示例#1
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void PIOS_Board_Init(void) {

	/* Delay system */
	PIOS_DELAY_Init();

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

	/* Set up the SPI interface to the gyro/acelerometer */
	if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	
	/* Set up the SPI interface to the flash and rfm22b */
	if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

#if defined(PIOS_INCLUDE_FLASH)
	/* Connect flash to the approrpiate interface and configure it */
	uintptr_t flash_id;
	if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
		panic(1);
	uintptr_t fs_id;
	if (PIOS_FLASHFS_Logfs_Init(&fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id) != 0)
		panic(1);
#endif

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

#if defined(PIOS_INCLUDE_RTC)
	PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

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

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

	// /* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_2_cfg);
	PIOS_TIM_InitClock(&tim_3_cfg);

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


	PIOS_IAP_Init();

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

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

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

	uint32_t pios_usb_id;
	PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev));

#if defined(PIOS_INCLUDE_USB_CDC)

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

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

	switch (hw_usb_vcpport) {
	case HWFREEDOM_USB_VCPPORT_DISABLED:
		break;
	case HWFREEDOM_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_TELEM_USB_RX_BUF_LEN, PIOS_COM_TELEM_USB_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_telem_usb_id);
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWFREEDOM_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usb_cdc_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usb_cdc_com_driver, &pios_com_vcp_id);
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWFREEDOM_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			uint32_t pios_usb_cdc_id;
			if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						NULL, 0,
						tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif	/* PIOS_INCLUDE_COM */

		break;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

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

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

	switch (hw_usb_hidport) {
	case HWFREEDOM_USB_HIDPORT_DISABLED:
		break;
	case HWFREEDOM_USB_HIDPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uint32_t pios_usb_hid_id;
			if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
				PIOS_Assert(0);
			}
			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	}

#endif	/* PIOS_INCLUDE_USB_HID */

	if (usb_hid_present || usb_cdc_present) {
		PIOS_USBHOOK_Activate();
	}
#endif	/* PIOS_INCLUDE_USB */

	/* Configure IO ports */
	uint8_t hw_DSMxBind;
	HwFreedomDSMxBindGet(&hw_DSMxBind);

	/* Configure FlexiPort */
	uint8_t hw_mainport;
	HwFreedomMainPortGet(&hw_mainport);
	switch (hw_mainport) {
		case HWFREEDOM_MAINPORT_DISABLED:
			break;
		case HWFREEDOM_MAINPORT_TELEMETRY:
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
			break;
			break;
		case HWFREEDOM_MAINPORT_GPS:
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
			break;
		case HWFREEDOM_MAINPORT_DSM2:
		case HWFREEDOM_MAINPORT_DSMX10BIT:
		case HWFREEDOM_MAINPORT_DSMX11BIT:
			{
				enum pios_dsm_proto proto;
				switch (hw_mainport) {
				case HWFREEDOM_MAINPORT_DSM2:
					proto = PIOS_DSM_PROTO_DSM2;
					break;
				case HWFREEDOM_MAINPORT_DSMX10BIT:
					proto = PIOS_DSM_PROTO_DSMX10BIT;
					break;
				case HWFREEDOM_MAINPORT_DSMX11BIT:
					proto = PIOS_DSM_PROTO_DSMX11BIT;
					break;
				default:
					PIOS_Assert(0);
					break;
				}
				PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg, 
							&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
			}
			break;
		case HWFREEDOM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			{
				PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
			}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWFREEDOM_MAINPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;
	} /* hw_freedom_mainport */

	/* Configure flexi USART port */
	uint8_t hw_flexiport;
	HwFreedomFlexiPortGet(&hw_flexiport);
	switch (hw_flexiport) {
		case HWFREEDOM_FLEXIPORT_DISABLED:
			break;
		case HWFREEDOM_FLEXIPORT_TELEMETRY:
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
			break;
		case HWFREEDOM_FLEXIPORT_GPS:
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id);
			break;
		case HWFREEDOM_FLEXIPORT_DSM2:
		case HWFREEDOM_FLEXIPORT_DSMX10BIT:
		case HWFREEDOM_FLEXIPORT_DSMX11BIT:
			{
				enum pios_dsm_proto proto;
				switch (hw_flexiport) {
				case HWFREEDOM_FLEXIPORT_DSM2:
					proto = PIOS_DSM_PROTO_DSM2;
					break;
				case HWFREEDOM_FLEXIPORT_DSMX10BIT:
					proto = PIOS_DSM_PROTO_DSMX10BIT;
					break;
				case HWFREEDOM_FLEXIPORT_DSMX11BIT:
					proto = PIOS_DSM_PROTO_DSMX11BIT;
					break;
				default:
					PIOS_Assert(0);
					break;
				}

