash and rfm22b */ if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) { PIOS_DEBUG_Assert(0); } #if defined(PIOS_INCLUDE_FLASH) /* Connect flash to the appropriate interface and configure it */ uintptr_t flash_id; // Initialize the external USER flash if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1)) { PIOS_DEBUG_Assert(0); } if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_external_system_cfg, &pios_jedec_flash_driver, flash_id)) { PIOS_DEBUG_Assert(0); } #endif /* if defined(PIOS_INCLUDE_FLASH) */ #if defined(PIOS_INCLUDE_RTC) PIOS_RTC_Init(&pios_rtc_main_cfg); #endif /* IAP System Setup */ PIOS_IAP_Init(); // check for safe mode commands from gcs if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 && PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 && PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) { PIOS_FLASHFS_Format(pios_uavo_settings_fs_id); PIOS_IAP_WriteBootCmd(0, 0); PIOS_IAP_WriteBootCmd(1, 0); PIOS_IAP_WriteBootCmd(2, 0); } #ifdef PIOS_INCLUDE_WDG PIOS_WDG_Init(); #endif /* Initialize the task monitor */ if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) { PIOS_Assert(0); } /* Initialize the delayed callback library */ PIOS_CALLBACKSCHEDULER_Initialize(); /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); HwSettingsInitialize(); #if defined(PIOS_INCLUDE_RFM22B) OPLinkSettingsInitialize(); OPLinkStatusInitialize(); #endif /* PIOS_INCLUDE_RFM22B */ /* Initialize the alarms library */ AlarmsInitialize(); /* Set up pulse timers */ PIOS_TIM_InitClock(&tim_1_cfg); PIOS_TIM_InitClock(&tim_3_cfg); PIOS_TIM_InitClock(&tim_4_cfg); PIOS_TIM_InitClock(&tim_5_cfg); PIOS_TIM_InitClock(&tim_8_cfg); PIOS_TIM_InitClock(&tim_9_cfg); PIOS_TIM_InitClock(&tim_10_cfg); PIOS_TIM_InitClock(&tim_11_cfg); PIOS_TIM_InitClock(&tim_12_cfg); uint16_t boot_count = PIOS_IAP_ReadBootCount(); if (boot_count < 3) { PIOS_IAP_WriteBootCount(++boot_count); AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); } else { /* Too many failed boot attempts, force hwsettings to defaults */ HwSettingsSetDefaults(HwSettingsHandle(), 0); AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); } /* Configure IO ports */ uint8_t hwsettings_DSMxBind; HwSettingsDSMxBindGet(&hwsettings_DSMxBind); /* Configure FlexiPort */ uint8_t hwsettings_flexiport; HwSettingsRM_FlexiPortGet(&hwsettings_flexiport); switch (hwsettings_flexiport) { case HWSETTINGS_RM_FLEXIPORT_DISABLED: break; case HWSETTINGS_RM_FLEXIPORT_TELEMETRY: PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); break; case HWSETTINGS_RM_FLEXIPORT_I2C: #if defined(PIOS_INCLUDE_I2C) { if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_I2C */ break; case HWSETTINGS_RM_FLEXIPORT_GPS: PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id); break; case HWSETTINGS_RM_FLEXIPORT_DSM: // TODO: Define the various Channelgroup for Revo dsm inputs and handle here PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg, &pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind); break; case HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE: #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) { PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id); } #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ break; case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE: PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id); break; case HWSETTINGS_RM_FLEXIPORT_OSDHK: PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id); break; } /* hwsettings_rm_flexiport */ /* Moved this here to allow binding on flexiport */ #if defined(PIOS_INCLUDE_FLASH) if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_external_user_cfg, &pios_jedec_flash_driver, flash_id)) { PIOS_DEBUG_Assert(0); } #endif /* if defined(PIOS_INCLUDE_FLASH) */ #if defined(PIOS_INCLUDE_USB) /* Initialize board specific USB data */ PIOS_USB_BOARD_DATA_Init(); /* Flags to determine if various USB interfaces are advertised */ bool usb_hid_present = false; bool usb_cdc_present = false; #if defined(PIOS_INCLUDE_USB_CDC) if (PIOS_USB_DESC_HID_CDC_Init()) { PIOS_Assert(0); } usb_hid_present = true; usb_cdc_present = true; #else if (PIOS_USB_DESC_HID_ONLY_Init()) { PIOS_Assert(0); } usb_hid_present = true; #endif uint32_t pios_usb_id; PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); #if defined(PIOS_INCLUDE_USB_CDC) uint8_t hwsettings_usb_vcpport; /* Configure the USB VCP port */ HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport); if (!usb_cdc_present) { /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED; } uint32_t pios_usb_cdc_id; if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { PIOS_Assert(0); } uint32_t pios_usb_hid_id; if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { PIOS_Assert(0); } switch (hwsettings_usb_vcpport) { case HWSETTINGS_USB_VCPPORT_DISABLED: break; case HWSETTINGS_USB_VCPPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ break; case HWSETTINGS_USB_VCPPORT_COMBRIDGE: #if