/** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); /* Set up the SPI interface to the serial flash */ if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) { PIOS_DEBUG_Assert(0); } PIOS_Flash_W25X_Init(pios_spi_flash_accel_id); PIOS_ADXL345_Attach(pios_spi_flash_accel_id); #if defined(PIOS_INCLUDE_SPEKTRUM) /* SPEKTRUM init must come before comms */ PIOS_SPEKTRUM_Init(); if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_spektrum_id, &pios_usart_com_driver, pios_usart_spektrum_id)) { PIOS_DEBUG_Assert(0); } #endif /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); UAVObjectsInitializeAll(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* Initialize the PiOS library */ #if defined(PIOS_INCLUDE_COM) if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { PIOS_DEBUG_Assert(0); } #if defined(PIOS_INCLUDE_GPS) if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_cfg)) { PIOS_DEBUG_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ #endif /* PIOS_INCLUDE_COM */ /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); PIOS_Servo_Init(); PIOS_ADC_Init(); PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_PWM) PIOS_PWM_Init(); #endif #if defined(PIOS_INCLUDE_PPM) PIOS_PPM_Init(); #endif #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #if defined(PIOS_INCLUDE_COM) if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_COM */ #endif #if defined(PIOS_INCLUDE_I2C) if (PIOS_I2C_Init(&pios_i2c_main_adapter_id, &pios_i2c_main_adapter_cfg)) { PIOS_DEBUG_Assert(0); } #endif /* PIOS_INCLUDE_I2C */ PIOS_IAP_Init(); PIOS_WDG_Init(); }
/** * PIOS_Board_Init() * initializes all the core systems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); UAVObjectsInitializeAll(); AccelsInitialize(); BaroAltitudeInitialize(); MagnetometerInitialize(); GPSPositionInitialize(); GyrosInitialize(); GyrosBiasInitialize(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1 { uint32_t pios_tcp_telem_rf_id; if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_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_tcp_com_driver, pios_tcp_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 */ #if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0 { uint32_t pios_udp_telem_rf_id; if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_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_udp_com_driver, pios_udp_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 */ #if defined(PIOS_INCLUDE_GPS) { uint32_t pios_tcp_gps_id; if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_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_tcp_com_driver, pios_tcp_gps_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, NULL, 0)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_GPS */ #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 */ }
/** * 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); /* Debug services */ PIOS_DEBUG_Init(); /* 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(); UAVObjectsInitializeAll(); #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); #endif /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* 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); /* Initialize the PiOS library */ #if defined(PIOS_INCLUDE_COM) #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); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ #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); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_GPS */ #endif PIOS_Servo_Init(); PIOS_ADC_Init(); PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_SPEKTRUM) #if (PIOS_SPEKTRUM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #error More receiver inputs than available devices #endif /* SPEKTRUM init must come before comms */ PIOS_SPEKTRUM_Init(&pios_spektrum_cfg, false); uint32_t pios_usart_spektrum_id; if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) { PIOS_Assert(0); } for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_spektrum_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { PIOS_Assert(0); } } #endif #if defined(PIOS_INCLUDE_PWM) #if (PIOS_PWM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #error More receiver inputs than available devices #endif PIOS_PWM_Init(); for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_pwm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { PIOS_Assert(0); } } #endif #if defined(PIOS_INCLUDE_PPM) #if (PIOS_PPM_NUM_INPUTS > PIOS_RCVR_MAX_DEVS) #error More receiver inputs than available devices #endif PIOS_PPM_Init(); for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_ppm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { PIOS_Assert(0); } } #endif #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #if defined(PIOS_INCLUDE_COM) if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ #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 */ PIOS_IAP_Init(); PIOS_WDG_Init(); }