				//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
				PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg, 
							&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
			}
			break;
		case HWFREEDOM_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
			{
				if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
					PIOS_Assert(0);
				}
			}
#endif	/* PIOS_INCLUDE_I2C */

		case HWFREEDOM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			{
				PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_aux_id);
			}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWFREEDOM_FLEXIPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;
			
	} /* 	hw_freedom_flexiport */

	/* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
	uint8_t hwsettings_radioport;
	HwFreedomRadioPortGet(&hwsettings_radioport);
	switch (hwsettings_radioport) {
		case HWFREEDOM_RADIOPORT_DISABLED:
			break;
		case HWFREEDOM_RADIOPORT_TELEMETRY:
		{
			const struct pios_board_info * bdinfo = &pios_board_info_blob;
			const struct pios_rfm22b_cfg *pios_rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
			if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
				PIOS_Assert(0);
			}
			uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
			uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
					  rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
					  tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
			break;
		}
	}

#endif /* PIOS_INCLUDE_RFM22B */

	/* Configure input receiver USART port */
	uint8_t hw_rcvrport;
	HwFreedomRcvrPortGet(&hw_rcvrport);
	switch (hw_rcvrport) {
		case HWFREEDOM_RCVRPORT_DISABLED:
			break;
		case HWFREEDOM_RCVRPORT_PPM:
		{
			uint32_t pios_ppm_id;
			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
			
			uint32_t pios_ppm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
		}
			break;
		case HWFREEDOM_RCVRPORT_DSM2:
		case HWFREEDOM_RCVRPORT_DSMX10BIT:
		case HWFREEDOM_RCVRPORT_DSMX11BIT:
			{
				enum pios_dsm_proto proto;
				switch (hw_rcvrport) {
				case HWFREEDOM_RCVRPORT_DSM2:
					proto = PIOS_DSM_PROTO_DSM2;
					break;
				case HWFREEDOM_RCVRPORT_DSMX10BIT:
					proto = PIOS_DSM_PROTO_DSMX10BIT;
					break;
				case HWFREEDOM_RCVRPORT_DSMX11BIT:
					proto = PIOS_DSM_PROTO_DSMX11BIT;
					break;
				default:
					PIOS_Assert(0);
					break;
				}

				//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
				PIOS_Board_configure_dsm(&pios_usart_dsm_rcvr_cfg, &pios_dsm_rcvr_cfg, 
					&pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
			}
			break;
		case HWFREEDOM_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
            {
                    uint32_t pios_usart_sbus_id;
                    if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
                            PIOS_Assert(0);
                    }

                    uint32_t pios_sbus_id;
                    if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
                            PIOS_Assert(0);
                    }

                    uint32_t pios_sbus_rcvr_id;
                    if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
                            PIOS_Assert(0);
                    }
                    pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
            }
#endif

			break;
	}

	if (hw_rcvrport != HWFREEDOM_RCVRPORT_SBUS) {
		GPIO_Init(pios_sbus_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_sbus_cfg.inv.init);
		GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
	}


#if defined(PIOS_OVERO_SPI)
	/* Set up the SPI based PIOS_COM interface to the overo */
	{
		bool overo_enabled = false;
#ifdef MODULE_OveroSync_BUILTIN
		overo_enabled = true;
#else
		uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
		ModuleSettingsAdminStateGet(module_state);
		if (module_state[MODULESETTINGS_ADMINSTATE_OVEROSYNC] == MODULESETTINGS_ADMINSTATE_ENABLED) {
			overo_enabled = true;
		} else {
			overo_enabled = false;
		}
#endif
		if (overo_enabled) {
			if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
				PIOS_DEBUG_Assert(0);
			}
			const uint32_t PACKET_SIZE = 1024;
			uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
			uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PACKET_SIZE);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
							  rx_buffer, PACKET_SIZE,
							  tx_buffer, PACKET_SIZE)) {
				PIOS_Assert(0);
			}
		}
	}
#endif

#if defined(PIOS_INCLUDE_GCSRCVR)
	GCSReceiverInitialize();
	uint32_t pios_gcsrcvr_id;
	PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
	uint32_t pios_gcsrcvr_rcvr_id;
	if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
		PIOS_Assert(0);
	}
	pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
#endif	/* PIOS_INCLUDE_GCSRCVR */