defined(PIOS_INCLUDE_COM) { uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ break; case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE: #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) { uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, NULL, 0, tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ #endif /* PIOS_INCLUDE_COM */ break; } #endif /* PIOS_INCLUDE_USB_CDC */ #if defined(PIOS_INCLUDE_USB_HID) /* Configure the usb HID port */ uint8_t hwsettings_usb_hidport; HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); if (!usb_hid_present) { /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED; } switch (hwsettings_usb_hidport) { case HWSETTINGS_USB_HIDPORT_DISABLED: break; case HWSETTINGS_USB_HIDPORT_USBTELEMETRY: #if defined(PIOS_INCLUDE_COM) { uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_COM */ break; } #endif /* PIOS_INCLUDE_USB_HID */ if (usb_hid_present || usb_cdc_present) { PIOS_USBHOOK_Activate(); } #endif /* PIOS_INCLUDE_USB */ /* Configure main USART port */ uint8_t hwsettings_mainport; HwSettingsRM_MainPortGet(&hwsettings_mainport); switch (hwsettings_mainport) { case HWSETTINGS_RM_MAINPORT_DISABLED: break; case HWSETTINGS_RM_MAINPORT_TELEMETRY: PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); break; case HWSETTINGS_RM_MAINPORT_GPS: PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id); break; case HWSETTINGS_RM_MAINPORT_SBUS: #if defined(PIOS_INCLUDE_SBUS) { uint32_t pios_usart_sbus_id; if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) { PIOS_Assert(0); } uint32_t pios_sbus_id; if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) { PIOS_Assert(0); } uint32_t pios_sbus_rcvr_id; if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id; } #endif break; case HWSETTINGS_RM_MAINPORT_DSM: // Force binding to zero on the main port hwsettings_DSMxBind = 0; // TODO: Define the various Channelgroup for Revo dsm inputs and handle here PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg, &pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind); break; case HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE: #if defined(PIOS_INCLUDE_DEBUG_CONSOLE) { PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id); } #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ break; case HWSETTINGS_RM_MAINPORT_COMBRIDGE: PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id); break; case HWSETTINGS_RM_MAINPORT_OSDHK: PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id); break; } /* hwsettings_rm_mainport */ if (hwsettings_mainport != HWSETTINGS_RM_MAINPORT_SBUS) { GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init); GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable); } /* Initalize the RFM22B radio COM device. */ #if defined(PIOS_INCLUDE_RFM22B) /* Fetch the OPinkSettings object. */ OPLinkSettingsData oplinkSettings; OPLinkSettingsGet(&oplinkSettings); // Initialize out status object. OPLinkStatusData oplinkStatus; OPLinkStatusGet(&oplinkStatus); oplinkStatus.BoardType = bdinfo->board_type; PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM); PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial); oplinkStatus.BoardRevision = bdinfo->board_rev; /* Is the radio turned on? */ bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE); bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE); bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE); bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE); if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) { /* Configure the RFM22B device. */ const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev); if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) { PIOS_Assert(0); } /* Configure the radio com interface */ uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN); uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id, rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN, tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) { PIOS_Assert(0); } /* Set Telemetry to use OPLinkMini if no other telemetry is configured (USB always overrides anyway) */ if (!pios_com_telem_rf_id) { pios_com_telem_rf_id = pios_com_rf_id; } oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED; // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex. enum rfm22b_datarate datarate = RFM22_datarate_64000; switch (oplinkSettings.ComSpeed) { case OPLINKSETTINGS_COMSPEED_4800: datarate = RFM22_datarate_9600; break; case OPLINKSETTINGS_COMSPEED_9600: datarate = RFM22_datarate_19200; break; case OPLINKSETTINGS_COMSPEED_19200: datarate = RFM22_datarate_32000; break; case OPLINKSETTINGS_COMSPEED_38400: datarate = RFM22_datarate_64000; break; case OPLINKSETTINGS_COMSPEED_57600: datarate = RFM22_datarate_100000; break; case OPLINKSETTINGS_COMSPEED_115200: datarate = RFM22_datarate_192000; break; } /* Set the radio configuration parameters. */ PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID); PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, is_coordinator, is_oneway, ppm_mode, ppm_only); /* Set