flight/targets/boards/ccf3d/firmware/pios_board.c

   1 /**
   2  *****************************************************************************
   3  * @file       pios_board.c
   4  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015-2017.
   5  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
   6  *             PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
   7  * @addtogroup LibrePilotSystem LibrePilot System
   8  * @{
   9  * @addtogroup LibrePilotCore LibrePilot Core
  10  * @{
  11  * @brief Defines board specific static initializers for hardware for the CCF3D board.
  12  *****************************************************************************/
  13 /*
  14  * This program is free software; you can redistribute it and/or modify
  15  * it under the terms of the GNU General Public License as published by
  16  * the Free Software Foundation; either version 3 of the License, or
  17  * (at your option) any later version.
  18  *
  19  * This program is distributed in the hope that it will be useful, but
  20  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  21  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  22  * for more details.
  23  *
  24  * You should have received a copy of the GNU General Public License along
  25  * with this program; if not, write to the Free Software Foundation, Inc.,
  26  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  27  */
  28
  29 #include "inc/openpilot.h"
  30 #include <pios_board_info.h>
  31 #include <uavobjectsinit.h>
  32 #include <hwsettings.h>
  33 #include <manualcontrolsettings.h>
  34 #include <gcsreceiver.h>
  35 #include <taskinfo.h>
  36 #include <sanitycheck.h>
  37 #include <actuatorsettings.h>
  38 #include <auxmagsettings.h>
  39
  40 #ifdef PIOS_INCLUDE_INSTRUMENTATION
  41 #include <pios_instrumentation.h>
  42 #endif
  43
  44 #include <pios_board_io.h>
  45 #include <pios_board_sensors.h>
  46
  47 /*
  48  * Pull in the board-specific static HW definitions.
  49  * Including .c files is a bit ugly but this allows all of
  50  * the HW definitions to be const and static to limit their
  51  * scope.
  52  *
  53  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  54  */
  55 #include "../board_hw_defs.c"
  56
  57
  58 static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
  59 static void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev);
  60
  61 uintptr_t pios_uavo_settings_fs_id;
  62 uintptr_t pios_user_fs_id = 0;
  63
  64 /**
  65  * PIOS_Board_Init()
  66  * initializes all the core subsystems on this specific hardware
  67  * called from System/openpilot.c
  68  */
  69 int32_t init_test;
  70 void PIOS_Board_Init(void)
  71 {
  72     const struct pios_board_info *bdinfo = &pios_board_info_blob;
  73
  74 #if defined(PIOS_INCLUDE_LED)
  75     const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
  76     PIOS_Assert(led_cfg);
  77     PIOS_LED_Init(led_cfg);
  78 #endif /* PIOS_INCLUDE_LED */
  79
  80 #ifdef PIOS_INCLUDE_INSTRUMENTATION
  81     PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
  82 #endif
  83
  84 #if defined(PIOS_INCLUDE_SPI)
  85     /* Set up the SPI interface to the serial flash */
  86     if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
  87         PIOS_Assert(0);
  88     }
  89 #endif
  90
  91     uintptr_t flash_id;
  92     if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
  93         PIOS_DEBUG_Assert(0);
  94     }
  95     if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
  96         PIOS_DEBUG_Assert(0);
  97     }
  98
  99     /* Initialize the task monitor */
 100     if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
 101         PIOS_Assert(0);
 102     }
 103
 104     /* Initialize the delayed callback library */
 105     PIOS_CALLBACKSCHEDULER_Initialize();
 106
 107     /* Initialize UAVObject libraries */
 108     EventDispatcherInitialize();
 109     UAVObjInitialize();
 110     SETTINGS_INITIALISE_ALL;
 111
 112 #if defined(PIOS_INCLUDE_RTC)
 113     /* Initialize the real-time clock and its associated tick */
 114     PIOS_RTC_Init(&pios_rtc_main_cfg);
 115 #endif
 116     PIOS_IAP_Init();
 117     // check for safe mode commands from gcs
 118     if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
 119         PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