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
	uint8_t hw_output_port;
	HwFreedomOutputGet(&hw_output_port);
	switch (hw_output_port) {
		case HWFREEDOM_OUTPUT_DISABLED:
			break;
		case HWFREEDOM_OUTPUT_PWM:
			/* Set up the servo outputs */
			PIOS_Servo_Init(&pios_servo_cfg);
			break;
		default:
			break;
	}
#else
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

	PIOS_DELAY_WaitmS(200);

	PIOS_SENSORS_Init();

#if defined(PIOS_INCLUDE_MPU6000)
	if (PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg) != 0)
		panic(2);
	if (PIOS_MPU6000_Test() != 0)
		panic(2);
	
	// To be safe map from UAVO enum to driver enum
	uint8_t hw_gyro_range;
	HwFreedomGyroRangeGet(&hw_gyro_range);
	switch(hw_gyro_range) {
		case HWFREEDOM_GYRORANGE_250:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
			break;
		case HWFREEDOM_GYRORANGE_500:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
			break;
		case HWFREEDOM_GYRORANGE_1000:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
			break;
		case HWFREEDOM_GYRORANGE_2000:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
			break;
	}

	uint8_t hw_accel_range;
	HwFreedomAccelRangeGet(&hw_accel_range);
	switch(hw_accel_range) {
		case HWFREEDOM_ACCELRANGE_2G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
			break;
		case HWFREEDOM_ACCELRANGE_4G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
			break;
		case HWFREEDOM_ACCELRANGE_8G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
			break;
		case HWFREEDOM_ACCELRANGE_16G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
			break;
	}

	uint8_t hw_mpu6000_rate;
	HwFreedomMPU6000RateGet(&hw_mpu6000_rate);
	uint16_t hw_mpu6000_divisor = \
	    (hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_500) ? 15 : \
	    (hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_666) ? 11 : \
	    (hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_1000) ? 7 : \
	    (hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_2000) ? 3 : \
	    (hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_4000) ? 1 : \
	    (hw_mpu6000_rate == HWFREEDOM_MPU6000RATE_8000) ? 0 : \
	    15;
	PIOS_MPU6000_SetDivisor(hw_mpu6000_divisor);

	uint8_t hw_dlpf;
	HwFreedomMPU6000DLPFGet(&hw_dlpf);
	uint16_t hw_mpu6000_dlpf = \
	    (hw_dlpf == HWFREEDOM_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
	    (hw_dlpf == HWFREEDOM_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
	    (hw_dlpf == HWFREEDOM_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
	    (hw_dlpf == HWFREEDOM_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
	    (hw_dlpf == HWFREEDOM_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
	    (hw_dlpf == HWFREEDOM_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
	    (hw_dlpf == HWFREEDOM_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
	    PIOS_MPU60X0_LOWPASS_256_HZ;
	PIOS_MPU6000_SetLPF(hw_mpu6000_dlpf);
#endif
	
	if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_I2C_CheckClear(pios_i2c_mag_pressure_adapter_id) != 0)
		panic(5);
	
	PIOS_DELAY_WaitmS(50);

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

	PIOS_LED_On(0);
#if defined(PIOS_INCLUDE_HMC5883)
	if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_cfg) != 0)
		panic(3);
#endif
	PIOS_LED_On(1);

	
#if defined(PIOS_INCLUDE_MS5611)
	if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
		panic(4);
#endif
	PIOS_LED_On(2);
}
示例#2
0
void PIOS_Board_Init(void) {

	/* Delay system */
	PIOS_DELAY_Init();

	const struct pios_board_info * bdinfo = &pios_board_info_blob;

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

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

	/* Set up the SPI interface to the flash and rfm22b */
	if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) {
		PIOS_DEBUG_Assert(0);
	}

#if defined(PIOS_INCLUDE_FLASH)
	/* Inititialize all flash drivers */
	if (PIOS_Flash_Jedec_Init(&pios_external_flash_id, pios_spi_telem_flash_id, 1, &flash_m25p_cfg) != 0)
		panic(1);
	if (PIOS_Flash_Internal_Init(&pios_internal_flash_id, &flash_internal_cfg) != 0)
		panic(1);

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

	/* Mount all filesystems */
	if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_settings_cfg, FLASH_PARTITION_LABEL_SETTINGS) != 0)
		panic(1);
	if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_waypoints_cfg, FLASH_PARTITION_LABEL_WAYPOINTS) != 0)
		panic(1);

