flight/targets/boards/nucleof303re/firmware/pios_board.c

   1 /**
   2  *****************************************************************************
   3  * @file       pios_board.c
   4  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 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 NucleoF303RE 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 <hwspracingf3evosettings.h>
  34 #include <manualcontrolsettings.h>
  35 #include <gcsreceiver.h>
  36 #include <taskinfo.h>
  37 #include <sanitycheck.h>
  38 #include <actuatorsettings.h>
  39 #include <auxmagsettings.h>
  40
  41 #ifdef PIOS_INCLUDE_INSTRUMENTATION
  42 #include <pios_instrumentation.h>
  43 #endif
  44
  45 #include <pios_board_io.h>
  46 #include <pios_board_sensors.h>
  47
  48 /*
  49  * Pull in the board-specific static HW definitions.
  50  * Including .c files is a bit ugly but this allows all of
  51  * the HW definitions to be const and static to limit their
  52  * scope.
  53  *
  54  * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
  55  */
  56 #include "../board_hw_defs.c"
  57
  58 uintptr_t pios_uavo_settings_fs_id;
  59 uintptr_t pios_user_fs_id = 0;
  60
  61 #ifdef PIOS_INCLUDE_WS2811
  62 uint32_t pios_ws2811_id;
  63 #endif
  64
  65
  66 static HwSPRacingF3EVOSettingsData boardHwSettings;
  67
  68 static void hwSPRacingF3EVOSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
  69 {
  70     HwSPRacingF3EVOSettingsData currentBoardHwSettings;
  71
  72     HwSPRacingF3EVOSettingsGet(&currentBoardHwSettings);
  73
  74     if (memcmp(&currentBoardHwSettings, &boardHwSettings, sizeof(HwSPRacingF3EVOSettingsData)) != 0) {
  75         ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
  76     }
  77 }
  78
  79 /**
  80  * PIOS_Board_Init()
  81  * initializes all the core subsystems on this specific hardware
  82  * called from System/openpilot.c
  83  */
  84
  85 void PIOS_Board_Init(void)
  86 {
  87 #if defined(PIOS_INCLUDE_LED)
  88     PIOS_LED_Init(&pios_led_cfg);
  89 #endif /* PIOS_INCLUDE_LED */
  90
  91 #ifdef PIOS_INCLUDE_INSTRUMENTATION
  92     PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
  93 #endif
  94
  95 #if defined(PIOS_INCLUDE_SPI)
  96     /* Set up the SPI interface to the mpu9250 */
  97
  98     if (PIOS_SPI_Init(&pios_spi_mpu9250_id, &pios_spi_mpu9250_cfg)) {
  99         PIOS_DEBUG_Assert(0);
 100     }
 101
 102     /* Set up the SPI interface to the sdcard */
 103     if (PIOS_SPI_Init(&pios_spi_sdcard_id, &pios_spi_sdcard_cfg)) {
 104         PIOS_DEBUG_Assert(0);
 105     }
 106 #endif
 107
 108 #if defined(PIOS_INCLUDE_FLASH)
 109     /* Connect flash to the appropriate interface and configure it */
 110     uintptr_t flash_id;
 111
 112     // initialize the internal settings storage flash
 113     if (PIOS_Flash_Internal_Init(&flash_id, &flash_internal_system_cfg)) {
 114         PIOS_DEBUG_Assert(0);
 115     }
 116
 117     if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id)) {
 118         PIOS_DEBUG_Assert(0);
 119     }
 120
 121 // if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_internal_user_cfg, &pios_internal_flash_driver, flash_id)) {
 122 // PIOS_DEBUG_Assert(0);
 123 // }
 124
 125 #endif /* if defined(PIOS_INCLUDE_FLASH) */
 126
 127     /* Initialize the task monitor */
 128     if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
 129         PIOS_Assert(0);
 130     }
 131
 132     /* Initialize the delayed callback library */
 133     PIOS_CALLBACKSCHEDULER_Initialize();
 134
 135     /* Initialize UAVObject libraries */
 136     EventDispatcherInitialize();
 137     UAVObjInitialize();
 138     SETTINGS_INITIALISE_ALL;
 139
 140 #if defined(PIOS_INCLUDE_RTC)
 141     /* Initialize the real-time clock and its associated tick */
 142     PIOS_RTC_Init(&pios_rtc_main_cfg);
 143 #endif
 144     PIOS_IAP_Init();
 145     // check for safe mode commands from gcs
 146     if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
 147         PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
 148         PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
 149         PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
 150         PIOS_IAP_WriteBootCmd(0, 0);