 120         PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
 121         PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
 122         PIOS_IAP_WriteBootCmd(0, 0);
 123         PIOS_IAP_WriteBootCmd(1, 0);
 124         PIOS_IAP_WriteBootCmd(2, 0);
 125     }
 126
 127 #ifndef ERASE_FLASH
 128 #ifdef PIOS_INCLUDE_WDG
 129     /* Initialize watchdog as early as possible to catch faults during init */
 130     PIOS_WDG_Init();
 131 #endif
 132 #endif
 133
 134     /* Initialize the alarms library */
 135     AlarmsInitialize();
 136
 137     /* Check for repeated boot failures */
 138     uint16_t boot_count = PIOS_IAP_ReadBootCount();
 139     if (boot_count < 3) {
 140         PIOS_IAP_WriteBootCount(++boot_count);
 141         AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
 142     } else {
 143         /* Too many failed boot attempts, force hwsettings to defaults */
 144         HwSettingsSetDefaults(HwSettingsHandle(), 0);
 145         AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
 146     }
 147
 148     /* Set up pulse timers */
 149     PIOS_TIM_InitClock(&tim_1_cfg);
 150     PIOS_TIM_InitClock(&tim_2_cfg);
 151     PIOS_TIM_InitClock(&tim_3_cfg);
 152     PIOS_TIM_InitClock(&tim_4_cfg);
 153
 154 #if defined(PIOS_INCLUDE_USB)
 155     PIOS_BOARD_IO_Configure_USB();
 156 #endif
 157
 158     /* Configure the main IO port */
 159     static const PIOS_BOARD_IO_UART_Function usart_main_function_map[] = {
 160         [HWSETTINGS_CC_MAINPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
 161         [HWSETTINGS_CC_MAINPORT_GPS]          = PIOS_BOARD_IO_UART_GPS,
 162         [HWSETTINGS_CC_MAINPORT_SBUS]         = PIOS_BOARD_IO_UART_SBUS,
 163         [HWSETTINGS_CC_MAINPORT_DSM]          = PIOS_BOARD_IO_UART_DSM_MAIN,
 164         [HWSETTINGS_CC_MAINPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
 165         [HWSETTINGS_CC_MAINPORT_COMBRIDGE]    = PIOS_BOARD_IO_UART_COMBRIDGE,
 166         [HWSETTINGS_CC_MAINPORT_OSDHK]        = PIOS_BOARD_IO_UART_OSDHK,
 167         [HWSETTINGS_CC_MAINPORT_MSP]          = PIOS_BOARD_IO_UART_MSP,
 168         [HWSETTINGS_CC_MAINPORT_MAVLINK]      = PIOS_BOARD_IO_UART_MAVLINK,
 169     };
 170
 171     uint8_t hwsettings_cc_mainport;
 172     HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
 173
 174     if (hwsettings_cc_mainport < NELEMENTS(usart_main_function_map)) {
 175         PIOS_BOARD_IO_Configure_UART(&pios_usart_main_cfg, usart_main_function_map[hwsettings_cc_mainport]);
 176     }
 177
 178
 179     /* Configure the flexi port */
 180     static const PIOS_BOARD_IO_UART_Function usart_flexi_function_map[] = {
 181         [HWSETTINGS_CC_FLEXIPORT_TELEMETRY]    = PIOS_BOARD_IO_UART_TELEMETRY,
 182         [HWSETTINGS_CC_FLEXIPORT_GPS] = PIOS_BOARD_IO_UART_GPS,
 183         [HWSETTINGS_CC_FLEXIPORT_DSM] = PIOS_BOARD_IO_UART_DSM_FLEXI,
 184         [HWSETTINGS_CC_FLEXIPORT_EXBUS]        = PIOS_BOARD_IO_UART_EXBUS,
 185         [HWSETTINGS_CC_FLEXIPORT_HOTTSUMD]     = PIOS_BOARD_IO_UART_HOTT_SUMD,
 186         [HWSETTINGS_CC_FLEXIPORT_HOTTSUMH]     = PIOS_BOARD_IO_UART_HOTT_SUMH,
 187         [HWSETTINGS_CC_FLEXIPORT_SRXL] = PIOS_BOARD_IO_UART_SRXL,
 188         [HWSETTINGS_CC_FLEXIPORT_IBUS] = PIOS_BOARD_IO_UART_IBUS,
 189         [HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
 190         [HWSETTINGS_CC_FLEXIPORT_COMBRIDGE]    = PIOS_BOARD_IO_UART_COMBRIDGE,
 191         [HWSETTINGS_CC_FLEXIPORT_OSDHK]        = PIOS_BOARD_IO_UART_OSDHK,
 192         [HWSETTINGS_CC_FLEXIPORT_MSP] = PIOS_BOARD_IO_UART_MSP,
 193         [HWSETTINGS_CC_FLEXIPORT_MAVLINK]      = PIOS_BOARD_IO_UART_MAVLINK,
 194     };
 195
 196     uint8_t hwsettings_cc_flexiport;
 197     HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
 198
 199     if (hwsettings_cc_flexiport < NELEMENTS(usart_flexi_function_map)) {
 200         PIOS_BOARD_IO_Configure_UART(&pios_usart_flexi_cfg, usart_flexi_function_map[hwsettings_cc_flexiport]);
 201     }
 202
 203     if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_PPM) {
 204 #if defined(PIOS_INCLUDE_PPM_FLEXI)
 205         PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_flexi_cfg);
 206 #endif /* PIOS_INCLUDE_PPM_FLEXI */
 207     } else if (hwsettings_cc_flexiport == HWSETTINGS_CC_FLEXIPORT_I2C) {
 208         // F303CC has no I2C on CC3D flexi.