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

#endif	/* PIOS_INCLUDE_FLASH */

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

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

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

	HwFreedomInitialize();
	ModuleSettingsInitialize();

#if defined(PIOS_INCLUDE_RTC)
	PIOS_RTC_Init(&pios_rtc_main_cfg);
#endif

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

	// /* Set up pulse timers */
	PIOS_TIM_InitClock(&tim_1_cfg);
	PIOS_TIM_InitClock(&tim_2_cfg);
	PIOS_TIM_InitClock(&tim_3_cfg);

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


	PIOS_IAP_Init();

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

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

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

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

#if defined(PIOS_INCLUDE_USB_CDC)

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

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

	uintptr_t pios_usb_cdc_id;
	if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
		PIOS_Assert(0);
	}

	switch (hw_usb_vcpport) {
	case HWFREEDOM_USB_VCPPORT_DISABLED:
		break;
	case HWFREEDOM_USB_VCPPORT_USBTELEMETRY:
#if defined(PIOS_INCLUDE_COM)
		{
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
						tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWFREEDOM_USB_VCPPORT_COMBRIDGE:
#if defined(PIOS_INCLUDE_COM)
		{
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
						tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWFREEDOM_USB_VCPPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
		{
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						NULL, 0,
						tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif	/* PIOS_INCLUDE_COM */
		break;
	case HWFREEDOM_USB_VCPPORT_PICOC:
#if defined(PIOS_INCLUDE_COM)
		{
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_RX_BUF_LEN);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_PICOC_TX_BUF_LEN);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_picoc_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
						rx_buffer, PIOS_COM_PICOC_RX_BUF_LEN,
						tx_buffer, PIOS_COM_PICOC_TX_BUF_LEN)) {
				PIOS_Assert(0);
			}
		}
#endif	/* PIOS_INCLUDE_COM */
		break;
	}
#endif	/* PIOS_INCLUDE_USB_CDC */

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

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

	uintptr_t pios_usb_hid_id;
	if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
		PIOS_Assert(0);
	}

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

#endif	/* PIOS_INCLUDE_USB_HID */

	if (usb_hid_present || usb_cdc_present) {
		PIOS_USBHOOK_Activate();
	}
#endif	/* PIOS_INCLUDE_USB */

	/* Configure IO ports */
	uint8_t hw_DSMxBind;
	HwFreedomDSMxBindGet(&hw_DSMxBind);

	/* Configure FlexiPort */
	uint8_t hw_mainport;
	HwFreedomMainPortGet(&hw_mainport);
	switch (hw_mainport) {
		case HWFREEDOM_MAINPORT_DISABLED:
			break;
		case HWFREEDOM_MAINPORT_TELEMETRY:
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
			break;
		case HWFREEDOM_MAINPORT_GPS:
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_RX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
			break;
		case HWFREEDOM_MAINPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
			{
				PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_main_cfg, &pios_dsm_main_cfg,
					&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT,&hw_DSMxBind);
			}
#endif	/* PIOS_INCLUDE_DSM */
			break;
		case HWFREEDOM_MAINPORT_HOTTSUMD:
		case HWFREEDOM_MAINPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
			{
				enum pios_hsum_proto proto;
				switch (hw_mainport) {
				case HWFREEDOM_MAINPORT_HOTTSUMD:
					proto = PIOS_HSUM_PROTO_SUMD;
					break;
				case HWFREEDOM_MAINPORT_HOTTSUMH:
					proto = PIOS_HSUM_PROTO_SUMH;
					break;
				default:
					PIOS_Assert(0);
					break;
				}
				PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_main_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
			}
#endif	/* PIOS_INCLUDE_HSUM */
			break;
		case HWFREEDOM_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			{
				PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
			}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWFREEDOM_MAINPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;
		case HWFREEDOM_MAINPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
			PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
			break;
		case HWFREEDOM_MAINPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
			pios_com_mavlink_id = pios_com_gps_id;
#endif	/* PIOS_INCLUDE_MAVLINK */
#endif	/* PIOS_INCLUDE_GPS */
			break;
		case HWFREEDOM_MAINPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
			break;
    	case HWFREEDOM_MAINPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
		case HWFREEDOM_MAINPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
		case HWFREEDOM_MAINPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
			break;
		case HWFREEDOM_MAINPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
			break;
	} /* hw_freedom_mainport */