the PPM callback if we should be receiving PPM. */ if (ppm_mode || (ppm_only && !is_coordinator)) { PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback); } /* Set the modem Tx poer level */ switch (oplinkSettings.MaxRFPower) { case OPLINKSETTINGS_MAXRFPOWER_125: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0); break; case OPLINKSETTINGS_MAXRFPOWER_16: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1); break; case OPLINKSETTINGS_MAXRFPOWER_316: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2); break; case OPLINKSETTINGS_MAXRFPOWER_63: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3); break; case OPLINKSETTINGS_MAXRFPOWER_126: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4); break; case OPLINKSETTINGS_MAXRFPOWER_25: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5); break; case OPLINKSETTINGS_MAXRFPOWER_50: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6); break; case OPLINKSETTINGS_MAXRFPOWER_100: PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7); break; default: // do nothing break; } /* Reinitialize the modem. */ PIOS_RFM22B_Reinit(pios_rfm22b_id); } else { oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED; } OPLinkStatusSet(&oplinkStatus); #endif /* PIOS_INCLUDE_RFM22B */ #if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM) const struct pios_servo_cfg *pios_servo_cfg; // default to servo outputs only pios_servo_cfg = &pios_servo_cfg_out; #endif /* Configure the receiver port*/ uint8_t hwsettings_rcvrport; HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport); // switch (hwsettings_rcvrport) { case HWSETTINGS_RM_RCVRPORT_DISABLED: break; case HWSETTINGS_RM_RCVRPORT_PWM: #if defined(PIOS_INCLUDE_PWM) /* Set up the receiver port. Later this should be optional */ PIOS_Board_configure_pwm(&pios_pwm_cfg); #endif /* PIOS_INCLUDE_PWM */ break; case HWSETTINGS_RM_RCVRPORT_PPM: case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS: case HWSETTINGS_RM_RCVRPORT_PPMPWM: case HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY: #if defined(PIOS_INCLUDE_PPM) PIOS_Board_configure_ppm(&pios_ppm_cfg); if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) { // configure servo outputs and the remaining 5 inputs as outputs pios_servo_cfg = &pios_servo_cfg_out_in_ppm; } // enable pwm on the remaining channels if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) { PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg); } if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMTELEMETRY) { PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); } break; #endif /* PIOS_INCLUDE_PPM */ case HWSETTINGS_RM_RCVRPORT_OUTPUTS: // configure only the servo outputs pios_servo_cfg = &pios_servo_cfg_out_in; break; case HWSETTINGS_RM_RCVRPORT_TELEMETRY: PIOS_Board_configure_com(&pios_usart_rcvrport_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); break; } #if defined(PIOS_INCLUDE_GCSRCVR) GCSReceiverInitialize(); uint32_t pios_gcsrcvr_id; PIOS_GCSRCVR_Init(&pios_gcsrcvr_id); uint32_t pios_gcsrcvr_rcvr_id; if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; #endif /* PIOS_INCLUDE_GCSRCVR */ #if defined(PIOS_INCLUDE_OPLINKRCVR) { OPLinkReceiverInitialize(); uint32_t pios_oplinkrcvr_id; PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id); uint32_t pios_oplinkrcvr_rcvr_id; if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) { PIOS_Assert(0); } pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id; } #endif /* PIOS_INCLUDE_OPLINKRCVR */ #ifndef PIOS_ENABLE_DEBUG_PINS // pios_servo_cfg points to the correct configuration based on input port settings PIOS_Servo_Init(pios_servo_cfg); #else PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins)); #endif // Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout GPIO_InitTypeDef gpioA8 = { .GPIO_Speed = GPIO_Speed_2MHz, .GPIO_Mode = GPIO_Mode_IN, .GPIO_PuPd = GPIO_PuPd_NOPULL, .GPIO_Pin = GPIO_Pin_8, .GPIO_OType = GPIO_OType_OD, }; GPIO_Init(GPIOA, &gpioA8); if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) { PIOS_DEBUG_Assert(0); } PIOS_DELAY_WaitmS(50); #if defined(PIOS_INCLUDE_ADC) PIOS_ADC_Init(&pios_adc_cfg); #endif #if defined(PIOS_INCLUDE_MPU6000) PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg); PIOS_MPU6000_CONFIG_Configure(); PIOS_MPU6000_Register(); #endif #if defined(PIOS_INCLUDE_HMC5X83) onboard_mag = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, pios_i2c_mag_pressure_adapter_id, 0); PIOS_HMC5x83_Register(onboard_mag); #endif #if defined(PIOS_INCLUDE_MS5611) PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id); PIOS_MS5611_Register(); #endif #ifdef PIOS_INCLUDE_WS2811 #include <pios_ws2811.h> HwSettingsWS2811LED_OutOptions ws2811_pin_settings; HwSettingsWS2811LED_OutGet(&ws2811_pin_settings); if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) { PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]); } #endif // PIOS_INCLUDE_WS2811 }