 209     }
 210
 211     /* Configure the rcvr port */
 212     uint8_t hwsettings_rcvrport;
 213     HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
 214
 215     switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
 216     case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
 217 #if defined(PIOS_INCLUDE_HCSR04)
 218         {
 219             uint32_t pios_hcsr04_id;
 220             PIOS_HCSR04_Init(&pios_hcsr04_id, &pios_hcsr04_cfg);
 221         }
 222 #endif
 223         break;
 224     case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
 225 #if defined(PIOS_INCLUDE_PWM)
 226         PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_cfg);
 227 #endif /* PIOS_INCLUDE_PWM */
 228         break;
 229     case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
 230 #if defined(PIOS_INCLUDE_PPM)
 231         PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_pin8_cfg);
 232 #endif /* PIOS_INCLUDE_PPM */
 233         break;
 234     case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
 235     case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
 236 #if defined(PIOS_INCLUDE_PPM)
 237         PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
 238 #endif /* PIOS_INCLUDE_PPM */
 239         break;
 240     case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
 241         /* This is a combination of PPM and PWM inputs */
 242 #if defined(PIOS_INCLUDE_PPM)
 243         PIOS_BOARD_IO_Configure_PPM_RCVR(&pios_ppm_cfg);
 244 #endif /* PIOS_INCLUDE_PPM */
 245 #if defined(PIOS_INCLUDE_PWM)
 246         PIOS_BOARD_IO_Configure_PWM_RCVR(&pios_pwm_with_ppm_cfg);
 247 #endif /* PIOS_INCLUDE_PWM */
 248         break;
 249     case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
 250         break;
 251     }
 252
 253 #ifdef PIOS_INCLUDE_GCSRCVR
 254     PIOS_BOARD_IO_Configure_GCS_RCVR();
 255 #endif
 256
 257 #ifdef PIOS_INCLUDE_OPLINKRCVR
 258     PIOS_BOARD_IO_Configure_OPLink_RCVR();
 259 #endif
 260
 261 #ifndef PIOS_ENABLE_DEBUG_PINS
 262     switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
 263     case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
 264     case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
 265     case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
 266     case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
 267     case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
 268         PIOS_Servo_Init(&pios_servo_cfg);
 269         break;
 270     case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
 271     case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
 272         PIOS_Servo_Init(&pios_servo_rcvr_cfg);
 273         break;
 274     }
 275 #else
 276     PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
 277 #endif /* PIOS_ENABLE_DEBUG_PINS */
 278
 279     PIOS_BOARD_Sensors_Configure();
 280
 281     /* Make sure we have at least one telemetry link configured or else fail initialization */
 282     PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
 283
 284     // Attach the board config check hook
 285     SANITYCHECK_AttachHook(&CopterControlConfigHook);
 286     // trigger a config check if actuatorsettings are updated
 287     ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
 288 }
 289
 290 SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
 291 {
 292     // inhibit usage of oneshot for non supported RECEIVER port modes
 293     uint8_t recmode;
 294
 295     HwSettingsCC_RcvrPortGet(&recmode);
 296     uint8_t flexiMode;
 297     uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
 298     ActuatorSettingsBankModeGet(modes);
 299     HwSettingsCC_FlexiPortGet(&flexiMode);
 300
 301     switch ((HwSettingsCC_RcvrPortOptions)recmode) {
 302     // Those modes allows oneshot usage
 303     case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
 304     case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
 305     case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
 306         if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
 307              flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
 308             (modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
 309              modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
 310              modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
 311              modes[3] == ACTUATORSETTINGS_BANKMODE_MULTISHOT)) {
 312             return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
 313         } else {
 314             return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
 315         }
 316
 317     // inhibit oneshot for the following modes
 318     case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
 319     case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
 320     case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
 321     case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
 322         for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
 323             if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
 324                 modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125 ||
 325                 modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT42 ||
 326                 modes[i] == ACTUATORSETTINGS_BANKMODE_MULTISHOT) {
 327                 return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
 328             }
 329
 330             return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
 331         }
 332     }
 333     return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
 334 }
 335 // trigger a configuration check if ActuatorSettings are changed.
 336 void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 337 {
 338     configuration_check();
 339 }
 340
 341 /**
 342  * @}
 343  */