	/* Configure flexi USART port */
	uint8_t hw_flexiport;
	HwFreedomFlexiPortGet(&hw_flexiport);
	switch (hw_flexiport) {
		case HWFREEDOM_FLEXIPORT_DISABLED:
			break;
		case HWFREEDOM_FLEXIPORT_TELEMETRY:
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id);
			break;
		case HWFREEDOM_FLEXIPORT_GPS:
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_GPS_RX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
			break;
		case HWFREEDOM_FLEXIPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
			{
			//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
			PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_flexi_cfg, &pios_dsm_flexi_cfg,
				&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT,&hw_DSMxBind);
			}
#endif	/* PIOS_INCLUDE_DSM */
			break;
		case HWFREEDOM_FLEXIPORT_HOTTSUMD:
		case HWFREEDOM_FLEXIPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
			{
				enum pios_hsum_proto proto;
				switch (hw_flexiport) {
				case HWFREEDOM_FLEXIPORT_HOTTSUMD:
					proto = PIOS_HSUM_PROTO_SUMD;
					break;
				case HWFREEDOM_FLEXIPORT_HOTTSUMH:
					proto = PIOS_HSUM_PROTO_SUMH;
					break;
				default:
					PIOS_Assert(0);
					break;
				}
			PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_flexi_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
			}
#endif	/* PIOS_INCLUDE_HSUM */
			break;
		case HWFREEDOM_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)
			{
				if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
					PIOS_Assert(0);
				}
			}
#endif	/* PIOS_INCLUDE_I2C */
			break;
		case HWFREEDOM_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
			{
				PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id);
			}
#endif	/* PIOS_INCLUDE_DEBUG_CONSOLE */
			break;
		case HWFREEDOM_FLEXIPORT_COMBRIDGE:
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id);
			break;
		case HWFREEDOM_FLEXIPORT_MAVLINKTX:
#if defined(PIOS_INCLUDE_MAVLINK)
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_mavlink_id);
#endif	/* PIOS_INCLUDE_MAVLINK */
			break;
		case HWFREEDOM_FLEXIPORT_MAVLINKTX_GPS_RX:
#if defined(PIOS_INCLUDE_GPS)
#if defined(PIOS_INCLUDE_MAVLINK)
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, PIOS_COM_MAVLINK_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_gps_id);
			pios_com_mavlink_id = pios_com_gps_id;
#endif	/* PIOS_INCLUDE_MAVLINK */
#endif	/* PIOS_INCLUDE_GPS */
			break;
		case HWFREEDOM_FLEXIPORT_HOTTTELEMETRY:
#if defined(PIOS_INCLUDE_HOTT) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_HOTT_RX_BUF_LEN, PIOS_COM_HOTT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hott_id);
#endif /* PIOS_INCLUDE_HOTT */
			break;
    	case HWFREEDOM_FLEXIPORT_FRSKYSENSORHUB:
#if defined(PIOS_INCLUDE_FRSKY_SENSOR_HUB) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
		PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_FRSKYSENSORHUB_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sensor_hub_id);
#endif /* PIOS_INCLUDE_FRSKY_SENSOR_HUB */
		break;
		case HWFREEDOM_FLEXIPORT_LIGHTTELEMETRYTX:
#if defined(PIOS_INCLUDE_LIGHTTELEMETRY)
		PIOS_Board_configure_com(&pios_usart_flexi_cfg, 0, PIOS_COM_LIGHTTELEMETRY_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_lighttelemetry_id);
#endif  
		break;
		case HWFREEDOM_FLEXIPORT_PICOC:
#if defined(PIOS_INCLUDE_PICOC) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_PICOC_RX_BUF_LEN, PIOS_COM_PICOC_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_picoc_id);
#endif /* PIOS_INCLUDE_PICOC */
			break;
		case HWFREEDOM_FLEXIPORT_FRSKYSPORTTELEMETRY:
#if defined(PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY) && defined(PIOS_INCLUDE_USART) && defined(PIOS_INCLUDE_COM)
			PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_FRSKYSPORT_RX_BUF_LEN, PIOS_COM_FRSKYSPORT_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_frsky_sport_id);
#endif /* PIOS_INCLUDE_FRSKY_SPORT_TELEMETRY */
			break;
	} /* 	hw_freedom_flexiport */


    /* Initalize the RFM22B radio COM device. */
#if defined(PIOS_INCLUDE_RFM22B)
	RFM22BStatusInitialize();
	RFM22BStatusCreateInstance();

	// Initialize out status object.
	RFM22BStatusData rfm22bstatus;
	RFM22BStatusGet(&rfm22bstatus);
	RFM22BStatusInstSet(1,&rfm22bstatus);