/** * PIOS_Board_Init() * initializes all the core systems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); int32_t retval = PIOS_Flash_Posix_Init(&pios_posix_flash_id, &flash_config); if (retval != 0) { /* create an empty, appropriately sized flash filesystem */ FILE * theflash = fopen("theflash.bin", "w"); uint8_t sector[flash_config.size_of_sector]; memset(sector, 0xFF, sizeof(sector)); for (uint32_t i = 0; i < flash_config.size_of_flash / flash_config.size_of_sector; i++) { fwrite(sector, sizeof(sector), 1, theflash); } fclose(theflash); retval = PIOS_Flash_Posix_Init(&pios_posix_flash_id, &flash_config); if (retval != 0) { fprintf(stderr, "Unable to initialize flash posix simulator: %d\n", retval); exit(0); } } /* Register the partition table */ PIOS_FLASH_register_partition_table(pios_flash_partition_table, NELEMENTS(pios_flash_partition_table)); if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_config_settings, FLASH_PARTITION_LABEL_SETTINGS) != 0) fprintf(stderr, "Unable to open the settings partition\n"); if (PIOS_FLASHFS_Logfs_Init(&pios_waypoints_settings_fs_id, &flashfs_config_waypoints, FLASH_PARTITION_LABEL_WAYPOINTS) != 0) fprintf(stderr, "Unable to open the waypoints partition\n"); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* Initialize UAVObject libraries */ UAVObjInitialize(); UAVObjectsInitializeAll(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the sparky object, because developers use this for dev * test. */ HwSparkyInitialize(); #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1 { uintptr_t pios_tcp_telem_rf_id; if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_tcp_com_driver, pios_tcp_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 */ #if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0 { uintptr_t pios_udp_telem_rf_id; if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); uint8_t * tx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_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 */ #if defined(PIOS_INCLUDE_GPS) { uintptr_t pios_tcp_gps_id; if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_cfg)) { PIOS_Assert(0); } uint8_t * rx_buffer = (uint8_t *) PIOS_malloc(PIOS_COM_GPS_RX_BUF_LEN); PIOS_Assert(rx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, NULL, 0)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_GPS */ #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 */ // Register fake address. Later if we really fake entire sensors then // it will make sense to have real queues registered. For now if these // queues are used a crash is appropriate. PIOS_SENSORS_Register(PIOS_SENSOR_ACCEL, (struct pios_queue*)1); PIOS_SENSORS_Register(PIOS_SENSOR_GYRO, (struct pios_queue*)1); PIOS_SENSORS_Register(PIOS_SENSOR_MAG, (struct pios_queue*)1); PIOS_SENSORS_Register(PIOS_SENSOR_BARO, (struct pios_queue*)1); }
/** * PIOS_Board_Init() * initializes all the core subsystems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); /* Set up the SPI interface to the serial flash */ if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg)) { PIOS_Assert(0); } PIOS_Flash_W25X_Init(pios_spi_flash_accel_id); PIOS_ADXL345_Attach(pios_spi_flash_accel_id); PIOS_FLASHFS_Init(&PIOS_Flash_W25X_Driver); /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); UAVObjectsInitializeAll(); #if defined(PIOS_INCLUDE_RTC) /* Initialize the real-time clock and its associated tick */ PIOS_RTC_Init(&pios_rtc_main_cfg); #endif /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* Configure the main IO port */ 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_telem_rf_id; if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_main_cfg)) { PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ break; case HWSETTINGS_CC_MAINPORT_SBUS: #if defined(PIOS_INCLUDE_SBUS) { PIOS_SBUS_Init(&pios_sbus_cfg); uint32_t pios_usart_sbus_id; if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_SBUS */ break; case HWSETTINGS_CC_MAINPORT_GPS: #if defined(PIOS_INCLUDE_GPS) { uint32_t pios_usart_gps_id; if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_main_cfg)) { PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_GPS */ break; case HWSETTINGS_CC_MAINPORT_SPEKTRUM: #if defined(PIOS_INCLUDE_SPEKTRUM) { /* SPEKTRUM init must come before usart init since it may use Rx pin for bind */ PIOS_SPEKTRUM_Init(&pios_spektrum_main_cfg, false); uint32_t pios_usart_spektrum_id; if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_main_cfg)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; case HWSETTINGS_CC_MAINPORT_COMAUX: 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_telem_rf_id; if (PIOS_USART_Init(&pios_usart_telem_rf_id, &pios_usart_telem_flexi_cfg)) { PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_telem_rf_id)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_TELEMETRY_RF */ break; case HWSETTINGS_CC_FLEXIPORT_GPS: #if defined(PIOS_INCLUDE_GPS) { uint32_t pios_usart_gps_id; if (PIOS_USART_Init(&pios_usart_gps_id, &pios_usart_gps_flexi_cfg)) { PIOS_Assert(0); } if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_GPS */ break; case HWSETTINGS_CC_FLEXIPORT_SPEKTRUM: #if defined(PIOS_INCLUDE_SPEKTRUM) { /* SPEKTRUM init must come before usart init since it may use Rx pin for bind */ PIOS_SPEKTRUM_Init(&pios_spektrum_flexi_cfg, false); uint32_t pios_usart_spektrum_id; if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_flexi_cfg)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; case HWSETTINGS_CC_FLEXIPORT_COMAUX: break; case HWSETTINGS_CC_FLEXIPORT_I2C: #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 */ break; } /* Configure the selected receiver */ uint8_t manualcontrolsettings_inputmode; ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode); switch (manualcontrolsettings_inputmode) { case MANUALCONTROLSETTINGS_INPUTMODE_PWM: #if defined(PIOS_INCLUDE_PWM) PIOS_PWM_Init(); for (uint8_t i = 0; i < PIOS_PWM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_pwm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_PWM */ break; case MANUALCONTROLSETTINGS_INPUTMODE_PPM: #if defined(PIOS_INCLUDE_PPM) PIOS_PPM_Init(); for (uint8_t i = 0; i < PIOS_PPM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_ppm_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_PPM */ break; case MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM: #if defined(PIOS_INCLUDE_SPEKTRUM) if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SPEKTRUM || hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_SPEKTRUM) { for (uint8_t i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_spektrum_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { PIOS_Assert(0); } } } #endif /* PIOS_INCLUDE_SPEKTRUM */ break; case MANUALCONTROLSETTINGS_INPUTMODE_SBUS: #if defined(PIOS_INCLUDE_SBUS) if (hwsettings_cc_mainport == HWSETTINGS_CC_MAINPORT_SBUS) { for (uint8_t i = 0; i < SBUS_NUMBER_OF_CHANNELS && i < PIOS_RCVR_MAX_DEVS; i++) { if (!PIOS_RCVR_Init(&pios_rcvr_channel_to_id_map[pios_rcvr_max_channel], &pios_sbus_rcvr_driver, i)) { pios_rcvr_max_channel++; } else { PIOS_Assert(0); } } } #endif /* PIOS_INCLUDE_SBUS */ break; } /* Remap AFIO pin */ GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE); PIOS_Servo_Init(); PIOS_ADC_Init(); PIOS_GPIO_Init(); #if defined(PIOS_INCLUDE_USB_HID) PIOS_USB_HID_Init(0); #if defined(PIOS_INCLUDE_COM) if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_com_driver, 0)) { PIOS_Assert(0); } #endif /* PIOS_INCLUDE_COM */ #endif /* PIOS_INCLUDE_USB_HID */ PIOS_IAP_Init(); PIOS_WDG_Init(); }
/** * PIOS_Board_Init() * initializes all the core systems on this specific hardware * called from System/openpilot.c */ void PIOS_Board_Init(void) { /* Delay system */ PIOS_DELAY_Init(); /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); UAVObjectsInitializeAll(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); #if defined(PIOS_INCLUDE_COM) #if defined(PIOS_INCLUDE_TELEMETRY_RF) { uint32_t pios_udp_telem_rf_id; if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_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_udp_com_driver, pios_udp_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 */ #if defined(PIOS_INCLUDE_GPS) { uint32_t pios_udp_gps_id; if (PIOS_UDP_Init(&pios_udp_gps_id, &pios_udp_gps_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_GPS_RX_BUF_LEN); PIOS_Assert(rx_buffer); PIOS_Assert(tx_buffer); if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id, rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, tx_buffer, PIOS_COM_GPS_RX_BUF_LEN)) { PIOS_Assert(0); } } #endif /* PIOS_INCLUDE_GPS */ #endif // Initialize these here as posix has no AHRSComms AttitudeRawInitialize(); AttitudeActualInitialize(); VelocityActualInitialize(); PositionActualInitialize(); }
/** * 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(); /* Initialize UAVObject libraries */ EventDispatcherInitialize(); UAVObjInitialize(); HwSettingsInitialize(); UAVObjectsInitializeAll(); /* Initialize the alarms library */ AlarmsInitialize(); /* Initialize the task monitor library */ TaskMonitorInitialize(); /* Configure IO ports */ /* Configure Telemetry port */ uint8_t hwsettings_rv_telemetryport; HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport); switch (hwsettings_rv_telemetryport){ case HWSETTINGS_RV_TELEMETRYPORT_DISABLED: break; case HWSETTINGS_RV_TELEMETRYPORT_TELEMETRY: PIOS_Board_configure_com(&pios_udp_telem_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_telem_rf_id); break; case HWSETTINGS_RV_TELEMETRYPORT_COMAUX: PIOS_Board_configure_com(&pios_udp_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id); break; } /* hwsettings_rv_telemetryport */ /* Configure GPS port */ uint8_t hwsettings_rv_gpsport; HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport); switch (hwsettings_rv_gpsport){ case HWSETTINGS_RV_GPSPORT_DISABLED: break; case HWSETTINGS_RV_GPSPORT_TELEMETRY: PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_telem_rf_id); break; case HWSETTINGS_RV_GPSPORT_GPS: PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_udp_com_driver, &pios_com_gps_id); break; case HWSETTINGS_RV_GPSPORT_COMAUX: PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id); break; }/* hwsettings_rv_gpsport */ /* Configure AUXPort */ uint8_t hwsettings_rv_auxport; HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport); switch (hwsettings_rv_auxport) { case HWSETTINGS_RV_AUXPORT_DISABLED: break; case HWSETTINGS_RV_AUXPORT_TELEMETRY: PIOS_Board_configure_com(&pios_udp_aux_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_telem_rf_id); break; case HWSETTINGS_RV_AUXPORT_COMAUX: PIOS_Board_configure_com(&pios_udp_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id); break; break; } /* hwsettings_rv_auxport */ }