 151         PIOS_IAP_WriteBootCmd(1, 0);
 152         PIOS_IAP_WriteBootCmd(2, 0);
 153     }
 154
 155 #ifndef ERASE_FLASH
 156 #ifdef PIOS_INCLUDE_WDG
 157     /* Initialize watchdog as early as possible to catch faults during init */
 158     PIOS_WDG_Init();
 159 #endif
 160 #endif
 161
 162     /* Initialize the alarms library */
 163     AlarmsInitialize();
 164
 165     /* Check for repeated boot failures */
 166     uint16_t boot_count = PIOS_IAP_ReadBootCount();
 167     if (boot_count < 3) {
 168         PIOS_IAP_WriteBootCount(++boot_count);
 169         AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
 170     } else {
 171         /* Too many failed boot attempts, force hwsettings to defaults */
 172         HwSettingsSetDefaults(HwSettingsHandle(), 0);
 173         HwSPRacingF3EVOSettingsSetDefaults(HwSPRacingF3EVOSettingsHandle(), 0);
 174
 175         AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
 176     }
 177
 178
 179     /* Set up pulse timers: 2, 3, 8, 15 */
 180     // PIOS_TIM_InitClock(&tim_1_cfg);
 181     PIOS_TIM_InitClock(&tim_2_cfg);
 182     PIOS_TIM_InitClock(&tim_3_cfg);
 183     // PIOS_TIM_InitClock(&tim_4_cfg);
 184     PIOS_TIM_InitClock(&tim_8_cfg);
 185     PIOS_TIM_InitClock(&tim_15_cfg);
 186     // PIOS_TIM_InitClock(&tim_16_cfg);
 187     // PIOS_TIM_InitClock(&tim_17_cfg);
 188
 189
 190 #if defined(PIOS_INCLUDE_USB)
 191     PIOS_BOARD_IO_Configure_USB();
 192 #endif
 193
 194
 195     HwSPRacingF3EVOSettingsConnectCallback(hwSPRacingF3EVOSettingsUpdatedCb);
 196
 197     HwSPRacingF3EVOSettingsGet(&boardHwSettings);
 198
 199     static const PIOS_BOARD_IO_UART_Function uart_function_map[] = {
 200         [HWSPRACINGF3EVOSETTINGS_UARTPORT_TELEMETRY] = PIOS_BOARD_IO_UART_TELEMETRY,
 201         [HWSPRACINGF3EVOSETTINGS_UARTPORT_GPS]          = PIOS_BOARD_IO_UART_GPS,
 202         [HWSPRACINGF3EVOSETTINGS_UARTPORT_SBUS]         = PIOS_BOARD_IO_UART_SBUS,
 203         [HWSPRACINGF3EVOSETTINGS_UARTPORT_DSM]          = PIOS_BOARD_IO_UART_DSM_MAIN, // single DSM instance? ok.
 204         [HWSPRACINGF3EVOSETTINGS_UARTPORT_EXBUS]        = PIOS_BOARD_IO_UART_EXBUS,
 205         [HWSPRACINGF3EVOSETTINGS_UARTPORT_HOTTSUMD]     = PIOS_BOARD_IO_UART_HOTT_SUMD,
 206         [HWSPRACINGF3EVOSETTINGS_UARTPORT_HOTTSUMH]     = PIOS_BOARD_IO_UART_HOTT_SUMH,
 207         [HWSPRACINGF3EVOSETTINGS_UARTPORT_SRXL]         = PIOS_BOARD_IO_UART_SRXL,
 208         [HWSPRACINGF3EVOSETTINGS_UARTPORT_IBUS]         = PIOS_BOARD_IO_UART_IBUS,
 209         [HWSPRACINGF3EVOSETTINGS_UARTPORT_DEBUGCONSOLE] = PIOS_BOARD_IO_UART_DEBUGCONSOLE,
 210         [HWSPRACINGF3EVOSETTINGS_UARTPORT_COMBRIDGE]    = PIOS_BOARD_IO_UART_COMBRIDGE,
 211         [HWSPRACINGF3EVOSETTINGS_UARTPORT_MSP]          = PIOS_BOARD_IO_UART_MSP,
 212         [HWSPRACINGF3EVOSETTINGS_UARTPORT_MAVLINK]      = PIOS_BOARD_IO_UART_MAVLINK,
 213     };
 214
 215     for (unsigned int i = 0; i < HWSPRACINGF3EVOSETTINGS_UARTPORT_NUMELEM; ++i) {
 216         if (boardHwSettings.UARTPort[i] < NELEMENTS(uart_function_map)) {
 217             PIOS_BOARD_IO_Configure_UART(&pios_usart_cfg[i], uart_function_map[boardHwSettings.UARTPort[i]]);
 218         }
 219     }
 220
 221 #ifndef PIOS_ENABLE_DEBUG_PINS
 222     PIOS_Servo_Init(&pios_servo_cfg);
 223 #else
 224     PIOS_DEBUG_Init(&pios_servo_cfg.channels, pios_servo_cfg.num_channels);
 225 #endif
 226
 227     switch (boardHwSettings.LEDPort) {
 228     case HWSPRACINGF3EVOSETTINGS_LEDPORT_WS281X:
 229 #if defined(PIOS_INCLUDE_WS2811)
 230         PIOS_WS2811_Init(&pios_ws2811_id, &pios_ws2811_cfg);
 231 #endif
 232         break;
 233     default:
 234         break;
 235     }
 236
 237 #if defined(PIOS_INCLUDE_I2C)
 238     // init I2C1 for use with the internal baro
 239     if (PIOS_I2C_Init(&pios_i2c_id, &pios_i2c_cfg)) {
 240         PIOS_DEBUG_Assert(0);
 241     }
 242     PIOS_DELAY_WaitmS(50);
 243 #endif
 244
 245     PIOS_BOARD_Sensors_Configure();
 246
 247     PIOS_LED_On(PIOS_LED_HEARTBEAT);
 248
 249     /* Make sure we have at least one telemetry link configured or else fail initialization */
 250     PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
 251 }
 252
 253
 254 /**
 255  * @}
 256  */