	HwFreedomData hwFreedom;
	HwFreedomGet(&hwFreedom);

	// Initialize out status object.
	rfm22bstatus.BoardType     = bdinfo->board_type;
	rfm22bstatus.BoardRevision = bdinfo->board_rev;

	if (hwFreedom.Radio == HWFREEDOM_RADIO_DISABLED || hwFreedom.MaxRfPower == HWFREEDOM_MAXRFPOWER_0) {

			// When radio disabled, it is ok for init to fail. This allows boards without populating
			// this component.
			const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
			if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg) == 0) {
				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
				rfm22bstatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
				rfm22bstatus.BoardRevision = PIOS_RFM22B_ModuleVersion(pios_rfm22b_id);
			} else {
				pios_rfm22b_id = 0;
			}
			rfm22bstatus.LinkState = RFM22BSTATUS_LINKSTATE_DISABLED;

	} else {

		// always allow receiving PPM when radio is on
		bool ppm_mode    = hwFreedom.Radio == HWFREEDOM_RADIO_TELEMPPM || hwFreedom.Radio == HWFREEDOM_RADIO_PPM;
		bool ppm_only    = hwFreedom.Radio == HWFREEDOM_RADIO_PPM;
		bool is_oneway   = hwFreedom.Radio == HWFREEDOM_RADIO_PPM; // Sparky2 can only receive PPM only

		/* Configure the RFM22B device. */
		const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev);
		if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) {
			panic(6);
		}

		rfm22bstatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
		rfm22bstatus.BoardRevision = PIOS_RFM22B_ModuleVersion(pios_rfm22b_id);


		/* Configure the radio com interface */
		uint8_t *rx_buffer = (uint8_t *)PIOS_malloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
		uint8_t *tx_buffer = (uint8_t *)PIOS_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
		PIOS_Assert(rx_buffer);
		PIOS_Assert(tx_buffer);
		if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
		                  rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
		                  tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
			panic(6);
		}

		/* Set Telemetry to use RFM22b if no other telemetry is configured (USB always overrides anyway) */
		if (!pios_com_telem_rf_id) {
			pios_com_telem_rf_id = pios_com_rf_id;
		}
		rfm22bstatus.LinkState = RFM22BSTATUS_LINKSTATE_ENABLED;

		enum rfm22b_datarate datarate = RFM22_datarate_64000;
		switch (hwFreedom.MaxRfSpeed) {
		case HWFREEDOM_MAXRFSPEED_9600:
			datarate = RFM22_datarate_9600;
			break;
		case HWFREEDOM_MAXRFSPEED_19200:
			datarate = RFM22_datarate_19200;
			break;
		case HWFREEDOM_MAXRFSPEED_32000:
			datarate = RFM22_datarate_32000;
			break;
		case HWFREEDOM_MAXRFSPEED_64000:
			datarate = RFM22_datarate_64000;
			break;
		case HWFREEDOM_MAXRFSPEED_100000:
			datarate = RFM22_datarate_100000;
			break;
		case HWFREEDOM_MAXRFSPEED_192000:
			datarate = RFM22_datarate_192000;
			break;
		}

		/* Set the radio configuration parameters. */
		PIOS_RFM22B_Config(pios_rfm22b_id, datarate, hwFreedom.MinChannel, hwFreedom.MaxChannel, hwFreedom.CoordID, is_oneway, ppm_mode, ppm_only);

		/* Set the modem Tx poer level */
		switch (hwFreedom.MaxRfPower) {
		case HWFREEDOM_MAXRFPOWER_125:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
			break;
		case HWFREEDOM_MAXRFPOWER_16:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
			break;
		case HWFREEDOM_MAXRFPOWER_316:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
			break;
		case HWFREEDOM_MAXRFPOWER_63:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
			break;
		case HWFREEDOM_MAXRFPOWER_126:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
			break;
		case HWFREEDOM_MAXRFPOWER_25:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
			break;
		case HWFREEDOM_MAXRFPOWER_50:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
			break;
		case HWFREEDOM_MAXRFPOWER_100:
			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
			break;
		default:
			// do nothing
			break;
		}

		/* Reinitialize the modem. */
		PIOS_RFM22B_Reinit(pios_rfm22b_id);

#if defined(PIOS_INCLUDE_RFM22B_RCVR)
		{
			uintptr_t pios_rfm22brcvr_id;
			PIOS_RFM22B_Rcvr_Init(&pios_rfm22brcvr_id, pios_rfm22b_id);
			uintptr_t pios_rfm22brcvr_rcvr_id;
			if (PIOS_RCVR_Init(&pios_rfm22brcvr_rcvr_id, &pios_rfm22b_rcvr_driver, pios_rfm22brcvr_id)) {
				panic(6);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_RFM22B] = pios_rfm22brcvr_rcvr_id;
		}
	}

	RFM22BStatusInstSet(1,&rfm22bstatus);
#endif /* PIOS_INCLUDE_RFM22B_RCVR */

#endif /* PIOS_INCLUDE_RFM22B */

	PIOS_WDG_Clear();
	
	/* Configure input receiver USART port */
	uint8_t hw_rcvrport;
	HwFreedomRcvrPortGet(&hw_rcvrport);
	switch (hw_rcvrport) {
		case HWFREEDOM_RCVRPORT_DISABLED:
			break;
		case HWFREEDOM_RCVRPORT_PPM:
		{
			uintptr_t pios_ppm_id;
			PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
			
			uintptr_t pios_ppm_rcvr_id;
			if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
				PIOS_Assert(0);
			}
			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
		}
			break;
		case HWFREEDOM_RCVRPORT_DSM:
#if defined(PIOS_INCLUDE_DSM)
			{
				//TODO: Define the various Channelgroup for Revo dsm inputs and handle here
				PIOS_Board_configure_dsm(&pios_usart_dsm_hsum_rcvr_cfg, &pios_dsm_rcvr_cfg,
					&pios_usart_com_driver, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMRCVRPORT,&hw_DSMxBind);
			}
#endif	/* PIOS_INCLUDE_DSM */
			break;
		case HWFREEDOM_RCVRPORT_HOTTSUMD:
		case HWFREEDOM_RCVRPORT_HOTTSUMH:
#if defined(PIOS_INCLUDE_HSUM)
			{
				enum pios_hsum_proto proto;
				switch (hw_rcvrport) {
				case HWFREEDOM_RCVRPORT_HOTTSUMD:
					proto = PIOS_HSUM_PROTO_SUMD;
					break;
				case HWFREEDOM_RCVRPORT_HOTTSUMH:
					proto = PIOS_HSUM_PROTO_SUMH;
					break;
				default:
					PIOS_Assert(0);
					break;
				}
				PIOS_Board_configure_hsum(&pios_usart_dsm_hsum_rcvr_cfg, &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_HOTTSUM);
			}
#endif	/* PIOS_INCLUDE_HSUM */
			break;
		case HWFREEDOM_RCVRPORT_SBUS:
#if defined(PIOS_INCLUDE_SBUS)
            {
                    uintptr_t pios_usart_sbus_id;
                    if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_rcvr_cfg)) {
                            PIOS_Assert(0);
                    }

                    uintptr_t pios_sbus_id;
                    if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
                            PIOS_Assert(0);
                    }

                    uintptr_t pios_sbus_rcvr_id;
                    if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
                            PIOS_Assert(0);
                    }
                    pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
            }
#endif

			break;
	}

	if (hw_rcvrport != HWFREEDOM_RCVRPORT_SBUS) {
		GPIO_Init(pios_sbus_cfg.inv.gpio, (GPIO_InitTypeDef*)&pios_sbus_cfg.inv.init);
		GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable);
	}


#if defined(PIOS_OVERO_SPI)
	/* Set up the SPI based PIOS_COM interface to the overo */
	{
		bool overo_enabled = false;
#ifdef MODULE_OveroSync_BUILTIN
		overo_enabled = true;
#else
		uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
		ModuleSettingsAdminStateGet(module_state);
		if (module_state[MODULESETTINGS_ADMINSTATE_OVEROSYNC] == MODULESETTINGS_ADMINSTATE_ENABLED) {
			overo_enabled = true;
		} else {
			overo_enabled = false;
		}
#endif
		if (overo_enabled) {
			if (PIOS_OVERO_Init(&pios_overo_id, &pios_overo_cfg)) {
				PIOS_DEBUG_Assert(0);
			}
			const uint32_t PACKET_SIZE = 1024;
			uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PACKET_SIZE);
			uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PACKET_SIZE);
			PIOS_Assert(rx_buffer);
			PIOS_Assert(tx_buffer);
			if (PIOS_COM_Init(&pios_com_overo_id, &pios_overo_com_driver, pios_overo_id,
							  rx_buffer, PACKET_SIZE,
							  tx_buffer, PACKET_SIZE)) {
				PIOS_Assert(0);
			}
		}
	}
#endif

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

#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
	uint8_t hw_output_port;
	HwFreedomOutputGet(&hw_output_port);
	switch (hw_output_port) {
		case HWFREEDOM_OUTPUT_DISABLED:
			break;
		case HWFREEDOM_OUTPUT_PWM:
			/* Set up the servo outputs */
			PIOS_Servo_Init(&pios_servo_cfg);
			break;
		default:
			break;
	}
#else
	PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif

	PIOS_DELAY_WaitmS(200);

	PIOS_SENSORS_Init();

#if defined(PIOS_INCLUDE_MPU6000)
	if (PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg) != 0)
		panic(2);
	if (PIOS_MPU6000_Test() != 0)
		panic(2);
	
	// To be safe map from UAVO enum to driver enum
	uint8_t hw_gyro_range;
	HwFreedomGyroRangeGet(&hw_gyro_range);
	switch(hw_gyro_range) {
		case HWFREEDOM_GYRORANGE_250:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_250_DEG);
			break;
		case HWFREEDOM_GYRORANGE_500:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_500_DEG);
			break;
		case HWFREEDOM_GYRORANGE_1000:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_1000_DEG);
			break;
		case HWFREEDOM_GYRORANGE_2000:
			PIOS_MPU6000_SetGyroRange(PIOS_MPU60X0_SCALE_2000_DEG);
			break;
	}

	uint8_t hw_accel_range;
	HwFreedomAccelRangeGet(&hw_accel_range);
	switch(hw_accel_range) {
		case HWFREEDOM_ACCELRANGE_2G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_2G);
			break;
		case HWFREEDOM_ACCELRANGE_4G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_4G);
			break;
		case HWFREEDOM_ACCELRANGE_8G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_8G);
			break;
		case HWFREEDOM_ACCELRANGE_16G:
			PIOS_MPU6000_SetAccelRange(PIOS_MPU60X0_ACCEL_16G);
			break;
	}

	// the filter has to be set before rate else divisor calculation will fail
	uint8_t hw_mpu6000_dlpf;
	HwFreedomMPU6000DLPFGet(&hw_mpu6000_dlpf);
	enum pios_mpu60x0_filter mpu6000_dlpf = \
	    (hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_256) ? PIOS_MPU60X0_LOWPASS_256_HZ : \
	    (hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_188) ? PIOS_MPU60X0_LOWPASS_188_HZ : \
	    (hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_98) ? PIOS_MPU60X0_LOWPASS_98_HZ : \
	    (hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_42) ? PIOS_MPU60X0_LOWPASS_42_HZ : \
	    (hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_20) ? PIOS_MPU60X0_LOWPASS_20_HZ : \
	    (hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_10) ? PIOS_MPU60X0_LOWPASS_10_HZ : \
	    (hw_mpu6000_dlpf == HWFREEDOM_MPU6000DLPF_5) ? PIOS_MPU60X0_LOWPASS_5_HZ : \
	    pios_mpu6000_cfg.default_filter;
	PIOS_MPU6000_SetLPF(mpu6000_dlpf);

	uint8_t hw_mpu6000_samplerate;
	HwFreedomMPU6000RateGet(&hw_mpu6000_samplerate);
	uint16_t mpu6000_samplerate = \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_200) ? 200 : \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_333) ? 333 : \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_500) ? 500 : \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_666) ? 666 : \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_1000) ? 1000 : \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_2000) ? 2000 : \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_4000) ? 4000 : \
	    (hw_mpu6000_samplerate == HWFREEDOM_MPU6000RATE_8000) ? 8000 : \
	    pios_mpu6000_cfg.default_samplerate;
	PIOS_MPU6000_SetSampleRate(mpu6000_samplerate);
#endif
	
	if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) {
		PIOS_DEBUG_Assert(0);
	}
	if (PIOS_I2C_CheckClear(pios_i2c_mag_pressure_adapter_id) != 0)
		panic(5);
	
	PIOS_DELAY_WaitmS(50);

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

	PIOS_LED_On(0);
#if defined(PIOS_INCLUDE_HMC5883)
	if (PIOS_HMC5883_Init(pios_i2c_mag_pressure_adapter_id, &pios_hmc5883_cfg) != 0)
		panic(3);
#endif
	PIOS_LED_On(1);

	
#if defined(PIOS_INCLUDE_MS5611)
	if (PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id) != 0)
		panic(4);
#endif
	PIOS_LED_On(2);
}